Fixing Xenomai runtime specific parts to remove segmentation fault when stopping PLC
import os, sys
base_folder = os.path.split(sys.path[0])[0]
CanFestivalPath = os.path.join(base_folder, "CanFestival-3")
sys.path.append(os.path.join(CanFestivalPath, "objdictgen"))
from nodelist import NodeList
from nodemanager import NodeManager
import config_utils, gen_cfile, eds_utils
from networkedit import networkedit
from objdictedit import objdictedit
import canfestival_config as local_canfestival_config
from ConfigTreeNode import ConfigTreeNode
from commondialogs import CreateNodeDialog
import wx
from SlaveEditor import SlaveEditor
from NetworkEditor import NetworkEditor
from gnosis.xml.pickle import *
from gnosis.xml.pickle.util import setParanoia
setParanoia(0)
if wx.Platform == '__WXMSW__':
DEFAULT_SETTINGS = {
"CAN_Driver": "can_tcp_win32",
"CAN_Device": "127.0.0.1",
"CAN_Baudrate": "125K",
"Slave_NodeId": 2,
"Master_NodeId": 1,
}
else:
DEFAULT_SETTINGS = {
"CAN_Driver": "../CanFestival-3/drivers/can_socket/libcanfestival_can_socket.so",
"CAN_Device": "vcan0",
"CAN_Baudrate": "125K",
"Slave_NodeId": 2,
"Master_NodeId": 1,
}
#--------------------------------------------------
# SLAVE
#--------------------------------------------------
class _SlaveCTN(NodeManager):
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="CanFestivalSlaveNode">
<xsd:complexType>
<xsd:attribute name="CAN_Device" type="xsd:string" use="optional" default="%(CAN_Device)s"/>
<xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional" default="%(CAN_Baudrate)s"/>
<xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Slave_NodeId)d"/>
<xsd:attribute name="Sync_Align" type="xsd:integer" use="optional" default="0"/>
<xsd:attribute name="Sync_Align_Ratio" use="optional" default="50">
<xsd:simpleType>
<xsd:restriction base="xsd:integer">
<xsd:minInclusive value="1"/>
<xsd:maxInclusive value="99"/>
</xsd:restriction>
</xsd:simpleType>
</xsd:attribute>
</xsd:complexType>
</xsd:element>
</xsd:schema>
""" % DEFAULT_SETTINGS
EditorType = SlaveEditor
IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")
def __init__(self):
# TODO change netname when name change
NodeManager.__init__(self)
odfilepath = self.GetSlaveODPath()
if(os.path.isfile(odfilepath)):
self.OpenFileInCurrent(odfilepath)
else:
self.FilePath = ""
dialog = CreateNodeDialog(None, wx.OK)
dialog.Type.Enable(False)
dialog.GenSYNC.Enable(False)
if dialog.ShowModal() == wx.ID_OK:
name, id, nodetype, description = dialog.GetValues()
profile, filepath = dialog.GetProfile()
NMT = dialog.GetNMTManagement()
options = dialog.GetOptions()
self.CreateNewNode(name, # Name - will be changed at build time
id, # NodeID - will be changed at build time
"slave", # Type
description,# description
profile, # profile
filepath, # prfile filepath
NMT, # NMT
options) # options
else:
self.CreateNewNode("SlaveNode", # Name - will be changed at build time
0x00, # NodeID - will be changed at build time
"slave", # Type
"", # description
"None", # profile
"", # prfile filepath
"heartbeat", # NMT
[]) # options
dialog.Destroy()
self.OnCTNSave()
def GetSlaveODPath(self):
return os.path.join(self.CTNPath(), 'slave.od')
def GetCanDevice(self):
return self.CanFestivalSlaveNode.getCan_Device()
def _OpenView(self):
ConfigTreeNode._OpenView(self)
if self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
ConfNodeMethods = [
{"bitmap" : "NetworkEdit",
"name" : "Edit slave",
"tooltip" : "Edit CanOpen slave with ObjdictEdit",
"method" : "_OpenView"},
]
def OnCTNClose(self):
if self._View:
self._View.Close()
def CTNTestModified(self):
return self.ChangesToSave or self.OneFileHasChanged()
def OnCTNSave(self):
return self.SaveCurrentInFile(self.GetSlaveODPath())
def SetParamsAttribute(self, path, value):
result = ConfigTreeNode.SetParamsAttribute(self, path, value)
# Filter IEC_Channel and Name, that have specific behavior
if path == "BaseParams.IEC_Channel" and self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
return result
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)
@param locations: List of complete variables locations \
[{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
"NAME" : name of the variable (generally "__IW0_1_2" style)
"DIR" : direction "Q","I" or "M"
"SIZE" : size "X", "B", "W", "D", "L"
"LOC" : tuple of interger for IEC location (0,1,2,...)
