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|
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# PROFIBUS DP - LinuxCNC HAL module
#
# Copyright 2016-2021 Michael Buesch <m@bues.ch>
#
# 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 division, absolute_import, print_function, unicode_literals
import sys
import os
import time
import getopt
import struct
from pyprofibus import ProfibusError, FdlError, DpError
from pyprofibus.compat import isPy2Compat
from pyprofibus.util import fileExists, FaultDebouncer
from pyprofibus.dp import DpTelegram_SetPrm_Req
from pyprofibus.conf import PbConf, PbConfError
from pyprofibus.version import *
class SigBit(object):
def __init__(self, hal, halName, byteOffset, bitOffset):
self.hal = hal
self.halName = halName
self.byteOffset = byteOffset
self.bitOffset = bitOffset
self.setMask = 1 << bitOffset
self.clrMask = ~(1 << bitOffset)
def fromHal(self, destBuf):
if self.hal[self.halName]:
destBuf[self.byteOffset] |= self.setMask
else:
destBuf[self.byteOffset] &= self.clrMask
def toHal(self, srcBuf):
self.hal[self.halName] = (srcBuf[self.byteOffset] >> self.bitOffset) & 1
def __str__(self):
return "profibus.%s" % self.halName
class SigU8(object):
def __init__(self, hal, halName, offset):
self.hal = hal
self.halName = halName
self.offset = offset
def fromHal(self, destBuf):
destBuf[self.offset] = self.hal[self.halName] & 0xFF
def toHal(self, srcBuf):
self.hal[self.halName] = srcBuf[self.offset] & 0xFF
def __str__(self):
return "profibus.%s" % self.halName
class SigU16(object):
def __init__(self, hal, halName, offset):
self.hal = hal
self.halName = halName
self.offset = offset
def fromHal(self, destBuf):
word = self.hal[self.halName] & 0xFFFF
destBuf[self.offset] = (word >> 8) & 0xFF
destBuf[self.offset + 1] = word & 0xFF
def toHal(self, srcBuf):
word = (srcBuf[self.offset] << 8) |\
srcBuf[self.offset + 1]
self.hal[self.halName] = word & 0xFFFF
def __str__(self):
return "profibus.%s" % self.halName
class SigS16(object):
def __init__(self, hal, halName, offset):
self.hal = hal
self.halName = halName
self.offset = offset
def fromHal(self, destBuf):
word = self.hal[self.halName] & 0xFFFF
destBuf[self.offset] = (word >> 8) & 0xFF
destBuf[self.offset + 1] = word & 0xFF
def toHal(self, srcBuf):
word = (srcBuf[self.offset] << 8) |\
srcBuf[self.offset + 1]
if word & 0x8000:
self.hal[self.halName] = -((~word + 1) & 0xFFFF)
else:
self.hal[self.halName] = word & 0xFFFF
def __str__(self):
return "profibus.%s" % self.halName
class SigU31(object):
def __init__(self, hal, halName, offset):
self.hal = hal
self.halName = halName
self.offset = offset
def fromHal(self, destBuf):
dword = self.hal[self.halName] & 0x7FFFFFFF
destBuf[self.offset] = (dword >> 24) & 0xFF
destBuf[self.offset + 1] = (dword >> 16) & 0xFF
destBuf[self.offset + 2] = (dword >> 8) & 0xFF
destBuf[self.offset + 3] = dword & 0xFF
def toHal(self, srcBuf):
dword = (srcBuf[self.offset] << 24) |\
(srcBuf[self.offset + 1] << 16) |\
(srcBuf[self.offset + 2] << 8) |\
srcBuf[self.offset + 3]
self.hal[self.halName] = dword & 0x7FFFFFFF
def __str__(self):
return "profibus.%s" % self.halName
class SigS32(object):
def __init__(self, hal, halName, offset):
self.hal = hal
self.halName = halName
self.offset = offset
def fromHal(self, destBuf):
dword = self.hal[self.halName] & 0xFFFFFFFF
destBuf[self.offset] = (dword >> 24) & 0xFF
destBuf[self.offset + 1] = (dword >> 16) & 0xFF
destBuf[self.offset + 2] = (dword >> 8) & 0xFF
destBuf[self.offset + 3] = dword & 0xFF
