Added runtime/spawn_subprocess.py. Force use posix spawn instead of fork, with API similar to subprocess. Using fork in runtime is incompatible with Xenomai, because memory is locked and this can lead to out of memory error.
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# This file is part of Beremiz
#
# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
# RTES Lab : CRKim, JBLee, youcu
# Higen Motor : Donggu Kang
#
# See COPYING file for copyrights details.
import wx
from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
from ConfigTreeNode import ConfigTreeNode
from ConfigEditor import NodeEditor
#------------------------------------------
from CommonEtherCATFunction import _CommonSlave
#------------------------------------------
TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L",
"USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L",
"BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"}
DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64",
"USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64",
"BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"}
VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY}
def ExtractHexDecValue(value):
try:
return int(value)
except:
pass
try:
return int(value.replace("#", "0"), 16)
except:
raise ValueError, "Invalid value for HexDecValue \"%s\"" % value
def GenerateHexDecValue(value, base=10):
if base == 10:
return str(value)
elif base == 16:
return "#x%.8x" % value
else:
raise ValueError, "Not supported base"
def ExtractName(names, default=None):
if len(names) == 1:
return names[0].getcontent()
else:
for name in names:
if name.getLcId() == 1033:
return name.getcontent()
return default
#--------------------------------------------------
# Ethercat Node
#--------------------------------------------------
class _EthercatSlaveCTN:
NODE_PROFILE = None
EditorType = NodeEditor
def __init__(self):
# ----------- call ethercat mng. function --------------
self.CommonMethod = _CommonSlave(self)
def GetIconName(self):
return "Slave"
def ExtractHexDecValue(self, value):
return ExtractHexDecValue(value)
def GetSizeOfType(self, type):
return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)
def GetSlavePos(self):
return self.BaseParams.getIEC_Channel()
def GetParamsAttributes(self, path = None):
if path:
parts = path.split(".", 1)
if self.MandatoryParams and parts[0] == self.MandatoryParams[0]:
return self.MandatoryParams[1].getElementInfos(parts[0], parts[1])
elif self.CTNParams and parts[0] == self.CTNParams[0]:
return self.CTNParams[1].getElementInfos(parts[0], parts[1])
else:
params = []
if self.CTNParams:
params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0]))
else:
params.append({
'use': 'required',
'type': 'element',
'name': 'SlaveParams',
'value': None,
'children': []
})
slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
params[0]['children'].insert(0,
{'use': 'optional',
'type': self.CTNParent.GetSlaveTypesLibrary(self.NODE_PROFILE),
'name': 'Type',
'value': (slave_type["device_type"], slave_type)})
params[0]['children'].insert(1,
{'use': 'optional',
'type': 'unsignedLong',
'name': 'Alias',
'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())})
return params
def SetParamsAttribute(self, path, value):
self.GetSlaveInfos()
position = self.BaseParams.getIEC_Channel()
if path == "SlaveParams.Type":
self.CTNParent.SetSlaveType(position, value)
slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
value = (slave_type["device_type"], slave_type)
#if self._View is not None:
#wx.CallAfter(self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos())
#self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos()
#self._View.EtherCATManagementTreebook.PDOMonitoringPanel.PDOInfoUpdate()
#self._View.EtherCATManagementTreebook.SmartView.Create_SmartView()
return value, True
elif path == "SlaveParams.Alias":
self.CTNParent.SetSlaveAlias(position, value)
return value, True
value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value)
# Filter IEC_Channel, Slave_Type and Alias that have specific behavior
if path == "BaseParams.IEC_Channel" and value != position:
self.CTNParent.SetSlavePosition(position, value)
return value, refresh
def GetSlaveInfos(self):
return self.CTNParent.GetSlaveInfos(self.GetSlavePos())
def GetSlaveVariables(self, limits):
return self.CTNParent.GetSlaveVariables(self.GetSlavePos(), limits)
def GetVariableLocationTree(self):
return {"name": self.BaseParams.getName(),
"type": LOCATION_CONFNODE,
"location": self.GetFullIEC_Channel(),
"children": self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), self.GetCurrentLocation(), self.BaseParams.getName())
}
def CTNGenerate_C(self, buildpath, locations):
return [],"",False