#!/usr/bin/env python
# -*- coding: utf-8 -*-
# This file is part of Beremiz runtime.
#
# Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
#
# See COPYING.Runtime file for copyrights details.
#
# This library is free software; you can redistribute it and/or
# modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation; either
# version 2.1 of the License, or (at your option) any later version.
# This library 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
# Lesser General Public License for more details.
# You should have received a copy of the GNU Lesser General Public
# License along with this library; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
from __future__ import absolute_import
import thread
from threading import Thread, Lock, Semaphore, Event, Condition
import ctypes
import os
import sys
import traceback
from time import time
import _ctypes # pylint: disable=wrong-import-order
import Pyro.core as pyro
from runtime.typemapping import TypeTranslator
from runtime.loglevels import LogLevelsDefault, LogLevelsCount
if os.name in ("nt", "ce"):
dlopen = _ctypes.LoadLibrary
dlclose = _ctypes.FreeLibrary
elif os.name == "posix":
dlopen = _ctypes.dlopen
dlclose = _ctypes.dlclose
def get_last_traceback(tb):
while tb.tb_next:
tb = tb.tb_next
return tb
lib_ext = {
"linux2": ".so",
"win32": ".dll",
}.get(sys.platform, "")
def PLCprint(message):
sys.stdout.write("PLCobject : "+message+"\n")
sys.stdout.flush()
class job(object):
"""
job to be executed by a worker
"""
def __init__(self, call, *args, **kwargs):
self.job = (call, args, kwargs)
self.result = None
self.success = False
self.exc_info = None
def do(self):
"""
do the job by executing the call, and deal with exceptions
"""
try:
call, args, kwargs = self.job
self.result = call(*args, **kwargs)
self.success = True
except Exception:
self.success = False
self.exc_info = sys.exc_info()
class worker(object):
"""
serialize main thread load/unload of PLC shared objects
"""
def __init__(self):
# Only one job at a time
self._finish = False
self._threadID = None
self.mutex = Lock()
self.todo = Condition(self.mutex)
self.done = Condition(self.mutex)
self.free = Condition(self.mutex)
self.job = None
def runloop(self, *args, **kwargs):
"""
meant to be called by worker thread (blocking)
"""
self._threadID = thread.get_ident()
if args or kwargs:
job(*args, **kwargs).do()
# result is ignored
self.mutex.acquire()
while not self._finish:
self.todo.wait()
if self.job is not None:
self.job.do()
self.done.notify()
else:
self.free.notify()
self.mutex.release()
def call(self, *args, **kwargs):
"""
creates a job, execute it in worker thread, and deliver result.
if job execution raise exception, re-raise same exception
meant to be called by non-worker threads, but this is accepted.
blocking until job done
"""
_job = job(*args, **kwargs)
if self._threadID == thread.get_ident() or self._threadID is None:
# if caller is worker thread execute immediately
_job.do()
else:
# otherwise notify and wait for completion
self.mutex.acquire()
while self.job is not None:
self.free.wait()
self.job = _job
self.todo.notify()
self.done.wait()
_job = self.job
self.job = None
self.mutex.release()
if _job.success:
return _job.result
else:
raise _job.exc_info[0], _job.exc_info[1], _job.exc_info[2]
def quit(self):
"""
unblocks main thread, and terminate execution of runloop()
"""
# mark queue
self._finish = True
self.mutex.acquire()
self.job = None
self.todo.notify()
self.mutex.release()
MainWorker = worker()
def RunInMain(func):
def func_wrapper(*args, **kwargs):
return MainWorker.call(func, *args, **kwargs)
return func_wrapper
class PLCObject(pyro.ObjBase):
def __init__(self, server):
pyro.ObjBase.__init__(self)
self.evaluator = server.evaluator
self.argv = [server.workdir] + server.argv # force argv[0] to be "path" to exec...