def toHal(self, srcBuf):
dword = (srcBuf[self.offset] << 24) |\
(srcBuf[self.offset + 1] << 16) |\
(srcBuf[self.offset + 2] << 8) |\
srcBuf[self.offset + 3]
if dword & 0x80000000:
self.hal[self.halName] = -((~dword + 1) & 0xFFFFFFFF)
else:
self.hal[self.halName] = dword & 0xFFFFFFFF
def __str__(self):
return "profibus.%s" % self.halName
class SigFloat(object):
floatStruct = struct.Struct(str('>f'))
def __init__(self, hal, halName, offset):
self.hal = hal
self.halName = halName
self.offset = offset
def fromHal(self, destBuf):
buf = self.floatStruct.pack(self.hal[self.halName])
if isPy2Compat:
buf = [ ord(b) for b in buf ]
destBuf[self.offset : self.offset + 4] = buf[0 : 4]
def toHal(self, srcBuf):
dword = (srcBuf[self.offset] << 24) |\
(srcBuf[self.offset + 1] << 16) |\
(srcBuf[self.offset + 2] << 8) |\
srcBuf[self.offset + 3]
if isPy2Compat:
value = self.floatStruct.unpack(
chr((dword >> 24) & 0xFF) +\
chr((dword >> 16) & 0xFF) +\
chr((dword >> 8) & 0xFF) +\
chr(dword & 0xFF)
)[0]
else:
value = self.floatStruct.unpack(
bytes( ((dword >> 24) & 0xFF,
(dword >> 16) & 0xFF,
(dword >> 8) & 0xFF,
dword & 0xFF)
)
)[0]
self.hal[self.halName] = value
def __str__(self):
return "profibus.%s" % self.halName
class Worker(object):
def __init__(self, hal, master):
self.__configDone = False
self.hal = hal
self.master = master
self.slaves = master.getSlaveList()
def __buildTable(self, slaveAddr, direction, size):
tab = []
for i in range(0, size):
for bitNr in range(8):
halName = "slave.%d.%s.bit.%d.%d" % (
slaveAddr, direction, i, bitNr)
if self.hal[halName + ".active"]:
tab.append(SigBit(self.hal, halName,
i, bitNr))
halName = "slave.%d.%s.u8.%d" % (
slaveAddr, direction, i)
if self.hal[halName + ".active"]:
tab.append(SigU8(self.hal, halName, i))
if i % 2:
continue
if size - i < 2:
continue
halName = "slave.%d.%s.u16.%d" % (
slaveAddr, direction, i)
if self.hal[halName + ".active"]:
tab.append(SigU16(self.hal, halName, i))
halName = "slave.%d.%s.s16.%d" % (
slaveAddr, direction, i)
if self.hal[halName + ".active"]:
tab.append(SigS16(self.hal, halName, i))
if size - i < 4:
continue
halName = "slave.%d.%s.u31.%d" % (
slaveAddr, direction, i)
if self.hal[halName + ".active"]:
tab.append(SigU31(self.hal, halName, i))
halName = "slave.%d.%s.s32.%d" % (
slaveAddr, direction, i)
if self.hal[halName + ".active"]:
tab.append(SigS32(self.hal, halName, i))
halName = "slave.%d.%s.float.%d" % (
slaveAddr, direction, i)
if self.hal[halName + ".active"]:
tab.append(SigFloat(self.hal, halName, i))
return tab
def __tryBuildConfig(self):
if not self.hal["config.ready"]:
return
for slave in self.slaves:
slaveConf = slave.slaveConf
if slaveConf is None:
continue
activePbMasterOutputs = self.__buildTable(
slave.slaveAddr, "mosi", slaveConf.inputSize)
activePbMasterInputs = self.__buildTable(
slave.slaveAddr, "miso", slaveConf.outputSize)
slave.userData["activePbMasterInputs"] = activePbMasterInputs
slave.userData["activePbMasterOutputs"] = activePbMasterOutputs
printInfo("Active DP slave (addr=%d) I/O pins:" % slave.slaveAddr)
for sig in activePbMasterOutputs:
printInfo("DP slave input: " + str(sig))
for sig in activePbMasterInputs:
printInfo("DP slave output: " + str(sig))
self.__configDone = True
printInfo("HAL configuration done")
def mainLoop(self, faultDeb):
master = self.master
while watchdog() and not self.__configDone:
self.__tryBuildConfig()
time.sleep(0.1)
while watchdog():
for slave in self.slaves:
slaveConf = slave.slaveConf
if slaveConf is not None:
