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|
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# AWL simulator - LinuxCNC HAL module
#
# Copyright 2013-2016 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
from awlsim_loader.common import *
from awlsim_loader.coreserver import *
from awlsim_loader.coreclient import *
class LinuxCNC_NotRunning(Exception):
pass
# Check presence of LinuxCNC.
# Returns normally, if LinuxCNC is detected.
# Raises LinuxCNC_NotRunning, if LinuxCNC is not detected.
def watchdogHook(_unused = None):
# 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 LinuxCNC HAL pins
def createHalPins(hal,
inputBase, inputSize,
outputBase, outputSize):
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
printInfo("Mapped AWL/STL input area: P#E %d.0 BYTE %d" %\
(inputBase, inputSize))
printInfo("Mapped AWL/STL output area: P#A %d.0 BYTE %d" %\
(outputBase, outputSize))
# Create the input pins
for i in range(inputBase, inputBase + inputSize):
offset = i - inputBase
for bit in range(8):
hal.newpin("input.bit.%d.%d" % (i, bit), HAL_BIT, HAL_IN)
hal.newparam("input.bit.%d.%d.active" % (i, bit), HAL_BIT, HAL_RW)
hal.newpin("input.u8.%d" % i, HAL_U32, HAL_IN)
hal.newparam("input.u8.%d.active" % i, HAL_BIT, HAL_RW)
if i % 2:
continue
if inputSize - offset < 2:
continue
hal.newpin("input.u16.%d" % i, HAL_U32, HAL_IN)
hal.newparam("input.u16.%d.active" % i, HAL_BIT, HAL_RW)
hal.newpin("input.s16.%d" % i, HAL_S32, HAL_IN)
hal.newparam("input.s16.%d.active" % i, HAL_BIT, HAL_RW)
if inputSize - offset < 4:
continue
hal.newpin("input.u31.%d" % i, HAL_U32, HAL_IN)
hal.newparam("input.u31.%d.active" % i, HAL_BIT, HAL_RW)
hal.newpin("input.s32.%d" % i, HAL_S32, HAL_IN)
hal.newparam("input.s32.%d.active" % i, HAL_BIT, HAL_RW)
hal.newpin("input.float.%d" % i, HAL_FLOAT, HAL_IN)
hal.newparam("input.float.%d.active" % i, HAL_BIT, HAL_RW)
# Create the output pins
for i in range(outputBase, outputBase + outputSize):
offset = i - outputBase
for bit in range(8):
hal.newpin("output.bit.%d.%d" % (i, bit), HAL_BIT, HAL_OUT)
hal.newparam("output.bit.%d.%d.active" % (i, bit), HAL_BIT, HAL_RW)
hal.newpin("output.u8.%d" % i, HAL_U32, HAL_OUT)
hal.newparam("output.u8.%d.active" % i, HAL_BIT, HAL_RW)
if i % 2:
continue
if outputSize - offset < 2:
continue
hal.newpin("output.u16.%d" % i, HAL_U32, HAL_OUT)
hal.newparam("output.u16.%d.active" % i, HAL_BIT, HAL_RW)
hal.newpin("output.s16.%d" % i, HAL_S32, HAL_OUT)
hal.newparam("output.s16.%d.active" % i, HAL_BIT, HAL_RW)
if outputSize - offset < 4:
continue
hal.newpin("output.u31.%d" % i, HAL_U32, HAL_OUT)
hal.newparam("output.u31.%d.active" % i, HAL_BIT, HAL_RW)
hal.newpin("output.s32.%d" % i, HAL_S32, HAL_OUT)
hal.newparam("output.s32.%d.active" % i, HAL_BIT, HAL_RW)
hal.newpin("output.float.%d" % i, HAL_FLOAT, HAL_OUT)
hal.newparam("output.float.%d.active" % i, HAL_BIT, HAL_RW)
hal.newparam("config.ready", HAL_BIT, HAL_RW)
def usage():
print("awlsim-linuxcnc-hal version %s" % VERSION_STRING)
print("")
print("Usage: awlsim-linuxcnc-hal [OPTIONS] PROJECT.awlpro")
print("")
print("Options:")
print(" -i|--input-size SIZE The input area size, in bytes.")
print(" Overrides input-size from project file.")
print(" -I|--input-base BASE The AWL/STL input address base.")
