HGKeeper

add autostart plc feature for beremiz_service

2009-03-30, greg

22e65b8e20f4

Parents c23daa6996c2
Children fdf81615ed04

add autostart plc feature for beremiz_service

5 files changed, 64 insertions(+), 65 deletions(-)

+7 -14

runtime/PLCObject.py

+15 -9

targets/Linux/plc_Linux_main.c

+21 -21

targets/Win32/plc_Win32_main.c

+1 -1

targets/Xenomai/__init__.py

+20 -20

targets/plc_python.c

~~--- a/runtime/PLCObject.py Tue Mar 24 17:33:46 2009 +0100~~

+++ b/runtime/PLCObject.py Mon Mar 30 17:04:30 2009 +0200

@@ -46,7 +46,7 @@

class PLCObject(pyro.ObjBase):

_Idxs = []

~~- def __init__(self, workingdir, daemon, argv, statuschange=None, evaluator=eval):~~

+ def __init__(self, workingdir, daemon, argv, statuschange, evaluator):

pyro.ObjBase.__init__(self)

self.evaluator = evaluator

self.argv = [workingdir] + argv # force argv[0] to be "path" to exec...

@@ -57,7 +57,6 @@

self._FreePLC()

self.daemon = daemon

self.statuschange = statuschange

~~- self.python_threads_vars = None~~

self.hmi_frame = None

# Get the last transfered PLC if connector must be restart

@@ -220,23 +219,21 @@

break

except:

PLCprint(traceback.format_exc())

-

~~- def BeginRuntimePy(self):~~

runtime_begin = self.python_threads_vars.get("_runtime_begin",None)

if runtime_begin is not None:

~~- self.evaluator(runtime_begin)~~

+ runtime_begin()

def FinishRuntimePy(self):

runtime_cleanup = self.python_threads_vars.get("_runtime_cleanup",None)

if runtime_cleanup is not None:

~~- self.evaluator(runtime_cleanup)~~

+ runtime_cleanup()

if self.hmi_frame is not None:

~~- self.evaluator(self.hmi_frame.Destroy)~~

+ self.hmi_frame.Destroy()

self.python_threads_vars = None

def PythonThreadProc(self):

PLCprint("PythonThreadProc started")

~~- self.BeginRuntimePy()~~

+ self.evaluator(self.PrepareRuntimePy)

res,cmd = "None","None"

while self.PLCStatus == "Started":

#print "_PythonIterator(", res, ")",

@@ -249,6 +246,7 @@

except Exception,e:

res = "#EXCEPTION : "+str(e)

PLCprint(res)

+ self.evaluator(self.FinishRuntimePy)

PLCprint("PythonThreadProc interrupted")

def StartPLC(self, debug=False):

@@ -262,7 +260,6 @@

self._resumeDebug()

self.PLCStatus = "Started"

self.StatusChange()

~~- self.evaluator(self.PrepareRuntimePy)~~

self.PythonThread = Thread(target=self.PythonThreadProc)

self.PythonThread.start()

return True

@@ -272,12 +269,8 @@

return False

def _DoStopPLC(self):

+ self.PLCStatus = "Stopped"

self._stopPLC()

~~- self.PLCStatus = "Stopped"~~

~~- self.PythonThread.join(timeout=1)~~

~~- if self.PythonThread.isAlive():~~

~~- PLCprint("Python thread couldn't be killed")~~

~~- self.FinishRuntimePy()~~

if self._FreePLC():

self.PLCStatus = "Dirty"

self.StatusChange()

~~--- a/targets/Linux/plc_Linux_main.c Tue Mar 24 17:33:46 2009 +0100~~

+++ b/targets/Linux/plc_Linux_main.c Mon Mar 30 17:04:30 2009 +0200

@@ -1,13 +1,13 @@

/**

* Linux specific code

~~- **/~~

+ **/

#include <stdio.h>

#include <string.h>

#include <time.h>

#include <signal.h>

#include <stdlib.h>

~~-#include <pthread.h>~~

+#include <pthread.h>

/* provided by POUS.C */

extern int common_ticktime__;