}, ...]
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
"""
current_location = self.GetCurrentLocation()
# define a unique name for the generated C file
prefix = "_".join(map(str, current_location))
Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
# Create a new copy of the model
slave = self.GetCurrentNodeCopy()
slave.SetNodeName("OD_%s"%prefix)
# allow access to local OD from Slave PLC
pointers = config_utils.LocalODPointers(locations, current_location, slave)
res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)
if res :
raise Exception, res
res = eds_utils.GenerateEDSFile(os.path.join(buildpath, "Slave_%s.eds"%prefix), slave)
if res :
raise Exception, res
return [(Gen_OD_path,local_canfestival_config.getCFLAGS(CanFestivalPath))],"",False
def LoadPrevious(self):
self.LoadCurrentPrevious()
def LoadNext(self):
self.LoadCurrentNext()
def GetBufferState(self):
return self.GetCurrentBufferState()
#--------------------------------------------------
# MASTER
#--------------------------------------------------
class MiniNodeManager(NodeManager):
def __init__(self, parent, filepath, fullname):
NodeManager.__init__(self)
self.OpenFileInCurrent(filepath)
self.Parent = parent
self.Fullname = fullname
def OnCloseEditor(self, view):
self.Parent.OnCloseEditor(view)
def CTNFullName(self):
return self.Fullname
def GetBufferState(self):
return self.GetCurrentBufferState()
class _NodeListCTN(NodeList):
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="CanFestivalNode">
<xsd:complexType>
<xsd:attribute name="CAN_Device" type="xsd:string" use="optional" default="%(CAN_Device)s"/>
<xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional" default="%(CAN_Baudrate)s"/>
<xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Master_NodeId)d"/>
<xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>
</xsd:complexType>
</xsd:element>
</xsd:schema>
""" % DEFAULT_SETTINGS
EditorType = NetworkEditor
IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")
def __init__(self):
manager = NodeManager()
NodeList.__init__(self, manager)
self.LoadProject(self.CTNPath())
self.SetNetworkName(self.BaseParams.getName())
def GetCanDevice(self):
return self.CanFestivalNode.getCan_Device()
def SetParamsAttribute(self, path, value):
result = ConfigTreeNode.SetParamsAttribute(self, path, value)
# Filter IEC_Channel and Name, that have specific behavior
if path == "BaseParams.IEC_Channel" and self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
elif path == "BaseParams.Name":
self.SetNetworkName(value)
return result
def _OpenView(self):
ConfigTreeNode._OpenView(self)
if self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
_GeneratedView = None
def _ShowMasterGenerated(self):
if self._GeneratedView is None:
buildpath = self._getBuildPath()
# Eventually create build dir
if not os.path.exists(buildpath):
self.GetCTRoot().logger.write_error(_("Error: No PLC built\n"))
return
masterpath = os.path.join(buildpath, "MasterGenerated.od")
if not os.path.exists(masterpath):
self.GetCTRoot().logger.write_error(_("Error: No Master generated\n"))
return
app_frame = self.GetCTRoot().AppFrame
manager = MiniNodeManager(self, masterpath, self.CTNFullName() + ".generated_master")
self._GeneratedView = SlaveEditor(app_frame.TabsOpened, manager, app_frame, False)
app_frame.EditProjectElement(self._GeneratedView, "MasterGenerated")
def _CloseGenerateView(self):
if self._GeneratedView is not None:
app_frame = self.GetCTRoot().AppFrame
