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;
}
[------------------------------------------------]
#!/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
# Copyright (C) 2017: Andrey Skvortsov
#
# 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.
from __future__ import absolute_import
import os
import re
from builtins import str as text
import util.paths as paths
from xmlclass import GenerateParserFromXSD
from CodeFileTreeNode import CodeFile
from py_ext.PythonEditor import PythonEditor
class PythonFileCTNMixin(CodeFile):
CODEFILE_NAME = "PyFile"
SECTIONS_NAMES = [
"globals",
"init",
"cleanup",
"start",
"stop"]
EditorType = PythonEditor
def __init__(self):
CodeFile.__init__(self)
filepath = self.PythonFileName()
if os.path.isfile(filepath):
PythonParser = GenerateParserFromXSD(paths.AbsNeighbourFile(__file__, "py_ext_xsd.xsd"))
xmlfile = open(filepath, 'r')
pythonfile_xml = xmlfile.read()
xmlfile.close()
pythonfile_xml = pythonfile_xml.replace(
'xmlns="http://www.w3.org/2001/XMLSchema"',
'xmlns:xhtml="http://www.w3.org/1999/xhtml"')
for cre, repl in [
(re.compile(r"(?<!<xhtml:p>)(?:<!\[CDATA\[)"), "<xhtml:p><![CDATA["),
(re.compile(r"(?:]]>)(?!</xhtml:p>)"), "]]></xhtml:p>")]:
pythonfile_xml = cre.sub(repl, pythonfile_xml)
try:
python_code, error = PythonParser.LoadXMLString(pythonfile_xml)
if error is None:
self.CodeFile.globals.setanyText(python_code.getanyText())
os.remove(filepath)
self.CreateCodeFileBuffer(False)
self.OnCTNSave()
except Exception as exc:
error = text(exc)
if error is not None:
self.GetCTRoot().logger.write_error(
_("Couldn't import old %s file.") % self.CTNName())
def CodeFileName(self):
return os.path.join(self.CTNPath(), "pyfile.xml")
def PythonFileName(self):
return os.path.join(self.CTNPath(), "py_ext.xml")
PreSectionsTexts = {}
PostSectionsTexts = {}
def GetSection(self, section):
return self.PreSectionsTexts.get(section, "") + "\n" + \
getattr(self.CodeFile, section).getanyText() + "\n" + \
self.PostSectionsTexts.get(section, "")
def CTNGenerate_C(self, buildpath, locations):
# location string for that CTN
location_str = "_".join(map(str, self.GetCurrentLocation()))
configname = self.GetCTRoot().GetProjectConfigNames()[0]
def _onchangecode(var):
return '"' + var.getonchange() + \
"('" + var.getname() + "')\"" \
if var.getonchange() else '""'
def _onchange(var):
return repr(var.getonchange()) \
if var.getonchange() else None
pyextname = self.CTNName()
varinfos = map(
lambda variable: {
"name": variable.getname(),
"desc": repr(variable.getdesc()),
"onchangecode": _onchangecode(variable),
"onchange": _onchange(variable),
"opts": repr(variable.getopts()),
"configname": configname.upper(),
"uppername": variable.getname().upper(),
"IECtype": variable.gettype(),
"initial": repr(variable.getinitial()),
"pyextname": pyextname
},
self.CodeFile.variables.variable)
# python side PLC global variables access stub
globalstubs = "\n".join([
"""\
_%(name)s_ctype, _%(name)s_unpack, _%(name)s_pack = \\
TypeTranslator["%(IECtype)s"]
_PySafeGetPLCGlob_%(name)s = PLCBinary.__SafeGetPLCGlob_%(name)s
_PySafeGetPLCGlob_%(name)s.restype = None
_PySafeGetPLCGlob_%(name)s.argtypes = [ctypes.POINTER(_%(name)s_ctype)]
_PySafeSetPLCGlob_%(name)s = PLCBinary.__SafeSetPLCGlob_%(name)s
_PySafeSetPLCGlob_%(name)s.restype = None
_PySafeSetPLCGlob_%(name)s.argtypes = [ctypes.POINTER(_%(name)s_ctype)]
_%(pyextname)sGlobalsDesc.append((
"%(name)s",
"%(IECtype)s",
%(initial)s,
%(desc)s,
%(onchange)s,
%(opts)s))
""" % varinfo for varinfo in varinfos])
# Runtime calls (start, stop, init, and cleanup)
rtcalls = ""
for section in self.SECTIONS_NAMES:
if section != "globals":
rtcalls += "def _runtime_%s_%s():\n" % (location_str, section)
sectiontext = self.GetSection(section).strip()
if sectiontext:
rtcalls += ' ' + \
sectiontext.replace('\n', '\n ')+"\n\n"
else:
rtcalls += " pass\n\n"
globalsection = self.GetSection("globals")
loc_dict = {
"pyextname": pyextname,
"globalstubs": globalstubs,
"globalsection": globalsection,
"rtcalls": rtcalls,
}
PyFileContent = """\
#!/usr/bin/env python