self.workingdir = server.workdir
self.PLCStatus = "Empty"
self.PLClibraryHandle = None
self.PLClibraryLock = Lock()
self.DummyIteratorLock = None
# Creates fake C funcs proxies
self._InitPLCStubCalls()
self.daemon = server.daemon
self.statuschange = server.statuschange
self.hmi_frame = None
self.pyruntimevars = server.pyruntimevars
self._loading_error = None
self.python_runtime_vars = None
self.TraceThread = None
self.TraceLock = Lock()
self.Traces = []
# First task of worker -> no @RunInMain
def AutoLoad(self):
# Get the last transfered PLC
try:
self.CurrentPLCFilename = open(
self._GetMD5FileName(),
"r").read().strip() + lib_ext
if self.LoadPLC():
self.PLCStatus = "Stopped"
except Exception:
self.PLCStatus = "Empty"
self.CurrentPLCFilename = None
def StatusChange(self):
if self.statuschange is not None:
for callee in self.statuschange:
callee(self.PLCStatus)
@RunInMain
def LogMessage(self, *args):
if len(args) == 2:
level, msg = args
else:
level = LogLevelsDefault
msg, = args
PLCprint(msg)
if self._LogMessage is not None:
return self._LogMessage(level, msg, len(msg))
return None
@RunInMain
def ResetLogCount(self):
if self._ResetLogCount is not None:
self._ResetLogCount()
# used internaly
def GetLogCount(self, level):
if self._GetLogCount is not None:
return int(self._GetLogCount(level))
elif self._loading_error is not None and level == 0:
return 1
@RunInMain
def GetLogMessage(self, level, msgid):
tick = ctypes.c_uint32()
tv_sec = ctypes.c_uint32()
tv_nsec = ctypes.c_uint32()
if self._GetLogMessage is not None:
maxsz = len(self._log_read_buffer)-1
sz = self._GetLogMessage(level, msgid,
self._log_read_buffer, maxsz,
ctypes.byref(tick),
ctypes.byref(tv_sec),
ctypes.byref(tv_nsec))
if sz and sz <= maxsz:
self._log_read_buffer[sz] = '\x00'
return self._log_read_buffer.value, tick.value, tv_sec.value, tv_nsec.value
elif self._loading_error is not None and level == 0:
return self._loading_error, 0, 0, 0
return None
def _GetMD5FileName(self):
return os.path.join(self.workingdir, "lasttransferedPLC.md5")
def _GetLibFileName(self):
return os.path.join(self.workingdir, self.CurrentPLCFilename)
def _LoadPLC(self):
"""
Load PLC library
Declare all functions, arguments and return values
"""
md5 = open(self._GetMD5FileName(), "r").read()
self.PLClibraryLock.acquire()
try:
self._PLClibraryHandle = dlopen(self._GetLibFileName())
self.PLClibraryHandle = ctypes.CDLL(self.CurrentPLCFilename, handle=self._PLClibraryHandle)
self.PLC_ID = ctypes.c_char_p.in_dll(self.PLClibraryHandle, "PLC_ID")
if len(md5) == 32:
self.PLC_ID.value = md5
self._startPLC = self.PLClibraryHandle.startPLC
self._startPLC.restype = ctypes.c_int
self._startPLC.argtypes = [ctypes.c_int, ctypes.POINTER(ctypes.c_char_p)]
self._stopPLC_real = self.PLClibraryHandle.stopPLC
self._stopPLC_real.restype = None
self._PythonIterator = getattr(self.PLClibraryHandle, "PythonIterator", None)
if self._PythonIterator is not None:
self._PythonIterator.restype = ctypes.c_char_p
self._PythonIterator.argtypes = [ctypes.c_char_p, ctypes.POINTER(ctypes.c_void_p)]
self._stopPLC = self._stopPLC_real
else:
# If python confnode is not enabled, we reuse _PythonIterator
# as a call that block pythonthread until StopPLC
self.PlcStopping = Event()
def PythonIterator(res, blkid):
self.PlcStopping.clear()
self.PlcStopping.wait()
return None
self._PythonIterator = PythonIterator
def __StopPLC():
self._stopPLC_real()
self.PlcStopping.set()
self._stopPLC = __StopPLC
self._ResetDebugVariables = self.PLClibraryHandle.ResetDebugVariables
self._ResetDebugVariables.restype = None
self._RegisterDebugVariable = self.PLClibraryHandle.RegisterDebugVariable
