Verison 1.0.3 Release
Based on Buildbotics 0.4.14
This commit is contained in:
OneFinityCNC
207
src/py/bbctrl/AVREmu.py
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207
src/py/bbctrl/AVREmu.py
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################################################################################
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# #
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# This file is part of the Buildbotics firmware. #
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# #
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# Copyright (c) 2015 - 2018, Buildbotics LLC #
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# All rights reserved. #
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# #
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# This file ("the software") is free software: you can redistribute it #
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# and/or modify it under the terms of the GNU General Public License, #
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# version 2 as published by the Free Software Foundation. You should #
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# have received a copy of the GNU General Public License, version 2 #
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# along with the software. If not, see <http://www.gnu.org/licenses/>. #
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# #
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# The software is distributed in the hope that it will be useful, but #
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# WITHOUT ANY WARRANTY; without even the implied warranty of #
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
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# Lesser General Public License for more details. #
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# #
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# You should have received a copy of the GNU Lesser General Public #
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# License along with the software. If not, see #
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# <http://www.gnu.org/licenses/>. #
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# #
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# For information regarding this software email: #
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# "Joseph Coffland" <joseph@buildbotics.com> #
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# #
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################################################################################
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import os
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import sys
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import traceback
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import signal
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import bbctrl
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import bbctrl.Cmd as Cmd
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class AVREmu(object):
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def __init__(self, ctrl):
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self.ctrl = ctrl
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self.log = ctrl.log.get('AVREmu')
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self.avrOut = None
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self.avrIn = None
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self.i2cOut = None
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self.read_cb = None
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self.write_cb = None
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self.pid = None
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def close(self):
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# Close pipes
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def _close(fd, withHandle):
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if fd is None: return
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try:
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if withHandle: self.ctrl.ioloop.remove_handler(fd)
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except: pass
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try:
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os.close(fd)
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except: pass
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_close(self.avrOut, True)
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_close(self.avrIn, True)
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_close(self.i2cOut, False)
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self.avrOut, self.avrIn, self.i2cOut = None, None, None
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# Kill process and wait for it
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if self.pid is not None:
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os.kill(self.pid, signal.SIGKILL)
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os.waitpid(self.pid, 0)
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self.pid = None
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def _start(self):
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try:
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self.close()
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# Create pipes
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stdinFDs = os.pipe()
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stdoutFDs = os.pipe()
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i2cFDs = os.pipe()
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self.pid = os.fork()
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if not self.pid:
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# Dup child ends
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os.dup2(stdinFDs[0], 0)
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os.dup2(stdoutFDs[1], 1)
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os.dup2(i2cFDs[0], 3)
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# Close orig fds
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os.close(stdinFDs[0])
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os.close(stdoutFDs[1])
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os.close(i2cFDs[0])
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# Close parent ends
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os.close(stdinFDs[1])
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os.close(stdoutFDs[0])
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os.close(i2cFDs[1])
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cmd = ['bbemu']
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if self.ctrl.args.fast_emu: cmd.append('--fast')
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os.execvp(cmd[0], cmd)
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os._exit(1) # In case of failure
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# Parent, close child ends
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os.close(stdinFDs[0])
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os.close(stdoutFDs[1])
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os.close(i2cFDs[0])
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# Non-blocking IO
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os.set_blocking(stdinFDs[1], False)
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os.set_blocking(stdoutFDs[0], False)
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os.set_blocking(i2cFDs[1], False)
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self.avrOut = stdinFDs[1]
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self.avrIn = stdoutFDs[0]
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self.i2cOut = i2cFDs[1]
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ioloop = self.ctrl.ioloop
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ioloop.add_handler(self.avrOut, self._avr_write_handler,
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ioloop.WRITE | ioloop.ERROR)
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ioloop.add_handler(self.avrIn, self._avr_read_handler,
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ioloop.READ | ioloop.ERROR)
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self.write_enabled = True
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except Exception:
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self.close()
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self.log.exception('Failed to start bbemu')
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def set_handlers(self, read_cb, write_cb):
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if self.read_cb is not None or self.write_cb is not None:
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raise Exception('AVR handler already set')
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self.read_cb = read_cb
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self.write_cb = write_cb
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self._start()
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def enable_write(self, enable):
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if self.avrOut is None: return
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flags = self.ctrl.ioloop.WRITE if enable else 0
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self.ctrl.ioloop.update_handler(self.avrOut, flags)
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self.write_enabled = enable
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def _avr_write(self, data):
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try:
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length = os.write(self.avrOut, data)
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self.continue_write = length and length == len(data)
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return length
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except BlockingIOError: pass
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except BrokenPipeError: pass
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return 0
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def _avr_write_handler(self, fd, events):
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if self.avrOut is None: return
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if events & self.ctrl.ioloop.ERROR:
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self._start()
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return
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try:
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while True:
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self.continue_write = False
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self.write_cb(self._avr_write)
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if not self.continue_write: break
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except Exception as e:
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self.log.warning('AVR write handler error: %s',
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traceback.format_exc())
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def _avr_read_handler(self, fd, events):
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if self.avrIn is None: return
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if events & self.ctrl.ioloop.ERROR:
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self._start()
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return
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try:
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data = os.read(self.avrIn, 4096)
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if data is not None: self.read_cb(data)
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except Exception as e:
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self.log.warning('AVR read handler error: %s %s' %
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(data, traceback.format_exc()))
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def i2c_command(self, cmd, byte = None, word = None, block = None):
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if byte is not None: data = chr(byte)
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elif word is not None: data = word
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elif block is not None: data = block
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else: data = ''
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try:
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if self.i2cOut is not None:
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os.write(self.i2cOut, bytes(cmd + data + '\n', 'utf-8'))
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except BrokenPipeError: pass
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