beremiz

C runtime: initial fixes. Now runs and traces first_steps example.

2024-05-24, Edouard Tisserant
f64dce4e2f62
Parents 21e391fb5983
Children 79bdee48ced8
C runtime: initial fixes. Now runs and traces first_steps example.

beremiz_runtime -v -t tcp -p 61131 -h localhost
4 files changed, 189 insertions(+), 89 deletions(-)
  • +1 -3
    C_runtime/Makefile
  • +155 -64
    C_runtime/PLCObject.cpp
  • +23 -20
    C_runtime/PLCObject.hpp
  • +10 -2
    C_runtime/posix_main.cpp
    • --- a/C_runtime/Makefile Fri May 24 18:48:28 2024 +0200
    +++ b/C_runtime/Makefile Fri May 24 18:55:46 2024 +0200
    @@ -41,9 +41,7 @@
    $(ERPC_C_ROOT)/transports/erpc_serial_transport.cpp \
    $(ERPC_C_ROOT)/transports/erpc_tcp_transport.cpp
    -SOURCES += $(RUNTIME_ROOT)/c_erpc_PLCObject_client.cpp \
    - $(RUNTIME_ROOT)/c_erpc_PLCObject_server.cpp \
    - $(RUNTIME_ROOT)/erpc_PLCObject_client.cpp \
    +SOURCES += $(RUNTIME_ROOT)/erpc_PLCObject_client.cpp \
    $(RUNTIME_ROOT)/erpc_PLCObject_interface.cpp \
    $(RUNTIME_ROOT)/erpc_PLCObject_server.cpp \
    $(RUNTIME_ROOT)/md5.cpp \
    --- a/C_runtime/PLCObject.cpp Fri May 24 18:48:28 2024 +0200
    +++ b/C_runtime/PLCObject.cpp Fri May 24 18:55:46 2024 +0200
    @@ -4,6 +4,7 @@
    #include <dlfcn.h>
    #include <fstream>
    #include <iostream>
    +#include <vector>
    #include "Logging.hpp"
    @@ -26,10 +27,10 @@
    m_status.PLCstatus = Empty;
    m_handle = NULL;
    m_debugToken = 0;
    - m_plcID.ID = "N/A"; // TODO
    - m_plcID.PSK = "N/A"; // TODO
    m_argc = 0;
    m_argv = NULL;
    + m_PSK_ID = "";
    + m_PSK_secret = "";
    }
    PLCObject::~PLCObject(void)
    @@ -43,8 +44,15 @@
    // Output new blob's md5 into newBlobID
    // Return 0 if success
    - auto nh = m_mapBlobIDToBlob.extract(std::vector<uint8_t>(
    - blobID->data, blobID->data + blobID->dataLength));
    + newBlobID->data = (uint8_t *)malloc(MD5::digestsize);
    + if (newBlobID->data == NULL)
    + {
    + return ENOMEM;
    + }
    +
    + std::vector<uint8_t> k(blobID->data, blobID->data + blobID->dataLength);
    +
    + auto nh = m_mapBlobIDToBlob.extract(k);
    if (nh.empty())
    {
    return ENOENT;
    @@ -60,11 +68,14 @@
    MD5::digest_t digest = blob->digest();
    - nh.key() = std::vector<uint8_t>(
    - (uint8_t)*digest.data, (uint8_t)*digest.data + MD5::digestsize);
    + std::vector<uint8_t> nk((uint8_t*)digest.data, (uint8_t*)digest.data + MD5::digestsize);
    + nh.key() = nk;
    m_mapBlobIDToBlob.insert(std::move(nh));
    + memcpy(newBlobID->data, digest.data, MD5::digestsize);
    + newBlobID->dataLength = MD5::digestsize;
    +
    return 0;
    }
    @@ -106,8 +117,25 @@
    uint32_t PLCObject::GetPLCID(PSKID *plcID)
    {
    - // Get PLC ID
    - *plcID = m_plcID;
    + // Get PSK ID
    + plcID->ID = (char *)malloc(m_PSK_ID.size() + 1);
    + if (plcID->ID == NULL)
    + {
    + return ENOMEM;
    + }
    + memcpy(plcID->ID, m_PSK_ID.c_str(), m_PSK_ID.size());
    + plcID->ID[m_PSK_ID.size()] = '\0';
    +
    + // Get PSK secret
    + plcID->PSK = (char *)malloc(m_PSK_secret.size() + 1);
    + if (plcID->PSK == NULL)
