beremiz

Make online debug optional

2019-01-06, Andrey Skvortsov
eba2bbb2dd9a
Make online debug optional

It could be useful for very small targets like Atmega (Arduino) and
for target bring-up there developer want to have running PLC program,
but has not implemented runtime communication yet.


TARGET_DEBUG_AND_RETAIN_DISABLE - completely disable debug and retain
functionality. Previously named TARGET_DEBUG_DISABLE.

TARGET_ONLINE_DEBUG_DISABLE - can be used to enable retain
functionality (no define TARGET_DEBUG_AND_RETAIN_DISABLE is used), but disable
online debug with corresponding RAM/FLASH overhead.

TARGET_LOGGING_DISABLE - disables logging functionality from runtime and PLC program

TARGET_EXT_SYNC_DISABLE - disables PLC program synchronization with
external events. For example, it could be used to synchronize several
PLCs that control motors for different axes.

By default all these options are off.

To test generate program for Generic target, put following files in
project files directory and run build.sh after generating PLC program.
This is very easy to integrate into makefile (Generic target).

[------------- build.sh --------------------------]
files=$(find $PWD/../build -iname '*.c' | grep -v POUS.c)
arm-none-eabi-gcc \
-DTARGET_DEBUG_AND_RETAIN_DISABLE \
-DTARGET_ONLINE_DEBUG_DISABLE \
-DTARGET_LOGGING_DISABLE \
-DTARGET_EXT_SYNC_DISABLE \
-flto -ffunction-sections -fdata-sections -I../../../../matiec/lib/C \
$files \
main.c \
-Wl,--Map=./program.map,--cref \
-nodefaultlibs --specs=nano.specs -Wl,--static -Wl,--gc-section -Wl,--start-group -lc -lm -lnosys -lgcc -Wl,--end-group
[------------------------------------------------]

[------------- main.c --------------------------]
#ifndef TARGET_DEBUG_AND_RETAIN_DISABLE
void Retain(void){}
void InValidateRetainBuffer(void){}
void ValidateRetainBuffer(void){}
#endif

extern void __run(void);
int main(void)
{
for(;;) {
__run();
// sleep common_ticktime__ ns
// add common_ticktime__ ns to __CURRENT_TIME
}
return 0;
}
[------------------------------------------------]
from __future__ import absolute_import
import os
import signal
import subprocess
import ctypes
from threading import Thread
import time
import re
import runtime.PLCObject as PLCObject
from runtime.loglevels import LogLevelsDict
SDOAnswered = PLCBinary.SDOAnswered
SDOAnswered.restype = None
SDOAnswered.argtypes = []
SDOThread = None
SDOProc = None
Result = None
def SDOThreadProc(*params):
global Result, SDOProc
if params[0] == "upload":
cmdfmt = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
else:
cmdfmt = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
command = cmdfmt % params[1:]
SDOProc = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True)
res = SDOProc.wait()
output = SDOProc.communicate()[0]
if params[0] == "upload":
Result = None
if res == 0:
if params[2] in ["float", "double"]:
Result = float(output)
elif params[2] in ["string", "octet_string", "unicode_string"]:
Result = output
else:
hex_value, dec_value = output.split()
if int(hex_value, 16) == int(dec_value):
Result = int(dec_value)
else:
Result = res == 0
SDOAnswered()
if res != 0:
PLCObject.LogMessage(
LogLevelsDict["WARNING"],
"%s : %s" % (command, output))
def EthercatSDOUpload(pos, index, subindex, var_type):
global SDOThread
SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex])
SDOThread.start()
def EthercatSDODownload(pos, index, subindex, var_type, value):
global SDOThread
SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value])
SDOThread.start()
def GetResult():
return Result
KMSGPollThread = None
StopKMSGThread = False
def KMSGPollThreadProc():
"""
Logs Kernel messages starting with EtherCAT
Uses GLibc wrapper to Linux syscall "klogctl"
Last 4 KB are polled, and lines compared to last
captured line to detect new lines
"""
libc = ctypes.CDLL("libc.so.6")
klog = libc.klogctl
klog.argtypes = [ctypes.c_int, ctypes.c_char_p, ctypes.c_int]
klog.restype = ctypes.c_int
s = ctypes.create_string_buffer(4*1024)
last = None
while not StopKMSGThread:
bytes_to_read = klog(3, s, len(s)-1)
log = s.value[:bytes_to_read-1]
if last:
log = log.rpartition(last)[2]
if log:
last = log.rpartition('\n')[2]
for lvl, msg in re.findall(
r'<(\d)>\[\s*\d*\.\d*\]\s*(EtherCAT\s*.*)$',
log, re.MULTILINE):
PLCObject.LogMessage(
LogLevelsDict[{
"4": "WARNING",
"3": "CRITICAL"}.get(lvl, "DEBUG")],
msg)
time.sleep(0.5)
def _runtime_etherlab_init():
global KMSGPollThread, StopKMSGThread
StopKMSGThread = False
KMSGPollThread = Thread(target=KMSGPollThreadProc)
KMSGPollThread.start()
def _runtime_etherlab_cleanup():
global KMSGPollThread, StopKMSGThread, SDOThread
try:
os.kill(SDOProc.pid, signal.SIGTERM)
except Exception:
pass
SDOThread = None
StopKMSGThread = True
KMSGPollThread = None