self._RegisterDebugVariable.restype = None
self._RegisterDebugVariable.argtypes = [ctypes.c_int, ctypes.c_void_p]
self._FreeDebugData = self.PLClibraryHandle.FreeDebugData
self._FreeDebugData.restype = None
self._GetDebugData = self.PLClibraryHandle.GetDebugData
self._GetDebugData.restype = ctypes.c_int
self._GetDebugData.argtypes = [ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_void_p)]
self._suspendDebug = self.PLClibraryHandle.suspendDebug
self._suspendDebug.restype = ctypes.c_int
self._suspendDebug.argtypes = [ctypes.c_int]
self._resumeDebug = self.PLClibraryHandle.resumeDebug
self._resumeDebug.restype = None
self._ResetLogCount = self.PLClibraryHandle.ResetLogCount
self._ResetLogCount.restype = None
self._GetLogCount = self.PLClibraryHandle.GetLogCount
self._GetLogCount.restype = ctypes.c_uint32
self._GetLogCount.argtypes = [ctypes.c_uint8]
self._LogMessage = self.PLClibraryHandle.LogMessage
self._LogMessage.restype = ctypes.c_int
self._LogMessage.argtypes = [ctypes.c_uint8, ctypes.c_char_p, ctypes.c_uint32]
self._log_read_buffer = ctypes.create_string_buffer(1 << 14) # 16K
self._GetLogMessage = self.PLClibraryHandle.GetLogMessage
self._GetLogMessage.restype = ctypes.c_uint32
self._GetLogMessage.argtypes = [ctypes.c_uint8, ctypes.c_uint32, ctypes.c_char_p, ctypes.c_uint32, ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_uint32), ctypes.POINTER(ctypes.c_uint32)]
self._loading_error = None
except Exception:
self._loading_error = traceback.format_exc()
PLCprint(self._loading_error)
return False
finally:
self.PLClibraryLock.release()
return True
@RunInMain
def LoadPLC(self):
res = self._LoadPLC()
if res:
self.PythonRuntimeInit()
else:
self._FreePLC()
return res
@RunInMain
def UnLoadPLC(self):
self.PythonRuntimeCleanup()
self._FreePLC()
def _InitPLCStubCalls(self):
"""
create dummy C func proxies
"""
self._startPLC = lambda x, y: None
self._stopPLC = lambda: None
self._ResetDebugVariables = lambda: None
self._RegisterDebugVariable = lambda x, y: None
self._IterDebugData = lambda x, y: None
self._FreeDebugData = lambda: None
self._GetDebugData = lambda: -1
self._suspendDebug = lambda x: -1
self._resumeDebug = lambda: None
self._PythonIterator = lambda: ""
self._GetLogCount = None
self._LogMessage = None
self._GetLogMessage = None
self._PLClibraryHandle = None
self.PLClibraryHandle = None
def _FreePLC(self):
"""
Unload PLC library.
This is also called by __init__ to create dummy C func proxies
"""
self.PLClibraryLock.acquire()
try:
# Unload library explicitely
if getattr(self, "_PLClibraryHandle", None) is not None:
dlclose(self._PLClibraryHandle)
# Forget all refs to library
self._InitPLCStubCalls()
finally:
self.PLClibraryLock.release()
return False
def PythonRuntimeCall(self, methodname):
"""
Calls init, start, stop or cleanup method provided by
runtime python files, loaded when new PLC uploaded
"""
for method in self.python_runtime_vars.get("_runtime_%s" % methodname, []):
_res, exp = self.evaluator(method)
if exp is not None:
self.LogMessage(0, '\n'.join(traceback.format_exception(*exp)))
# used internaly
def PythonRuntimeInit(self):
MethodNames = ["init", "start", "stop", "cleanup"]
self.python_runtime_vars = globals().copy()
self.python_runtime_vars.update(self.pyruntimevars)
parent = self
class PLCSafeGlobals(object):
def __getattr__(self, name):
try:
t = parent.python_runtime_vars["_"+name+"_ctype"]
except KeyError:
raise KeyError("Try to get unknown shared global variable : %s" % name)
v = t()
parent.python_runtime_vars["_PySafeGetPLCGlob_"+name](ctypes.byref(v))
return parent.python_runtime_vars["_"+name+"_unpack"](v)
def __setattr__(self, name, value):
