runtime/spawn_subprocess.py
author Edouard Tisserant
Wed, 01 Mar 2023 10:54:54 +0100
changeset 3740 ac0e6de439b5
parent 3293 d2b0c768755d
child 3750 f62625418bff
child 3860 a1d7187b8402
permissions -rw-r--r--
Linux runtime: overrun detection for real-time timers and for plc execution.

If real-time timer wakes-up PLC thread too late (10% over period), then
warning is logged.

If PLC code (IO retreive, execution, IO publish) takes longer than requested
PLC execution cycle, then warning is logged, and CPU hoogging is mitigated
by delaying next PLC execution a few cylces more until having at least
1ms minimal idle time.
#!/usr/bin/env python
# -*- coding: utf-8 -*-

# subset of subprocess built-in module using posix_spawn rather than fork.

from __future__ import print_function
from __future__ import absolute_import
import os
import signal
import shlex
import posix_spawn

PIPE = "42"


class Popen(object):
    def __init__(self, args, stdin=None, stdout=None):
        self.returncode = None
        self.stdout = None
        self.stdin = None
        # TODO: stderr
        file_actions = posix_spawn.FileActions()
        if stdout is not None:
            # child's stdout, child 2 parent pipe
            c2pread, c2pwrite = os.pipe()
            # attach child's stdout to writing en of c2p pipe
            file_actions.add_dup2(c2pwrite, 1)
            # close other end
            file_actions.add_close(c2pread)
        if stdin is not None:
            # child's stdin, parent to child pipe
            p2cread, p2cwrite = os.pipe()
            # attach child's stdin to reading en of p2c pipe
            file_actions.add_dup2(p2cread, 0)
            # close other end
            file_actions.add_close(p2cwrite)
        self.pid = posix_spawn.posix_spawnp(args[0], args, file_actions=file_actions)
        if stdout is not None:
            self.stdout = os.fdopen(c2pread)
            os.close(c2pwrite)
        if stdin is not None:
            self.stdin = os.fdopen(p2cwrite, 'w')
            os.close(p2cread)

    def _wait(self):
        if self.returncode is None:
            self.returncode = os.waitpid(self.pid, 0)[1]

    def communicate(self):
        if self.stdin is not None:
            self.stdin.close()
            self.stdin = None
        if self.stdout is not None:
            stdoutdata = self.stdout.read()
        else:
            stdoutdata = ""

        # TODO
        stderrdata = ""

        self._wait()
        if self.stdout is not None:
            self.stdout.close()
            self.stdout = None

        return (stdoutdata, stderrdata)

    def wait(self):
        if self.stdin is not None:
            self.stdin.close()
            self.stdin = None
        self._wait()
        if self.stdout is not None:
            self.stdout.close()
            self.stdout = None
        return self.returncode

    def poll(self):
        if self.returncode is None:
            pid, ret = os.waitpid(self.pid, os.WNOHANG)
            if (pid, ret) != (0, 0):
                self.returncode = ret

                if self.stdin is not None:
                    self.stdin.close()
                    self.stdin = None
                if self.stdout is not None:
                    self.stdout.close()
                    self.stdout = None

        return self.returncode

    def kill(self):
        os.kill(self.pid, signal.SIGKILL)

        if self.stdin is not None:
            self.stdin.close()
            self.stdin = None
        if self.stdout is not None:
            self.stdout.close()
            self.stdout = None


def call(*args):
    cmd = []
    if isinstance(args[0], str):
        if len(args) == 1:
            # splitting of arguments that cares about 
            # use of simple and double quotes
            cmd = shlex.split(args[0])
        else:
            cmd = args
    elif isinstance(args[0], list) and len(args) == 1:
        cmd = args[0]
    else:
        raise Exception("Wrong arguments passed to subprocess.call")
    pid = posix_spawn.posix_spawnp(cmd[0], cmd)
    return os.waitpid(pid, 0)


if __name__ == '__main__':
    # unit test

    p = Popen(["tr", "abc", "def"], stdin=PIPE, stdout=PIPE)
    p.stdin.write("blah")
    p.stdin.close()
    print(p.stdout.read())
    p.wait()

    p = Popen(["tr", "abc", "def"], stdin=PIPE, stdout=PIPE)
    p.stdin.write("blah")
    print(p.communicate())

    call("echo blah0")
    call(["echo", "blah1"])
    call("echo", "blah2")