canfestival/cf_runtime.c
author Andrey Skvortsov <andrej.skvortzov@gmail.com>
Fri, 24 Aug 2018 13:41:43 +0300
changeset 2297 96ca6b056c55
parent 1428 e14003eb4d42
permissions -rw-r--r--
Proper fix for error 'object has no attribute 'getSlave' in EtherCAT extension

traceback:
File "/home/developer/WorkData/PLC/beremiz/beremiz/IDEFrame.py", line 1433, in OnPouSelectedChanged
window.RefreshView()
File "/home/developer/WorkData/PLC/beremiz/beremiz/etherlab/ConfigEditor.py", line 837, in RefreshView
self.RefreshProcessVariables()
File "/home/developer/WorkData/PLC/beremiz/beremiz/etherlab/ConfigEditor.py", line 886, in RefreshProcessVariables
slaves = self.Controler.GetSlaves(**self.CurrentNodesFilter)
File "/home/developer/WorkData/PLC/beremiz/beremiz/etherlab/EthercatMaster.py", line 341, in GetSlaves
for slave in self.Config.getConfig().getSlave():
<type 'exceptions.AttributeError'>:_'lxml.etree._Element'_object_has_no_attribute_'getSlave'

Steps to reproduce problem:

- Add new EtherCAT master
- Add new EthercatNode to the master
- double click on


Revert commit "Dirty fix for error '_object_has_no_attribute_'getSlave' in EtherCAT extension"
[a3ac46366b86a0b237dac93be6b2281ac70b98a8].

The problem was that XML elements (proxy object) in some cases were created using custom XML
classes constructors and lxml.etree.Element() call and live python
patching. This causes that lxml backend doesn't know that custom python class
should be used for these XML elements.
Proxy object can be move/deleted and recreated by lxml
backend at any point in time or this can be done in python by copy/deepcopy operations.
If this happens, then newly created
proxy elements are using default class lxml.etree._Element. And all
custom functionality is lost.

All created XML elements should be always created through corresponding
parser and class lookup callback done by lxml backend.
It's described in more details in lxml documentation:
https://lxml.de/element_classes.html

#include "canfestival.h"
#include "dcf.h"

/* CanFestival nodes generated OD headers*/
%(nodes_includes)s

#define BOARD_DECL(nodename, busname, baudrate)\
    s_BOARD nodename##Board = {busname, baudrate};

/* CAN channels declaration */
%(board_decls)s

/* Keep track of init level to cleanup correctly */
static int init_level=0;
/* Retrieve PLC cycle time */
extern unsigned long long common_ticktime__;

/* Per master node slavebootup callbacks. Checks that
 * every node have booted before calling Master_post_SlaveBootup */
%(slavebootups)s

/* One slave node post_sync callback.
 * Used to align PLC tick-time on CANopen SYNC
 */
%(post_sync)s

/* Triggers DCF transission
 */
%(pre_op)s

#define NODE_FORCE_SYNC(nodename) \
    /* Artificially force sync state to 1 so that it is not started */\
    nodename##_Data.CurrentCommunicationState.csSYNC = -1;\
    /* Force sync period to common_ticktime__ so that other node can read it*/\
    *nodename##_Data.COB_ID_Sync = 0x40000080;\
    *nodename##_Data.Sync_Cycle_Period = common_ticktime__ / 1000;

static void DeferedInitAlarm(CO_Data* d, UNS32 id){
    /* Node will start beeing active on the network after this */
    setState(d, Initialisation);
}

#define NODE_INIT(nodename, nodeid) \
    /* Defining the node Id */\
    setNodeId(&nodename##_Data, nodeid);\
    SetAlarm(&nodename##_Data,0,&DeferedInitAlarm,MS_TO_TIMEVAL(100),0);

#define NODE_MASTER_INIT(nodename, nodeid) \
    NODE_FORCE_SYNC(nodename) \
    NODE_INIT(nodename, nodeid)

#define NODE_SLAVE_INIT(nodename, nodeid) \
    NODE_INIT(nodename, nodeid)

static void InitNodes(CO_Data* d, UNS32 id)
{
    %(slavebootup_register)s
    %(post_sync_register)s
    %(pre_op_register)s
    %(nodes_init)s
}

#define NODE_STOP(nodename) \
    if(init_level-- > 0)\
    {\
        masterSendNMTstateChange(&nodename##_Data, 0, NMT_Reset_Node);\
        setState(&nodename##_Data, Stopped);\
    }

static void Exit(CO_Data* d, UNS32 id)
{
    %(nodes_stop)s
}

#define NODE_CLOSE(nodename) \
    if(init_level_c-- > 0)\
    {\
      canClose(&nodename##_Data);\
    }

void __cleanup_%(locstr)s(void)
{
    // Stop timer thread
    if(init_level-- > 0){
    int init_level_c = init_level;
        StopTimerLoop(&Exit);
        %(nodes_close)s
    }

    TimerCleanup();
}

#ifndef stderr
#define fprintf(...)
#define fflush(...)
#endif

#define NODE_OPEN(nodename)\
    if(!canOpen(&nodename##Board,&nodename##_Data)){\
        fprintf(stderr,"Cannot open CAN intefrace %%s at speed %%s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
        fflush(stderr);\
        return -1;\
    }\
    init_level++;

/***************************  INIT  *****************************************/
int __init_%(locstr)s(int argc,char **argv)
{
#ifndef NOT_USE_DYNAMIC_LOADING
    if( !LoadCanDriver("%(candriver)s") ){
        fprintf(stderr, "Cannot load CAN interface library for CanFestival (%(candriver)s)\n");\
        fflush(stderr);\
        return -1;\
    }
#endif

    TimerInit();

    %(nodes_open)s

    // Start timer thread
    StartTimerLoop(&InitNodes);
    init_level++;
    return 0;
}

#define NODE_SEND_SYNC(nodename)\
    if(getState(&nodename##_Data)==Operational){\
        sendSYNCMessage(&nodename##_Data);\
    }

void __retrieve_%(locstr)s(void)
{
    /* Locks the stack, so that no changes occurs while PLC access variables
     * TODO : implement buffers to avoid such a big lock
     *  */
    EnterMutex();
    /* Send Sync */
    %(nodes_send_sync)s
}

#define NODE_PROCEED_SYNC(nodename)\
    proceedSYNC(&nodename##_Data);

void __publish_%(locstr)s(void)
{
    /* Process sync event */
    %(nodes_proceed_sync)s
    LeaveMutex();
}