    + {
    + free(plcID->ID);
    + return ENOMEM;
    + }
    + memcpy(plcID->PSK, m_PSK_secret.c_str(), m_PSK_secret.size());
    + plcID->PSK[m_PSK_secret.size()] = '\0';
    +
    return 0;
    }
    @@ -129,37 +157,47 @@
    // Check if there are any traces
    m_tracesMutex.lock();
    size_t sz = m_traces.size();
    - if(sz == 0)
    - {
    - m_tracesMutex.unlock();
    - return ENOENT;
    - }
    -
    - // Allocate memory for traces
    - traces->traces.elements = (trace_sample *)malloc(sz * sizeof(trace_sample));
    - if(traces->traces.elements == NULL)
    + if(sz > 0)
    {
    - m_tracesMutex.unlock();
    - return ENOMEM;
    - }
    - traces->traces.elementsCount = sz;
    + // Allocate memory for traces
    + traces->traces.elements = (trace_sample *)malloc(sz * sizeof(trace_sample));
    + if(traces->traces.elements == NULL)
    + {
    + m_tracesMutex.unlock();
    + return ENOMEM;
    + }
    + // Copy traces from vector
    + memcpy(traces->traces.elements, m_traces.data(), sz * sizeof(trace_sample));
    - // Copy traces from vector
    - memcpy(traces->traces.elements, m_traces.data(), sz * sizeof(trace_sample));
    + // Clear the vector
    + // note that the data is not freed here, it is meant to be freed by eRPC server code
    + m_traces.clear();
    + }
    + m_tracesMutex.unlock();
    - // Clear the vector
    - // note that the data is not freed here, it is meant to be freed by eRPC server code
    - m_traces.clear();
    - m_tracesMutex.unlock();
    + traces->traces.elementsCount = sz;
    + traces->PLCstatus = m_status.PLCstatus;
    return 0;
    }
    uint32_t PLCObject::MatchMD5(const char *MD5, bool *match)
    {
    + // an empty PLC is never considered to match
    + if(m_status.PLCstatus == Empty)
    + {
    + *match = false;
    + return 0;
    + }
    +
    // Load the last transferred PLC md5 hex digest
    std::string md5sum;
    - std::ifstream(std::string(LastTransferredPLC), std::ios::binary) >> md5sum;
    + try {
    + std::ifstream(std::string(LastTransferredPLC), std::ios::binary) >> md5sum;
    + } catch (std::exception e) {
    + *match = false;
    + return 0;
    + }
    // Compare the given MD5 with the last transferred PLC md5
    *match = (md5sum == MD5);
    @@ -208,11 +246,13 @@
    {
    if(m_status.PLCstatus == Started)
    {
    + *success = false;
    return EBUSY;
    }
    if(m_status.PLCstatus == Broken)
    {
    + *success = false;
    return EINVAL;
    }
    @@ -246,38 +286,65 @@
    extra_files_log << extrafile->fname << std::endl;
    }
    + // Load the PLC object
    + uint32_t res = LoadPLC();
    + if (res != 0)
    + {
    + *success = false;
    + return res;
    + }
    +
    + m_status.PLCstatus = Stopped;
    + *success = true;
    +
    return 0;
    }
    -#define DLSYM(sym) \
    - do \
    - { \
    - m_PLCSyms.sym = (decltype(m_PLCSyms.sym))dlsym(m_handle, #sym); \
    - if (m_PLCSyms.sym == NULL) \
    - { \
    - return errno; \
    - } \
    +#define DLSYM(sym) \
    + do \
    + { \
    + m_PLCSyms.sym = (decltype(m_PLCSyms.sym))dlsym(m_handle, #sym); \