@@ -51,7 +51,7 @@

timerValues.it_interval.tv_sec = period / 1000000000;

timerValues.it_interval.tv_nsec = period % 1000000000;

#endif

~~- }~~

+ }

timer_settime (PLC_timer, 0, &timerValues, NULL);

}

//

@@ -77,20 +77,23 @@

struct sigevent sigev;

/* Translate PLC's microseconds to Ttick nanoseconds */

Ttick = 1000000 * maxval(common_ticktime__,1);

-

+

memset (&sigev, 0, sizeof (struct sigevent));

sigev.sigev_value.sival_int = 0;

sigev.sigev_notify = SIGEV_THREAD;

sigev.sigev_notify_attributes = NULL;

sigev.sigev_notify_function = PLC_timer_notify;

+ pthread_mutex_init(&debug_wait_mutex);

+ pthread_mutex_init(&python_wait_mutex);

+

pthread_mutex_lock(&debug_wait_mutex);

pthread_mutex_lock(&python_wait_mutex);

timer_create (CLOCK_REALTIME, &sigev, &PLC_timer);

if( __init(argc,argv) == 0 ){

PLC_SetTimer(Ttick,Ttick);

-

+

/* install signal handler for manual break */

// signal(SIGTERM, catch_signal);

signal(SIGINT, catch_signal);

@@ -118,6 +121,9 @@

__cleanup();

__debug_tick = -1;

pthread_mutex_unlock(&debug_wait_mutex);

+ pthread_mutex_destroy(&debug_wait_mutex);

+ pthread_mutex_unlock(&python_wait_mutex);

+ pthread_mutex_destroy(&python_wait_mutex);

}

extern int __tick;

@@ -125,10 +131,10 @@

int WaitDebugData()

{

/* Wait signal from PLC thread */

~~- pthread_mutex_lock(&debug_wait_mutex);~~

+ if(pthread_mutex_lock(&debug_wait_mutex)) return -1;

return __debug_tick;

}

-

+

/* Called by PLC thread when debug_publish finished

* This is supposed to unlock debugger thread in WaitDebugData*/

void InitiateDebugTransfer()

@@ -157,9 +163,9 @@

int WaitPythonCommands(void)

{

/* Wait signal from PLC thread */

~~- pthread_mutex_lock(&python_wait_mutex);~~

+ return pthread_mutex_lock(&python_wait_mutex);

}

-

+

/* Called by PLC thread on each new python command*/

void UnBlockPythonCommands(void)

{

~~--- a/targets/Win32/plc_Win32_main.c Tue Mar 24 17:33:46 2009 +0100~~

+++ b/targets/Win32/plc_Win32_main.c Mon Mar 30 17:04:30 2009 +0200

@@ -1,6 +1,6 @@

/**

* Win32 specific code

~~- **/~~

+ **/

#include <stdio.h>

#include <sys/timeb.h>

@@ -19,7 +19,7 @@

void PLC_GetTime(IEC_TIME *CURRENT_TIME)

{

_ftime(&timetmp);

-

+

(*CURRENT_TIME).tv_sec = timetmp.time;

(*CURRENT_TIME).tv_nsec = timetmp.millitm * 1000000;

}

@@ -36,11 +36,11 @@

LARGE_INTEGER liDueTime;

/* arg 2 of SetWaitableTimer take 100 ns interval*/

liDueTime.QuadPart = next / (-100);

-

+

/*

printf("SetTimer(%lld,%lld)\n",next, period);

*/

-

+

if (!SetWaitableTimer(PLC_timer, &liDueTime, common_ticktime__, NULL, NULL, 0))

{

printf("SetWaitableTimer failed (%d)\n", GetLastError());

@@ -66,9 +66,9 @@

HANDLE PLC_thread;

HANDLE debug_sem;

~~-HANDLE debug_wait_sem;~~

+HANDLE debug_wait_sem;

HANDLE python_sem;

