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, a Integrated Development Environment for
# programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
#
# Copyright (c) 2016 Mario de Sousa (msousa@fe.up.pt)
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 2 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
#
# This code is made available on the understanding that it will not be
# used in safety-critical situations without a full and competent review.
# dictionary implementing:
# key - string with the description we want in the request plugin GUI
# tuple - (modbus function number, request type, max count value,
# data_type, bit_size)
modbus_function_dict = {
"01 - Read Coils": ('1', 'req_input', 2000, "BOOL", 1, "Q", "X", "Coil"),
"02 - Read Input Discretes": ('2', 'req_input', 2000, "BOOL", 1, "I", "X", "Input Discrete"),
"03 - Read Holding Registers": ('3', 'req_input', 125, "WORD", 16, "Q", "W", "Holding Register"),
"04 - Read Input Registers": ('4', 'req_input', 125, "WORD", 16, "I", "W", "Input Register"),
"05 - Write Single coil": ('5', 'req_output', 1, "BOOL", 1, "Q", "X", "Coil"),
"06 - Write Single Register": ('6', 'req_output', 1, "WORD", 16, "Q", "W", "Holding Register"),
"15 - Write Multiple Coils": ('15', 'req_output', 1968, "BOOL", 1, "Q", "X", "Coil"),
"16 - Write Multiple Registers": ('16', 'req_output', 123, "WORD", 16, "Q", "W", "Holding Register")}
# Configuration tree value acces helper
def GetCTVal(child, index):
return child.GetParamsAttributes()[0]["children"][index]["value"]
# Configuration tree value acces helper, for multiple values
def GetCTVals(child, indexes):
return map(lambda index: GetCTVal(child, index), indexes)
def GetTCPServerNodePrinted(self, child):
"""
Outputs a string to be used on C files
params: child - the correspondent subplugin in Beremiz
"""
node_init_template = '''/*node %(locnodestr)s*/
{"%(locnodestr)s", %(slaveid)s, {naf_tcp, {.tcp = {%(host)s, "%(port)s", DEF_CLOSE_ON_SILENCE}}}, -1 /* mb_nd */, 0 /* init_state */}'''
location = ".".join(map(str, child.GetCurrentLocation()))
host, port, slaveid = GetCTVals(child, range(3))
if host == "#ANY#":
host = 'INADDR_ANY'
else:
host = '"' + host + '"'
# slaveid = GetCTVal(child, 2)
# if int(slaveid) not in xrange(256):
# self.GetCTRoot().logger.write_error("Error: Wrong slave ID in %s server node\nModbus Plugin C code returns empty\n"%location)
# return None
node_dict = {"locnodestr": location,
"host": host,
"port": port,
"slaveid": slaveid}
return node_init_template % node_dict
def GetTCPServerMemAreaPrinted(self, child, nodeid):
"""
Outputs a string to be used on C files
params: child - the correspondent subplugin in Beremiz
nodeid - on C code, each request has it's own parent node (sequential, 0..NUMBER_OF_NODES)
It's this parameter.
return: None - if any definition error found
The string that should be added on C code - if everything goes allright
"""
request_dict = {}
request_dict["locreqstr"] = "_".join(map(str, child.GetCurrentLocation()))
request_dict["nodeid"] = str(nodeid)
request_dict["address"] = GetCTVal(child, 2)
if int(request_dict["address"]) not in xrange(65536):
self.GetCTRoot().logger.write_error(
"Modbus plugin: Invalid Start Address in server memory area node %(locreqstr)s (Must be in the range [0..65535])\nModbus plugin: Aborting C code generation for this node\n" % request_dict)
return None
request_dict["count"] = GetCTVal(child, 1)
if int(request_dict["count"]) not in xrange(1, 65536):
self.GetCTRoot().logger.write_error(
"Modbus plugin: Invalid number of channels in server memory area node %(locreqstr)s (Must be in the range [1..65536-start_address])\nModbus plugin: Aborting C code generation for this node\n" % request_dict)
return None
if (int(request_dict["address"]) + int(request_dict["count"])) not in xrange(1, 65537):
self.GetCTRoot().logger.write_error(
"Modbus plugin: Invalid number of channels in server memory area node %(locreqstr)s (Must be in the range [1..65536-start_address])\nModbus plugin: Aborting C code generation for this node\n" % request_dict)
return None
return ""
modbus_serial_baudrate_list = [
"110", "300", "600", "1200", "2400", "4800", "9600", "19200", "38400", "57600", "115200"]
modbus_serial_stopbits_list = ["1", "2"]
modbus_serial_parity_dict = {"none": 0, "odd": 1, "even": 2}
def GetRTUSlaveNodePrinted(self, child):
"""
Outputs a string to be used on C files
params: child - the correspondent subplugin in Beremiz
"""
node_init_template = '''/*node %(locnodestr)s*/