print(" Overrides input-base from project file.")
print(" -o|--output-size SIZE The output area size, in bytes.")
print(" Overrides output-size from project file.")
print(" -O|--output-base BASE The AWL/STL output address base.")
print(" Overrides output-base from project file.")
print("")
print(" -l|--listen HOST:PORT Set the address and port where the")
print(" awlsim core server should listen on.")
print(" Defaults to %s:%d" %\
(AwlSimServer.DEFAULT_HOST, AwlSimServer.DEFAULT_PORT))
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(" -M|--max-runtime SEC Module will be stopped after SEC seconds.")
print(" Default: No timeout")
print(" -x|--extended-insns Force-enable extended instructions")
print("")
print("For an example LinuxCNC HAL configuration see:")
print(" examples/linuxcnc-demo/linuxcnc-demo.hal")
def main():
global LinuxCNC_HAL
global opt_inputSize
global opt_inputBase
global opt_outputSize
global opt_outputBase
global opt_listen
global opt_loglevel
global opt_nice
global opt_watchdog
global opt_maxRuntime
global opt_extInsns
opt_inputSize = None
opt_inputBase = None
opt_outputSize = None
opt_outputBase = None
opt_listen = (AwlSimServer.DEFAULT_HOST, AwlSimServer.DEFAULT_PORT)
opt_loglevel = Logging.LOG_INFO
opt_nice = None
opt_watchdog = True
opt_maxRuntime = None
opt_extInsns = None
try:
(opts, args) = getopt.getopt(sys.argv[1:],
"hi:I:o:O:l:L:N:W:M:x",
[ "help", "input-size=", "input-base=",
"output-size=", "output-base=",
"listen=",
"loglevel=", "nice=",
"watchdog=", "max-runtime=", "extended-insns", ])
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 ("-i", "--input-size"):
try:
opt_inputSize = int(v)
except ValueError:
printError("-i|--input-size: Invalid argument")
return 1
if o in ("-I", "--input-base"):
try:
opt_inputBase = int(v)
except ValueError:
printError("-I|--input-base: Invalid argument")
return 1
if o in ("-o", "--output-size"):
try:
opt_outputSize = int(v)
except ValueError:
printError("-o|--output-size: Invalid argument")
return 1
if o in ("-O", "--output-base"):
try:
opt_outputBase = int(v)
except ValueError:
printError("-O|--output-base: Invalid argument")
return 1
if o in ("-l", "--listen"):
try:
host, port = parseNetAddress(v)
if not host.strip() or\
host in {"any", "all"}:
host = ""
if port is None:
port = AwlSimServer.DEFAULT_PORT
opt_listen = (host, port)
except AwlSimError as e:
printError("-l|--listen: Invalid host/port")
return 1
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 o in ("-M", "--max-runtime"):
try:
opt_maxRuntime = float(v)
except ValueError:
printError("-M|--max-runtime: Invalid time format")
return 1
if o in ("-x", "--extended-insns"):
opt_extInsns = True
if len(args) != 1:
usage()
return 1
projectFile = args[0]
result = ExitCodes.EXIT_OK
server = None
try:
Logging.setPrefix("awlsim-linuxcnc: ")
Logging.setLoglevel(opt_loglevel)
# 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("awlsim")
# Read the project.
project = Project.fromProjectOrRawAwlFile(projectFile)
hwmodSettings = project.getHwmodSettings()
# Get the 'linuxcnc' hardware module descriptor.
linuxcncHwmodDesc = None
for modDesc in hwmodSettings.getLoadedModules():
if modDesc.getModuleName() == "linuxcnc":
if linuxcncHwmodDesc:
printError("ERROR: More than one 'linuxcnc' hardware "
"module found in the project file. Only "
"one 'linuxcnc' module is supported.")
linuxcncHwmodDesc = modDesc
if not linuxcncHwmodDesc:
if opt_inputBase is None and\
opt_outputBase is None and\
opt_inputSize is None and\
opt_outputSize is None:
printWarning("Warning: Hardware module 'linuxcnc' not "
"included in project file. "
"Loading module nevertheless.")
