def Start(self):
pyro.initServer()
self.daemon = pyro.Daemon(host=self.ip_addr, port=self.port)
self.plcobj = PLCObject(self.workdir, self.daemon, self.argv,
self.statuschange, self.evaluator,
self.pyruntimevars)
uri = self.daemon.connect(self.plcobj, "PLCObject")
print "Pyro port :", self.port
print "Pyro object's uri :", uri
print "Current working directory :", self.workdir
# Configure and publish service
# Not publish service if localhost in address params
if (self.servicename is not None and self.ip_addr is not None
and self.ip_addr != "localhost"
and self.ip_addr != "127.0.0.1"):
print "Publishing service on local network"
self.servicepublisher = ServicePublisher.ServicePublisher()
self.servicepublisher.RegisterService(self.servicename,
self.ip_addr, self.port)
if self.autostart:
self.plcobj.AutoLoad()
if self.plcobj.GetPLCstatus()[0] != "Empty":
self.plcobj.StartPLC()
sys.stdout.flush()
self.daemon.requestLoop()
def Start(self):
self.plcobj = PLCObject(self.workdir, self.daemon, self.argv,
self.statuschange, self.evaluator,
self.pyruntimevars)
uri = self.daemon.connect(self.plcobj, "PLCObject")
print(_("Pyro port :"), self.port)
print(_("Pyro object's uri :"), uri)
# Beremiz IDE detects daemon start by looking
# for self.workdir in the daemon's stdout.
# Therefore don't delete the following line
print(_("Current working directory :"), self.workdir)
# Configure and publish service
# Not publish service if localhost in address params
if self.servicename is not None and \
self.ip_addr is not None and \
self.ip_addr != "localhost" and \
self.ip_addr != "127.0.0.1":
print(_("Publishing service on local network"))
self.servicepublisher = ServicePublisher.ServicePublisher()
self.servicepublisher.RegisterService(self.servicename,
self.ip_addr, self.port)
self.plcobj.AutoLoad()
if self.plcobj.GetPLCstatus()[0] != "Empty":
if self.autostart:
self.plcobj.StartPLC()
self.plcobj.StatusChange()
sys.stdout.flush()
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 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 __init__(self,
servicename,
ip_addr,
port,
workdir,
argv,
statuschange=None,
evaluator=default_evaluator,
pyruntimevars=None):
self.continueloop = True
self.daemon = None
self.servicename = servicename
self.ip_addr = ip_addr
self.port = port
self.workdir = workdir
self.argv = argv
self.servicepublisher = None
self.statuschange = statuschange
self.evaluator = evaluator
self.pyruntimevars = pyruntimevars
self.plcobj = PLCObject(self)
class Server():
def __init__(self, servicename, ip_addr, port,
workdir, argv, autostart=False,
statuschange=None, evaluator=default_evaluator,
pyruntimevars=None):
self.continueloop = True
self.daemon = None
self.servicename = servicename
self.ip_addr = ip_addr
self.port = port
self.workdir = workdir
self.argv = argv
self.plcobj = None
self.servicepublisher = None
self.autostart = autostart
self.statuschange = statuschange
self.evaluator = evaluator
self.pyruntimevars = pyruntimevars
def Loop(self):
while self.continueloop:
self.Start()
def Restart(self):
self.Stop()
def Quit(self):
self.continueloop = False
if self.plcobj is not None:
self.plcobj.StopPLC()
self.plcobj.UnLoadPLC()
self.Stop()
def Start(self):
pyro.initServer()
self.daemon = pyro.Daemon(host=self.ip_addr, port=self.port)
self.plcobj = PLCObject(self.workdir, self.daemon, self.argv,
self.statuschange, self.evaluator,
self.pyruntimevars)
uri = self.daemon.connect(self.plcobj, "PLCObject")
print _("Pyro port :"), self.port
print _("Pyro object's uri :"), uri
# Beremiz IDE detects daemon start by looking
# for self.workdir in the daemon's stdout.
# Therefore don't delete the following line
print _("Current working directory :"), self.workdir
# Configure and publish service
# Not publish service if localhost in address params
if self.servicename is not None and \
self.ip_addr is not None and \
self.ip_addr != "localhost" and \
self.ip_addr != "127.0.0.1":
print _("Publishing service on local network")
self.servicepublisher = ServicePublisher.ServicePublisher()
self.servicepublisher.RegisterService(self.servicename, self.ip_addr, self.port)
self.plcobj.AutoLoad()
if self.plcobj.GetPLCstatus()[0] != "Empty":
if self.autostart:
self.plcobj.StartPLC()
self.plcobj.StatusChange()
sys.stdout.flush()
self.daemon.requestLoop()
self.daemon.sock.close()
def Stop(self):
if self.plcobj is not None:
self.plcobj.StopPLC()
if self.servicepublisher is not None:
self.servicepublisher.UnRegisterService()
self.servicepublisher = None
self.daemon.shutdown(True)
class Server(object):
def __init__(self,
servicename,
ip_addr,
port,
workdir,
argv,
statuschange=None,
evaluator=default_evaluator,
pyruntimevars=None):
self.continueloop = True
self.daemon = None
self.servicename = servicename
self.ip_addr = ip_addr
self.port = port
self.workdir = workdir
self.argv = argv
self.servicepublisher = None
self.statuschange = statuschange
self.evaluator = evaluator
self.pyruntimevars = pyruntimevars
self.plcobj = PLCObject(self)
def _to_be_published(self):
return self.servicename is not None and \
self.ip_addr is not None and \
self.ip_addr != "localhost" and \
self.ip_addr != "127.0.0.1"
def PrintServerInfo(self):
print(_("Pyro port :"), self.port)
# Beremiz IDE detects LOCAL:// runtime is ready by looking
# for self.workdir in the daemon's stdout.
print(_("Current working directory :"), self.workdir)
if self._to_be_published():
print(_("Publishing service on local network"))
sys.stdout.flush()
def PyroLoop(self, when_ready):
while self.continueloop:
Pyro.config.PYRO_MULTITHREADED = 0
pyro.initServer()
self.daemon = pyro.Daemon(host=self.ip_addr, port=self.port)
# pyro never frees memory after connection close if no timeout set
# taking too small timeout value may cause
# unwanted diconnection when IDE is kept busy for long periods
self.daemon.setTimeout(60)
self.daemon.connect(self.plcobj, "PLCObject")
if self._to_be_published():
self.servicepublisher = ServicePublisher.ServicePublisher()
self.servicepublisher.RegisterService(self.servicename,
self.ip_addr, self.port)
when_ready()
self.daemon.requestLoop()
self.daemon.sock.close()
def Restart(self):
self._stop()
def Quit(self):
self.continueloop = False
if self.plcobj is not None:
self.plcobj.StopPLC()
self.plcobj.UnLoadPLC()
self._stop()
def _stop(self):
if self.plcobj is not None:
self.plcobj.StopPLC()
if self.servicepublisher is not None:
self.servicepublisher.UnRegisterService()
self.servicepublisher = None
self.daemon.shutdown(True)
def AutoLoad(self):
self.plcobj.AutoLoad()
if self.plcobj.GetPLCstatus()[0] == "Stopped":
if autostart:
self.plcobj.StartPLC()
self.plcobj.StatusChange()
