Change behaviour of python_eval function block : if TRIG is false, then ACK is also false except a pulse precisely when receiving answer from interpreter

Removed useless condition in Worker.py that was allowing misfit non-serialized call when worker still not running its loop.

Refactoring. Separated PLC Object, PYRO Server and MainWorker :
- PLC Object is now a Singleton, instantiated through runtime.CreatePLCObjectSingleton(...)
- Pyro server doesn't hold any reference to PLCObject, and doesn't create it anymore
- PLC Object class doesn't inherit from Pyro.ObjBase anymore
- Pyro related code moved to runtime.PyroServer.py
- MainWorker class moved to runtime/Worker.py
- Both PLC Object and MainWorker creation happens in runtime/__init__.py

Fixed new code-generation code, that was making exception with simple variable-to-variable assignments.

BACnet : Fixed missing header include in server.c introduced in 37ef7a3c6b8b

merged

NevowServer : Added minimalist css style customization and a link to go to settings page and back

fixed setServer call in WampClient module. Was doing nothing because _PySrv wasn't global.

Removed now deprecated ForceReload from WAMP exposed calls

fixed documentation bug

NevowServer : added addInfoString to allow extensions to declare some read-only strings to be displayed in settings. Also renamed addExtension in addSettings for clarity.

fixed problems reported by certification testing : vendor identifier acces rights (now read only), and bvlc_maintenance timer was increasing too fast.

Some blank lines to make bitbucket's PEP8 2.2.0 happy

merged Andrey's default

Fix wrong code generation if EN/ENO are used in FBD/LD/SFC

This problem appears for example here

--------
------- | MOVE |
| MOVE1 |------|EN ENO|
------- | |
| |
------- | | -----------
| 23 |------|IN OUT|---| LocalVar0 |
------- -------- -----------


--------
------- | MOVE |
| MOVE2 |------|EN ENO|
------- | |
| |
------- | | -----------
| 15 |------|IN OUT|---| LocalVar0 |
------- -------- -----------

Before wrong code was generated for this case:

MOVE6_OUT := MOVE(EN := move1, IN := 23, ENO => MOVE6_ENO);
LocalVar0 := MOVE6_OUT;
MOVE4_OUT := MOVE(EN := move2, IN := 15, ENO => MOVE4_ENO);
LocalVar0 := MOVE4_OUT;

With this patch now following code is generated:

MOVE6_OUT := MOVE(EN := move1, IN := 23, ENO => MOVE6_ENO);
IF MOVE6_ENO THEN
LocalVar0 := MOVE6_OUT;
END_IF;
MOVE4_OUT := MOVE(EN := move2, IN := 15, ENO => MOVE4_ENO);
IF MOVE4_ENO THEN
LocalVar0 := MOVE4_OUT;
END_IF;


See discussion here:
https://sourceforge.net/p/beremiz/mailman/message/36378805/

Fix flickering in debug panel

This flickering made debug panel unusable, because most of the time
panel was white. This problem effects wxPython with GTK3+ backend
(at least on GNU/Linux systems).

Removed code IIUC draws box with content of moved debug variable, I
don't see any effect of it neither on GNU/Linux nor on Windows. It
should be safe to remove.

Fix non-usable toolbar on wxPython with GTK3+

On GNU/Linux if wxPython uses wxWidget with GTK3+ backend (this is
what most modern distributions do), then size of EditorToolBar was
always to store only one button.
This is because GetBestSize() is updated only after pane is shown and
updated.
The code does work correctly on python-wxgtk3.0 (gtk2 backend) on
GNU/Linux and with wxpython 2.8 on Windows.

Fix problem with decreasing size of StatusToolBar when tools are removed from toolbar.

StatusToolBar - toolbar with tool to build, clear, connect, ...
This problem appears only in python-wxgtk3.0. In python-wxgtk2.8 there
was not such problem.

If call StatusToolBar.SetMinSize(wx.DefaultSize), all is working, but
following warning message appears:

(Beremiz.py:15155): Gtk-WARNING **: 18:42:24.115: Negative content
width -6 (allocation 1, extents 4x3) while allocating gadget (node
toolbar, owner GtkToolbar)

To avoid that StatusToolBar.GetToolBitmapSize() is used instead of wx.DefaultSize

Add BACnet example

Rework README.md, add examples section, add instructions for Modbus extension, more information about runtime.