# -*- coding: utf-8 -*-
## Code generated by Beremiz python mixin confnode
##
## Code for PLC global variable access
from runtime.typemapping import TypeTranslator
import ctypes
_%(pyextname)sGlobalsDesc = []
__ext_name__ = "%(pyextname)s"
PLCGlobalsDesc.append(( "%(pyextname)s" , _%(pyextname)sGlobalsDesc ))
%(globalstubs)s
## User code in "global" scope
%(globalsection)s
## Beremiz python runtime calls
%(rtcalls)s
del __ext_name__
""" % loc_dict
# write generated content to python file
runtimefile_path = os.path.join(buildpath,
"runtime_%s.py" % location_str)
runtimefile = open(runtimefile_path, 'w')
runtimefile.write(PyFileContent.encode('utf-8'))
runtimefile.close()
# C code for safe global variables access
vardecfmt = """\
extern __IEC_%(IECtype)s_t %(configname)s__%(uppername)s;
IEC_%(IECtype)s __%(name)s_rbuffer = __INIT_%(IECtype)s;
IEC_%(IECtype)s __%(name)s_wbuffer;
long __%(name)s_rlock = 0;
long __%(name)s_wlock = 0;
int __%(name)s_wbuffer_written = 0;
void __SafeGetPLCGlob_%(name)s(IEC_%(IECtype)s *pvalue){
while(AtomicCompareExchange(&__%(name)s_rlock, 0, 1));
*pvalue = __%(name)s_rbuffer;
AtomicCompareExchange((long*)&__%(name)s_rlock, 1, 0);
}
void __SafeSetPLCGlob_%(name)s(IEC_%(IECtype)s *value){
while(AtomicCompareExchange(&__%(name)s_wlock, 0, 1));
__%(name)s_wbuffer = *value;
__%(name)s_wbuffer_written = 1;
AtomicCompareExchange((long*)&__%(name)s_wlock, 1, 0);
}
"""
vardeconchangefmt = """\
PYTHON_POLL* __%(name)s_notifier;
"""
varretfmt = """\
if(!AtomicCompareExchange(&__%(name)s_wlock, 0, 1)){
if(__%(name)s_wbuffer_written == 1){
%(configname)s__%(uppername)s.value = __%(name)s_wbuffer;
__%(name)s_wbuffer_written = 0;
}
AtomicCompareExchange((long*)&__%(name)s_wlock, 1, 0);
}
"""
varpubfmt = """\
if(!AtomicCompareExchange(&__%(name)s_rlock, 0, 1)){
__%(name)s_rbuffer = __GET_VAR(%(configname)s__%(uppername)s);
AtomicCompareExchange((long*)&__%(name)s_rlock, 1, 0);
}
"""
varpubonchangefmt = """\
if(!AtomicCompareExchange(&__%(name)s_rlock, 0, 1)){
IEC_%(IECtype)s tmp = __GET_VAR(%(configname)s__%(uppername)s);
if(__%(name)s_rbuffer != tmp){
__%(name)s_rbuffer = %(configname)s__%(uppername)s.value;
PYTHON_POLL_body__(__%(name)s_notifier);
}
AtomicCompareExchange((long*)&__%(name)s_rlock, 1, 0);
}
"""
varinitonchangefmt = """\
__%(name)s_notifier = __GET_GLOBAL_ON%(uppername)sCHANGE();
__SET_VAR(__%(name)s_notifier->,TRIG,,__BOOL_LITERAL(TRUE));
__SET_VAR(__%(name)s_notifier->,CODE,,__STRING_LITERAL(%(onchangelen)d,%(onchangecode)s));
"""
vardec = "\n".join([(vardecfmt + vardeconchangefmt
if varinfo["onchange"] else vardecfmt) % varinfo
for varinfo in varinfos])
varret = "\n".join([varretfmt % varinfo for varinfo in varinfos])
varpub = "\n".join([(varpubonchangefmt if varinfo["onchange"] else
varpubfmt) % varinfo
for varinfo in varinfos])
varinit = "\n".join([varinitonchangefmt %
dict(onchangelen=len(varinfo["onchangecode"]), **varinfo)
for varinfo in varinfos if varinfo["onchange"]])
loc_dict = {
"vardec": vardec,
"varinit": varinit,
"varret": varret,
"varpub": varpub,
"location_str": location_str,
}
# TODO : use config name obtained from model instead of default
# "config.h". User cannot change config name, but project imported
# or created in older beremiz vesion could use different name.
PyCFileContent = """\
/*
* Code generated by Beremiz py_ext confnode
* for safe global variables access
*/
#include "iec_types_all.h"
#include "POUS.h"
#include "config.h"
#include "beremiz.h"
/* User variables reference */
%(vardec)s
/* Beremiz confnode functions */
int __init_%(location_str)s(int argc,char **argv){
%(varinit)s
return 0;
}
void __cleanup_%(location_str)s(void){
}
void __retrieve_%(location_str)s(void){
%(varret)s
}
void __publish_%(location_str)s(void){
%(varpub)s
}
""" % loc_dict
Gen_PyCfile_path = os.path.join(buildpath, "PyCFile_%s.c" % location_str)
pycfile = open(Gen_PyCfile_path, 'w')
pycfile.write(PyCFileContent)
pycfile.close()
matiec_CFLAGS = '"-I%s"' % os.path.abspath(
self.GetCTRoot().GetIECLibPath())
return ([(Gen_PyCfile_path, matiec_CFLAGS)],
"",
True,
("runtime_%s.py" % location_str, open(runtimefile_path, "rb")))