if app_frame is not None:
app_frame.DeletePage(self._GeneratedView)
ConfNodeMethods = [
{"bitmap" : os.path.join("images", "NetworkEdit"),
"name" : _("Edit network"),
"tooltip" : _("Edit CanOpen Network with NetworkEdit"),
"method" : "_OpenView"},
{"bitmap" : os.path.join("images", "ShowMaster"),
"name" : _("Show Master"),
"tooltip" : _("Show Master generated by config_utils"),
"method" : "_ShowMasterGenerated"}
]
def OnCloseEditor(self, view):
ConfigTreeNode.OnCloseEditor(self, view)
if self._GeneratedView == view:
self._GeneratedView = None
def OnCTNClose(self):
ConfigTreeNode.OnCTNClose(self)
self._CloseGenerateView()
return True
def CTNTestModified(self):
return self.ChangesToSave or self.HasChanged()
def OnCTNSave(self):
self.SetRoot(self.CTNPath())
return self.SaveProject() is None
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)
@param locations: List of complete variables locations \
[{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
"NAME" : name of the variable (generally "__IW0_1_2" style)
"DIR" : direction "Q","I" or "M"
"SIZE" : size "X", "B", "W", "D", "L"
"LOC" : tuple of interger for IEC location (0,1,2,...)
}, ...]
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
"""
self._CloseGenerateView()
current_location = self.GetCurrentLocation()
# define a unique name for the generated C file
prefix = "_".join(map(str, current_location))
Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
# Create a new copy of the model with DCF loaded with PDO mappings for desired location
try:
master, pointers = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(),"OD_%s"%prefix)
except config_utils.PDOmappingException, e:
raise Exception, e.message
# Do generate C file.
res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)
if res :
raise Exception, res
file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")
dump(master, file)
file.close()
return [(Gen_OD_path,local_canfestival_config.getCFLAGS(CanFestivalPath))],"",False
def LoadPrevious(self):
self.Manager.LoadCurrentPrevious()
def LoadNext(self):
self.Manager.LoadCurrentNext()
def GetBufferState(self):
return self.Manager.GetCurrentBufferState()
class RootClass:
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="CanFestivalInstance">
<xsd:complexType>
<xsd:attribute name="CAN_Driver" type="xsd:string" use="optional" default="%(CAN_Driver)s"/>
<xsd:attribute name="Debug_mode" type="xsd:boolean" use="optional" default="false"/>
</xsd:complexType>
</xsd:element>
</xsd:schema>
""" % DEFAULT_SETTINGS
CTNChildrenTypes = [("CanOpenNode",_NodeListCTN, "CanOpen Master"),
("CanOpenSlave",_SlaveCTN, "CanOpen Slave")]
def GetParamsAttributes(self, path = None):
infos = ConfigTreeNode.GetParamsAttributes(self, path = None)
for element in infos:
if element["name"] == "CanFestivalInstance":
for child in element["children"]:
if child["name"] == "CAN_Driver":
DLL_LIST= getattr(local_canfestival_config,"DLL_LIST",None)
if DLL_LIST is not None:
child["type"] = DLL_LIST
return infos
def GetCanDriver(self):
can_driver = self.CanFestivalInstance.getCAN_Driver()
if sys.platform == 'win32':
if self.CanFestivalInstance.getDebug_mode() and os.path.isfile(os.path.join("%s"%(can_driver + '_DEBUG.dll'))):
can_driver += '_DEBUG.dll'
else:
can_driver += '.dll'
return can_driver
def CTNGenerate_C(self, buildpath, locations):
format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())),
"candriver" : self.GetCanDriver(),
"nodes_includes" : "",
