etisserant@203: #!/usr/bin/env python
etisserant@203: # -*- coding: utf-8 -*-
etisserant@203: 
etisserant@203: #This file is part of Beremiz, a Integrated Development Environment for
etisserant@203: #programming IEC 61131-3 automates supporting plcopen standard and CanFestival. 
etisserant@203: #
etisserant@203: #Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
etisserant@203: #
etisserant@203: #See COPYING file for copyrights details.
etisserant@203: #
etisserant@203: #This library is free software; you can redistribute it and/or
etisserant@203: #modify it under the terms of the GNU General Public
etisserant@203: #License as published by the Free Software Foundation; either
etisserant@203: #version 2.1 of the License, or (at your option) any later version.
etisserant@203: #
etisserant@203: #This library is distributed in the hope that it will be useful,
etisserant@203: #but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@203: #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@203: #General Public License for more details.
etisserant@203: #
etisserant@203: #You should have received a copy of the GNU General Public
etisserant@203: #License along with this library; if not, write to the Free Software
etisserant@203: #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@203: 
etisserant@203: import Pyro.core as pyro
etisserant@203: from threading import Timer
etisserant@209: import ctypes, os, commands
etisserant@203: 
etisserant@203: if os.name == ("nt", "ce"):
etisserant@203:     from _ctypes import LoadLibrary as dlopen
etisserant@203:     from _ctypes import FreeLibrary as dlclose
etisserant@203: elif os.name == "posix":
etisserant@203:     from _ctypes import dlopen, dlclose
etisserant@203: 
etisserant@203: import os,sys,traceback
etisserant@203: 
etisserant@203: lib_ext ={
etisserant@203:      "linux2":".so",
etisserant@203:      "win32":".dll",
etisserant@203:      }.get(sys.platform, "")
etisserant@203: 
etisserant@203: class PLCObject(pyro.ObjBase):
etisserant@209:     def __init__(self, workingdir, daemon, argv):
etisserant@203:         pyro.ObjBase.__init__(self)
etisserant@209:         self.argv=argv
etisserant@203:         self.workingdir = workingdir
etisserant@203:         self.PLCStatus = "Stopped"
etisserant@203:         self.PLClibraryHandle = None
etisserant@203:         # Creates fake C funcs proxies
etisserant@203:         self._FreePLC()
etisserant@203:         self.daemon = daemon
etisserant@203:         
etisserant@203:         # Get the last transfered PLC if connector must be restart
etisserant@203:         try:
etisserant@203:             self.CurrentPLCFilename=open(
etisserant@203:                              self._GetMD5FileName(),
etisserant@203:                              "r").read().strip() + lib_ext
etisserant@203:         except Exception, e:
etisserant@203:             self.PLCStatus = "Empty"
etisserant@203:             self.CurrentPLCFilename=None
etisserant@203: 
etisserant@203:     def _GetMD5FileName(self):
etisserant@203:         return os.path.join(self.workingdir, "lasttransferedPLC.md5")
etisserant@203: 
etisserant@203:     def _GetLibFileName(self):
etisserant@203:         return os.path.join(self.workingdir,self.CurrentPLCFilename)
etisserant@203: 
etisserant@203: 
etisserant@203:     def _LoadNewPLC(self):
etisserant@203:         """
etisserant@203:         Load PLC library
etisserant@203:         Declare all functions, arguments and return values
etisserant@203:         """
etisserant@203:         print "Load PLC"
etisserant@203:         try:
etisserant@203:             self._PLClibraryHandle = dlopen(self._GetLibFileName())
etisserant@203:             self.PLClibraryHandle = ctypes.CDLL(self.CurrentPLCFilename, handle=self._PLClibraryHandle)
etisserant@203:     
etisserant@203:             self._startPLC = self.PLClibraryHandle.startPLC
etisserant@203:             self._startPLC.restype = ctypes.c_int
etisserant@203:             self._startPLC.argtypes = [ctypes.c_int, ctypes.POINTER(ctypes.c_char_p)]
etisserant@203:             
etisserant@203:             self._stopPLC = self.PLClibraryHandle.stopPLC
etisserant@203:             self._stopPLC.restype = None
etisserant@203:     
etisserant@203:             self._ResetDebugVariables = self.PLClibraryHandle.ResetDebugVariables
etisserant@203:             self._ResetDebugVariables.restype = None
etisserant@203:     
etisserant@203:             self._RegisterDebugVariable = self.PLClibraryHandle.ResetDebugVariables
etisserant@203:             self._RegisterDebugVariable.restype = None
etisserant@203:     
etisserant@203:             self._IterDebugData = self.PLClibraryHandle.IterDebugData
etisserant@203:             self._IterDebugData.restype = ctypes.c_void_p
etisserant@203:             self._IterDebugData.argtypes = [ctypes.POINTER(ctypes.c_int), ctypes.POINTER(ctypes.c_char_p)]
etisserant@203:     
etisserant@203:             self._FreeDebugData = self.PLClibraryHandle.FreeDebugData
etisserant@203:             self._FreeDebugData.restype = None
etisserant@203:             return True
etisserant@203:         except:
etisserant@203:             print traceback.format_exc()
etisserant@203:             return False
etisserant@203: 
etisserant@203:     def _FreePLC(self):
etisserant@203:         """
etisserant@203:         Unload PLC library.