Add Modbus example

Disable source quality checking on ethercat plugin - will fix it later

Passed bacnet*.py through autopep8, and attemped to fix manually what went wrong + fixed pylint complains

More pylint+pep8 conformance

autopep8 + hand made fixes on ProjectController.py runtime/WampClient.py wxglade_hmi/wxglade_hmi.py

pylint on runtime/NevowServer.py

pep8 on runtime/NevowServer.py

merged

Make some POU libraries selected by default or not. This changes structure of features.libraries, please check and update your extensions if they use libraries

remove useless code

1. hotkey is already defined in menu string
2. remove duplicated code

Add full screen mode (menu and title are hidden)

It's can be switched by pressing Shift-F12 or by clicking button on the toolbar

Add information how to make shelve command work with check_source.sh called from hg hook

and added coresponding flag handling in check_source.sh

Automatically increment IEC-location address if copy of the variable is created

Make information about translation to be in unicode

This is necessary because some translator's names contains non-ASCII
characters and they are not handled properly in about dialog on Windows

Take plcopen_icons.svg as source of png icons as well

generate poe.ico from png images of different sizes.

Add 256x256 and 64x64 Beremiz icons


remove svg:midPointStop tags from icons.svg, because Inkscape
complained about unsupported tag. It seems that these tags were made
by Adobe Illustrator and aren't supported by any other app.

Add PLCOpenEditor icon to plcopen_icons.svg

add 256x256 size to the icon

Fix rounding of thousandths of microseconds in duration editor

Add checking value in microseconds field in duration editor dialog

Catch 'clipboard already open' errors in editors

Apparently following commits have not fixed the problem completely,
because it still happens (although not so often).

changeset: 2019:b8f795bdfe9f
user: Andrey Skvortsov <andrej.skvortzov@gmail.com>
date: Fri May 25 17:40:29 2018 +0300
summary: fix hangs on mouse selection in case if wxPython uses wxWidgets with GTK3+ support

changeset: 2018:5ce6d08ff2c7
user: Andrey Skvortsov <andrej.skvortzov@gmail.com>
date: Fri May 25 17:23:15 2018 +0300
summary: make clipboard open minimal time as wxPython documentation recommends

If task type is changed from 'interrupt' to 'cyclic' init interval with T#20ms.

Explicitly enable required libraries in test projects

Disable by default unlisted in project beremiz.xml libraries

Used libraries should be explicitly enabled.

Fix 'DoGetTextExtent - invalid DC' error

most likely this error happens only on certain wx backends.
GTK3+ on GNU/Linux is apparently one of them.
The problem is described in wxWidgets issue tracker.
http://trac.wxwidgets.org/ticket/12486

[-------------------------------------------------------------------------------------------------------------------]
platform:
Linux-4.16.0-2-rt-amd64-x86_64-with-debian-buster-sid

python-version:
2.7.15

traceback:
File "/home/developer/WorkData/PLC/beremiz/beremiz/ProjectController.py", line 1605, in DispatchDebugValuesProc
self.CallWeakcallables("__tick__", "NewDataAvailable", debug_ticks)
File "/home/developer/WorkData/PLC/beremiz/beremiz/ProjectController.py", line 1585, in CallWeakcallables
function(*cargs)
File "/home/developer/WorkData/PLC/beremiz/beremiz/editors/Viewer.py", line 1217, in NewDataAvailable
refresh_rect.Union(element.GetRedrawRect())
File "/home/developer/WorkData/PLC/beremiz/beremiz/graphics/GraphicCommons.py", line 1609, in GetRedrawRect
self.ValueSize = self.Parent.GetMiniTextExtent(self.ComputedValue)
File "/home/developer/WorkData/PLC/beremiz/beremiz/editors/Viewer.py", line 932, in GetMiniTextExtent
return self.MiniTextDC.GetTextExtent(text)
File "/usr/lib/python2.7/dist-packages/wx-3.0-gtk3/wx/_gdi.py", line 4127, in GetTextExtent
return _gdi_.DC_GetTextExtent(*args, **kwargs)
<class 'wx._core.PyAssertionError'>: C++ assertion "m_graphicContext" failed at ../src/common/dcgraph.cpp(1160) in DoGetTextExtent(): wxGCDC(cg)::DoGetTextExtent - invalid DC