{"%(locnodestr)s", %(slaveid)s, {naf_rtu, {.rtu = {"%(device)s", %(baud)s /*baud*/, %(parity)s /*parity*/, 8 /*data bits*/, %(stopbits)s, 0 /* ignore echo */}}}, -1 /* mb_nd */, 0 /* init_state */}'''
location = ".".join(map(str, child.GetCurrentLocation()))
device, baud, parity, stopbits, slaveid = GetCTVals(child, range(5))
node_dict = {"locnodestr": location,
"device": device,
"baud": baud,
"parity": modbus_serial_parity_dict[parity],
"stopbits": stopbits,
"slaveid": slaveid}
return node_init_template % node_dict
def GetRTUClientNodePrinted(self, child):
"""
Outputs a string to be used on C files
params: child - the correspondent subplugin in Beremiz
"""
node_init_template = '''/*node %(locnodestr)s*/
{"%(locnodestr)s", {naf_rtu, {.rtu = {"%(device)s", %(baud)s /*baud*/, %(parity)s /*parity*/, 8 /*data bits*/, %(stopbits)s, 0 /* ignore echo */}}}, -1 /* mb_nd */, 0 /* init_state */, %(coms_period)s /* communication period */}'''
location = ".".join(map(str, child.GetCurrentLocation()))
device, baud, parity, stopbits, coms_period = GetCTVals(child, range(5))
node_dict = {"locnodestr": location,
"device": device,
"baud": baud,
"parity": modbus_serial_parity_dict[parity],
"stopbits": stopbits,
"coms_period": coms_period}
return node_init_template % node_dict
def GetTCPClientNodePrinted(self, child):
"""
Outputs a string to be used on C files
params: child - the correspondent subplugin in Beremiz
"""
node_init_template = '''/*node %(locnodestr)s*/
{"%(locnodestr)s", {naf_tcp, {.tcp = {"%(host)s", "%(port)s", DEF_CLOSE_ON_SILENCE}}}, -1 /* mb_nd */, 0 /* init_state */, %(coms_period)s /* communication period */, 0 /* prev_error */}'''
location = ".".join(map(str, child.GetCurrentLocation()))
host, port, coms_period = GetCTVals(child, range(3))
node_dict = {"locnodestr": location,
"host": host,
"port": port,
"coms_period": coms_period}
return node_init_template % node_dict
def GetClientRequestPrinted(self, child, nodeid):
"""
Outputs a string to be used on C files
params: child - the correspondent subplugin in Beremiz
nodeid - on C code, each request has it's own parent node (sequential, 0..NUMBER_OF_NODES)
It's this parameter.
return: None - if any definition error found
The string that should be added on C code - if everything goes allright
"""
req_init_template = '''/*request %(locreqstr)s*/
{"%(locreqstr)s", %(nodeid)s, %(slaveid)s, %(iotype)s, %(func_nr)s, %(address)s , %(count)s,
DEF_REQ_SEND_RETRIES, 0 /* error_code */, 0 /* prev_code */, {%(timeout_s)d, %(timeout_ns)d} /* timeout */,
{%(buffer)s}, {%(buffer)s}}'''
timeout = int(GetCTVal(child, 4))
timeout_s = int(timeout / 1000)
timeout_ms = timeout - (timeout_s * 1000)
timeout_ns = timeout_ms * 1000000
request_dict = {
"locreqstr": "_".join(map(str, child.GetCurrentLocation())),
"nodeid": str(nodeid),
"slaveid": GetCTVal(child, 1),
"address": GetCTVal(child, 3),
"count": GetCTVal(child, 2),
"timeout": timeout,
"timeout_s": timeout_s,
"timeout_ns": timeout_ns,
"buffer": ",".join(['0'] * int(GetCTVal(child, 2))),
"func_nr": modbus_function_dict[GetCTVal(child, 0)][0],
"iotype": modbus_function_dict[GetCTVal(child, 0)][1],
"maxcount": modbus_function_dict[GetCTVal(child, 0)][2]}
if int(request_dict["slaveid"]) not in xrange(256):
self.GetCTRoot().logger.write_error(
"Modbus plugin: Invalid slaveID in TCP client request node %(locreqstr)s (Must be in the range [0..255])\nModbus plugin: Aborting C code generation for this node\n" % request_dict)
return None
if int(request_dict["address"]) not in xrange(65536):
self.GetCTRoot().logger.write_error(
"Modbus plugin: Invalid Start Address in TCP client request node %(locreqstr)s (Must be in the range [0..65535])\nModbus plugin: Aborting C code generation for this node\n" % request_dict)
return None
if int(request_dict["count"]) not in xrange(1, 1 + int(request_dict["maxcount"])):
self.GetCTRoot().logger.write_error(
"Modbus plugin: Invalid number of channels in TCP client request node %(locreqstr)s (Must be in the range [1..%(maxcount)s])\nModbus plugin: Aborting C code generation for this node\n" % request_dict)
return None
if (int(request_dict["address"]) + int(request_dict["count"])) not in xrange(1, 65537):
self.GetCTRoot().logger.write_error(
"Modbus plugin: Invalid number of channels in TCP client request node %(locreqstr)s (start_address + nr_channels must be less than 65536)\nModbus plugin: Aborting C code generation for this node\n" % request_dict)
return None
return req_init_template % request_dict