etisserant@203:         This is also called by __init__ to create dummy C func proxies
etisserant@203:         """
etisserant@203:         # Forget all refs to library
etisserant@203:         self._startPLC = lambda:None
etisserant@203:         self._stopPLC = lambda:None
etisserant@203:         self._ResetDebugVariables = lambda:None
etisserant@203:         self._RegisterDebugVariable = lambda x:None
etisserant@203:         self._IterDebugData = lambda x,y:None
etisserant@203:         self._FreeDebugData = lambda:None
etisserant@203:         self.PLClibraryHandle = None
etisserant@203:         # Unload library explicitely
etisserant@203:         if getattr(self,"_PLClibraryHandle",None) is not None:
etisserant@203:             print "Unload PLC"
etisserant@203:             dlclose(self._PLClibraryHandle)
etisserant@203:             res = self._DetectDirtyLibs()
etisserant@203:         else:
etisserant@203:             res = False
etisserant@203: 
etisserant@203:         self._PLClibraryHandle = None
etisserant@203: 
etisserant@203:         return res
etisserant@203: 
etisserant@203:     def _DetectDirtyLibs(self):
etisserant@203:         # Detect dirty libs
etisserant@203:         # Get lib dependencies (for dirty lib detection)
etisserant@203:         if os.name == "posix":
etisserant@203:             # parasiting libs listed with ldd
etisserant@203:             badlibs = [ toks.split()[0] for toks in commands.getoutput(
etisserant@203:                             "ldd "+self._GetLibFileName()).splitlines() ]
etisserant@203:             for badlib in badlibs:
etisserant@203:                 if badlib[:6] in ["libwx_",
etisserant@203:                                   "libwxs",
etisserant@203:                                   "libgtk",
etisserant@203:                                   "libgdk",
etisserant@203:                                   "libatk",
etisserant@203:                                   "libpan",
etisserant@203:                                   "libX11",
etisserant@203:                                   ]:
etisserant@209:                     #badhandle = dlopen(badlib, dl.RTLD_NOLOAD)
etisserant@203:                     print "Dirty lib detected :" + badlib
etisserant@203:                     #dlclose(badhandle)
etisserant@203:                     return True
etisserant@203:         return False
etisserant@203: 
etisserant@203:     
etisserant@203:     def StartPLC(self):
etisserant@203:         print "StartPLC"
etisserant@203:         if self.CurrentPLCFilename is not None and self.PLCStatus == "Stopped":
etisserant@203:             c_argv = ctypes.c_char_p * len(sys.argv)
etisserant@209:             if self._LoadNewPLC() and self._startPLC(len(self.argv),c_argv(*self.argv)) == 0:
etisserant@203:                 self.PLCStatus = "Started"
etisserant@203:                 return True
etisserant@203:             else:
etisserant@203:                 print "_StartPLC did not return 0 !"