# Copy I/O data from HAL to PB master output.
txData = bytearray(slaveConf.inputSize)
for sig in slave.userData["activePbMasterOutputs"]:
sig.fromHal(txData)
slave.setMasterOutData(txData)
slave = master.run()
if slave is not None:
slaveConf = slave.slaveConf
if slaveConf is not None:
rxData = slave.getMasterInData()
halBaseName = "slave.%d" % slave.slaveAddr
isConnected = slave.isConnected()
if isConnected: # Slave is connected.
# Copy I/O data from PB master input to HAL.
if rxData is not None:
assert len(rxData) == slaveConf.outputSize
for sig in slave.userData["activePbMasterInputs"]:
sig.toHal(rxData)
self.hal[halBaseName + ".connected"] = True
self.hal[halBaseName + ".connecting"] = False
else: # Slave is not connected.
self.hal[halBaseName + ".connecting"] = slave.isConnecting()
self.hal[halBaseName + ".connected"] = False
if self.hal[halBaseName + ".config.disconnect-clear-pins"]:
# Clear the HAL data.
rxData = bytearray(slaveConf.outputSize)
for sig in slave.userData["activePbMasterInputs"]:
sig.toHal(rxData)
faultDeb.ok()
class LinuxCNC_NotRunning(Exception):
pass
def printError(msg):
sys.stderr.write("pyprofibus: " + msg + "\n")
def printWarning(msg):
sys.stderr.write("pyprofibus: " + msg + "\n")
def printInfo(msg):
sys.stdout.write("pyprofibus: " + msg + "\n")
# Check presence of LinuxCNC.
# Returns normally, if LinuxCNC is detected.
# Raises LinuxCNC_NotRunning, if LinuxCNC is not detected.
def watchdog():
# Check whether LinuxCNC is running.
for lockname in ("/tmp/linuxcnc.lock", "/tmp/emc.lock"):
if fileExists(lockname):
return True
if not opt_watchdog:
# The check is disabled. Return success.
return True
printError("LinuxCNC doesn't seem to be running. "\
"(Use '--watchdog off' to disable this check.)")
raise LinuxCNC_NotRunning()
# Create the global LinuxCNC HAL pins and params
def createGlobalHalPins(hal):
HAL_BIT, HAL_U32, HAL_S32, HAL_FLOAT = \
LinuxCNC_HAL.HAL_BIT, LinuxCNC_HAL.HAL_U32, \
LinuxCNC_HAL.HAL_S32, LinuxCNC_HAL.HAL_FLOAT
HAL_IN, HAL_OUT, HAL_RO, HAL_RW = \
LinuxCNC_HAL.HAL_IN, LinuxCNC_HAL.HAL_OUT, \
LinuxCNC_HAL.HAL_RO, LinuxCNC_HAL.HAL_RW
hal.newparam("config.ready", HAL_BIT, HAL_RW)
# Create the per-slave LinuxCNC HAL pins and params
def createSlaveHalPins(hal, slaveAddr, slaveOutputSize, slaveInputSize):
HAL_BIT, HAL_U32, HAL_S32, HAL_FLOAT = \
LinuxCNC_HAL.HAL_BIT, LinuxCNC_HAL.HAL_U32, \
LinuxCNC_HAL.HAL_S32, LinuxCNC_HAL.HAL_FLOAT
HAL_IN, HAL_OUT, HAL_RO, HAL_RW = \
LinuxCNC_HAL.HAL_IN, LinuxCNC_HAL.HAL_OUT, \
LinuxCNC_HAL.HAL_RO, LinuxCNC_HAL.HAL_RW
addr = slaveAddr
hal.newpin("slave.%d.connecting" % addr, HAL_BIT, HAL_OUT)
hal.newpin("slave.%d.connected" % addr, HAL_BIT, HAL_OUT)
printInfo("DP slave %d output (MISO): %d bytes" % (addr, slaveOutputSize))
printInfo("DP slave %d input (MOSI): %d bytes" % (addr, slaveInputSize))
# Create the input pins
for i in range(slaveInputSize):
for bit in range(8):
hal.newpin("slave.%d.mosi.bit.%d.%d" % (addr, i, bit),
