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awlsim-linuxcnc-hal
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awlsim-linuxcnc-hal
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# AWL simulator - LinuxCNC HAL module
#
# Copyright 2013-2020 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 getopt
from awlsim_loader.common import *
from awlsim_loader.core import *
from awlsim_loader.coreserver import *
from awlsim_loader.coreclient import *
from awlsim.common.monotonic import monotonic_time
class LinuxCNC_NotRunning(Exception):
pass
def linuxCNCTriggerEStop():
# Try to trigger LinuxCNC emergency stop.
global linuxcnc_mod
if linuxcnc_mod is not None:
try:
cmd = linuxcnc_mod.command()
cmd.state(linuxcnc_mod.STATE_ESTOP)
cmd.wait_complete()
except Exception as e:
print("ERROR: Failed to trigger LinuxCNC E-Stop: %s" % str(e),
file=sys.stderr)
else:
print("Triggered LinuxCNC E-Stop")
# 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 os.path.exists(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()
def usage():
print("awlsim-linuxcnc-hal version %s" % VERSION_STRING)
print("")
print("Usage: awlsim-linuxcnc-hal [OPTIONS] PROJECT.awlpro")
print("")
print("Options:")
print(" -w|--rw-project Enable project file writing after download of new program.")
print(" Default: Do not write to the project file.")
print("")
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_mod
linuxcnc_mod = None
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
global opt_rwProject
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
opt_rwProject = False
try:
(opts, args) = getopt.getopt(sys.argv[1:],
"hi:I:o:O:l:L:N:W:M:xw",
[ "help", "input-size=", "input-base=",
"output-size=", "output-base=",
"listen=",
"loglevel=", "nice=",
"watchdog=", "max-runtime=", "extended-insns",
"rw-project", ])
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 o in ("-w", "--rw-project"):
opt_rwProject = 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
try:
import linuxcnc as linuxcnc_mod
except ImportError as e:
printError("Failed to import LinuxCNC "
"module: %s" % str(e))
return 1
# Create the LinuxCNC HAL component.
halComponent = 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 = {
"inputAddressBase" : "0",
"outputAddressBase" : "0",
"inputSize" : "32",
"outputSize" : "32",
})
hwmodSettings.addLoadedModule(modDesc)
linuxcncHwmodDesc = modDesc
# Override hardware module parameters, if required.
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))
# Override CPUConf, if required.
conf = 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)
# Pass the hal component singleton to the Awlsim hw module.
loader = HwModLoader.loadModule("linuxcnc")
mod = loader.getModule()
mod.setLinuxCNCHalComponentSingleton(LinuxCNC_HAL, halComponent)
server = AwlSimServer()
server.setCycleExitHook(watchdogHook)
printInfo("Starting core server...")
server.startup(host=opt_listen[0],
port=opt_listen[1],
project=project,
projectWriteBack=opt_rwProject,
raiseExceptionsFromRun=True,
handleMaintenanceServerside=True)
try:
server.setRunState(server.STATE_RUN)
except AwlSimError as e:
printError("Failed to go to RUN state.")
# Continue to main loop.
lastExceptionTime = monotonic_time() - 1.0
exceptionCount = 0
while True:
try:
server.run()
except (AwlParserError, AwlSimError) as e:
linuxCNCTriggerEStop()
now = monotonic_time()
if now - lastExceptionTime < 1.0:
# The last fault is less than one second ago.
exceptionCount += 1
else:
exceptionCount = 0
lastExceptionTime = now
if exceptionCount >= 10:
# Many exceptions happened in a row.
# Raise a fatal exception.
printError("Fatal fault detected")
raise e
else:
# 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:
linuxCNCTriggerEStop()
if server:
server.shutdown()
printInfo("LinuxCNC HAL module shutdown.")
return result
if __name__ == "__main__":
sys.exit(main())