~~-HANDLE python_wait_sem;~~

+HANDLE python_wait_sem;

#define maxval(a,b) ((a>b)?a:b)

int startPLC(int argc,char **argv)

@@ -77,54 +77,54 @@

/* Translate PLC's microseconds to Ttick nanoseconds */

Ttick = 1000000 * maxval(common_ticktime__,1);

~~- debug_sem = CreateSemaphore(~~

+ debug_sem = CreateSemaphore(

NULL, // default security attributes

1, // initial count

1, // maximum count

NULL); // unnamed semaphore

~~- if (debug_sem == NULL)~~

+ if (debug_sem == NULL)

{

printf("startPLC CreateSemaphore debug_sem error: %d\n", GetLastError());

return;

}

-

~~- debug_wait_sem = CreateSemaphore(~~

+

+ debug_wait_sem = CreateSemaphore(

NULL, // default security attributes

0, // initial count

1, // maximum count

NULL); // unnamed semaphore

~~- if (debug_wait_sem == NULL)~~

+ if (debug_wait_sem == NULL)

{

printf("startPLC CreateSemaphore debug_wait_sem error: %d\n", GetLastError());

return;

}

~~- python_sem = CreateSemaphore(~~

+ python_sem = CreateSemaphore(

NULL, // default security attributes

1, // initial count

1, // maximum count

NULL); // unnamed semaphore

~~- if (python_sem == NULL)~~

+ if (python_sem == NULL)

{

printf("startPLC CreateSemaphore python_sem error: %d\n", GetLastError());

return;

}

~~- python_wait_sem = CreateSemaphore(~~

+ python_wait_sem = CreateSemaphore(

NULL, // default security attributes

0, // initial count

1, // maximum count

NULL); // unnamed semaphore

~~- if (python_wait_sem == NULL)~~

+ if (python_wait_sem == NULL)

{

printf("startPLC CreateSemaphore python_wait_sem error: %d\n", GetLastError());

return;

}

-

+

/* Create a waitable timer */

PLC_timer = CreateWaitableTimer(NULL, FALSE, "WaitableTimer");

if(NULL == PLC_timer)

@@ -172,10 +172,10 @@

/* from plc_debugger.c */

int WaitDebugData()

{

~~- WaitForSingleObject(debug_wait_sem, INFINITE);~~

+ if(WaitForSingleObject(debug_wait_sem, INFINITE) != WAIT_OBJECT_0) return -1;

return __debug_tick;

}

-

+

/* Called by PLC thread when debug_publish finished

* This is supposed to unlock debugger thread in WaitDebugData*/

void InitiateDebugTransfer()

@@ -190,7 +190,7 @@

{

__DEBUG = 0;

/* Prevent PLC to enter debug code */

~~- WaitForSingleObject(debug_sem, INFINITE);~~

+ WaitForSingleObject(debug_sem, INFINITE);

}

void resumeDebug()

@@ -204,9 +204,9 @@

int WaitPythonCommands(void)

{

/* Wait signal from PLC thread */

~~- WaitForSingleObject(python_wait_sem, INFINITE);~~

+ return WaitForSingleObject(python_wait_sem, INFINITE);

}

-

+

/* Called by PLC thread on each new python command*/

void UnBlockPythonCommands(void)

{

~~--- a/targets/Xenomai/__init__.py Tue Mar 24 17:33:46 2009 +0100~~

+++ b/targets/Xenomai/__init__.py Mon Mar 30 17:04:30 2009 +0200

@@ -5,7 +5,7 @@

extension = ".so"

def getXenoConfig(self):

""" Get xeno-config from target parameters """

~~- return self.PuginsRootInstance.BeremizRoot.getTargetType().getcontent()["value"].getXenoConfig()~~

+ return self.PluginsRootInstance.BeremizRoot.getTargetType().getcontent()["value"].getXenoConfig()

def getBuilderLDFLAGS(self):

# get xeno-config from target parameters

~~--- a/targets/plc_python.c Tue Mar 24 17:33:46 2009 +0100~~

+++ b/targets/plc_python.c Mon Mar 30 17:04:30 2009 +0200

@@ -1,17 +1,17 @@

/*

* Python Asynchronous execution code

- *

+ *

* PLC put python commands in a fifo, respecting execution order

~~- * with the help of C pragmas inserted in python_eval FB code~~

- *

~~- * Buffer content is read asynchronously, (from non real time part),~~

+ * with the help of C pragmas inserted in python_eval FB code

+ *

+ * Buffer content is read asynchronously, (from non real time part),

* commands are executed and result stored for later use by PLC.