    + if (m_PLCSyms.sym == NULL) \
    + { \
    + /* TODO: use log instead */ \
    + std::cout << "Error dlsym " #sym ": " << dlerror() << std::endl; \
    + return errno; \
    + } \
    } while (0);
    uint32_t PLCObject::LoadPLC(void)
    {
    // Load the last transferred PLC md5 hex digest
    std::string md5sum;
    - std::ifstream(std::string(LastTransferredPLC), std::ios::binary) >> md5sum;
    + try {
    + std::ifstream(std::string(LastTransferredPLC), std::ios::binary) >> md5sum;
    + } catch (std::exception e) {
    + return ENOENT;
    + }
    // Concatenate md5sum and shared object extension to obtain filename
    - std::filesystem::path filename = std::filesystem::path(md5sum) += SHARED_OBJECT_EXT;
    + std::filesystem::path filename(md5sum + SHARED_OBJECT_EXT);
    // Load the shared object file
    - m_handle = dlopen(filename.c_str(), RTLD_NOW);
    + m_handle = dlopen(std::filesystem::absolute(filename).c_str(), RTLD_NOW);
    if (m_handle == NULL)
    {
    + std::cout << "Error: " << dlerror() << std::endl;
    return errno;
    }
    // Resolve shared object symbols
    FOR_EACH_PLC_SYMBOLS_DO(DLSYM);
    + // Set content of PLC_ID to md5sum
    + m_PLCSyms.PLC_ID = (uint8_t *)malloc(md5sum.size() + 1);
    + if (m_PLCSyms.PLC_ID == NULL)
    + {
    + return ENOMEM;
    + }
    + memcpy(m_PLCSyms.PLC_ID, md5sum.c_str(), md5sum.size());
    + m_PLCSyms.PLC_ID[md5sum.size()] = '\0';
    +
    return 0;
    }
    @@ -312,9 +379,8 @@
    return 0;
    }
    -uint32_t PLCObject::PurgePLC(void){
    - // Purge all blobs
    - PurgeBlobs();
    +uint32_t PLCObject::PurgePLC(void)
    +{
    // Open the extra files list
    std::ifstream extra_files_log(std::string(ExtraFilesList), std::ios::binary);
    @@ -328,20 +394,24 @@
    // Load the last transferred PLC md5 hex digest
    std::string md5sum;
    - std::ifstream(std::string(LastTransferredPLC), std::ios::binary) >> md5sum;
    + try {
    + std::ifstream(std::string(LastTransferredPLC), std::ios::binary) >> md5sum;
    - // Concatenate md5sum and shared object extension to obtain filename
    - std::filesystem::path filename =
    - std::filesystem::path(md5sum) += SHARED_OBJECT_EXT;
    + // Remove the PLC object shared object file
    + std::filesystem::remove(md5sum + SHARED_OBJECT_EXT);
    + } catch (std::exception e) {
    + // ignored
    + }
    - // Remove the PLC object shared object file
    - std::filesystem::remove(filename);
    + try {
    + // Remove the last transferred PLC md5 hex digest
    + std::filesystem::remove(std::string(LastTransferredPLC));
    - // Remove the last transferred PLC md5 hex digest
    - std::filesystem::remove(std::string(LastTransferredPLC));
    -
    - // Remove the extra files list
    - std::filesystem::remove(std::string(ExtraFilesList));
    + // Remove the extra files list
    + std::filesystem::remove(std::string(ExtraFilesList));
    + } catch (std::exception e) {
    + // ignored
    + }
    return 0;
    }
    @@ -388,7 +458,9 @@
    MD5::digest_t digest = blob->digest();
    - m_mapBlobIDToBlob[std::vector<uint8_t>((uint8_t)*digest.data, (uint8_t)*digest.data + MD5::digestsize)] = blob;