"board_decls" : "",
"nodes_init" : "",
"nodes_open" : "",
"nodes_stop" : "",
"nodes_close" : "",
"nodes_send_sync" : "",
"nodes_proceed_sync" : "",
"slavebootups" : "",
"slavebootup_register" : "",
"post_sync" : "",
"post_sync_register" : "",
}
for child in self.IECSortedChildren():
childlocstr = "_".join(map(str,child.GetCurrentLocation()))
nodename = "OD_%s" % childlocstr
# Try to get Slave Node
child_data = getattr(child, "CanFestivalSlaveNode", None)
if child_data is None:
# Not a slave -> master
child_data = getattr(child, "CanFestivalNode")
# Apply sync setting
format_dict["nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n '%(
nodename,
child_data.getNodeId())
if child_data.getSync_TPDOs():
format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n '%(nodename)
format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n '%(nodename)
# initialize and declare node boot status variables for post_SlaveBootup lookup
SlaveIDs = child.GetSlaveIDs()
if len(SlaveIDs) == 0:
# define post_SlaveBootup lookup functions
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){}\n"%(nodename))
else:
for id in SlaveIDs:
format_dict["slavebootups"] += (
"int %s_slave_%d_booted = 0;\n"%(nodename, id))
# define post_SlaveBootup lookup functions
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"%(nodename)+
" switch(nodeId){\n")
# one case per declared node, mark node as booted
for id in SlaveIDs:
format_dict["slavebootups"] += (
" case %d:\n"%(id)+
" %s_slave_%d_booted = 1;\n"%(nodename, id)+
" break;\n")
format_dict["slavebootups"] += (
" default:\n"+
" break;\n"+
" }\n"+
" if( ")
# expression to test if all declared nodes booted
format_dict["slavebootups"] += " && ".join(["%s_slave_%d_booted"%(nodename, id) for id in SlaveIDs])
format_dict["slavebootups"] += " )\n" + (
" Master_post_SlaveBootup(d,nodeId);\n"+
"}\n")
# register previously declared func as post_SlaveBootup callback for that node
format_dict["slavebootup_register"] += (
"%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n"%(nodename,nodename))
else:
# Slave node
align = child_data.getSync_Align()
align_ratio=child_data.getSync_Align_Ratio()
if align > 0:
format_dict["post_sync"] += (
"static int %s_CalCount = 0;\n"%(nodename)+
"static void %s_post_sync(CO_Data* d){\n"%(nodename)+
" if(%s_CalCount < %d){\n"%(nodename, align)+
" %s_CalCount++;\n"%(nodename)+
" align_tick(-1);\n"+
" }else{\n"+
" align_tick(%d);\n"%(align_ratio)+
" }\n"+
"}\n")
format_dict["post_sync_register"] += (
"%s_Data.post_sync = %s_post_sync;\n"%(nodename,nodename))
format_dict["nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n '%(
nodename,
child_data.getNodeId())
# Include generated OD headers
format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)
# Declare CAN channels according user filled config
format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(
nodename,
child.GetCanDevice(),
child_data.getCAN_Baudrate())
format_dict["nodes_open"] += 'NODE_OPEN(%s)\n '%(nodename)
format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n '%(nodename)
format_dict["nodes_stop"] += 'NODE_STOP(%s)\n '%(nodename)
filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")
cf_main = open(filename).read() % format_dict
cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)
f = open(cf_main_path,'w')
f.write(cf_main)
f.close()
return [(cf_main_path, local_canfestival_config.getCFLAGS(CanFestivalPath))],local_canfestival_config.getLDFLAGS(CanFestivalPath), True