- *

+ *

* In this implementation, fifo is a list of pointer to python_eval

* function blocks structures. Some local variables have been added in

* python_eval interface. We use those local variables as buffer and state

* flags.

- *

+ *

* */

#include "iec_types_all.h"

@@ -30,7 +30,7 @@

#define PYTHON_LOCKED_BY_PLC 1

#define PYTHON_MUSTWAKEUP 2

#define PYTHON_FINISHED 4

-

+

/* Each python_eval FunctionBlock have it own state */

#define PYTHON_FB_FREE 0

#define PYTHON_FB_REQUESTED 1

@@ -62,12 +62,12 @@

void __retrieve_python()

{

~~- /* Check Python thread is not being~~

+ /* Check Python thread is not being

* modifying internal python_eval data */

~~- PythonState = TryLockPython() ?~~

~~- PYTHON_LOCKED_BY_PLC :~~

+ PythonState = TryLockPython() ?

+ PYTHON_LOCKED_BY_PLC :

PYTHON_LOCKED_BY_PYTHON;

~~- /* If python thread _is_ in, then PythonState remains PYTHON_LOCKED_BY_PYTHON~~

+ /* If python thread _is_ in, then PythonState remains PYTHON_LOCKED_BY_PYTHON

* and python_eval will no do anything */

}

@@ -83,13 +83,13 @@

}

/**

~~- * Called by the PLC, each time a python_eval~~

+ * Called by the PLC, each time a python_eval

* FB instance is executed

*/

void __PythonEvalFB(int poll, PYTHON_EVAL* data__)

{

~~- /* detect rising edge on TRIG to trigger evaluation */~~

~~- if(((data__->TRIG && !data__->TRIGM1) ||~~

+ /* detect rising edge on TRIG to trigger evaluation */

+ if(((data__->TRIG && !data__->TRIGM1) ||

/* polling is equivalent to trig on value rather than on rising edge*/

(poll && data__->TRIG )) &&

/* trig only if not already trigged */

@@ -122,12 +122,12 @@

}

/* got the order to act ?*/

if(data__->TRIGGED == 1 &&

~~- /* and not already being processed */~~

~~- data__->STATE == PYTHON_FB_FREE)~~

+ /* and not already being processed */

+ data__->STATE == PYTHON_FB_FREE)

{

/* Enter the block in the fifo

/* Don't have to check if fifo cell is free

~~- * as fifo size == FB count, and a FB cannot~~

+ * as fifo size == FB count, and a FB cannot

* be requested twice */

EvalFBs[Current_PLC_EvalFB] = data__;

/* copy into BUFFER local*/

@@ -186,14 +186,14 @@

//printf("PythonIterator ++ Current_Python_EvalFB %%d\n", Current_Python_EvalFB);

}

/* while next slot is empty */

~~- while(((data__ = EvalFBs[Current_Python_EvalFB]) == NULL) ||~~

~~- /* or doesn't contain command */~~

+ while(((data__ = EvalFBs[Current_Python_EvalFB]) == NULL) ||

+ /* or doesn't contain command */

data__->STATE != PYTHON_FB_REQUESTED)

{

UnLockPython();

/* wait next FB to eval */

//printf("PythonIterator wait\n");

~~- WaitPythonCommands();~~

+ if(WaitPythonCommands()) return NULL;

/*emergency exit*/

if(PythonState & PYTHON_FINISHED) return NULL;

LockPython();