    + std::vector<uint8_t> k((uint8_t*)digest.data, (uint8_t*)digest.data + MD5::digestsize);
    +
    + m_mapBlobIDToBlob[k] = blob;
    blobID->data = (uint8_t *)malloc(MD5::digestsize);
    if (blobID->data == NULL)
    @@ -400,10 +472,25 @@
    return 0;
    }
    +void PLCObject::PurgeTraceBuffer(void)
    +{
    + // Free trace buffer
    + m_tracesMutex.lock();
    + for(trace_sample s : m_traces){
    + free(s.TraceBuffer.data);
    + }
    + m_traces.clear();
    + m_tracesMutex.unlock();
    +}
    uint32_t PLCObject::SetTraceVariablesList(
    const list_trace_order_1_t *orders, int32_t *debugtoken)
    {
    + if(m_status.PLCstatus == Empty)
    + {
    + return EINVAL;
    + }
    +
    // increment debug token
    m_debugToken++;
    @@ -431,20 +518,23 @@
    {
    // if any error, disable debug
    // since debug is already suspended, resume it first
    - m_PLCSyms.ResumeDebug();
    + m_PLCSyms.resumeDebug();
    m_PLCSyms.suspendDebug(1);
    *debugtoken = -res;
    return EINVAL;
    }
    }
    + // old traces are not valid anymore
    + PurgeTraceBuffer();
    +
    // Start debug thread if not already started
    if(!m_traceThread.joinable())
    {
    m_traceThread = std::thread(&PLCObject::TraceThreadProc, this);
    }
    - m_PLCSyms.ResumeDebug();
    + m_PLCSyms.resumeDebug();
    *debugtoken = m_debugToken;
    return 0;
    }
    @@ -487,6 +577,13 @@
    uint32_t PLCObject::LogMessage(uint8_t level, std::string message)
    {
    + // if PLC isn't loaded, log to stdout
    + if(m_PLCSyms.LogMessage == NULL)
    + {
    + std::cout << level << message << std::endl;
    + return ENOSYS;
    + }
    +
    // Log std::string message with given level
    return m_PLCSyms.LogMessage(level, (char *)message.c_str(), message.size());
    }
    @@ -495,7 +592,7 @@
    {
    uint32_t err = 0;
    - m_PLCSyms.ResumeDebug();
    + m_PLCSyms.resumeDebug();
    while(m_status.PLCstatus == Started)
    {
    @@ -537,13 +634,7 @@
    }
    }
    - // Free trace buffer
    - m_tracesMutex.lock();
    - for(trace_sample s : m_traces){
    - free(s.TraceBuffer.data);
    - }
    - m_traces.clear();
    - m_tracesMutex.unlock();
    + PurgeTraceBuffer();
    LogMessage(err ? LOG_CRITICAL : LOG_INFO,
    err == ENOMEM ? "Out of memory in TraceThreadProc" :
    --- a/C_runtime/PLCObject.hpp Fri May 24 18:48:28 2024 +0200
    +++ b/C_runtime/PLCObject.hpp Fri May 24 18:55:46 2024 +0200
    @@ -10,7 +10,7 @@
    #include <vector>
    #include <mutex>
    #include <thread>
    -
    +
    #include "blob.hpp"
    #include "erpc_PLCObject_interface.hpp"
    @@ -26,28 +26,29 @@
    ACTION(FreeDebugData)\
    ACTION(GetDebugData)\
    ACTION(suspendDebug)\
    - ACTION(ResumeDebug)\
    + ACTION(resumeDebug)\
    ACTION(ResetLogCount)\
    ACTION(GetLogCount)\
    ACTION(LogMessage)\
    ACTION(GetLogMessage)
    -typedef struct s_PLCSyms{
    - uint8_t *PLC_ID;
    - int (*startPLC)(int argc,char **argv);
    - int (*stopPLC)(void);
    - void (*ResetDebugVariables)(void);
    - int (*RegisterDebugVariable)(unsigned int idx, void* force, size_t force_size);