wx-platform:
__WXGTK__

wx-version:
3.0.2.0

[-------------------------------------------------------------------------------------------------------------------]

traceback:
File "/home/developer/WorkData/PLC/beremiz/beremiz/controls/LogViewer.py", line 740, in OnMessageToolTipTimer
self.MessageToolTip.SetFont(self.Font)
File "/home/developer/WorkData/PLC/beremiz/beremiz/controls/CustomToolTip.py", line 75, in SetFont
self.RefreshTip()
File "/home/developer/WorkData/PLC/beremiz/beremiz/controls/CustomToolTip.py", line 158, in RefreshTip
self.SetClientSize(self.GetToolTipSize())
File "/home/developer/WorkData/PLC/beremiz/beremiz/controls/CustomToolTip.py", line 145, in GetToolTipSize
w, h = dc.GetTextExtent(line)
File "/usr/lib/python2.7/dist-packages/wx-3.0-gtk3/wx/_gdi.py", line 4127, in GetTextExtent
return _gdi_.DC_GetTextExtent(*args, **kwargs)
<class 'wx._core.PyAssertionError'>: C++ assertion "m_graphicContext" failed at ../src/common/dcgraph.cpp(1160) in DoGetTextExtent(): wxGCDC(cg)::DoGetTextExtent - invalid DC

[-------------------------------------------------------------------------------------------------------------------]

Fix size of ProjectDialog used by PLCOpenEditor

Disable scrolling for ProjectDialog, because otherwise very very small
windows is created.
This regression was introduced by 5701225 ("replaced normal panel with scrolled panel under project
properties").

Fix some compilation warnings for better ANSI C compliance

Customizable columns in VariableTables (i.e. can be monkey patched properly)

Merged

Customizable update of toolbar buttons (i.e. 'methods') according to PLCStatus

Fixed small typo in error message.

WAMP : complains about failure to start WAMP only if it was successfully imported.

WAMP: now config and secret given in project files always override those given in commandline. Also made extensions web customisations happen before registration of web interface.

Moved Wamp configuration file selection logic into runtime/wampclient.py. Added Wamp CRA secret file upload and download. Slightly reworked code for config and secret file loading and saving.

Added a way for extension to register dedicated URL under settings page URL (i.e. /settings/something)

Fixed a bit of everything in WAMP, and added web settings for that same extension.

Added some immutable field (platform) in default runtime web setting page, for the example.

Fix misc typos in exception handling code.

Fixed i18n related typo.

Fixed typo

Better logging of Nevow Server import in case of exception.

WampClient : Simplified, removed dead code, use exception for handling failures and misconfiguration, check existence of mandatory parameters.

Merged #2486, enhancements to WAMP client : auto reconnecting, wamp conf checking and saving, additional attributes for exposed calls, etc

Nevow based web interface now show simple Log message sending form for basic runtime, and allow extensions to add their own web settings.

Now, runtime extensions should be able to add their own settings to web configuration interface.

Embrio of setting form, just to test

#2486 Exception if custom protocol options are wrong.

#2486 ExposedCalls with register options as a dictionary.

#2486 Renaming functions.

#2486 Reconnect funtion in SaveWampClientConf function.

#2486 Modified reconnect function. Added 'active' parameter to wampconf.json file.

#2486 Adding reconnect funtion to WampClient. Global TransportFactory not needed anymore.

#2486 Added global TransportFactory, needed in WebInterface reconnecting function.

#2486 WampClient needs pyro.plcobj before registration calls.

#2486 Fix if protocol, register options are not present in wapmconf.json file.

#2486 Added ExposedProgressCalls list using details argument for registration progress calls.

#2486 Unnecessary variable removed.

#2486 Added option to use websocket register options. Added function getValidOptins to read options from wampconf.json.

#2486 Added option to use websocket protocol options.

#2486 Updated wamp test project to work with the latest Crossbar version.

#2486 Reset delay function added. It resets the delay and the retry counter on reconnect.

merge

merge

Fix compilation warning/error: comparison between signed and unsigned integer expressions [-Werror=sign-compare]

merge

WxGlade HMI extension now does only instanciate wx object who's name match extension's name. If no object match the name and no code is provided in 'start' user python code section, then a warning is issued

BACnet : ensure that Init did happen before continuing with PLC startup.

Update list of files with strings for i18n and templates for translations

Add small contributing document with information about codestyle checking

Add argument to set list of source files to check

This is necessary, in case you want to use docker run in pretxncommit
Mercurial hook. Unfortunately for some reason if hg running in
container can't find just created commit defined by $HG_NODE. And it
throws error 'unknown revision'.

Here is example for hgrc.

[hooks]
pretxncommit.linter = hg status -m -n -a -n -I '**.py' --change $HG_NODE > files.lst && docker run --volume=$PWD:/beremiz --workdir="/beremiz" --volume=$PWD/../CanFestival-3:/CanFestival-3 --memory=1g --entrypoint=/beremiz/tests/tools/check_source.sh skvorl/beremiz-requirements --files-to-check files.lst

check_source.sh: handle case if there are no files to check

Fix linter errors

Add command line argument to run linter only on changed files

./tests/tools/check_source.sh --only-changes

It's recommended to run check_source.sh automatically on each commit,
so the rules are always enforced.
Even better is to use docker for that, so the versions of pep8 and
pylint are the same as on pipeline server.

To do this couple of lines should be added into repository's hgrc file.

[----------- cut from .hg/hgrc------------------]

[hooks]
precommit.linter = ./tests/tools/check_source.sh --only-changes
# precommit.linter = docker run -it --volume=$PWD:/beremiz --workdir="/beremiz" --volume=$PWD/../CanFestival-3:/CanFestival-3 --memory=1g --entrypoint=/beremiz/tests/tools/check_source.sh skvorl/beremiz-requirements --only-changes

[-----------------------------------------------]

Don't use fixed width labels in WAMP and PYRO dialogs

This causes problems if labels are translated into other languages and
width wasn't enough.

Fix internatialization in UriLocationEditor, PYRO dialog and Modbus configurator

Add copyright headers to retain implementation for GNU/Linux and Win32

Drop support for wxPython 2.6 and below

Autoresize UriLocationEditor dialog window

Fix compilation problem in case of TARGET_LOGGING_DISABLE turned on and TARGET_DEBUG_DISABLE turned off

Use the same retain implementation for Win32 targets

Currently plc_Win32_main_retain.c is exact copy of
plc_Linux_main_retain.c, because it's not possible to use symbol
links.

It'd be nice in the future to have possibility to modify targets.code.

Add retain basic implementation on GNU/Linux

Retain is saved in file and backup of this file is done every time.
File isn't saved on every PLC cycle to avoid high I/O load.
By default, retain is saved every second and on PLC stop/shutdown.
It's possible to override retain flush period by using CFLAGS option
in project's settings. For example, for 0.5 seconds period
use "-DFILE_RETAIN_SAVE_PERIOD_S=0.5".

Add helper function GetRetainSize()

it will be useful for retain implementations.

use CLOCK_MONOTONIC instead of CLOCK_REALTIME for timer setup

CLOCK_REALTIME is a wall clock, that could change back and forth (user
changes system time, winter/summer time, NTP corrections and so on).
For real-time application CLOCK_MONOTONIC should be used, it doesn't
have such jumps.

Add function example to first_steps example

It'll be used in documentation to show how to create function in
Beremiz.

fix type introduced by f33942053466 (fix pylint warning "(undefined-loop-variable) Using possibly undefined loop variable 'X'")

Build by default with optimization level -O2 for GCC

before -O0 was used by default, that caused pretty bad performance.

Amd64, i6700k, 4200MHz, GNU/Linux (non-RT kernel), gcc 7.2.0

-------------------------------------
Optimization | EN/ENO |no EN/ENO |
-------------------------------------
default | 11 | 9.5 |
-O3 | 3.9 | 5.2 |
-O2 | 4 | 4.8 |
-Os | 4.1 | 3.5 |
-Ofast | 3.9 | 5.2 |
-------------------------------------

ARM, BBB Cortex-A8, 600Mhz, GNU/Linux, gcc 4.6.3

-------------------------------------
Optimization | EN/ENO |no EN/ENO |
-------------------------------------
default | 273 | 226 |
-O3 | 141.8 | 106.2 |
-O2 | 142 | 107 |
-Os | 152.5 | 112.2 |
-Ofast | 141.7 | 106.2 |
-------------------------------------

For embedded systems with size constaints (like Cortex-Mx, AVR and so
on) I usually use -Os. It gets pretty good results. For
GNU/Linux-based systems -O2 is usually a good choice, as you see the
test results.

fix hangs on mouse selection in case if wxPython uses wxWidgets with GTK3+ support

This is default configuration on Debian Buster+ and Ubuntu 18.04+.
Probably it'll fix completely problem with 'clipboard already open'
described in the previous commit 5ce6d08f ("make clipboard open minimal time as wxPython documentation recommends")

make clipboard open minimal time as wxPython documentation recommends

https://wxpython.org/Phoenix/docs/html/wx.Clipboard.html#wx.Clipboard.GetData

"Call wx.Clipboard.Open to get ownership of the clipboard. If this
operation returns True, you now own the clipboard. Call
wx.Clipboard.SetData to put data on the clipboard, or
wx.Clipboard.GetData to retrieve data from the clipboard. Call
wx.Clipboard.Close to close the clipboard and relinquish ownership.
You should keep the clipboard open only momentarily."

Maybe it makes situation with pretty annoying error 'clipboard already
open' a little bit better.

traceback:
File "/home/developer/WorkData/PLC/beremiz/avangard-beremiz-ide/src/../../beremiz/BeremizIDE.py", line 955, in OnSaveProjectMenu
self.RefreshAfterSave()
File "/home/developer/WorkData/PLC/beremiz/avangard-beremiz-ide/src/../../beremiz/BeremizIDE.py", line 946, in RefreshAfterSave
self._Refresh(TITLE, FILEMENU, EDITMENU, PAGETITLES)
File "/home/developer/WorkData/PLC/beremiz/avangard-beremiz-ide/src/../../beremiz/IDEFrame.py", line 926, in _Refresh
self.RefreshFunctions[element]()
File "/home/developer/WorkData/PLC/beremiz/avangard-beremiz-ide/src/../../beremiz/BeremizIDE.py", line 766, in RefreshEditMenu
IDEFrame.RefreshEditMenu(self)
File "/home/developer/WorkData/PLC/beremiz/avangard-beremiz-ide/src/../../beremiz/IDEFrame.py", line 1185, in RefreshEditMenu
if self.GetCopyBuffer() is not None:
File "/home/developer/WorkData/PLC/beremiz/avangard-beremiz-ide/src/../../beremiz/IDEFrame.py", line 956, in GetCopyBuffer
if wx.TheClipboard.Open():
File "/usr/lib/python2.7/dist-packages/wx-3.0-gtk3/wx/_misc.py", line 5793, in Open
return _misc_.Clipboard_Open(*args, **kwargs)
<class 'wx._core.PyAssertionError'>: C++ assertion "!m_open" failed at ../src/gtk/clipbrd.cpp(598) in Open(): clipboard already open

Merged GPL + LGPL v2 or later EtherCAT extension. Fixed headers and copyright notice.

Propagated matiec changes in FB var accessors

Fixed most obvious bugs appear after grafting changes from previous development branches : re-enable openning non-CoE, CoE and CiA 402 nodes config

Fixed xslt stylesheet for extracting entries defined in module, rewiting xslt stylesheet to yslt

Fixed bug in information returned for module where entries are defined only in PDO mapping

Added support for loading XML file even if not following XSD schema (but still following XML syntax), warning user of errors in XML file

Fixed bug when compiling

Fixed higen example removing obsolete attribute in CIA402 node params file

Fixed controllers for working with latest version of xmlclass

Added bug in support for set flag for optional variables activation in axis public struct

Added support for set flag for optional variables activation in axis public struct

Replaced location for axis ref from %IW(location).0 to %IW(location).402. Added location for network position at %IW(location).

Rewrite CIA402 node specific code generating part

Cherry-pick and re-commit to legitimate ancestor of commit 'Ethercat Management Function Refactoring Source by RTES Lab.' from youcu <youcu1022@gmail.com>

Fixed bug when drag'n dropping variable in master startup command grid

Moved ratio scaling back to MCL. Rewrote CiA402 C part in a way it can be read and understood by some humans.

Added icon for Ethercat extension root and Ethercat master node

Fixed bug with global instance declaration

Fix bug in when moving Ethercat slaves fixed

Added mapping for TouchProbe function in CIA402 slave node

Fixed bug with axes boolean parameters value

Added error message when a device informations can't be found in ESI files

Fixed ToolTip on VariablesGrid columns on Windows

Update higen drive example introducing usage of csv mode

Merged

Fixed bug in support for module extra params in EthercatCFileGenerator

Added support for module extra params in EthercatCFileGenerator

Fixed support for multiple module extra params in ModulesLibrary

Added support for multiple module extra params in ModulesLibrary

Added support for using CIA402 motion mode csp, csv and cst

Fixed order of LocationCFilesAndCFLAGS, master was called after slaves in PLC init and retrieve functions

Fixed bug on Windows with sizers on Windows in Master Editor panel when its size changed

Fixed Save As... function in Beremiz

Added support for stopping SDOThreadProc when stopping PLC

Fixed bug when modifying slave module type

Fixed bug in filters behavior on Windows

Fixed filter behavior in MasterEditor and SlaveEditor

Fixed CIA402 node template for working with MC_Power modification removing implicit set position

Fix scan network functionality, project tree not refreshed after adding slaves

Rollback last commit

Fixed CIA402 node template for working with MC_Power modification removing implicit set position

Fixed bugs in drag'n drop from variables panel in master and slaves editor panel

Added initialization of abort_code and result_size to prevent warning message if not used in following code

Fixed header files inclusion in CIA402 node template file

Fixed (again) some non-clean exit in case of SDO failure at init

Merged

Fixed ethercat test with higen drive project

Fixed bug when using real axis and simulated axis at the same time (got the same index)

Now failure in template based part of C code also release the master for later use...

Better logging, saffer failure at init (allows restart)

Added error logging when SDO FB fails

Added logging based on collecting Kernel logs

Fixed typo

Fixed linking with non RTDM etherlab lib. Now with rtdm...

Split etherlab.py into multiple files

Fixed bug with process variables grid

Stripped useless depricated comments, changed print format of sdo abort code

Updated generated code to etherlab 1.5.2

Added Logging

Now use beremiz.h

Fixed bugs in Network Configuration Editor

CiA402 now fills NetworkPosition member of public axis struct

Fixed bugs in process variables generated code

Added specific add menu for directly choose slave type while adding new slave

Added code generation for process variables

Fixed modifications in Startup Commands grid

Improved Ethercat Network Configurator panels

Improved Ethercat Network Configurator panels

Added panel for managing ESI files from project and from database including module PDO alignment setting

Added support for MC_*DigitalOutput, MC_ReadAxisInfo and MC_ReadAxisError blocks from MCL in DS402 nodes generated code

Replaced SplitterWindow in ConfTreeNodeEditor by Notebook

Fix bug in support for Etherlab specific fieldbus interface function blocks

Fix bug in support for Etherlab specific fieldbus interface function blocks

Adding support for Etherlab specific function blocks for MCL fieldbus interface function blocks

Adding support for extracting ActualVelocity from CIA402 nodes PDOs

Fix bug in EtherLabSDODownload function block

Fix bug when Drag'n Dropping located variables on Windows

Adding support for using Etherlab SDO function blocks in MCL

Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage

Adding block library for SDO download and SDO upload

Fix bug in CIA402 slave digital inputs

Adding support to enable CIA402 slave digital inputs

Fix Axis_Ref type defined in VariableLocationTree

Adding support for selecting a PDO in a list of mutually exclusive configured PDOs in Ethercat Network Configurator

Fix bug in endianization in value transmit and received by SDO