HAL_BIT, HAL_IN)
hal.newparam("slave.%d.mosi.bit.%d.%d.active" % (addr, i, bit),
HAL_BIT, HAL_RW)
hal.newpin("slave.%d.mosi.u8.%d" % (addr, i),
HAL_U32, HAL_IN)
hal.newparam("slave.%d.mosi.u8.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
if i % 2:
continue
if slaveInputSize - i < 2:
continue
hal.newpin("slave.%d.mosi.u16.%d" % (addr, i),
HAL_U32, HAL_IN)
hal.newparam("slave.%d.mosi.u16.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
hal.newpin("slave.%d.mosi.s16.%d" % (addr, i),
HAL_S32, HAL_IN)
hal.newparam("slave.%d.mosi.s16.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
if slaveInputSize - i < 4:
continue
hal.newpin("slave.%d.mosi.u31.%d" % (addr, i),
HAL_U32, HAL_IN)
hal.newparam("slave.%d.mosi.u31.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
hal.newpin("slave.%d.mosi.s32.%d" % (addr, i),
HAL_S32, HAL_IN)
hal.newparam("slave.%d.mosi.s32.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
hal.newpin("slave.%d.mosi.float.%d" % (addr, i),
HAL_FLOAT, HAL_IN)
hal.newparam("slave.%d.mosi.float.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
# Create the output pins
for i in range(slaveOutputSize):
for bit in range(8):
hal.newpin("slave.%d.miso.bit.%d.%d" % (addr, i, bit),
HAL_BIT, HAL_OUT)
hal.newparam("slave.%d.miso.bit.%d.%d.active" % (addr, i, bit),
HAL_BIT, HAL_RW)
hal.newpin("slave.%d.miso.u8.%d" % (addr, i),
HAL_U32, HAL_OUT)
hal.newparam("slave.%d.miso.u8.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
if i % 2:
continue
if slaveOutputSize < 2:
continue
hal.newpin("slave.%d.miso.u16.%d" % (addr, i),
HAL_U32, HAL_OUT)
hal.newparam("slave.%d.miso.u16.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
hal.newpin("slave.%d.miso.s16.%d" % (addr, i),
HAL_S32, HAL_OUT)
hal.newparam("slave.%d.miso.s16.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
if slaveOutputSize < 4:
continue
hal.newpin("slave.%d.miso.u31.%d" % (addr, i),
HAL_U32, HAL_OUT)
hal.newparam("slave.%d.miso.u31.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
hal.newpin("slave.%d.miso.s32.%d" % (addr, i),
HAL_S32, HAL_OUT)
hal.newparam("slave.%d.miso.s32.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
hal.newpin("slave.%d.miso.float.%d" % (addr, i),
HAL_FLOAT, HAL_OUT)
hal.newparam("slave.%d.miso.float.%d.active" % (addr, i),
HAL_BIT, HAL_RW)
hal.newparam("slave.%d.config.disconnect-clear-pins" % addr, HAL_BIT, HAL_RW)
def usage():
print("pyprofibus-linuxcnc-hal version %s" % VERSION_STRING)
print("")
print("Usage: pyprofibus-linuxcnc-hal [OPTIONS] pyprofibus.conf")
print("")
print("Options:")
print("")
print(" -L|--loglevel LVL Set the log level:")
print(" 0: Log nothing")
print(" 1: Log errors")
print(" 2: Log errors and warnings")
print(" 3: Log errors, warnings and info messages (default)")
print(" 4: Verbose logging")
print(" 5: Extremely verbose logging")
print(" -N|--nice NICE Renice the process. -20 <= NICE <= 19.")