try:
t = parent.python_runtime_vars["_"+name+"_ctype"]
except KeyError:
raise KeyError("Try to set unknown shared global variable : %s" % name)
v = parent.python_runtime_vars["_"+name+"_pack"](t, value)
parent.python_runtime_vars["_PySafeSetPLCGlob_"+name](ctypes.byref(v))
self.python_runtime_vars.update({
"PLCGlobals": PLCSafeGlobals(),
"WorkingDir": self.workingdir,
"PLCObject": self,
"PLCBinary": self.PLClibraryHandle,
"PLCGlobalsDesc": []})
for methodname in MethodNames:
self.python_runtime_vars["_runtime_%s" % methodname] = []
try:
filenames = os.listdir(self.workingdir)
filenames.sort()
for filename in filenames:
name, ext = os.path.splitext(filename)
if name.upper().startswith("RUNTIME") and ext.upper() == ".PY":
execfile(os.path.join(self.workingdir, filename), self.python_runtime_vars)
for methodname in MethodNames:
method = self.python_runtime_vars.get("_%s_%s" % (name, methodname), None)
if method is not None:
self.python_runtime_vars["_runtime_%s" % methodname].append(method)
except Exception:
self.LogMessage(0, traceback.format_exc())
raise
self.PythonRuntimeCall("init")
# used internaly
def PythonRuntimeCleanup(self):
if self.python_runtime_vars is not None:
self.PythonRuntimeCall("cleanup")
self.python_runtime_vars = None
def PythonThreadProc(self):
self.StartSem.release()
res, cmd, blkid = "None", "None", ctypes.c_void_p()
compile_cache = {}
while True:
cmd = self._PythonIterator(res, blkid)
FBID = blkid.value
if cmd is None:
break
try:
self.python_runtime_vars["FBID"] = FBID
ccmd, AST = compile_cache.get(FBID, (None, None))
if ccmd is None or ccmd != cmd:
AST = compile(cmd, '<plc>', 'eval')
compile_cache[FBID] = (cmd, AST)
result, exp = self.evaluator(eval, AST, self.python_runtime_vars)
if exp is not None:
res = "#EXCEPTION : "+str(exp[1])
self.LogMessage(1, ('PyEval@0x%x(Code="%s") Exception "%s"') % (
FBID, cmd, '\n'.join(traceback.format_exception(*exp))))
else:
res = str(result)
self.python_runtime_vars["FBID"] = None
except Exception, e:
res = "#EXCEPTION : "+str(e)
self.LogMessage(1, ('PyEval@0x%x(Code="%s") Exception "%s"') % (FBID, cmd, str(e)))
@RunInMain
def StartPLC(self):
if self.CurrentPLCFilename is not None and self.PLCStatus == "Stopped":
c_argv = ctypes.c_char_p * len(self.argv)
res = self._startPLC(len(self.argv), c_argv(*self.argv))
if res == 0:
self.PLCStatus = "Started"
self.StatusChange()
self.PythonRuntimeCall("start")
self.StartSem = Semaphore(0)
self.PythonThread = Thread(target=self.PythonThreadProc)
self.PythonThread.start()
self.StartSem.acquire()
self.LogMessage("PLC started")
else:
self.LogMessage(0, _("Problem starting PLC : error %d" % res))
self.PLCStatus = "Broken"
self.StatusChange()
@RunInMain
def StopPLC(self):
if self.PLCStatus == "Started":
self.LogMessage("PLC stopped")
self._stopPLC()
self.PythonThread.join()
self.PLCStatus = "Stopped"
self.StatusChange()
self.PythonRuntimeCall("stop")
if self.TraceThread is not None:
self.TraceThread.join()
self.TraceThread = None
return True
return False
@RunInMain
def GetPLCstatus(self):
return self.PLCStatus, map(self.GetLogCount, xrange(LogLevelsCount))
@RunInMain
def NewPLC(self, md5sum, data, extrafiles):
if self.PLCStatus in ["Stopped", "Empty", "Broken"]:
NewFileName = md5sum + lib_ext
extra_files_log = os.path.join(self.workingdir, "extra_files.txt")
old_PLC_filename = os.path.join(self.workingdir, self.CurrentPLCFilename) \
if self.CurrentPLCFilename is not None \
else None
new_PLC_filename = os.path.join(self.workingdir, NewFileName)
# Some platform (i.e. Xenomai) don't like reloading same .so file
replace_PLC_shared_object = new_PLC_filename != old_PLC_filename
