runtime/PLCObject.py
author Edouard Tisserant 7BB06627 <edouard.tisserant@gmail.com>
Tue, 24 Jan 2017 01:09:54 +0100
branch1.2
changeset 1641 24168e52fc2b
parent 1571 486f94a8032c
child 1667 cefc9219bb48
permissions -rwxr-xr-x
1.2rc1
#!/usr/bin/env python
# -*- coding: utf-8 -*-

# This file is part of Beremiz, a Integrated Development Environment for
# programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
#
# Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
#
# See COPYING file for copyrights details.
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program 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 General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

import Pyro.core as pyro
from threading import Timer, Thread, Lock, Semaphore, Event
import ctypes, os, commands, types, sys
from targets.typemapping import LogLevelsDefault, LogLevelsCount, TypeTranslator, UnpackDebugBuffer
from time import time


if os.name in ("nt", "ce"):
    from _ctypes import LoadLibrary as dlopen
    from _ctypes import FreeLibrary as dlclose
elif os.name == "posix":
    from _ctypes import dlopen, dlclose

import traceback
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 PLCObject(pyro.ObjBase):
    def __init__(self, workingdir, daemon, argv, statuschange, evaluator, pyruntimevars):
        pyro.ObjBase.__init__(self)
        self.evaluator = evaluator
        self.argv = [workingdir] + argv # force argv[0] to be "path" to exec...
        self.workingdir = workingdir
        self.PLCStatus = "Empty"
        self.PLClibraryHandle = None
        self.PLClibraryLock = Lock()
        self.DummyIteratorLock = None
        # Creates fake C funcs proxies
        self._FreePLC()
        self.daemon = daemon
        self.statuschange = statuschange
        self.hmi_frame = None
        self.pyruntimevars = pyruntimevars
        self._loading_error = None
        self.python_runtime_vars = None
        self.TraceThread = None
        self.TraceLock = Lock()
        self.TraceWakeup = Event()
        self.Traces = []

    def AutoLoad(self):
        # Get the last transfered PLC if connector must be restart
        try:
            self.CurrentPLCFilename=open(
                             self._GetMD5FileName(),
                             "r").read().strip() + lib_ext
            if self.LoadPLC():
                self.PLCStatus = "Stopped"
        except Exception, e:
            self.PLCStatus = "Empty"
            self.CurrentPLCFilename=None

    def StatusChange(self):
        if self.statuschange is not None:
            for callee in self.statuschange:
                callee(self.PLCStatus)

    def LogMessage(self, *args):
        if len(args) == 2:
            level, msg = args
        else:
            level = LogLevelsDefault
            msg, = args
        return self._LogMessage(level, msg, len(msg))

    def ResetLogCount(self):
        if self._ResetLogCount is not None:
            self._ResetLogCount()

    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

    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()
        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

            self.PythonRuntimeInit()

            return True
        except:
            self._loading_error = traceback.format_exc()
            PLCprint(self._loading_error)
            return False

    def UnLoadPLC(self):
        self.PythonRuntimeCleanup()
        self._FreePLC()

    def _FreePLC(self):
        """
        Unload PLC library.
        This is also called by __init__ to create dummy C func proxies
        """
        self.PLClibraryLock.acquire()
        # Forget all refs to library
        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 = lambda l,m,s:PLCprint("OFF LOG :"+m)
        self._GetLogMessage = None
        self.PLClibraryHandle = None
        # Unload library explicitely
        if getattr(self,"_PLClibraryHandle",None) is not None:
            dlclose(self._PLClibraryHandle)
            self._PLClibraryHandle = None

