beremiz

SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
svghmi
2019-12-09, Edouard Tisserant
d9b5303d43dc
SVGHMI : had to move the problem of wkaing up python thread from plc thread to platform specific code.
Since Xenomai's cobalt thread are definitely incompatible with normal posix python interpreter binary's thread, we must synchronize them with arcane rt_pipes (the only ones that really work cross domain) as already done in debug and python async eval blocks.
// svghmi.js
var cache = hmitree_types.map(_ignored => undefined);
function dispatch_value_to_widget(widget, index, value, oldval) {
let idxidx = widget.indexes.indexOf(index);
if(idxidx == -1){
throw new Error("Dispatching to widget not interested, should not happen.");
}
let d = widget.dispatch;
if(typeof(d) == "function" && idxidx == 0){
return d.call(widget, value, oldval);
}else if(typeof(d) == "object" && d.length >= idxidx){
return d[idxidx].call(widget, value, oldval);
}/* else dispatch_0, ..., dispatch_n ? */
/*else {
throw new Error("Dunno how to dispatch to widget at index = " + index);
}*/
}
function dispatch_value(index, value) {
let widgets = subscribers[index];
let oldval = cache[index];
cache[index] = value;
if(widgets.size > 0) {
for(let widget of widgets){
dispatch_value_to_widget(widget, index, value, oldval);
}
}
};
function init_widgets() {
Object.keys(hmi_widgets).forEach(function(id) {
let widget = hmi_widgets[id];
let init = widget.init;
if(typeof(init) == "function"){
return init.call(widget);
}
});
};
// Open WebSocket to relative "/ws" address
var ws = new WebSocket(window.location.href.replace(/^http(s?:\/\/[^\/]*)\/.*$/, 'ws$1/ws'));
ws.binaryType = 'arraybuffer';
const dvgetters = {
INT: [DataView.prototype.getInt16, 2],
BOOL: [DataView.prototype.getInt8, 1]
/* TODO */
};
// Register message reception handler
ws.onmessage = function (evt) {
let data = evt.data;
let dv = new DataView(data);
let i = 0;
try {
for(let hash_int of hmi_hash) {
if(hash_int != dv.getUint8(i)){
throw new Error("Hash doesn't match");
};
i++;
};
while(i < data.byteLength){
let index = dv.getUint32(i, true);
i += 4;
let iectype = hmitree_types[index];
if(iectype != undefined){
let [dvgetter, bytesize] = dvgetters[iectype];
let value = dvgetter.call(dv,i,true);
dispatch_value(index, value);
i += bytesize;
} else {
throw new Error("Unknown index "+index)
}
};
} catch(err) {
// 1003 is for "Unsupported Data"
// ws.close(1003, err.message);
// TODO : remove debug alert ?
alert("Error : "+err.message+"\\\\nHMI will be reloaded.");
// force reload ignoring cache
location.reload(true);
}
};
function send_blob(data) {
if(data.length > 0) {
ws.send(new Blob([new Uint8Array(hmi_hash)].concat(data)));
};
};
const typedarray_types = {
INT: Int16Array,
BOOL: Uint8Array
/* TODO */
};
function send_reset() {
send_blob(new Uint8Array([1])); /* reset = 1 */
};
// subscription state, as it should be in hmi server
// hmitree indexed array of integers
var subscriptions = hmitree_types.map(_ignored => 0);
// subscription state as needed by widget now
// hmitree indexed array of Sets of widgets objects
var subscribers = hmitree_types.map(_ignored => new Set());
function update_subscriptions() {
let delta = [];
for(let index = 0; index < subscribers.length; index++){
let widgets = subscribers[index];
// periods are in ms
let previous_period = subscriptions[index];
let new_period = 0;
if(widgets.size > 0) {
let maxfreq = 0;
for(let widget of widgets)
if(maxfreq < widget.frequency)
maxfreq = widget.frequency;
if(maxfreq != 0)
new_period = 1000/maxfreq;
}
if(previous_period != new_period) {
subscriptions[index] = new_period;
delta.push(
new Uint8Array([2]), /* subscribe = 2 */
new Uint32Array([index]),
new Uint16Array([new_period]));
}
}
send_blob(delta);
};
function send_hmi_value(index, value) {
let iectype = hmitree_types[index];
let jstype = typedarray_types[iectype];
send_blob([
new Uint8Array([0]), /* setval = 0 */
new Uint32Array([index]),
new jstype([value])]);
cache[index] = value;
};
function change_hmi_value(index, opstr) {
let op = opstr[0];
let given_val = opstr.slice(1);
let old_val = cache[index]
let new_val;
switch(op){
case "=":
eval("new_val"+opstr);
break;
case "+":
case "-":
case "*":
case "/":
if(old_val != undefined)
new_val = eval("old_val"+opstr);
break;
}
if(new_val != undefined && old_val != new_val)
send_hmi_value(index, new_val);
return new_val;
}
var current_page;
function switch_page(page_name) {
let old_desc = page_desc[current_page];
let new_desc = page_desc[page_name];
/* TODO hide / show widgets */
/* remove subsribers of previous page if any */
if(old_desc) for(let widget of old_desc.widgets){
for(let index of widget.indexes){
subscribers[index].delete(widget);
}
}
if(new_desc) {
/* add new subsribers if any */
for(let widget of new_desc.widgets){
for(let index of widget.indexes){
subscribers[index].add(widget);
let cached_val = cache[index];
if(cached_val != undefined)
dispatch_value_to_widget(widget, index, cached_val, cached_val);
}
}
svg_root.setAttribute('viewBox',new_desc.bbox.join(" "));
// TODO dispatch current cache in newly opened page
}
current_page = page_name;
update_subscriptions();
};
// Once connection established
ws.onopen = function (evt) {
init_widgets();
send_reset();
// show main page
switch_page(default_page);
};
ws.onclose = function (evt) {
// TODO : add visible notification while waiting for reload
console.log("Connection closed. code:"+evt.code+" reason:"+evt.reason+" wasClean:"+evt.wasClean+" Reload in 10s.");
// TODO : re-enable auto reload when not in debug
//window.setTimeout(() => location.reload(true), 10000);
alert("Connection closed. code:"+evt.code+" reason:"+evt.reason+" wasClean:"+evt.wasClean+".");
};