print(" Default: Do not renice")
print("")
print("Debugging options:")
print(" -W|--watchdog 1/0 Enable/disable LinuxCNC runtime watchdog.")
print(" Default: on")
print("")
print("For an example LinuxCNC HAL configuration see:")
print(" linuxcnc-demo.hal")
def main():
global LinuxCNC_HAL
global opt_loglevel
global opt_nice
global opt_watchdog
opt_loglevel = 3
opt_nice = None
opt_watchdog = True
try:
(opts, args) = getopt.getopt(sys.argv[1:],
"hL:N:W:",
[ "help",
"loglevel=",
"nice=",
"watchdog=", ])
except getopt.GetoptError as e:
printError(str(e))
usage()
return 1
for (o, v) in opts:
if o in ("-h", "--help"):
usage()
return 0
if o in ("-L", "--loglevel"):
try:
opt_loglevel = int(v)
except ValueError:
printError("-L|--loglevel: Invalid log level")
return 1
if o in ("-N", "--nice"):
try:
opt_nice = int(v)
if opt_nice < -20 or opt_nice > 19:
raise ValueError
except ValueError:
printError("-N|--nice: Invalid niceness level")
return 1
if o in ("-W", "--watchdog"):
opt_watchdog = str2bool(v)
if len(args) != 1:
usage()
return 1
configFile = args[0]
result = 0
try:
# Parse the Profibus config file
config = PbConf.fromFile(configFile)
if opt_loglevel >= 4 and config.debug < 1:
config.debug = 1
# Adjust process priority
if opt_nice is not None:
try:
os.nice(opt_nice)
except OSError as e:
printError("Failed to renice process to "
"%d: %s" % (opt_nice, str(e)))
return 1
# Try to import the LinuxCNC HAL module
try:
import hal as LinuxCNC_HAL
except ImportError as e:
printError("Failed to import LinuxCNC HAL "
"module: %s" % str(e))
return 1
# Create the LinuxCNC HAL component.
hal = LinuxCNC_HAL.component("profibus")
# Create the HAL pins.
createGlobalHalPins(hal=hal)
for slaveConf in config.slaveConfs:
createSlaveHalPins(hal=hal,
slaveAddr=slaveConf.addr,
slaveInputSize=slaveConf.inputSize,
slaveOutputSize=slaveConf.outputSize)
# Setup the PROFIBUS stack.
master = config.makeDPM()
for slaveConf in config.slaveConfs:
slaveDesc = slaveConf.makeDpSlaveDesc()
dp1PrmMask = bytearray((
DpTelegram_SetPrm_Req.DPV1PRM0_FAILSAFE,
DpTelegram_SetPrm_Req.DPV1PRM1_REDCFG,
0x00))
dp1PrmSet = bytearray((
DpTelegram_SetPrm_Req.DPV1PRM0_FAILSAFE,
DpTelegram_SetPrm_Req.DPV1PRM1_REDCFG,
0x00))
slaveDesc.setUserPrmData(
slaveConf.gsd.getUserPrmData(dp1PrmMask=dp1PrmMask,
dp1PrmSet=dp1PrmSet))
master.addSlave(slaveDesc)
printInfo("Running PROFIBUS-DP master...")
master.initialize()
worker = Worker(hal, master)
hal.ready()
printInfo("ready.")
faultDeb = FaultDebouncer()
while True:
try:
worker.mainLoop(faultDeb)
except (LinuxCNC_NotRunning, KeyboardInterrupt) as e:
raise e
except Exception as e:
if faultDeb.fault() >= 3:
# Too many faults. Raise a fatal exception.
printError("Fatal PROFIBUS fault.")
raise e
else:
# Non-fatal fault.
printError("PROFIBUS fault:\n%s" % str(e))
except (LinuxCNC_NotRunning, KeyboardInterrupt) as e:
result = 1
except PbConfError as e:
printError("Profibus configuration error:\n%s" % str(e))
result = 1
except ProfibusError as e:
printError("Fatal PROFIBUS fault:\n%s" % str(e))
result = 1
printInfo("LinuxCNC HAL module shutdown.")
return result
if __name__ == "__main__":
sys.exit(main())
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