modDesc = HwmodDescriptor(moduleName = "linuxcnc",
parameters = {
"hal" : None,
"removeOnReset" : "0",
"inputAddressBase" : "0",
"outputAddressBase" : "0",
"inputSize" : "32",
"outputSize" : "32",
})
hwmodSettings.addLoadedModule(modDesc)
linuxcncHwmodDesc = modDesc
# Override hardware module parameters, if required.
linuxcncHwmodDesc.setParameterValue("hal", hal)
linuxcncHwmodDesc.setParameterValue("removeOnReset", "0")
if opt_inputBase is not None:
linuxcncHwmodDesc.setParameterValue("inputAddressBase",
str(opt_inputBase))
if opt_inputSize is not None:
linuxcncHwmodDesc.setParameterValue("inputSize",
str(opt_inputSize))
if opt_outputBase is not None:
linuxcncHwmodDesc.setParameterValue("outputAddressBase",
str(opt_outputBase))
if opt_outputSize is not None:
linuxcncHwmodDesc.setParameterValue("outputSize",
str(opt_outputSize))
# Create the HAL pins, as requested.
try:
modDesc = linuxcncHwmodDesc
inputBase = int(modDesc.getParameter("inputAddressBase"))
inputSize = int(modDesc.getParameter("inputSize"))
outputBase = int(modDesc.getParameter("outputAddressBase"))
outputSize = int(modDesc.getParameter("outputSize"))
except ValueError:
printError("ERROR: 'linuxcnc' module hardware parameter "
"value error.")
return 1
createHalPins(hal = hal,
inputBase = inputBase,
inputSize = inputSize,
outputBase = outputBase,
outputSize = outputSize)
# Configure the core and the core server.
server = AwlSimServer()
for modDesc in hwmodSettings.getLoadedModules():
server.loadHardwareModule(modDesc)
server.cpuSetSpecs(project.getCpuSpecs())
conf = copy(project.getCpuConf())
if opt_maxRuntime is not None:
conf.setRunTimeLimitUs(int(round(opt_maxRuntime * 1000000.0)))
if opt_extInsns is not None:
conf.setExtInsnsEn(opt_extInsns)
server.cpuSetConf(conf)
# Load the program
for symSrc in project.getSymTabSources():
server.loadSymTabSource(symSrc)
for libSel in project.getLibSelections():
server.loadLibraryBlock(libSel)
for awlSrc in project.getAwlSources():
server.loadAwlSource(awlSrc)
for fupSrc in project.getFupSources():
server.loadFupSource(fupSrc)
for kopSrc in project.getKopSources():
server.loadKopSource(kopSrc)
# Set the Linux-CNC watchdog as cycle exit hook.
server.setCycleExitHook(watchdogHook)
# Run the server
printInfo("Starting interpreter core...")
server.startup(host = opt_listen[0],
port = opt_listen[1],
handleExceptionServerside = True,
handleMaintenanceServerside = True)
server.setRunState(server.STATE_RUN)
lastExceptionTime = None
while True:
try:
server.run()
except (AwlParserError, AwlSimError) as e:
now = time.time()
if lastExceptionTime is not None and\
now - lastExceptionTime < 1.0:
# The last fault is less than one second
# in the past. Raise a fatal exception.
printError("Fatal fault detected")
raise e
else:
lastExceptionTime = now
# Non-fatal fault.
# Ensure the CPU is stopped and enter
# the run loop again.
printError(e.getReport())
printError("CPU stopped due to fault")
server.setRunState(server.STATE_STOP)
continue
# Run loop exited normally. Bail out.
break
except LinuxCNC_NotRunning as e:
result = ExitCodes.EXIT_ERR_OTHER
except KeyboardInterrupt as e:
result = ExitCodes.EXIT_ERR_OTHER
except (AwlParserError, AwlSimError) as e:
printError(e.getReport())
result = ExitCodes.EXIT_ERR_SIM
except MaintenanceRequest as e:
if e.requestType in (MaintenanceRequest.TYPE_SHUTDOWN,
MaintenanceRequest.TYPE_STOP,
MaintenanceRequest.TYPE_RTTIMEOUT):
result = ExitCodes.EXIT_OK
else:
printError("Received invalid maintenance request %d" %\
e.requestType)
result = ExitCodes.EXIT_ERR_SIM
finally:
if server:
server.shutdown()
printInfo("LinuxCNC HAL module shutdown.")
return result
if __name__ == "__main__":
sys.exit(main())
|