    - void (*FreeDebugData)(void);
    - int (*GetDebugData)(unsigned int *tick, unsigned int *size, void **buffer);
    - int (*suspendDebug)(int disable);
    - void (*ResumeDebug)(void);
    - void (*ResetLogCount)(void);
    - uint32_t (*GetLogCount)(uint8_t level);
    - int (*LogMessage)(uint8_t level, char* buf, uint32_t size);
    - uint32_t (*GetLogMessage)(uint8_t level, uint32_t msgidx, char* buf, uint32_t max_size, uint32_t* tick, uint32_t* tv_sec, uint32_t* tv_nsec);
    -} PLCSyms;
    -
    +extern "C" {
    + typedef struct s_PLCSyms{
    + uint8_t *PLC_ID;
    + int (*startPLC)(int argc,char **argv);
    + int (*stopPLC)(void);
    + void (*ResetDebugVariables)(void);
    + int (*RegisterDebugVariable)(unsigned int idx, void* force, size_t force_size);
    + void (*FreeDebugData)(void);
    + int (*GetDebugData)(unsigned int *tick, unsigned int *size, void **buffer);
    + int (*suspendDebug)(int disable);
    + void (*resumeDebug)(void);
    + void (*ResetLogCount)(void);
    + uint32_t (*GetLogCount)(uint8_t level);
    + int (*LogMessage)(uint8_t level, char* buf, uint32_t size);
    + uint32_t (*GetLogMessage)(uint8_t level, uint32_t msgidx, char* buf, uint32_t max_size, uint32_t* tick, uint32_t* tv_sec, uint32_t* tv_nsec);
    + } PLCSyms;
    +}
    class PLCObject : public BeremizPLCObjectService_interface
    {
    public:
    @@ -91,8 +92,9 @@
    // PLC status
    PLCstatus m_status;
    - // PLC ID
    - PSKID m_plcID;
    + // PSK
    + std::string m_PSK_ID;
    + std::string m_PSK_secret;
    // Debug token, used for consistency check of traces
    uint32_t m_debugToken;
    @@ -111,6 +113,7 @@
    uint32_t UnLoadPLC(void);
    uint32_t LogMessage(uint8_t level, std::string message);
    uint32_t PurgePLC(void);
    + void PurgeTraceBuffer(void);
    void TraceThreadProc(void);
    };
    --- a/C_runtime/posix_main.cpp Fri May 24 18:48:28 2024 +0200
    +++ b/C_runtime/posix_main.cpp Fri May 24 18:55:46 2024 +0200
    @@ -14,12 +14,16 @@
    #include <vector>
    #include <filesystem>
    +// eRPC includes
    #include "erpc_basic_codec.hpp"
    #include "erpc_serial_transport.hpp"
    #include "erpc_tcp_transport.hpp"
    #include "erpc_simple_server.hpp"
    +// eRPC generated includes
    #include "erpc_PLCObject_server.hpp"
    +
    +// erpcgen includes (re-uses erpcgen's logging system and options parser)
    #include "Logging.hpp"
    #include "options.hpp"
    @@ -28,13 +32,14 @@
    using namespace erpc;
    using namespace std;
    +#define MSG_SIZE 1024*6
    class MyMessageBufferFactory : public MessageBufferFactory
    {
    public:
    virtual MessageBuffer create()
    {
    - uint8_t *buf = new uint8_t[1024];
    - return MessageBuffer(buf, 1024);
    + uint8_t *buf = new uint8_t[MSG_SIZE];
    + return MessageBuffer(buf, MSG_SIZE);
    }
    virtual void dispose(MessageBuffer *buf)
    @@ -351,6 +356,9 @@
    }
    }
    + Crc16 crc;
    + _transport->setCrc16(&crc);
    +
    MyMessageBufferFactory _msgFactory;
    BasicCodecFactory _basicCodecFactory;
    SimpleServer _server;