etisserant@209:                 self._DoStopPLC()
etisserant@209:         return False
etisserant@209: 
etisserant@209:     def _DoStopPLC(self):
etisserant@209:         self._stopPLC()
etisserant@209:         self.PLCStatus = "Stopped"
etisserant@209:         if self._FreePLC():
etisserant@209:             self.PLCStatus = "Dirty"
etisserant@209:         return True
etisserant@203: 
etisserant@203:     def StopPLC(self):
etisserant@203:         if self.PLCStatus == "Started":
etisserant@209:             self._DoStopPLC()
etisserant@216:             return True
etisserant@203:         return False
etisserant@203: 
etisserant@203:     def _Reload(self):
etisserant@203:         self.daemon.shutdown(True)
etisserant@203:         self.daemon.sock.close()
etisserant@203:         os.execv(sys.executable,[sys.executable]+sys.argv[:])
etisserant@203:         # never reached
etisserant@203:         return 0
etisserant@203: 
etisserant@203:     def ForceReload(self):
etisserant@203:         # respawn python interpreter
etisserant@203:         Timer(0.1,self._Reload).start()
etisserant@203:         return True
etisserant@203: 
etisserant@203:     def GetPLCstatus(self):
etisserant@203:         return self.PLCStatus
etisserant@203:     
etisserant@203:     def NewPLC(self, md5sum, data, extrafiles):
etisserant@203:         print "NewPLC (%s)"%md5sum
etisserant@203:         if self.PLCStatus in ["Stopped", "Empty", "Dirty"]:
etisserant@203:             NewFileName = md5sum + lib_ext
etisserant@203:             extra_files_log = os.path.join(self.workingdir,"extra_files.txt")
etisserant@203:             try:
etisserant@203:                 os.remove(os.path.join(self.workingdir,
etisserant@203:                                        self.CurrentPLCFilename))
etisserant@203:                 for filename in file(extra_files_log, "r").readlines() + extra_files_log:
etisserant@203:                     try:
etisserant@203:                         os.remove(os.path.join(self.workingdir, filename))
etisserant@203:                     except:
etisserant@203:                         pass
etisserant@203:             except:
etisserant@203:                 pass
etisserant@203:                         
etisserant@203:             try:
etisserant@203:                 # Create new PLC file
etisserant@203:                 open(os.path.join(self.workingdir,NewFileName),
etisserant@203:                      'wb').write(data)
etisserant@203:         
etisserant@203:                 # Store new PLC filename based on md5 key
etisserant@203:                 open(self._GetMD5FileName(), "w").write(md5sum)
etisserant@203:         
etisserant@203:                 # Then write the files
etisserant@203:                 log = file(extra_files_log, "w")
etisserant@203:                 for fname,fdata in extrafiles:
etisserant@203:                     fpath = os.path.join(self.workingdir,fname)
etisserant@203:                     open(fpath, "wb").write(fdata)
etisserant@203:                     log.write(fname+'\n')
etisserant@203: 
etisserant@203:                 # Store new PLC filename
etisserant@203:                 self.CurrentPLCFilename = NewFileName
etisserant@203:             except:
etisserant@203:                 print traceback.format_exc()
etisserant@203:                 return False
etisserant@203:             if self.PLCStatus == "Empty":
etisserant@203:                 self.PLCStatus = "Stopped"
etisserant@203:             return True
etisserant@203:         return False
etisserant@203: 
etisserant@203:     def MatchMD5(self, MD5):
etisserant@203:         try:
etisserant@203:             last_md5 = open(self._GetMD5FileName(), "r").read()
etisserant@203:             return last_md5 == MD5
etisserant@203:         except:
etisserant@203:             return False
etisserant@203:     
etisserant@203:     def SetTraceVariablesList(self, idxs):
etisserant@203:         """
etisserant@203:         Call ctype imported function to append 
etisserant@203:         these indexes to registred variables in PLC debugger
etisserant@203:         """
etisserant@203:         # keep a copy of requested idx
etisserant@203:         self._Idxs = idxs[:]
etisserant@203:         self._ResetDebugVariables()
etisserant@203:         for idx in idxs:
etisserant@203:             self._RegisterDebugVariable(idx)
etisserant@203: 
etisserant@203:     def GetTraceVariables(self):
etisserant@203:         """
etisserant@203:         Return a list of variables, corresponding to the list of requiered idx
etisserant@203:         """
etisserant@203:         self._WaitDebugData()
etisserant@203: 
etisserant@203:         for idx in self._Idxs:
etisserant@203:             buffer=self._IterDebugData()
etisserant@203:         self._FreeDebugData()
etisserant@203:         
etisserant@203:         
etisserant@203: 
etisserant@203: