etherlab/runtime_etherlab.py
author Edouard Tisserant <edouard.tisserant@gmail.com>
Thu, 20 Jul 2023 22:05:31 +0200
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parent 3750 f62625418bff
permissions -rw-r--r--
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# this file is part of beremiz
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#
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# copyright (c) 2011-2014: laurent bessard, edouard tisserant
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#                          rtes lab : crkim, jblee, youcu
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#                          higen motor : donggu kang
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#
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# see copying file for copyrights details.
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import os
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import signal
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import subprocess
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import ctypes
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from threading import Thread
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import time
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import re
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import runtime.PLCObject as PLCObject
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from runtime.loglevels import LogLevelsDict
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SDOAnswered = PLCBinary.SDOAnswered
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SDOAnswered.restype = None
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SDOAnswered.argtypes = []
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SDOThread = None
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SDOProc = None
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Result = None
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def SDOThreadProc(*params):
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    global Result, SDOProc
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    if params[0] == "upload":
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        cmdfmt = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
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    else:
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        cmdfmt = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
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    command = cmdfmt % params[1:]
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    SDOProc = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True)
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    res = SDOProc.wait()
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    output = SDOProc.communicate()[0]
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    if params[0] == "upload":
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        Result = None
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        if res == 0:
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            if params[2] in ["float", "double"]:
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                Result = float(output)
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            elif params[2] in ["string", "octet_string", "unicode_string"]:
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                Result = output
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            else:
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                hex_value, dec_value = output.split()
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                if int(hex_value, 16) == int(dec_value):
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                    Result = int(dec_value)
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    else:
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        Result = res == 0
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    SDOAnswered()
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    if res != 0:
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        PLCObject.LogMessage(
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            LogLevelsDict["WARNING"],
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            "%s : %s" % (command, output))
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def EthercatSDOUpload(pos, index, subindex, var_type):
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    global SDOThread
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    SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex])
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    SDOThread.start()
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def EthercatSDODownload(pos, index, subindex, var_type, value):
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    global SDOThread
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    SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value])
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    SDOThread.start()
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def GetResult():
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    return Result
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KMSGPollThread = None
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StopKMSGThread = False
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def KMSGPollThreadProc():
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    """
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    Logs Kernel messages starting with EtherCAT
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    Uses GLibc wrapper to Linux syscall "klogctl"
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    Last 4 KB are polled, and lines compared to last
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    captured line to detect new lines
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    """
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    libc = ctypes.CDLL("libc.so.6")
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    klog = libc.klogctl
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    klog.argtypes = [ctypes.c_int, ctypes.c_char_p, ctypes.c_int]
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    klog.restype = ctypes.c_int
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    s = ctypes.create_string_buffer(4*1024)
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    last = None
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    while not StopKMSGThread:
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        bytes_to_read = klog(3, s, len(s)-1)
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        log = s.value[:bytes_to_read-1]
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        if last:
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            log = log.rpartition(last)[2]
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        if log:
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            last = log.rpartition('\n')[2]
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            for lvl, msg in re.findall(
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                    r'<(\d)>\[\s*\d*\.\d*\]\s*(EtherCAT\s*.*)$',
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                    log, re.MULTILINE):
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                PLCObject.LogMessage(
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                    LogLevelsDict[{
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                        "4": "WARNING",
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                        "3": "CRITICAL"}.get(lvl, "DEBUG")],
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                    msg)
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        time.sleep(0.5)
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# TODO : rename to match _runtime_{location}_extname_init() format
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def _runtime_etherlab_init():
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    global KMSGPollThread, StopKMSGThread
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    StopKMSGThread = False
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    KMSGPollThread = Thread(target=KMSGPollThreadProc)
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    KMSGPollThread.start()
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# TODO : rename to match _runtime_{location}_extname_cleanup() format
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def _runtime_etherlab_cleanup():
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    global KMSGPollThread, StopKMSGThread, SDOThread
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    try:
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87eb184414bd clean etherlab: pylint,E0602 # (undefined-variable) Undefined variable 'X'
Andrey Skvortsov <andrej.skvortzov@gmail.com>
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   129
        os.kill(SDOProc.pid, signal.SIGTERM)
2353
8f1a2846b2f5 cleanup etherlab: pep8, E722 do not use bare except
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2132
diff changeset
   130
    except Exception:
2132
9f5e4dc43053 Added support for stopping SDOThreadProc when stopping PLC
Laurent Bessard
parents: 2116
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   131
        pass
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Laurent Bessard
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   132
    SDOThread = None
2114
fc1bc441cf71 Added logging based on collecting Kernel logs
Edouard Tisserant
parents: 2086
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   133
    StopKMSGThread = True
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parents: 2086
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   134
    KMSGPollThread = None