if replace_PLC_shared_object:
self.UnLoadPLC()
self.LogMessage("NewPLC (%s)" % md5sum)
self.PLCStatus = "Empty"
try:
if replace_PLC_shared_object:
os.remove(old_PLC_filename)
for filename in file(extra_files_log, "r").readlines() + [extra_files_log]:
try:
os.remove(os.path.join(self.workingdir, filename.strip()))
except Exception:
pass
except Exception:
pass
try:
# Create new PLC file
if replace_PLC_shared_object:
open(new_PLC_filename, 'wb').write(data)
# Store new PLC filename based on md5 key
open(self._GetMD5FileName(), "w").write(md5sum)
# Then write the files
log = file(extra_files_log, "w")
for fname, fdata in extrafiles:
fpath = os.path.join(self.workingdir, fname)
open(fpath, "wb").write(fdata)
log.write(fname+'\n')
# Store new PLC filename
self.CurrentPLCFilename = NewFileName
except Exception:
self.PLCStatus = "Broken"
self.StatusChange()
PLCprint(traceback.format_exc())
return False
if not replace_PLC_shared_object:
self.PLCStatus = "Stopped"
elif self.LoadPLC():
self.PLCStatus = "Stopped"
else:
self.PLCStatus = "Broken"
self.StatusChange()
return self.PLCStatus == "Stopped"
return False
def MatchMD5(self, MD5):
try:
last_md5 = open(self._GetMD5FileName(), "r").read()
return last_md5 == MD5
except Exception:
pass
return False
def SetTraceVariablesList(self, idxs):
"""
Call ctype imported function to append
these indexes to registred variables in PLC debugger
"""
if idxs:
# suspend but dont disable
if self._suspendDebug(False) == 0:
# keep a copy of requested idx
self._ResetDebugVariables()
for idx, iectype, force in idxs:
if force is not None:
c_type, _unpack_func, pack_func = \
TypeTranslator.get(iectype,
(None, None, None))
force = ctypes.byref(pack_func(c_type, force))
self._RegisterDebugVariable(idx, force)
self._TracesSwap()
self._resumeDebug()
else:
self._suspendDebug(True)
def _TracesSwap(self):
self.LastSwapTrace = time()
if self.TraceThread is None and self.PLCStatus == "Started":
self.TraceThread = Thread(target=self.TraceThreadProc)
self.TraceThread.start()
self.TraceLock.acquire()
Traces = self.Traces
self.Traces = []
self.TraceLock.release()
return Traces
@RunInMain
def GetTraceVariables(self):
return self.PLCStatus, self._TracesSwap()
def TraceThreadProc(self):
"""
Return a list of traces, corresponding to the list of required idx
"""
self._resumeDebug() # Re-enable debugger
while self.PLCStatus == "Started":
tick = ctypes.c_uint32()
size = ctypes.c_uint32()
buff = ctypes.c_void_p()
TraceBuffer = None
self.PLClibraryLock.acquire()
res = self._GetDebugData(ctypes.byref(tick),
ctypes.byref(size),
ctypes.byref(buff))
if res == 0:
if size.value:
TraceBuffer = ctypes.string_at(buff.value, size.value)
self._FreeDebugData()
self.PLClibraryLock.release()
# leave thread if GetDebugData isn't happy.
if res != 0:
break
if TraceBuffer is not None:
self.TraceLock.acquire()
lT = len(self.Traces)
if lT != 0 and lT * len(self.Traces[0]) > 1024 * 1024:
self.Traces.pop(0)
self.Traces.append((tick.value, TraceBuffer))
self.TraceLock.release()
# TraceProc stops here if Traces not polled for 3 seconds
traces_age = time() - self.LastSwapTrace
if traces_age > 3:
self.TraceLock.acquire()
self.Traces = []
self.TraceLock.release()
self._suspendDebug(True) # Disable debugger
break
self.TraceThread = None
def RemoteExec(self, script, *kwargs):
try:
exec script in kwargs
except Exception:
_e_type, e_value, e_traceback = sys.exc_info()
line_no = traceback.tb_lineno(get_last_traceback(e_traceback))
return (-1, "RemoteExec script failed!\n\nLine %d: %s\n\t%s" %
(line_no, e_value, script.splitlines()[line_no - 1]))
return (0, kwargs.get("returnVal", None))