        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)))

    def PythonRuntimeInit(self):
        MethodNames = ["init", "start", "stop", "cleanup"]
        self.python_runtime_vars = globals().copy()
        self.python_runtime_vars.update(self.pyruntimevars)

        class PLCSafeGlobals:
            def __getattr__(_self, name):
                try :
                    t = self.python_runtime_vars["_"+name+"_ctype"]
                except KeyError:
                    raise KeyError("Try to get unknown shared global variable : %s"%name)
                v = t()
                r = self.python_runtime_vars["_PySafeGetPLCGlob_"+name](ctypes.byref(v))
                return self.python_runtime_vars["_"+name+"_unpack"](v)
            def __setattr__(_self, name, value):
                try :
                    t = self.python_runtime_vars["_"+name+"_ctype"]
                except KeyError:
                    raise KeyError("Try to set unknown shared global variable : %s"%name)
                v = self.python_runtime_vars["_"+name+"_pack"](t,value)
                self.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:
            self.LogMessage(0,traceback.format_exc())
            raise

        self.PythonRuntimeCall("init")



    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:
            # print "_PythonIterator(", res, ")",
            cmd = self._PythonIterator(res,blkid)
            FBID = blkid.value
            # print " -> ", cmd, blkid
            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)))

    def StartPLC(self):
        if self.CurrentPLCFilename is not None and self.PLCStatus == "Stopped":
            c_argv = ctypes.c_char_p * len(self.argv)
            error = None
            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()

    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.TraceWakeup.set()
                self.TraceThread.join()
                self.TraceThread = None
            return True
        return False

    def _Reload(self):
        self.daemon.shutdown(True)
        self.daemon.sock.close()
        os.execv(sys.executable,[sys.executable]+sys.argv[:])
        # never reached
        return 0

    def ForceReload(self):
        # respawn python interpreter
        Timer(0.1,self._Reload).start()
        return True

    def GetPLCstatus(self):
        return self.PLCStatus, map(self.GetLogCount,xrange(LogLevelsCount))

    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")

            self.UnLoadPLC()

            self.LogMessage("NewPLC (%s)"%md5sum)
            self.PLCStatus = "Empty"

            try:
                os.remove(os.path.join(self.workingdir,
                                       self.CurrentPLCFilename))
                for filename in file(extra_files_log, "r").readlines() + [extra_files_log]:
                    try:
                        os.remove(os.path.join(self.workingdir, filename.strip()))
                    except:
                        pass
            except:
                pass

            try:
                # Create new PLC file
                open(os.path.join(self.workingdir,NewFileName),
                     '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:
                self.PLCStatus = "Broken"
                self.StatusChange()
                PLCprint(traceback.format_exc())
                return False

            if self.LoadPLC():
                self.PLCStatus = "Stopped"
            else:
                self.PLCStatus = "Broken"
                self._FreePLC()
            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:
            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 !=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 _TracesPush(self, trace):
        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(trace)
        self.TraceLock.release()

    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()
        self.TraceWakeup.set()
        return Traces

    def _TracesAutoSuspend(self):
        # 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
            self.TraceWakeup.clear()
            self.TraceWakeup.wait()
            self._resumeDebug() # Re-enable debugger

    def _TracesFlush(self):
        self.TraceLock.acquire()
        self.Traces = []
        self.TraceLock.release()

    def GetTraceVariables(self):
        return self.PLCStatus, self._TracesSwap()

    def TraceThreadProc(self):
        """
        Return a list of traces, corresponding to the list of required idx
        """
        while self.PLCStatus == "Started" :
            tick = ctypes.c_uint32()
            size = ctypes.c_uint32()
            buff = ctypes.c_void_p()
            TraceBuffer = None
            if self.PLClibraryLock.acquire(False):
                if self._GetDebugData(ctypes.byref(tick),
                                      ctypes.byref(size),
                                      ctypes.byref(buff)) == 0:
                    if size.value:
                        TraceBuffer = ctypes.string_at(buff.value, size.value)
                    self._FreeDebugData()
                self.PLClibraryLock.release()
            if TraceBuffer is not None:
                self._TracesPush((tick.value, TraceBuffer))
            self._TracesAutoSuspend()
        self._TracesFlush()


    def RemoteExec(self, script, *kwargs):
        try:
            exec script in kwargs
        except:
            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))