greg@229: #!/usr/bin/env python
greg@229: # -*- coding: utf-8 -*-
greg@229:
greg@229: #This file is part of Beremiz, a Integrated Development Environment for
greg@229: #programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
greg@229: #
greg@229: #Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
greg@229: #
greg@229: #See COPYING file for copyrights details.
greg@229: #
greg@229: #This library is free software; you can redistribute it and/or
greg@229: #modify it under the terms of the GNU General Public
greg@229: #License as published by the Free Software Foundation; either
greg@229: #version 2.1 of the License, or (at your option) any later version.
greg@229: #
greg@229: #This library is distributed in the hope that it will be useful,
greg@229: #but WITHOUT ANY WARRANTY; without even the implied warranty of
greg@229: #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
greg@229: #General Public License for more details.
greg@229: #
greg@229: #You should have received a copy of the GNU General Public
greg@229: #License along with this library; if not, write to the Free Software
greg@229: #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
greg@229:
greg@229: import Pyro.core as pyro
etisserant@280: from threading import Timer, Thread
greg@229: import ctypes, os, commands
etisserant@280: import time
greg@229:
greg@229: if os.name in ("nt", "ce"):
greg@229: from _ctypes import LoadLibrary as dlopen
greg@229: from _ctypes import FreeLibrary as dlclose
greg@229: elif os.name == "posix":
greg@229: from _ctypes import dlopen, dlclose
greg@229:
greg@229: import os,sys,traceback
greg@229:
greg@229: lib_ext ={
greg@229: "linux2":".so",
greg@229: "win32":".dll",
greg@229: }.get(sys.platform, "")
greg@229:
greg@229: class PLCObject(pyro.ObjBase):
etisserant@235: _Idxs = []
greg@269: def __init__(self, workingdir, daemon, argv, statuschange=None):
greg@229: pyro.ObjBase.__init__(self)
greg@229: self.argv = [workingdir] + argv # force argv[0] to be "path" to exec...
greg@229: self.workingdir = workingdir
greg@229: self.PLCStatus = "Stopped"
greg@229: self.PLClibraryHandle = None
greg@229: # Creates fake C funcs proxies
greg@229: self._FreePLC()
greg@229: self.daemon = daemon
greg@269: self.statuschange = statuschange
greg@229:
greg@229: # Get the last transfered PLC if connector must be restart
greg@229: try:
greg@229: self.CurrentPLCFilename=open(
greg@229: self._GetMD5FileName(),
greg@229: "r").read().strip() + lib_ext
greg@229: except Exception, e:
greg@229: self.PLCStatus = "Empty"
greg@229: self.CurrentPLCFilename=None
greg@229:
greg@229: def _GetMD5FileName(self):
greg@229: return os.path.join(self.workingdir, "lasttransferedPLC.md5")
greg@229:
greg@229: def _GetLibFileName(self):
greg@229: return os.path.join(self.workingdir,self.CurrentPLCFilename)
greg@229:
greg@229:
greg@229: def _LoadNewPLC(self):
greg@229: """
greg@229: Load PLC library
greg@229: Declare all functions, arguments and return values
greg@229: """
greg@229: print "Load PLC"
greg@229: try:
greg@229: self._PLClibraryHandle = dlopen(self._GetLibFileName())
greg@229: self.PLClibraryHandle = ctypes.CDLL(self.CurrentPLCFilename, handle=self._PLClibraryHandle)
greg@229:
greg@229: self._startPLC = self.PLClibraryHandle.startPLC
greg@229: self._startPLC.restype = ctypes.c_int
greg@229: self._startPLC.argtypes = [ctypes.c_int, ctypes.POINTER(ctypes.c_char_p)]
greg@229:
greg@229: self._stopPLC = self.PLClibraryHandle.stopPLC
greg@229: self._stopPLC.restype = None
greg@229:
greg@229: self._ResetDebugVariables = self.PLClibraryHandle.ResetDebugVariables
greg@229: self._ResetDebugVariables.restype = None
greg@229:
etisserant@235: self._RegisterDebugVariable = self.PLClibraryHandle.RegisterDebugVariable
greg@229: self._RegisterDebugVariable.restype = None
etisserant@235: self._RegisterDebugVariable.argtypes = [ctypes.c_int]
greg@229:
greg@229: self._IterDebugData = self.PLClibraryHandle.IterDebugData
greg@229: self._IterDebugData.restype = ctypes.c_void_p
greg@229: self._IterDebugData.argtypes = [ctypes.POINTER(ctypes.c_int), ctypes.POINTER(ctypes.c_char_p)]
greg@229:
greg@229: self._FreeDebugData = self.PLClibraryHandle.FreeDebugData
greg@229: self._FreeDebugData.restype = None
greg@229:
greg@229: self._WaitDebugData = self.PLClibraryHandle.WaitDebugData
greg@229: self._WaitDebugData.restype = ctypes.c_int
etisserant@235:
etisserant@235: self._suspendDebug = self.PLClibraryHandle.suspendDebug
etisserant@235: self._suspendDebug.restype = None
etisserant@235:
etisserant@235: self._resumeDebug = self.PLClibraryHandle.resumeDebug
etisserant@235: self._resumeDebug.restype = None
etisserant@280:
etisserant@280: self._PythonIterator = self.PLClibraryHandle.PythonIterator
etisserant@280: self._PythonIterator.restype = ctypes.c_char_p
etisserant@280: self._PythonIterator.argtypes = [ctypes.c_char_p]
etisserant@235:
greg@229: return True
greg@229: except:
greg@229: print traceback.format_exc()
greg@229: return False
greg@229:
greg@229: def _FreePLC(self):
greg@229: """
greg@229: Unload PLC library.
greg@229: This is also called by __init__ to create dummy C func proxies
greg@229: """
greg@229: # Forget all refs to library
greg@229: self._startPLC = lambda:None
greg@229: self._stopPLC = lambda:None
greg@229: self._ResetDebugVariables = lambda:None
greg@229: self._RegisterDebugVariable = lambda x:None
greg@229: self._IterDebugData = lambda x,y:None
greg@229: self._FreeDebugData = lambda:None
etisserant@235: self._WaitDebugData = lambda:-1
etisserant@235: self._suspendDebug = lambda:None
etisserant@235: self._resumeDebug = lambda:None
etisserant@280: self._PythonIterator = lambda:""
greg@229: self.PLClibraryHandle = None
greg@229: # Unload library explicitely
greg@229: if getattr(self,"_PLClibraryHandle",None) is not None:
greg@229: print "Unload PLC"
greg@229: dlclose(self._PLClibraryHandle)
greg@229: res = self._DetectDirtyLibs()
greg@229: else:
greg@229: res = False
greg@229:
greg@229: self._PLClibraryHandle = None
greg@229:
greg@229: return res
greg@229:
greg@229: def _DetectDirtyLibs(self):
greg@229: # Detect dirty libs
greg@229: # Get lib dependencies (for dirty lib detection)
greg@229: if os.name == "posix":
greg@229: # parasiting libs listed with ldd
greg@229: badlibs = [ toks.split()[0] for toks in commands.getoutput(
greg@229: "ldd "+self._GetLibFileName()).splitlines() ]
greg@229: for badlib in badlibs:
greg@229: if badlib[:6] in ["libwx_",
greg@229: "libwxs",
greg@229: "libgtk",
greg@229: "libgdk",
greg@229: "libatk",
greg@229: "libpan",
greg@229: "libX11",
greg@229: ]:
greg@229: #badhandle = dlopen(badlib, dl.RTLD_NOLOAD)
greg@229: print "Dirty lib detected :" + badlib
greg@229: #dlclose(badhandle)
greg@229: return True
greg@229: return False
greg@229:
etisserant@280: def PythonThreadProc(self):
etisserant@280: res = ""
etisserant@280: print "PythonThreadProc started"
etisserant@280: while self.PLCStatus == "Started":
etisserant@280: cmd = self._PythonIterator(res)
etisserant@280: print "_PythonIterator(", res, ") -> ", cmd
etisserant@280: try :
etisserant@280: res = eval(cmd)
etisserant@280: except Exception,e:
etisserant@280: res = "#EXCEPTION : "+str(e)
etisserant@280: print res
etisserant@280: print "PythonThreadProc finished"
greg@229:
etisserant@235: def StartPLC(self, debug=False):
greg@229: print "StartPLC"
greg@229: if self.CurrentPLCFilename is not None and self.PLCStatus == "Stopped":
greg@229: c_argv = ctypes.c_char_p * len(self.argv)
greg@229: if self._LoadNewPLC() and self._startPLC(len(self.argv),c_argv(*self.argv)) == 0:
etisserant@235: if debug:
etisserant@235: self._resumeDebug()
greg@229: self.PLCStatus = "Started"
greg@269: if self.statuschange is not None:
greg@269: self.statuschange(self.PLCStatus)
etisserant@280: self.PythonThread = Thread(target=self.PythonThreadProc)
etisserant@280: self.PythonThread.start()
greg@229: return True
greg@229: else:
greg@229: print "_StartPLC did not return 0 !"
greg@229: self._DoStopPLC()
greg@229: return False
greg@229:
greg@229: def _DoStopPLC(self):
greg@229: self._stopPLC()
greg@229: self.PLCStatus = "Stopped"
greg@269: if self.statuschange is not None:
greg@269: self.statuschange(self.PLCStatus)
greg@229: if self._FreePLC():
greg@229: self.PLCStatus = "Dirty"
greg@229: return True
greg@229:
greg@229: def StopPLC(self):
greg@229: if self.PLCStatus == "Started":
greg@229: self._DoStopPLC()
greg@229: return True
greg@229: return False
greg@229:
greg@229: def _Reload(self):
greg@229: self.daemon.shutdown(True)
greg@229: self.daemon.sock.close()
greg@229: os.execv(sys.executable,[sys.executable]+sys.argv[:])
greg@229: # never reached
greg@229: return 0
greg@229:
greg@229: def ForceReload(self):
greg@229: # respawn python interpreter
greg@229: Timer(0.1,self._Reload).start()
greg@229: return True
greg@229:
greg@229: def GetPLCstatus(self):
greg@229: return self.PLCStatus
greg@229:
greg@229: def NewPLC(self, md5sum, data, extrafiles):
greg@229: print "NewPLC (%s)"%md5sum
greg@229: if self.PLCStatus in ["Stopped", "Empty", "Dirty"]:
greg@229: NewFileName = md5sum + lib_ext
greg@229: extra_files_log = os.path.join(self.workingdir,"extra_files.txt")
greg@229: try:
greg@229: os.remove(os.path.join(self.workingdir,
greg@229: self.CurrentPLCFilename))
greg@229: for filename in file(extra_files_log, "r").readlines() + extra_files_log:
greg@229: try:
greg@229: os.remove(os.path.join(self.workingdir, filename))
greg@229: except:
greg@229: pass
greg@229: except:
greg@229: pass
greg@229:
greg@229: try:
greg@229: # Create new PLC file
greg@229: open(os.path.join(self.workingdir,NewFileName),
greg@229: 'wb').write(data)
greg@229:
greg@229: # Store new PLC filename based on md5 key
greg@229: open(self._GetMD5FileName(), "w").write(md5sum)
greg@229:
greg@229: # Then write the files
greg@229: log = file(extra_files_log, "w")
greg@229: for fname,fdata in extrafiles:
greg@229: fpath = os.path.join(self.workingdir,fname)
greg@229: open(fpath, "wb").write(fdata)
greg@229: log.write(fname+'\n')
greg@229:
greg@229: # Store new PLC filename
greg@229: self.CurrentPLCFilename = NewFileName
greg@229: except:
greg@229: print traceback.format_exc()
greg@229: return False
greg@229: if self.PLCStatus == "Empty":
greg@229: self.PLCStatus = "Stopped"
greg@229: return True
greg@229: return False
greg@229:
greg@229: def MatchMD5(self, MD5):
greg@229: try:
greg@229: last_md5 = open(self._GetMD5FileName(), "r").read()
greg@229: return last_md5 == MD5
greg@229: except:
greg@229: return False
greg@229:
greg@229: def SetTraceVariablesList(self, idxs):
greg@229: """
greg@229: Call ctype imported function to append
greg@229: these indexes to registred variables in PLC debugger
greg@229: """
etisserant@235: self._suspendDebug()
greg@229: # keep a copy of requested idx
greg@229: self._Idxs = idxs[:]
greg@229: self._ResetDebugVariables()
greg@229: for idx in idxs:
greg@229: self._RegisterDebugVariable(idx)
etisserant@235: self._resumeDebug()
etisserant@280:
etisserant@280: class IEC_STRING(ctypes.Structure):
etisserant@280: """
etisserant@280: Must be changed according to changes in iec_types.h
etisserant@280: """
etisserant@280: _fields_ = [("len", ctypes.c_uint8),
etisserant@280: ("body", ctypes.c_char * 40)]
greg@229:
etisserant@238: TypeTranslator = {"BOOL" : (ctypes.c_uint8, lambda x:x.value!=0),
etisserant@238: "STEP" : (ctypes.c_uint8, lambda x:x.value),
etisserant@238: "TRANSITION" : (ctypes.c_uint8, lambda x:x.value),
etisserant@238: "ACTION" : (ctypes.c_uint8, lambda x:x.value),
etisserant@238: "SINT" : (ctypes.c_int8, lambda x:x.value),
etisserant@238: "USINT" : (ctypes.c_uint8, lambda x:x.value),
etisserant@238: "BYTE" : (ctypes.c_uint8, lambda x:x.value),
etisserant@280: "STRING" : (IEC_STRING, lambda x:x.body[:x.len]),
etisserant@238: "INT" : (ctypes.c_int16, lambda x:x.value),
etisserant@238: "UINT" : (ctypes.c_uint16, lambda x:x.value),
etisserant@238: "WORD" : (ctypes.c_uint16, lambda x:x.value),
etisserant@238: "WSTRING" : (None, None),#TODO
etisserant@238: "DINT" : (ctypes.c_int32, lambda x:x.value),
etisserant@238: "UDINT" : (ctypes.c_uint32, lambda x:x.value),
etisserant@238: "DWORD" : (ctypes.c_uint32, lambda x:x.value),
etisserant@238: "LINT" : (ctypes.c_int64, lambda x:x.value),
etisserant@238: "ULINT" : (ctypes.c_uint64, lambda x:x.value),
etisserant@238: "LWORD" : (ctypes.c_uint64, lambda x:x.value),
etisserant@238: "REAL" : (ctypes.c_float, lambda x:x.value),
etisserant@238: "LREAL" : (ctypes.c_double, lambda x:x.value),
greg@229: }
greg@229:
greg@229: def GetTraceVariables(self):
greg@229: """
greg@229: Return a list of variables, corresponding to the list of requiered idx
greg@229: """
greg@229: tick = self._WaitDebugData()
etisserant@235: if tick == -1:
etisserant@237: res = None
etisserant@237: else:
etisserant@237: idx = ctypes.c_int()
etisserant@237: typename = ctypes.c_char_p()
etisserant@237: res = []
etisserant@237:
etisserant@237: for given_idx in self._Idxs:
etisserant@237: buffer=self._IterDebugData(ctypes.byref(idx), ctypes.byref(typename))
etisserant@239: c_type,unpack_func = self.TypeTranslator.get(typename.value, (None,None))
etisserant@237: if c_type is not None and given_idx == idx.value:
etisserant@239: res.append(unpack_func(ctypes.cast(buffer,
etisserant@238: ctypes.POINTER(c_type)).contents))
etisserant@237: else:
etisserant@237: print "Debug error idx : %d, expected_idx %d, type : %s"%(idx.value, given_idx,typename.value)
etisserant@237: res.append(None)
greg@229: self._FreeDebugData()
etisserant@235: return tick, res
greg@229:
greg@229:
greg@229: