--- a/etherlab/EtherCATManagementEditor.py Sat Jun 23 09:17:20 2018 +0200
+++ b/etherlab/EtherCATManagementEditor.py Wed Nov 20 16:57:15 2019 +0100
@@ -21,6 +21,18 @@
# ------------ for SDO Management --------------------
import string
import wx.grid as gridlib
+try:
+ from agw import pyprogress as PP
+except ImportError:
+ import wx.lib.agw.pyprogress as PP
+try:
+ from agw import genericmessagedialog as GMD
+except ImportError:
+ import wx.lib.agw.genericmessagedialog as GMD
+
+from threading import Timer, Thread, Lock
+#from time import localtime
+import time
#-------------------------------------------------------------
# ------------ for register management ---------------
@@ -60,37 +72,42 @@
self.parent = parent
self.Controler = controler
self.NodeEditor = node_editor
-
self.EtherCATManagementClassObject = {}
# fill EtherCAT Management Treebook
+ #for pname, pclass, subs in [
+ # ("Slave State", SlaveStatePanelClass, []),
+ # ("SDO Management", SDOPanelClass, []),
+ # ("PDO Mapping", PDOPanelClass, []),
+ # ("ESC Management", EEPROMAccessPanel, [
+ # ("Smart View", SlaveSiiSmartView),
+ # ("Hex View", HexView)]),
+ # ("Register Access", RegisterAccessPanel, [])]:
+ # pclass = pclass(self, self.Controler)
+ # self.AddPage(pclass, pname)
+ # for spname, spclass in subs:
+ # spclass = spclass(self, self.Controler)
+ # self.AddSubPage(spclass, spname)
+
for pname, pclass, subs in [
("Slave State", SlaveStatePanelClass, []),
("SDO Management", SDOPanelClass, []),
- ("PDO Monitoring", PDOPanelClass, []),
- ("ESC Management", EEPROMAccessPanel, [
- ("Smart View", SlaveSiiSmartView),
- ("Hex View", HexView)]),
- ("Register Access", RegisterAccessPanel, [])]:
- self.AddPage(pclass(self, self.Controler), pname)
+ ("PDO Mapping", PDOPanelClass, [
+ ("Rx PDO", RxPDOPanelClass),
+ ("Tx PDO", TxPDOPanelClass)]),
+ ("MDP Setting", MDPPanel, []),
+ ("ESC Management", EEPROMAccessPanel, [
+ ("Smart View", SlaveSiiSmartView),
+ ("Hex View", HexView)]),
+ ("Register Access", RegisterAccessPanel, []),
+ ("DC Configuration", DCConfigPanel, [])
+ ]:
+ pclass = pclass(self, self.Controler)
+ self.AddPage(pclass, pname)
for spname, spclass in subs:
- self.AddSubPage(spclass(self, self.Controler), spname)
-
- self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGED, self.OnPageChanged)
- self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGING, self.OnPageChanging)
-
- def OnPageChanged(self, event):
- old = event.GetOldSelection()
- new = event.GetSelection()
- sel = event.GetSelection()
- event.Skip()
-
- def OnPageChanging(self, event):
- old = event.GetOldSelection()
- new = event.GetSelection()
- sel = event.GetSelection()
- event.Skip()
-
+ spclass = spclass(self, self.Controler)
+ self.AddSubPage(spclass, spname)
+
#-------------------------------------------------------------------------------
# For SlaveState Panel
#-------------------------------------------------------------------------------
@@ -184,7 +201,7 @@
self.SetSizer(self.SizerDic["SlaveState_main_sizer"])
- # register a timer for periodic exectuion of slave state update (period: 1000 ms)
+ # register a timer for periodic exectuion of slave state update (period: 2000 ms)
self.Bind(wx.EVT_TIMER, self.GetCurrentState)
self.CreateSyncManagerTable()
@@ -199,14 +216,14 @@
self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames())
self.SyncManagersGrid.SetTable(self.SyncManagersTable)
# set grid alignment attr. (CENTER)
- self.SyncManagersGridColAlignements = [wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE,
- wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE]
+ self.SyncManagersGridColAlignements = [wx.ALIGN_CENTER, wx.ALIGN_CENTER, wx.ALIGN_CENTER,
+ wx.ALIGN_CENTER, wx.ALIGN_CENTER, wx.ALIGN_CENTER]
# set grid size
self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100]
self.SyncManagersGrid.SetRowLabelSize(0)
for col in range(self.SyncManagersTable.GetNumberCols()):
attr = wx.grid.GridCellAttr()
- attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTRE)
+ attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTER)
self.SyncManagersGrid.SetColAttr(col, attr)
self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col])
self.SyncManagersGrid.AutoSizeColumn(col, False)
@@ -236,7 +253,9 @@
Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button)
@param event : wx.EVT_BUTTON object
"""
- check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+ # Check whether beremiz connected or not.
+ # If this method is called cyclically, set the cyclic flag true
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
if check_connect_flag :
state_dic = ["INIT", "PREOP", "SAFEOP", "OP"]
@@ -258,10 +277,15 @@
def GetCurrentState(self, event):
"""
- Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec).
+ Timer event handler for periodic slave state monitoring (Default period: 1 sec = 2000 msec).
@param event : wx.TIMER object
"""
- check_connect_flag = self.Controler.CommonMethod.CheckConnect(True)
+ if self.IsShownOnScreen() is False:
+ return
+
+ # Check whether beremiz connected or not.
+ # If this method is called cyclically, set the cyclic flag true
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = True)
if check_connect_flag:
returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave()
line = returnVal.split("\n")
@@ -291,9 +315,15 @@
- start slave state monitoring thread
@param event : wx.EVT_BUTTON object
"""
- self.SlaveStateThread = wx.Timer(self)
- # set timer period (1000 ms)
- self.SlaveStateThread.Start(1000)
+ # Check whether beremiz connected or not.
+ # If this method is called cyclically, set the cyclic flag true
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
+ if check_connect_flag:
+ self.SlaveStateThread = wx.Timer(self)
+ # set timer period (2000 ms)
+ self.SlaveStateThread.Start(2000)
+ else:
+ pass
def CurrentStateThreadStop(self, event):
"""
@@ -309,7 +339,7 @@
#-------------------------------------------------------------------------------
# For SDO Management Panel
#-------------------------------------------------------------------------------
-class SDOPanelClass(wx.Panel):
+class SDOPanelClass(wx.ScrolledWindow):
def __init__(self, parent, controler):
"""
Constructor
@@ -322,141 +352,217 @@
self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6)
self.Controler = controler
-
+
+ self.SDOMonitorEntries = {}
+ #----------------------------- SDO Monitor -------------------------------#
+ self.RBList = ["ON","OFF"]
+
+ self.SDOMonitorRB = wx.RadioBox(self, label=_("monitoring"),
+ choices=self.RBList, majorDimension=2)
+
+ self.SDOMonitorRB.SetSelection(1)
+ self.Bind(wx.EVT_RADIOBOX, self.OnRadioBox, self.SDOMonitorRB)
+
+ self.SDOMonitorGrid = wx.grid.Grid(self,size=wx.Size(850,150),style=wx.EXPAND
+ |wx.ALIGN_CENTER_HORIZONTAL
+ |wx.ALIGN_CENTER_VERTICAL)
+ self.SDOMonitorGrid.Bind(gridlib.EVT_GRID_CELL_LEFT_DCLICK,
+ self.onMonitorGridDoubleClick)
+
+ #----------------------------- SDO Entries ----------------------------#
+ self.SDOUpdateBtn = wx.Button(self, label=_("update"))
+ self.SDOUpdateBtn.Bind(wx.EVT_BUTTON, self.OnSDOUpdate)
+
+ self.SDOTraceThread = None
+ self.SDOMonitoringFlag = False
+ self.SDOValuesList = []
+ # Default SDO Page Number
+ self.SDOPageNum = 2
+
+ #----------------------------- Sizer --------------------------------------#
self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL)
- self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
-
- self.SDOUpdate = wx.Button(self, label=_('update'))
- self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate)
-
- self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler)
- self.SDOManagementInnerMainSizer.Add(self.SDOUpdate)
- self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND)
-
- self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer)
-
+ self.SDOInfoBox = wx.StaticBox(self, label=_("SDO Entries"))
+ self.SDOMonitorBox = wx.StaticBox(self, label=_("SDO Monitor"))
+
+ self.SDONoteBook = SDONoteBook(self, controler=self.Controler)
+ self.SDOInfoBoxSizer = wx.StaticBoxSizer(self.SDOInfoBox, orient=wx.VERTICAL)
+ self.SDOMonitorBoxSizer = wx.StaticBoxSizer(self.SDOMonitorBox,
+ orient=wx.VERTICAL)
+ self.SDOInfoBoxSizer.Add(self.SDOUpdateBtn)
+
+ self.SDOInfoBoxSizer.Add(self.SDONoteBook, wx.ALL|wx.EXPAND)
+ self.SDOMonitorBoxSizer.Add(self.SDOMonitorRB)
+ self.SDOMonitorBoxSizer.Add(self.SDOMonitorGrid)
+ self.SDOManagementMainSizer.AddMany([self.SDOInfoBoxSizer,
+ self.SDOMonitorBoxSizer])
self.SetSizer(self.SDOManagementMainSizer)
- def SDOInfoUpdate(self, event):
- """
- Evenet handler for SDO "update" button.
- - Load SDO data from current slave
- @param event : wx.EVT_BUTTON object
- """
- self.Controler.CommonMethod.SaveSDOData = []
+ #----------------------------- fill the contents --------------------------#
+ #self.entries = self.Controler.CTNParent.CTNParent.GetEntriesList()
+
+ slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
+ type_infos = slave.getType()
+ device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
+ self.entries = device.GetEntriesList()
+
+ self.Controler.CommonMethod.SDOVariables = []
+ self.Controler.CommonMethod.SDOSubEntryData = []
self.Controler.CommonMethod.ClearSDODataSet()
- self.SDOFlag = False
-
- # Check whether beremiz connected or not.
- check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+ self.SDOParserXML(self.entries)
+ self.SDONoteBook.CreateNoteBook()
+ self.CreateSDOMonitorGrid()
+ self.Refresh()
+
+ def OnSDOUpdate(self, event):
+ SlavePos = self.Controler.GetSlavePos()
+ num = self.SDOPageNum - 1
+ if num < 0:
+ for i in range(len(self.Controler.CommonMethod.SDOVariables)):
+ data = self.Controler.GetCTRoot()._connector.GetSDOEntriesData(
+ self.Controler.CommonMethod.SDOVariables[i], SlavePos)
+ self.Controler.CommonMethod.SDOVariables[i] = data
+ else :
+ SDOUploadEntries = self.Controler.CommonMethod.SDOVariables[num]
+ data = self.Controler.GetCTRoot()._connector.GetSDOEntriesData(SDOUploadEntries, SlavePos)
+ self.Controler.CommonMethod.SDOVariables[num] = data
+
+ self.SDONoteBook.CreateNoteBook()
+ self.Refresh()
+
+ def OnRadioBox(self, event):
+ """
+ There are two selections that are on and off.
+ If the on is selected, the monitor thread begins to run.
+ If the off is selected, the monitor thread gets off.
+ @param event: wx.EVT_RADIOBOX object
+ """
+ on, off = range(2)
+
+ if event.GetInt() == on:
+ CheckThreadFlag = self.SDOMonitoringThreadOn()
+ if not CheckThreadFlag:
+ self.SDOMonitorRB.SetSelection(off)
+ elif event.GetInt() == off:
+ self.SDOMonitoringThreadOff()
+
+ def SDOMonitoringThreadOn(self):
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
if check_connect_flag:
- self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave()
- # SDOFlag is "False", user click "Cancel" button
- self.SDOFlag = self.SDOParser()
-
- if self.SDOFlag :
- self.CallSDONoteBook.CreateNoteBook()
- self.Refresh()
-
- def SDOParser(self):
- """
- Parse SDO data set that obtain "SDOInfoUpdate" Method
- @return True or False
- """
-
- slaveSDO_progress = wx.ProgressDialog("Slave SDO Monitoring", "Now Uploading...",
- maximum = len(self.SDOs.splitlines()), parent=self,
- style = wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME |
- wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME |
- wx.PD_AUTO_HIDE | wx.PD_SMOOTH)
-
- # If keep_going flag is False, SDOParser method is stop and return "False".
- keep_going = True
- count = 0
-
- # SDO data example
- # SDO 0x1000, "Device type"
- # 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474
- for details_line in self.SDOs.splitlines():
- count += 1
- line_token = details_line.split("\"")
- # len(line_token[2]) case : SDO 0x1000, "Device type"
- if len(line_token[2]) == 0:
- title_name = line_token[1]
- # else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474
- else :
- # line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474']
- token_head, name, token_tail = line_token
+ self.SetSDOTraceValues(self.SDOMonitorEntries)
+ self.Controler.GetCTRoot()._connector.GetSDOData()
+ self.SDOTraceThread = Thread(target=self.SDOMonitorThreadProc)
+ self.SDOMonitoringFlag = True
+ self.SDOTraceThread.start()
+ return check_connect_flag
+
+ def SDOMonitoringThreadOff(self):
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
+ if check_connect_flag:
+ self.SDOMonitoringFlag = False
+ if self.SDOTraceThread is not None:
+ self.SDOTraceThread.join()
+ self.SDOTraceThread = None
+ self.Controler.GetCTRoot()._connector.StopSDOThread()
+
+ def SetSDOTraceValues(self, SDOMonitorEntries):
+ SlavePos = self.Controler.GetSlavePos()
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = True)
+ if check_connect_flag:
+ self.Controler.GetCTRoot()._connector.SetSDOTraceValues(SDOMonitorEntries, SlavePos)
+
+ def SDOMonitorThreadProc(self):
+ while self.SDOMonitoringFlag and self.Controler.GetCTRoot()._connector.PLCStatus != "Started":
+ self.SDOValuesList = self.Controler.GetCTRoot()._connector.GetSDOData()
+ LocalData = self.SDOValuesList[0].items()
+ LocalData.sort()
+ if self.SDOValuesList[1] != self.Controler.GetSlavePos():
+ continue
+ row = 0
+ for (idx, subidx), data in LocalData:
+ self.SDOMonitorGrid.SetCellValue(row, 6, str(data["value"]))
+ row += 1
+ time.sleep(0.5)
+
+ def CreateSDOMonitorGrid(self):
+ """
+ It creates SDO Monitor table and specifies cell size and labels.
+ """
+ self.SDOMonitorGrid.CreateGrid(0,7)
+ SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 70),
+ (4, 40), (5, 450), (6, 85)]
+
+ for (index, size) in SDOCellSize:
+ self.SDOMonitorGrid.SetColSize(index, size)
+
+ self.SDOMonitorGrid.SetRowLabelSize(0)
+
+ SDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Access"),
+ (3, "Type"), (4, "Size"), (5, "Name"), (6, "Value")]
+
+ for (index, label) in SDOTableLabel:
+ self.SDOMonitorGrid.SetColLabelValue(index, label)
+ self.SDOMonitorGrid.SetColLabelAlignment(index, wx.ALIGN_CENTER)
+
+ def onMonitorGridDoubleClick(self, event):
+ """
+ Event Handler for double click on the SDO entries table.
+ It adds the entry into the SDO monitor table.
+ If the entry is already in the SDO monitor table,
+ then it's removed from the SDO monitor table.
+ @pram event: gridlib.EVT_GRID_CELL_LEFT_DCLICK object
+ """
+ row = event.GetRow()
+ idx = self.SDOMonitorGrid.GetCellValue(row, 0)
+ subIdx = self.SDOMonitorGrid.GetCellValue(row, 1)
+
+ del self.SDOMonitorEntries[(idx, subIdx)]
+ self.SDOMonitorGrid.DeleteRows(row, 1)
+ # add jblee
+ self.SetSDOTraceValues(self.SDOMonitorEntries)
+ self.SDOMonitorGrid.Refresh()
+
+ def SDOParserXML(self, entries):
+ """
+ Parse SDO data set that obtain "ESI file"
+ @param entries: SDO entry list
+ """
+ entries_list = entries.items()
+ entries_list.sort()
+ self.ForDefaultValueFlag = False
+ self.CompareValue = ""
+ self.sub_entry_value_list = []
+
+ for (index, subidx), entry in entries_list:
+ # exclude entry that isn't in the objects
+ check_mapping = entry["PDOMapping"]
+ if check_mapping is "T" or check_mapping is "R":
+ if "PDO index" not in entry.keys():
+ continue
+
+ idx = "0" + entry["Index"].strip("#")
+ #subidx = hex(int(entry["SubIndex"], 0))
+ try :
+ subidx = "0x" + entry["SubIndex"]
+ except :
+ subidx = "0x0"
+ datatype = entry["Type"]
+
+ try :
+ default_value = entry["DefaultData"]
+ except :
+ default_value = " --- "
+ # Result of SlaveSDO data parsing. (data type : dictionary)
+ self.Data = {'idx':idx, 'subIdx':subidx, 'access':entry["Access"],
+ 'type':datatype, 'size': str(entry["BitSize"]),
+ 'name':entry["Name"], 'value':default_value}
+ category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]
- # token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', '']
- token_head = token_head.split(",")
- ful_idx, access, type, size, empty = token_head
- # ful_idx.split(":") = ['0x1000', '00']
- idx, sub_idx = ful_idx.split(":")
-
- # token_tail = ['', '0x00020192', '131474']
- token_tail = token_tail.split(",")
- try :
- empty, hex_val, dec_val = token_tail
-
- # SDO data is not return "dec value"
- # line example :
- # 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ----
- except :
- empty, hex_val = token_tail
-
- name_after_check = self.StringTest(name)
-
- # convert hex type
- sub_idx = "0x" + sub_idx
-
- if type == "octet_string":
- hex_val = ' ---- '
-
- # SResult of SlaveSDO data parsing. (data type : dictionary)
- self.Data = {'idx':idx.strip(), 'subIdx':sub_idx.strip(), 'access':access.strip(),
- 'type':type.strip(), 'size':size.strip(), 'name':name_after_check.strip("\""),
- 'value':hex_val.strip(), "category":title_name.strip("\"")}
-
- category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]
-
- for count in range(len(category_divide_value)) :
- if int(idx, 0) < category_divide_value[count]:
- self.Controler.CommonMethod.SaveSDOData[count].append(self.Data)
- break
-
- self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data)
-
- if count >= len(self.SDOs.splitlines()) / 2:
- (keep_going, skip) = slaveSDO_progress.Update(count, "Please waiting a moment!!")
- else:
- (keep_going, skip) = slaveSDO_progress.Update(count)
-
- # If user click "Cancel" loop suspend immediately
- if (keep_going == False):
- break
-
- slaveSDO_progress.Destroy()
- return keep_going
-
- def StringTest(self, check_string):
- """
- Test value 'name' is alphanumeric
- @param check_string : input data for check
- @return result : output data after check
- """
- # string.printable is print this result
- #'0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ
- #!"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c
- allow_range = string.printable
- result = check_string
- for i in range(0, len(check_string)):
- # string.isalnum() is check whether string is alphanumeric or not
- if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range :
- result = check_string[:len(check_string) - i]
- break
- return result
-
+ for count in range(len(category_divide_value)) :
+ if int(idx, 0) < category_divide_value[count]:
+ self.Controler.CommonMethod.SDOVariables[count].append(self.Data)
+ break
+
+ self.Controler.CommonMethod.SDOSubEntryData = self.sub_entry_value_list
#-------------------------------------------------------------------------------
# For SDO Notebook (divide category)
@@ -468,14 +574,14 @@
@param parent: Reference to the parent SDOPanelClass class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
- wx.Notebook.__init__(self, parent, id = -1, size=(850,500))
+ wx.Notebook.__init__(self, parent, id = -1, size=(850, 350))
self.Controler = controler
self.parent = parent
self.CreateNoteBook()
-
- self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)
- self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)
+
+ self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGED, self.OnPageChanged)
+ self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGING, self.OnPageChanging)
def CreateNoteBook(self):
"""
@@ -500,48 +606,57 @@
"All SDO Object"]
self.DeleteAllPages()
-
+
+ self.Controler.CommonMethod.SDOVariables[5] = []
+ for i in range(4):
+ self.Controler.CommonMethod.SDOVariables[5] += self.Controler.CommonMethod.SDOVariables[i]
+
for txt, count in page_texts:
- self.Data = self.Controler.CommonMethod.SaveSDOData[count]
- self.Win = SlaveSDOTable(self, self.Data)
+ self.Data = self.Controler.CommonMethod.SDOVariables[count]
+ self.SubEntryData = self.Controler.CommonMethod.SDOSubEntryData
+ self.Win = SlaveSDOTable(self, self.Data, self.SubEntryData)
self.AddPage(self.Win, txt)
-
+
+ # add jblee
def OnPageChanged(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = self.GetSelection()
+ self.parent.SDOPageNum = new
event.Skip()
def OnPageChanging(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
- sel = self.GetSelection()
+ sel = self.GetSelection()
event.Skip()
#-------------------------------------------------------------------------------
# For SDO Grid (fill index, subindex, etc...)
#-------------------------------------------------------------------------------
class SlaveSDOTable(wx.grid.Grid):
- def __init__(self, parent, data):
+ def __init__(self, parent, data, fixed_value):
"""
Constructor
@param parent: Reference to the parent SDOPanelClass class
@param data: SDO data after parsing "SDOParser" method
"""
wx.grid.Grid.__init__(self, parent, -1, size=(830,490),
- style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
+ style=wx.EXPAND|wx.ALIGN_CENTER_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
self.Controler = parent.Controler
self.parent = parent
self.SDOFlag = True
if data is None :
self.SDOs = []
+ self.sub_entry_value = []
else :
self.SDOs = data
-
- self.CreateGrid(len(self.SDOs), 8)
- SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 55),
- (4, 40), (5, 200), (6, 250), (7, 85)]
+ self.sub_entry_value = fixed_value
+
+ self.CreateGrid(len(self.SDOs), 7)
+ SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 70),
+ (4, 40), (5, 400), (6, 135)]
for (index, size) in SDOCellSize:
self.SetColSize(index, size)
@@ -549,17 +664,16 @@
self.SetRowLabelSize(0)
SDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Access"),
- (3, "Type"), (4, "Size"), (5, "Category"),
- (6, "Name"), (7, "Value")]
+ (3, "Type"), (4, "Size"), (5, "Name"), (6, "Value")]
for (index, label) in SDOTableLabel:
self.SetColLabelValue(index, label)
- self.SetColLabelAlignment(index, wx.ALIGN_CENTRE)
+ self.SetColLabelAlignment(index, wx.ALIGN_CENTER)
attr = wx.grid.GridCellAttr()
- # for SDO download
- self.Bind(gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.SDOModifyDialog)
+ # for SDO download and monitoring
+ self.Bind(gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.onGridDoubleClick)
for i in range(7):
self.SetColAttr(i,attr)
@@ -572,55 +686,45 @@
"""
Cell is filled by new parsing data
"""
- sdo_list = ['idx', 'subIdx', 'access', 'type', 'size', 'category', 'name', 'value']
+ sdo_list = ['idx', 'subIdx', 'access', 'type', 'size', 'name', 'value']
+ count = 0
for row_idx in range(len(self.SDOs)):
- for col_idx in range(len(self.SDOs[row_idx])):
- self.SetCellValue(row_idx, col_idx, self.SDOs[row_idx][sdo_list[col_idx]])
+ for col_idx in range(len(self.SDOs[row_idx])):
+
+ # the top entries that have sub index is shaded.
+ if int(self.SDOs[row_idx]['subIdx'], 16) == 0x00:
+ try:
+ if int(self.SDOs[row_idx + 1]['subIdx'], 16) is not 0x00:
+ self.SetCellBackgroundColour(row_idx, col_idx, \
+ wx.LIGHT_GREY)
+ except:
+ pass
+
+ if self.SDOs[row_idx][sdo_list[col_idx]] == "modifying":
+ if len(self.sub_entry_value) == count:
+ continue
+ self.SetCellValue(row_idx, col_idx, self.sub_entry_value[count])
+ count += 1
+ else :
+ self.SetCellValue(row_idx, col_idx, \
+ self.SDOs[row_idx][sdo_list[col_idx]])
+
self.SetReadOnly(row_idx, col_idx, True)
+
if col_idx < 5 :
- self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE)
+ self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTER, wx.ALIGN_CENTER)
def CheckSDODataAccess(self, row):
"""
- CheckSDODataAccess method is checking that access data has "w"
- Access field consist 6 char, if mean
- rw rw rw
- (preop) (safeop) (op)
- Example Access field : rwrwrw, rwrw--
+ check that access field has "rw"
@param row : Selected cell by user
@return Write_flag : If data has "w", flag is true
"""
- write_flag = False
check = self.SDOs[row]['access']
- if check[1:2] == 'w' :
- self.Controler.CommonMethod.Check_PREOP = True
- write_flag = True
- if check[3:4] == 'w' :
- self.Controler.CommonMethod.Check_SAFEOP = True
- write_flag = True
- if check[5:] =='w' :
- self.Controler.CommonMethod.Check_OP = True
- write_flag = True
-
- return write_flag
-
- def DecideSDODownload(self, state):
- """
- compare current state and "access" field,
- result notify SDOModifyDialog method
- @param state : current slave state
- @return True or False
- """
- # Example of 'state' parameter : "0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100)"
- state = state[self.Controler.GetSlavePos()].split(" ")[2]
- if state == "PREOP" and self.Controler.CommonMethod.Check_PREOP :
+ if check == "rw":
return True
- elif state == "SAFEOP" and self.Controler.CommonMethod.Check_SAFEOP :
- return True
- elif state == "OP" and self.Controler.CommonMethod.Check_OP :
- return True
-
- return False
+ else:
+ return False
def ClearStateFlag(self):
"""
@@ -631,7 +735,7 @@
self.Controler.CommonMethod.Check_SAFEOP = False
self.Controler.CommonMethod.Check_OP = False
- def SDOModifyDialog (self, event):
+ def onGridDoubleClick (self, event):
"""
Create dialog for SDO value modify
if user enter data, perform command "ethercat download"
@@ -640,32 +744,100 @@
self.ClearStateFlag()
# CheckSDODataAccess is checking that OD(Object Dictionary) has "w"
- if event.GetCol() == 7 and self.CheckSDODataAccess(event.GetRow()) :
- dlg = wx.TextEntryDialog (self, "Enter hex or dec value (if enter dec value, it automatically conversed hex value)",
- "SDOModifyDialog", style = wx.OK | wx.CANCEL)
+ if event.GetCol() == 6 and self.CheckSDODataAccess(event.GetRow()) :
+ dlg = wx.TextEntryDialog (self,
+ "Enter hex or dec value (if enter dec value, " \
+ + "it automatically conversed hex value)",
+ "SDOModifyDialog", style = wx.OK | wx.CANCEL)
start_value = self.GetCellValue(event.GetRow(), event.GetCol())
dlg.SetValue(start_value)
if dlg.ShowModal() == wx.ID_OK:
- try :
- int(dlg.GetValue(), 0)
- # check "Access" field
- if self.DecideSDODownload(self.Controler.CommonMethod.SlaveState[self.Controler.GetSlavePos()]) :
+ # Check whether beremiz connected or not.
+ # If this method is called cyclically, set the cyclic flag true
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
+ if check_connect_flag:
+ try :
+ input_val = hex(int(dlg.GetValue(), 0))
# Request "SDODownload"
- self.Controler.CommonMethod.SDODownload(self.SDOs[event.GetRow()]['type'], self.SDOs[event.GetRow()]['idx'],
- self.SDOs[event.GetRow()]['subIdx'], dlg.GetValue())
- self.SetCellValue(event.GetRow(), event.GetCol(), hex(int(dlg.GetValue(), 0)))
- else :
- self.Controler.CommonMethod.CreateErrorDialog('You cannot SDO download this state')
- # Error occured process of "int(variable)"
- # User input is not hex, dec value
- except ValueError:
- self.Controler.CommonMethod.CreateErrorDialog('You can input only hex, dec value')
-
+ return_val = self.Controler.CommonMethod.SDODownload(
+ self.SDOs[event.GetRow()]["type"],
+ self.SDOs[event.GetRow()]["idx"],
+ self.SDOs[event.GetRow()]["subIdx"],
+ dlg.GetValue())
+ if return_val is "":
+ SDOUploadEntry = {"idx" : self.SDOs[event.GetRow()]["idx"],
+ "subIdx" : self.SDOs[event.GetRow()]["subIdx"],
+ "size" : self.SDOs[event.GetRow()]["size"]
+ }
+ data = self.Controler.GetCTRoot()._connector.GetSDOEntryData(
+ SDOUploadEntry, self.Controler.GetSlavePos())
+ hex_val = hex(data)[:-1]
+
+ # download data check
+ if input_val == hex_val:
+ display_val = "%s(%d)" % (hex_val, data)
+ self.SetCellValue(event.GetRow(), event.GetCol(),
+ display_val)
+ else :
+ self.Controler.CommonMethod.CreateErrorDialog(\
+ 'SDO Value not completely download, please try again')
+ else:
+ self.Controler.GetCTRoot().logger.write_error(return_val)
+
+ # Error occured process of "int(variable)"
+ # User input is not hex, dec value
+ except ValueError:
+ self.Controler.CommonMethod.CreateErrorDialog(\
+ 'You can input only hex, dec value')
+ else:
+ SDOPanel = self.parent.parent
+ row = event.GetRow()
+
+ idx = self.SDOs[row]["idx"]
+ subIdx = self.SDOs[row]["subIdx"]
+ SDOPanel.SDOMonitorEntries[(idx, subIdx)] = {
+ "access": self.SDOs[row]["access"],
+ "type": self.SDOs[row]["type"],
+ "size": self.SDOs[row]["size"],
+ "name": self.SDOs[row]["name"],
+ # add jblee
+ "value": ""}
+
+ del_rows = SDOPanel.SDOMonitorGrid.GetNumberRows()
+
+ try:
+ SDOPanel.SDOMonitorGrid.DeleteRows(0, del_rows)
+ except:
+ pass
+
+ SDOPanel.SDOMonitorGrid.AppendRows(len(SDOPanel.SDOMonitorEntries))
+ SDOPanel.SetSDOTraceValues(SDOPanel.SDOMonitorEntries)
+
+ SME_list = SDOPanel.SDOMonitorEntries.items()
+ SME_list.sort()
+
+ gridRow = 0
+ for (idx, subIdx), entry in SME_list:
+ SDOPanel.SDOMonitorGrid.SetCellValue(gridRow, 0, str(idx))
+ SDOPanel.SDOMonitorGrid.SetCellValue(gridRow, 1, str(subIdx))
+ for col, key in [(2, "access"),
+ (3, "type"),
+ (4, "size"),
+ (5, "name")]:
+ SDOPanel.SDOMonitorGrid.SetCellValue(gridRow, col, entry[key])
+ for col in range(7):
+ SDOPanel.SDOMonitorGrid.SetReadOnly(gridRow, col, True)
+ if col < 5 :
+ SDOPanel.SDOMonitorGrid.SetCellAlignment(\
+ gridRow, col, wx.ALIGN_CENTER, wx.ALIGN_CENTER)
+ gridRow += 1
+
+ SDOPanel.SDOMonitorGrid.Refresh()
#-------------------------------------------------------------------------------
-# For PDO Monitoring Panel
+# For PDO Mapping Panel
# PDO Class UI : Panel -> Choicebook (RxPDO, TxPDO) ->
# Notebook (PDO Index) -> Grid (PDO entry)
#-------------------------------------------------------------------------------
@@ -678,16 +850,152 @@
"""
wx.Panel.__init__(self, parent, -1)
self.Controler = controler
-
- self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL)
- self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
-
- self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler)
- self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL)
-
- self.PDOMonitoringEditorMainSizer.Add(self.PDOMonitoringEditorInnerMainSizer)
-
- self.SetSizer(self.PDOMonitoringEditorMainSizer)
+ sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20)
+ line = wx.StaticText(self, -1, "\n In order to control Ethercat device, user must select proper PDO set.\
+ \n Each PDO sets describe operation modes (CSP, CSV, CST) supported by Ethercat devices.\
+ \n\n PDOs have two types, RxPDO and TxPDO.\
+ \n - RxPDO refers to the Receive Process Data Object. It means the control parameters which sent from controller to the EtherCAT Slave device.\
+ \n In general, ControlWord (0x6040), Modes of Operations (0x6060), and TargetPosition (0x607A) are regarded as RxPDO.\
+ \n - TxPDO refers to the Transmit Process Data Object. It used to report status of EtherCAT Slave device to the controller in order to calibrate their next actuation.\
+ \n StatusWord (0x6041), Modes of Operation Display (0x6061), and ActualPosition (0x607A) include in TxPDO.\
+ \n\n PDO Mapping feature provides available RxPDO and TxPDO sets which defined in Ethercat slave description XML.\
+ \n If there is no selection of PDO set, first set (0x1600, 0x1A00) will be chosen as default configuration.")
+
+ sizer.Add(line)
+ self.SetSizer(sizer)
+
+class RxPDOPanelClass(wx.Panel):
+ def __init__(self, parent, controler):
+ """
+ Constructor
+ @param parent: Reference to the parent EtherCATManagementTreebook class
+ @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+ """
+ wx.Panel.__init__(self, parent, -1)
+ self.Controler = controler
+
+ # add jblee
+ #self.PDOIndexList = ["RxPDO"]
+ self.PDOIndexList = []
+ self.LoadPDOSelectData()
+
+ #HSAHN ADD. 2015.7.26 PDO Select Function ADD
+ self.Controler.CommonMethod.RequestPDOInfo()
+ self.PDOcheckBox = []
+ self.rx_pdo_entries = self.Controler.CommonMethod.GetRxPDOCategory()
+ if len(self.rx_pdo_entries):
+ for i in range(len(self.rx_pdo_entries)):
+ self.PDOcheckBox.append(wx.CheckBox(self, label=str(hex(self.rx_pdo_entries[i]['pdo_index'])), size=(120,15)))
+ if not self.Controler.SelectedRxPDOIndex and self.rx_pdo_entries[i]['sm'] is not None:
+ self.PDOcheckBox[-1].SetValue(True)
+ self.Controler.SelectedRxPDOIndex.append(int(self.PDOcheckBox[-1].GetLabel(), 0))
+ self.InitSavePDO()
+ elif self.rx_pdo_entries[i]['pdo_index'] in self.Controler.SelectedRxPDOIndex:
+ self.PDOIndexList.append(str(hex(self.rx_pdo_entries[i]['pdo_index'])))
+ self.PDOcheckBox[-1].SetValue(True)
+
+ for cb in self.PDOcheckBox:
+ self.Bind(wx.EVT_CHECKBOX, self.PDOSelectCheck, cb)
+
+ self.PDOListBox = wx.StaticBox(self, label=_("PDO Mapping Select"))
+ self.PDOListBoxSizer = wx.StaticBoxSizer(self.PDOListBox, orient=wx.HORIZONTAL)
+ self.RxPDOListBox = wx.StaticBox(self, label=_("RxPDO"))
+ self.RxPDOListBoxSizer = wx.StaticBoxSizer(self.RxPDOListBox, orient=wx.VERTICAL)
+ self.RxPDOListBoxInnerSizer = wx.FlexGridSizer(cols=3, hgap=5, rows=10, vgap=5)
+ self.RxPDOListBoxInnerSizer.AddMany(self.PDOcheckBox[0:len(self.rx_pdo_entries)])
+ self.RxPDOListBoxSizer.Add(self.RxPDOListBoxInnerSizer)
+ self.PDOListBoxSizer.Add(self.RxPDOListBoxSizer)
+ self.PDOWarningText = wx.StaticText(self, -1,
+ " *Warning*\n\n By default configuration, \n\n first mapping set is selected. \n\n Choose the PDO mapping!",
+ size=(220, -1))
+ self.PDOListBoxSizer.Add(self.PDOWarningText)
+
+ self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL)
+ self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
+
+
+ self.CallPDOChoicebook = PDONoteBook(self, controler=self.Controler, name="Rx")
+ self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL)
+
+ self.PDOInformationBox = wx.StaticBox(self, label=_("RxPDO Mapping List"))
+ self.PDOInformationBoxSizer = wx.StaticBoxSizer(self.PDOInformationBox, orient=wx.VERTICAL)
+ self.PDOInformationBoxSizer.Add(self.PDOMonitoringEditorInnerMainSizer)
+
+ self.PDOMonitoringEditorMainSizer.Add(self.PDOListBoxSizer)
+ self.PDOMonitoringEditorMainSizer.Add(self.PDOInformationBoxSizer)
+ self.SetSizer(self.PDOMonitoringEditorMainSizer)
+
+ # add jblee
+ self.PDOExcludeCheck()
+ else:
+ sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20)
+ line = wx.StaticText(self, -1, "\n This device does not support RxPDO.")
+
+ sizer.Add(line)
+ self.SetSizer(sizer)
+
+ def LoadPDOSelectData(self):
+ RxPDOData = self.Controler.BaseParams.getRxPDO()
+ RxPDOs = []
+ if RxPDOData != "None":
+ RxPDOs = RxPDOData.split()
+ if RxPDOs :
+ for RxPDO in RxPDOs :
+ self.Controler.SelectedRxPDOIndex.append(int(RxPDO, 0))
+
+ def PDOSelectCheck(self, event):
+ # add jblee for Save User Select
+ cb = event.GetEventObject()
+ # prevent duplicated check
+ if cb.GetValue() and int(cb.GetLabel(), 0) not in self.Controler.SelectedRxPDOIndex:
+ self.Controler.SelectedRxPDOIndex.append(int(cb.GetLabel(), 0))
+ self.PDOIndexList.append(cb.GetLabel())
+ else:
+ self.Controler.SelectedRxPDOIndex.remove(int(cb.GetLabel(), 0))
+ self.PDOIndexList.remove(cb.GetLabel())
+
+ data = ""
+ for PDOIndex in self.PDOIndexList:
+ data = data + " " + PDOIndex
+
+ self.Controler.BaseParams.setRxPDO(data)
+ self.Controler.GetCTRoot().CTNRequestSave()
+
+ self.PDOExcludeCheck()
+
+ def InitSavePDO(self):
+ for PDOIndex in self.Controler.SelectedRxPDOIndex:
+ self.PDOIndexList.append(str(hex(PDOIndex)))
+
+ data = ""
+ for PDOIndex in self.PDOIndexList:
+ data = data + " " + PDOIndex
+
+ self.Controler.BaseParams.setRxPDO(data)
+
+ # 2016.06.21
+ # add jblee for check exclude pdo list
+ def PDOExcludeCheck(self):
+ #files = os.listdir(self.Controler.CTNPath())
+ #filepath = os.path.join(self.Controler.CTNPath(), "DataForPDO.txt")
+ CurIndexs = self.Controler.SelectedRxPDOIndex
+ for CB in self.PDOcheckBox:
+ if len(CB.GetLabel().split()) > 1:
+ CB.Enable()
+ CB.SetLabel(CB.GetLabel().split()[0])
+
+ for pdo in self.rx_pdo_entries:
+ for CurIndex in CurIndexs:
+ if pdo["pdo_index"] == CurIndex:
+ ex_list = pdo["exclude_list"]
+ for ex_item in ex_list:
+ for CB in self.PDOcheckBox:
+ if CB.GetLabel() == hex(ex_item):
+ CB.SetLabel(CB.GetLabel() + " (Excluded)")
+ CB.Disable()
+
+ def RefreshPDOInfo(self):
+ pass
def PDOInfoUpdate(self):
"""
@@ -695,43 +1003,142 @@
"""
self.Controler.CommonMethod.RequestPDOInfo()
self.CallPDOChoicebook.Destroy()
- self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler)
+ self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler, name="Rx")
self.Refresh()
-
-#-------------------------------------------------------------------------------
-# For PDO Choicebook (divide Tx, Rx PDO)
-#-------------------------------------------------------------------------------
-class PDOChoicebook(wx.Choicebook):
+class TxPDOPanelClass(wx.Panel):
def __init__(self, parent, controler):
"""
Constructor
- @param parent: Reference to the parent PDOPanelClass class
+ @param parent: Reference to the parent EtherCATManagementTreebook class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
- wx.Choicebook.__init__(self, parent, id=-1, size=(500, 500), style=wx.CHB_DEFAULT)
+ wx.Panel.__init__(self, parent, -1)
self.Controler = controler
-
- RxWin = PDONoteBook(self, controler=self.Controler, name="Rx")
- TxWin = PDONoteBook(self, controler=self.Controler, name="Tx")
- self.AddPage(RxWin, "RxPDO")
- self.AddPage(TxWin, "TxPDO")
-
- self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)
- self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)
-
- def OnPageChanged(self, event):
- old = event.GetOldSelection()
- new = event.GetSelection()
- sel = self.GetSelection()
- event.Skip()
-
- def OnPageChanging(self, event):
- old = event.GetOldSelection()
- new = event.GetSelection()
- sel = self.GetSelection()
- event.Skip()
-
+
+ # add jblee
+ self.PDOIndexList = []
+ self.LoadPDOSelectData()
+
+ #HSAHN ADD. 2015.7.26 PDO Select Function ADD
+ self.Controler.CommonMethod.RequestPDOInfo()
+ self.PDOcheckBox = []
+ self.tx_pdo_entries = self.Controler.CommonMethod.GetTxPDOCategory()
+ if len(self.tx_pdo_entries):
+ for i in range(len(self.tx_pdo_entries)):
+ self.PDOcheckBox.append(wx.CheckBox(self, label=str(hex(self.tx_pdo_entries[i]['pdo_index'])), size=(120,15)))
+ if not self.Controler.SelectedTxPDOIndex and self.tx_pdo_entries[i]['sm'] is not None:
+ self.PDOcheckBox[-1].SetValue(True)
+ self.Controler.SelectedTxPDOIndex.append(int(self.PDOcheckBox[-1].GetLabel(), 0))
+ self.InitSavePDO()
+ elif self.tx_pdo_entries[i]['pdo_index'] in self.Controler.SelectedTxPDOIndex:
+ self.PDOIndexList.append(str(hex(self.tx_pdo_entries[i]['pdo_index'])))
+ self.PDOcheckBox[-1].SetValue(True)
+ for cb in self.PDOcheckBox:
+ self.Bind(wx.EVT_CHECKBOX, self.PDOSelectCheck, cb)
+
+ self.PDOListBox = wx.StaticBox(self, label=_("PDO Mapping Select"))
+ self.PDOListBoxSizer = wx.StaticBoxSizer(self.PDOListBox, orient=wx.HORIZONTAL)
+ self.TxPDOListBox = wx.StaticBox(self, label=_("TxPDO"))
+ self.TxPDOListBoxSizer = wx.StaticBoxSizer(self.TxPDOListBox, orient=wx.VERTICAL)
+ self.TxPDOListBoxInnerSizer = wx.FlexGridSizer(cols=3, hgap=5, rows=10, vgap=5)
+ self.TxPDOListBoxInnerSizer.AddMany(self.PDOcheckBox[0:len(self.tx_pdo_entries)])
+ self.TxPDOListBoxSizer.Add(self.TxPDOListBoxInnerSizer)
+ self.PDOListBoxSizer.Add(self.TxPDOListBoxSizer)
+ self.PDOWarningText = wx.StaticText(self, -1,
+ " *Warning*\n\n By default configuration, \n\n first mapping set is selected. \n\n Choose the PDO mapping!",
+ size=(220, -1))
+ self.PDOListBoxSizer.Add(self.PDOWarningText)
+
+ self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL)
+ self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
+
+ self.CallPDOChoicebook = PDONoteBook(self, controler=self.Controler, name="Tx")
+ self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL)
+
+ self.PDOInformationBox = wx.StaticBox(self, label=_("TxPDO Mapping List"))
+ self.PDOInformationBoxSizer = wx.StaticBoxSizer(self.PDOInformationBox, orient=wx.VERTICAL)
+ self.PDOInformationBoxSizer.Add(self.PDOMonitoringEditorInnerMainSizer)
+
+ self.PDOMonitoringEditorMainSizer.Add(self.PDOListBoxSizer)
+ self.PDOMonitoringEditorMainSizer.Add(self.PDOInformationBoxSizer)
+ self.SetSizer(self.PDOMonitoringEditorMainSizer)
+
+ # add jblee
+ self.PDOExcludeCheck()
+ else:
+ sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20)
+ line = wx.StaticText(self, -1, "\n This device does not support TxPDO.")
+
+ sizer.Add(line)
+ self.SetSizer(sizer)
+
+ def LoadPDOSelectData(self):
+ TxPDOData = self.Controler.BaseParams.getTxPDO()
+ TxPDOs = []
+ if TxPDOData != "None":
+ TxPDOs = TxPDOData.split()
+ if TxPDOs :
+ for TxPDO in TxPDOs :
+ self.Controler.SelectedTxPDOIndex.append(int(TxPDO, 0))
+
+ def PDOSelectCheck(self, event):
+ # add jblee for Save User Select
+ cb = event.GetEventObject()
+ # prevent duplicated check
+ if cb.GetValue() and int(cb.GetLabel(), 0) not in self.Controler.SelectedTxPDOIndex:
+ self.Controler.SelectedTxPDOIndex.append(int(cb.GetLabel(), 0))
+ self.PDOIndexList.append(cb.GetLabel())
+ else:
+ self.Controler.SelectedTxPDOIndex.remove(int(cb.GetLabel(), 0))
+ self.PDOIndexList.remove(cb.GetLabel())
+
+ data = ""
+ for PDOIndex in self.PDOIndexList:
+ data = data + " " + PDOIndex
+
+ self.Controler.BaseParams.setTxPDO(data)
+ self.Controler.GetCTRoot().CTNRequestSave()
+
+ self.PDOExcludeCheck()
+
+ def InitSavePDO(self):
+ for PDOIndex in self.Controler.SelectedTxPDOIndex:
+ self.PDOIndexList.append(str(hex(PDOIndex)))
+
+ data = ""
+ for PDOIndex in self.PDOIndexList:
+ data = data + " " + PDOIndex
+
+ self.Controler.BaseParams.setTxPDO(data)
+
+ # 2016.06.21
+ # add jblee for check exclude pdo list
+ def PDOExcludeCheck(self):
+ CurIndexs = self.Controler.SelectedTxPDOIndex
+ for CB in self.PDOcheckBox:
+ if len(CB.GetLabel().split()) > 1:
+ CB.Enable()
+ CB.SetLabel(CB.GetLabel().split()[0])
+
+ for pdo in self.tx_pdo_entries:
+ for CurIndex in CurIndexs:
+ if pdo["pdo_index"] == CurIndex:
+ ex_list = pdo["exclude_list"]
+ for ex_item in ex_list:
+ for CB in self.PDOcheckBox:
+ if CB.GetLabel() == hex(ex_item):
+ CB.SetLabel(CB.GetLabel() + " (Excluded)")
+ CB.Disable()
+
+ def PDOInfoUpdate(self):
+ """
+ Call RequestPDOInfo method and create Choicebook
+ """
+ self.Controler.CommonMethod.RequestPDOInfo()
+ self.CallPDOChoicebook.Destroy()
+ self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler, name="Tx")
+ self.Refresh()
#-------------------------------------------------------------------------------
# For PDO Notebook (divide PDO index)
@@ -744,14 +1151,12 @@
@param name: identifier whether RxPDO or TxPDO
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
- wx.Notebook.__init__(self, parent, id=-1, size=(640, 400))
+ wx.Notebook.__init__(self, parent, id=-1, size=(600, 400))
self.Controler = controler
count = 0
page_texts = []
- self.Controler.CommonMethod.RequestPDOInfo()
-
if name == "Tx" :
# obtain pdo_info and pdo_entry
# pdo_info include (PDO index, name, number of entry)
@@ -774,22 +1179,6 @@
self.AddPage(win, txt)
count += 1
- self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)
- self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)
-
- def OnPageChanged(self, event):
- old = event.GetOldSelection()
- new = event.GetSelection()
- sel = self.GetSelection()
- event.Skip()
-
- def OnPageChanging(self, event):
- old = event.GetOldSelection()
- new = event.GetSelection()
- sel = self.GetSelection()
- event.Skip()
-
-
#-------------------------------------------------------------------------------
# For PDO Grid (fill entry index, subindex etc...)
#-------------------------------------------------------------------------------
@@ -803,7 +1192,7 @@
@param count : page number
"""
wx.grid.Grid.__init__(self, parent, -1, size=(500, 400), pos=wx.Point(0,0),
- style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
+ style=wx.EXPAND|wx.ALIGN_CENTER_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
self.Controler = parent.Controler
@@ -854,13 +1243,190 @@
else :
self.SetCellValue(row_idx, col_idx, str(self.PDOEntry[start_value][pdo_list[col_idx]]))
if col_idx != 4 :
- self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE)
+ self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTER, wx.ALIGN_CENTER)
else :
- self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_LEFT, wx.ALIGN_CENTRE)
+ self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_LEFT, wx.ALIGN_CENTER)
self.SetReadOnly(row_idx, col_idx, True)
self.SetRowSize(row_idx, 25)
start_value += 1
+#-------------------------------------------------------------------------------
+# For MDP Main Panel
+#-------------------------------------------------------------------------------
+class MDPPanel(wx.Panel):
+ def __init__(self, parent, controler):
+ """
+ Constructor
+ @param parent: Reference to the parent EtherCATManagementTreebook class
+ @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+ """
+ wx.Panel.__init__(self, parent, -1)
+ self.parent = parent
+ self.Controler = controler
+
+ sizer = wx.FlexGridSizer(cols=3, hgap=20, rows=1, vgap=20)
+
+ # Include Module ListBox
+ leftInnerSizer = wx.FlexGridSizer(cols=1, hgap=10,rows=2, vgap=10)
+ # Include Add, Delete Button
+ middleInnerSizer = wx.FlexGridSizer(cols=1, hgap=10,rows=2, vgap=10)
+ # Include Slot ListBox
+ rightInnerSizer = wx.FlexGridSizer(cols=1, hgap=10,rows=2, vgap=10)
+
+ # Get Module Name as Array
+ # MDPArray = {SlaveName, [data0, data1, ...], SlotIndexIncrement, SlotPdoIncrement}
+ # data = [ModuleName, ModuleInfo, [PDOInfo1, PDOInfo2, ...]]
+ # PDOInfo = {Index, Name, BitSize, Access, PDOMapping, SubIndex, Type}
+ slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
+ type_infos = slave.getType()
+ MDPArray = self.Controler.CTNParent.CTNParent.GetMDPInfos(type_infos)
+
+ NameSet = []
+ if MDPArray:
+ for info in MDPArray[0][1]:
+ NameSet.append(info[0])
+
+ # Module ListBox
+ self.ModuleLabel = wx.StaticText(self, -1, "Module")
+ self.ModuleListBox = wx.ListBox(self, size = (150, 200), choices = NameSet)
+ #self.ModuleListBox = wx.ListBox(self, size = (150, 200), choices = [])
+ self.Bind(wx.EVT_LISTBOX_DCLICK, self.OnModuleListBoxDCClick, self.ModuleListBox)
+
+ # Button
+ self.AddButton = wx.Button(self, label=_(" Add Module "))
+ self.DeleteButton = wx.Button(self, label=_("Delete Module"))
+
+ # Button Event Mapping
+ self.AddButton.Bind(wx.EVT_BUTTON, self.OnAddButton)
+ self.DeleteButton.Bind(wx.EVT_BUTTON, self.OnDeleteButton)
+
+ # Slot ListBox
+ self.SlotLabel = wx.StaticText(self, -1, "Slot")
+ self.SlotListBox = wx.ListBox(self, size = (150, 200))
+ self.Bind(wx.EVT_LISTBOX_DCLICK, self.OnSlotListBoxDCClick, self.SlotListBox)
+ self.SelectModule = []
+
+ # Add Object Each Sizer
+ leftInnerSizer.AddMany([self.ModuleLabel, self.ModuleListBox])
+ middleInnerSizer.Add(self.AddButton, 0, wx.TOP, 100)
+ middleInnerSizer.Add(self.DeleteButton, 0, wx.BOTTOM, 120)
+ rightInnerSizer.AddMany([self.SlotLabel, self.SlotListBox])
+
+ sizer.AddMany([leftInnerSizer, middleInnerSizer, rightInnerSizer])
+
+ self.SetSizer(sizer)
+
+ self.InitMDPSet()
+
+ def InitMDPSet(self):
+ files = os.listdir(self.Controler.CTNPath())
+ filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
+ try:
+ moduleDataFile = open(filepath, 'r')
+ lines = moduleDataFile.readlines()
+
+ for line in lines:
+ if line == "\n":
+ continue
+ module_pos = line.split()[-1]
+ name_len_limit = len(line) - len(module_pos) - 2
+ module_name = line[0:name_len_limit]
+
+ self.SelectModule.append((module_name, int(module_pos)))
+
+ localModuleInfo = []
+ count = 1
+ for (item, pos) in self.SelectModule:
+ slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
+ localModuleInfo.append(slotString)
+ count += 1
+ self.SlotListBox.SetItems(localModuleInfo)
+
+ except:
+ moduleDataFile = open(filepath, 'w')
+
+ moduleDataFile.close()
+
+ def OnAddButton(self, event):
+ files = os.listdir(self.Controler.CTNPath())
+ filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
+ moduleDataFile = open(filepath, 'w')
+
+ selectNum = self.ModuleListBox.GetSelection()
+ if selectNum >= 0:
+ selectStr = self.ModuleListBox.GetString(selectNum)
+ self.SelectModule.append((selectStr, selectNum))
+ localModuleInfo = []
+ count = 1
+ for (item, pos) in self.SelectModule:
+ slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
+ localModuleInfo.append(slotString)
+ count += 1
+ self.SlotListBox.SetItems(localModuleInfo)
+
+ moduleDataFile.close()
+
+ def OnDeleteButton(self, event):
+ files = os.listdir(self.Controler.CTNPath())
+ filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
+ moduleDataFile = open(filepath, 'w')
+
+ selectNum = self.SlotListBox.GetSelection()
+ if selectNum >= 0:
+ selectStr = self.SlotListBox.GetString(selectNum)
+ self.SelectModule.pop(selectNum)
+ localModuleInfo = []
+ count = 1
+ for (item, pos) in self.SelectModule:
+ moduleDataFile.write(item + " " + str(pos) + "\n")
+ slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
+ localModuleInfo.append(slotString)
+ count += 1
+ self.SlotListBox.SetItems(localModuleInfo)
+
+ moduleDataFile.close()
+
+ def OnModuleListBoxDCClick(self, event):
+ files = os.listdir(self.Controler.CTNPath())
+ filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
+ moduleDataFile = open(filepath, 'w')
+
+ selectNum = self.ModuleListBox.GetSelection()
+ if selectNum >= 0:
+ selectStr = self.ModuleListBox.GetString(selectNum)
+ self.SelectModule.append((selectStr, selectNum))
+ localModuleInfo = []
+ count = 1
+ for (item, pos) in self.SelectModule:
+ moduleDataFile.write(item + " " + str(pos) + "\n")
+ slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
+ localModuleInfo.append(slotString)
+ module = self.Controler.CTNParent.CTNParent.GetSelectModule(pos)
+ self.Controler.CommonMethod.SavePDOData(module)
+ count += 1
+ self.SlotListBox.SetItems(localModuleInfo)
+
+ moduleDataFile.close()
+
+ def OnSlotListBoxDCClick(self, event):
+ files = os.listdir(self.Controler.CTNPath())
+ filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
+ moduleDataFile = open(filepath, 'w')
+
+ selectNum = self.SlotListBox.GetSelection()
+ if selectNum >= 0:
+ selectStr = self.SlotListBox.GetString(selectNum)
+ self.SelectModule.pop(selectNum)
+ localModuleInfo = []
+ count = 1
+ for (item, pos) in self.SelectModule:
+ moduleDataFile.write(item + " " + str(pos) + "\n")
+ slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
+ localModuleInfo.append(slotString)
+ count += 1
+ self.SlotListBox.SetItems(localModuleInfo)
+
+ moduleDataFile.close()
#-------------------------------------------------------------------------------
# For EEPROM Access Main Panel
@@ -899,7 +1465,9 @@
self.parent = parent
self.Controler = controler
+ # PDI Type 1, 13 unknown Type, Fix Future
self.PDIType = {0 :['none', '00000000'],
+ 1 :['unknown', '00000000'],
4 :['Digital I/O', '00000100'],
5 :['SPI Slave', '00000101'],
7 :['EtherCAT Bridge (port3)', '00000111'],
@@ -907,6 +1475,7 @@
9 :['uC async. 8bit', '00001001'],
10 :['uC sync. 16bit', '00001010'],
11 :['uC sync. 8bit', '00001011'],
+ 13 :['unknown', '00000000'],
16 :['32 Digtal Input and 0 Digital Output', '00010000'],
17 :['24 Digtal Input and 8 Digital Output', '00010001'],
18 :['16 Digtal Input and 16 Digital Output','00010010'],
@@ -944,8 +1513,9 @@
Open binary file (user select) and write the selected binary data to EEPROM
@param event : wx.EVT_BUTTON object
"""
- # Check whether beremiz connected or not, and whether status is "Started" or not.
- check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+ # Check whether beremiz connected or not.
+ # If this method is called cyclically, set the cyclic flag true
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
if check_connect_flag:
status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()
if status is not "Started":
@@ -975,7 +1545,8 @@
@param event : wx.EVT_BUTTON object
"""
# Check whether beremiz connected or not.
- check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+ # If this method is called cyclically, set the cyclic flag true
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
if check_connect_flag:
self.SiiBinary = self.Controler.CommonMethod.LoadData()
self.SetEEPROMData()
@@ -1002,7 +1573,7 @@
if cnt_pdi_type == i:
cnt_pdi_type = self.PDIType[i][0]
break
- # Set Config Data
+ # Set Config Data
for treelist, data in [("EEPROM Size (Bytes)",
str(self.Controler.CommonMethod.SmartViewInfosFromXML["eeprom_size"])),
("PDI Type",
@@ -1012,7 +1583,7 @@
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1)
# Device Identity: Vendor ID, Product Code, Revision No., Serial No.
- # Set Device Identity
+ # Set Device Identity
for treelist, data in [("Vendor ID", self.Controler.CommonMethod.SmartViewInfosFromXML["vendor_id"]),
("Product Code", self.Controler.CommonMethod.SmartViewInfosFromXML["product_code"]),
("Revision No.", self.Controler.CommonMethod.SmartViewInfosFromXML["revision_no"]),
@@ -1020,18 +1591,18 @@
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.DeviceIdentity[treelist], data, 1)
# Mailbox: Supported Mailbox, Bootstrap Configuration, Standard Configuration
- # Set Mailbox
+ # Set Mailbox
for treelist, data in [("Supported Mailbox", self.Controler.CommonMethod.SmartViewInfosFromXML["supported_mailbox"]),
("Bootstrap Configuration", ""),
("Standard Configuration", "")]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1)
- # Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size
+ # Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size
for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outstart"]),
("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outlength"]),
("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_instart"]),
("Send Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_inlength"])]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1)
- # Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size
+ # Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size
for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outstart"]),
("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outlength"]),
("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_instart"]),
@@ -1042,7 +1613,6 @@
"""
Set data based on slave EEPROM.
"""
- # sii_dict = { Parameter : (WordAddress, WordSize) }
sii_dict= { 'PDIControl' : ( '0', 1),
'PDIConfiguration' : ( '1', 1),
'PulseLengthOfSYNCSignals' : ( '2', 1),
@@ -1081,16 +1651,16 @@
if cnt_pdi_type == i:
cnt_pdi_type = self.PDIType[i][0]
break
- # Get Device Emulation
+ # Get Device Emulation
device_emulation = str(bool(int("{:0>16b}".format(int(self.GetWordAddressData( sii_dict.get('PDIControl'),16 ), 16))[7])))
- # Set Config Data
+ # Set Config Data
for treelist, data in [("EEPROM Size (Bytes)", eeprom_size),
("PDI Type", cnt_pdi_type),
("Device Emulation", device_emulation)]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1)
# Device Identity: Vendor ID, Product Code, Revision No., Serial No.
- # Set Device Identity
+ # Set Device Identity
for treelist, data in [("Vendor ID", self.GetWordAddressData( sii_dict.get('VendorID'),16 )),
("Product Code", self.GetWordAddressData( sii_dict.get('ProductCode'),16 )),
("Revision No.", self.GetWordAddressData( sii_dict.get('RevisionNumber'),16 )),
@@ -1108,18 +1678,18 @@
if mailbox_data[protocol+2] == '1':
supported_mailbox += mailbox_protocol[protocol]
supported_mailbox = supported_mailbox.strip(", ")
- # Set Mailbox
+ # Set Mailbox
for treelist, data in [("Supported Mailbox", supported_mailbox),
("Bootstrap Configuration", ""),
("Standard Configuration", "")]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1)
- # Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size
+ # Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size
for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxOffset'),10 )),
("Receive Size", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxSize'),10 )),
("Send Offset", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxOffset'),10 )),
("Send Size", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxSize'),10 ))]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1)
- # Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size
+ # Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size
for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxOffset'),10 )),
("Receive Size", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxSize'),10 )),
("Send Offset", self.GetWordAddressData( sii_dict.get('StandardSendMailboxOffset'),10 )),
@@ -1190,31 +1760,31 @@
self.Root = self.Tree.AddRoot("")
# Add item
- # Level 1 nodes
+ # Level 1 nodes
self.Level1Nodes = {}
for lv1 in ["Config Data", "Device Identity", "Mailbox"]:
self.Level1Nodes[lv1] = self.Tree.AppendItem(self.Root, lv1)
- # Level 2 nodes
- # Config Data
+ # Level 2 nodes
+ # Config Data
self.ConfigData = {}
for lv2 in ["EEPROM Size (Bytes)", "PDI Type", "Device Emulation"]:
self.ConfigData[lv2] = self.Tree.AppendItem(self.Level1Nodes["Config Data"], lv2)
- # Device Identity
+ # Device Identity
self.DeviceIdentity = {}
for lv2 in ["Vendor ID", "Product Code", "Revision No.", "Serial No."]:
self.DeviceIdentity[lv2] = self.Tree.AppendItem(self.Level1Nodes["Device Identity"], lv2)
- # Mailbox
+ # Mailbox
self.Mailbox = {}
for lv2 in ["Supported Mailbox", "Bootstrap Configuration", "Standard Configuration"]:
self.Mailbox[lv2] = self.Tree.AppendItem(self.Level1Nodes["Mailbox"], lv2)
- # Level 3 nodes
- # Children of Bootstrap Configuration
+ # Level 3 nodes
+ # Children of Bootstrap Configuration
self.BootstrapConfig = {}
for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]:
self.BootstrapConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Bootstrap Configuration"], lv3)
- # Children of Standard Configuration
+ # Children of Standard Configuration
self.StandardConfig = {}
for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]:
self.StandardConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Standard Configuration"], lv3)
@@ -1292,7 +1862,8 @@
@param event : wx.EVT_BUTTON object
"""
# Check whether beremiz connected or not.
- check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+ # If this method is called cyclically, set the cyclic flag true
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
if check_connect_flag:
# load from EEPROM data and parsing
self.SiiBinary = self.Controler.CommonMethod.LoadData()
@@ -1307,9 +1878,9 @@
Binded to 'Sii Download' button.
@param event : wx.EVT_BUTTON object
"""
- # Check whether beremiz connected or not,
- # and whether status is "Started" or not.
- check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+ # Check whether beremiz connected or not.
+ # If this method is called cyclically, set the cyclic flag true
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
if check_connect_flag:
status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()
if status is not "Started":
@@ -1387,7 +1958,7 @@
self.Col = col
wx.grid.Grid.__init__(self, parent, -1, size=(830,450),
- style=wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
+ style=wx.ALIGN_CENTER_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
def SetValue(self, value):
"""
@@ -1415,7 +1986,7 @@
if col == 16:
self.SetCellAlignment(row, col, wx.ALIGN_LEFT, wx.ALIGN_CENTER)
else:
- self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER)
+ self.SetCellAlignment(row, col, wx.ALIGN_CENTER, wx.ALIGN_CENTER)
self.SetReadOnly(row, col, True)
col = col + 1
@@ -1428,10 +1999,10 @@
class RegisterAccessPanel(wx.Panel):
def __init__(self, parent, controler):
"""
- Constructor
- @param parent: EEPROMAccessPanel object
- @param controler: _EthercatSlaveCTN class in EthercatSlave.py
- """
+ Constructor
+ @param parent: EEPROMAccessPanel object
+ @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+ """
self.parent = parent
self.Controler = controler
self.__init_data()
@@ -1474,7 +2045,7 @@
# flag for compact view
self.CompactFlag = False
- # main grid의 rows and cols
+ # main grid��rows and cols
self.MainRow = [512, 512, 512, 512]
self.MainCol = 4
@@ -1483,7 +2054,7 @@
for index in range(4):
self.PageRange.append([512*index, 512*(index+1)])
- # Previous value of register data for register description configuration
+ # Previous value of register data for register description configuration
self.PreRegSpec = {"ESCType": "",
"FMMUNumber": "",
"SMNumber": "",
@@ -1494,9 +2065,9 @@
Get data from the register.
"""
self.Controler.CommonMethod.RegData = ""
- #ethercat reg_read
- #ex : ethercat reg_read -p 0 0x0000 0x0001
- #return value : 0x11
+ # ethercat reg_read
+ # ex : ethercat reg_read -p 0 0x0000 0x0001
+ # return value : 0x11
for index in range(4):
self.Controler.CommonMethod.RegData = self.Controler.CommonMethod.RegData + " " + self.Controler.CommonMethod.RegRead("0x"+"{:0>4x}".format(index*1024), "0x0400")
@@ -1709,7 +2280,8 @@
@param event: wx.EVT_BUTTON object
"""
# Check whether beremiz connected or not.
- check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+ # If this method is called cyclically, set the cyclic flag true
+ check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
if check_connect_flag:
self.LoadData()
self.BasicSetData()
@@ -1809,21 +2381,6 @@
self.AddPage(self.RegPage[index],
"0x"+"{:0>4x}".format(index*1024)+" - 0x"+"{:0>4x}".format((index+1)*1024-1))
- self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGED, self.OnPageChanged)
- self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGING, self.OnPageChanging)
-
- def OnPageChanged(self, event):
- old = event.GetOldSelection()
- new = event.GetSelection()
- sel = self.GetSelection()
- event.Skip()
-
- def OnPageChanging(self, event):
- old = event.GetOldSelection()
- new = event.GetSelection()
- sel = self.GetSelection()
- event.Skip()
-
#-------------------------------------------------------------------------------
# For Register Access Notebook Panel
@@ -1900,20 +2457,19 @@
class RegisterMainTable(wx.grid.Grid):
def __init__(self, parent, row, col, controler):
"""
- Constructor
- @param parent: RegisterNotebook object
- @param row, col: size of the table
- @param controler: _EthercatSlaveCTN class in EthercatSlave.py
- """
+ Constructor
+ @param parent: RegisterNotebook object
+ @param row, col: size of the table
+ @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+ """
self.parent = parent
self.Data = {}
self.Row = row
self.Col = col
self.Controler = controler
self.RegisterAccessPanel = self.parent.parent.parent
-
wx.grid.Grid.__init__(self, parent, -1, size=(820,300),
- style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
+ style=wx.EXPAND|wx.ALIGN_CENTER_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
for evt, mapping_method in [(gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell),
(gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell),
@@ -1922,12 +2478,12 @@
def SetValue(self, parent, reg_monitor_data, low_index, high_index):
"""
- Set the RegMonitorData into the main table.
- @param parent: RegisterNotebook object
- @param reg_monitor_data: data
- @param low_index: the lowest index of the page
- @param high_index: the highest index of the page
- """
+ Set the RegMonitorData into the main table.
+ @param parent: RegisterNotebook object
+ @param reg_monitor_data: data
+ @param low_index: the lowest index of the page
+ @param high_index: the highest index of the page
+ """
self.RegMonitorData = reg_monitor_data
# set label name and size
@@ -1950,16 +2506,16 @@
self.SetRowLabelValue(row, row_index[0])
for data_index in range(4):
self.SetCellValue(row, col, row_index[data_index+1])
- self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER)
+ self.SetCellAlignment(row, col, wx.ALIGN_CENTER, wx.ALIGN_CENTER)
self.SetReadOnly(row, col, True)
col = col + 1
row = row + 1
def OnSelectCell(self, event):
"""
- Handles the event of the cell of the main table.
- @param event: gridlib object (left click)
- """
+ Handles the event of the cell of the main table.
+ @param event: gridlib object (left click)
+ """
# if reg_monitor_data is 0, it is initialization of register access.
if self.RegMonitorData == 0:
event.Skip()
@@ -2051,9 +2607,9 @@
class RegisterSubTable(wx.grid.Grid):
def __init__(self, parent, row, col):
"""
- Constructor
- @param parent: RegisterNotebook object
- @param row, col: size of the table
+ Constructor
+ @param parent: RegisterNotebook object
+ @param row, col: size of the table
"""
self.parent = parent
self.Data = {}
@@ -2061,14 +2617,14 @@
self.Col = col
wx.grid.Grid.__init__(self, parent, -1, size=(820,150),
- style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
+ style=wx.EXPAND|wx.ALIGN_CENTER_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
def SetValue(self, parent, data):
"""
- Set the data into the subtable.
- @param parent: RegisterNotebook object
- @param data: data
- """
+ Set the data into the subtable.
+ @param parent: RegisterNotebook object
+ @param data: data
+ """
# lset label name and size
Register_SubTable_Label = [(0, "Bits"), (1, "Name"),
(2, "Value"), (3, "Enum")]
@@ -2085,7 +2641,7 @@
col = 0
for element in rowData:
self.SetCellValue(row, col, element)
- self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER)
+ self.SetCellAlignment(row, col, wx.ALIGN_CENTER, wx.ALIGN_CENTER)
self.SetReadOnly(row, col, True)
col = col + 1
row = row + 1
@@ -2099,97 +2655,107 @@
"""
Constructor
@param parent: wx.ScrollWindow object
- @Param controler: _EthercatSlaveCTN class in EthercatSlave.py
- """
- wx.Panel.__init__(self, parent, -1, (0, 0),
- size=wx.DefaultSize, style = wx.SUNKEN_BORDER)
+ @Param controler: _EthercatCTN class in EthercatMaster.py
+ """
+ wx.Panel.__init__(self, parent)
self.Controler = controler
self.parent = parent
self.StaticBox = {}
self.StaticText = {}
self.TextCtrl = {}
- # ----------------------- Main Sizer and Update Button --------------------------------------------
+ # ---------------------------- Main Sizer and Buttons --------------------------------------------
self.MasterStateSizer = {"main" : wx.BoxSizer(wx.VERTICAL)}
for key, attr in [
- ("innerMain", [1, 10, 2, 10]),
- ("innerTopHalf", [2, 10, 1, 10]),
- ("innerBottomHalf", [2, 10, 1, 10]),
+ ("innerTop", [2, 10, 1, 10]),
+ ("innerMiddle", [1, 10, 1, 10]),
+ ("innerBottom", [1, 10, 1, 10]),
("innerMasterState", [2, 10, 3, 10]),
("innerDeviceInfo", [4, 10, 3, 10]),
- ("innerFrameInfo", [4, 10, 5, 10])]:
+ ("innerFrameInfo", [4, 10, 5, 10]),
+ ("innerSlaveInfo", [1, 10, 2, 10])]:
self.MasterStateSizer[key] = wx.FlexGridSizer(cols=attr[0], hgap=attr[1], rows=attr[2], vgap=attr[3])
-
- self.UpdateButton = wx.Button(self, label=_('Update'))
- self.UpdateButton.Bind(wx.EVT_BUTTON, self.OnButtonClick)
-
+ self.MSUpdateButton = wx.Button(self, label=_("Update"))
+ self.MSUpdateButton.Bind(wx.EVT_BUTTON, self.OnMSUpdateButtonClick)
+ self.SIUpdateButton = wx.Button(self, label=_("Update"))
+ self.SIUpdateButton.Bind(wx.EVT_BUTTON, self.OnSIUpdateButtonClick)
+
for key, label in [
- ('masterState', 'EtherCAT Master State'),
- ('deviceInfo', 'Ethernet Network Card Information'),
- ('frameInfo', 'Network Frame Information')]:
+ ("masterState", "EtherCAT Master State"),
+ ("deviceInfo", "Ethernet Network Card Information"),
+ ("frameInfo", "Network Frame Information"),
+ ("slaveInfo", "Slave Information")]:
self.StaticBox[key] = wx.StaticBox(self, label=_(label))
self.MasterStateSizer[key] = wx.StaticBoxSizer(self.StaticBox[key])
-
# ----------------------- Master State -----------------------------------------------------------
for key, label in [
- ('Phase', 'Phase:'),
- ('Active', 'Active:'),
- ('Slaves', 'Slave Count:')]:
+ ("Phase", "Phase:"),
+ ("Active", "Active:"),
+ ("Slaves", "Slave Count:")]:
self.StaticText[key] = wx.StaticText(self, label=_(label))
self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
- self.MasterStateSizer['innerMasterState'].AddMany([self.StaticText[key], self.TextCtrl[key]])
-
- self.MasterStateSizer['masterState'].AddSizer(self.MasterStateSizer['innerMasterState'])
+ self.MasterStateSizer["innerMasterState"].AddMany([self.StaticText[key], self.TextCtrl[key]])
+
+ self.MasterStateSizer["masterState"].AddSizer(self.MasterStateSizer["innerMasterState"])
# ----------------------- Ethernet Network Card Information ---------------------------------------
for key, label in [
- ('Main', 'MAC Address:'),
- ('Link', 'Link State:'),
- ('Tx frames', 'Tx Frames:'),
- ('Rx frames', 'Rx Frames:'),
- ('Lost frames', 'Lost Frames:')]:
+ ("Main", "MAC Address:"),
+ ("Link", "Link State:"),
+ ("Tx frames", "Tx Frames:"),
+ ("Rx frames", "Rx Frames:"),
+ ("Lost frames", "Lost Frames:")]:
self.StaticText[key] = wx.StaticText(self, label=_(label))
self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
- self.MasterStateSizer['innerDeviceInfo'].AddMany([self.StaticText[key], self.TextCtrl[key]])
-
- self.MasterStateSizer['deviceInfo'].AddSizer(self.MasterStateSizer['innerDeviceInfo'])
+ self.MasterStateSizer["innerDeviceInfo"].AddMany([self.StaticText[key], self.TextCtrl[key]])
+
+ self.MasterStateSizer["deviceInfo"].AddSizer(self.MasterStateSizer["innerDeviceInfo"])
# ----------------------- Network Frame Information -----------------------------------------------
for key, label in [
- ('Tx frame rate [1/s]', 'Tx Frame Rate [1/s]:'),
- ('Rx frame rate [1/s]', 'Tx Rate [kByte/s]:'),
- ('Loss rate [1/s]', 'Loss Rate [1/s]:'),
- ('Frame loss [%]', 'Frame Loss [%]:')]:
+ ("Tx frame rate [1/s]", "Tx Frame Rate [1/s]:"),
+ ("Tx rate [KByte/s]", "Tx Rate [KByte/s]:"),
+ ("Rx frame rate [1/s]", "Rx Frame Rate [1/s]:"),
+ ("Rx rate [KByte/s]", "Rx Rate [KByte/s]:"),
+ ("Loss rate [1/s]", "Loss Rate [1/s]:"),
+ ("Frame loss [%]", "Frame Loss [%]:")]:
self.StaticText[key] = wx.StaticText(self, label=_(label))
- self.MasterStateSizer['innerFrameInfo'].Add(self.StaticText[key])
+ self.MasterStateSizer["innerFrameInfo"].Add(self.StaticText[key])
self.TextCtrl[key] = {}
- for index in ['0', '1', '2']:
+ for index in ["0", "1", "2"]:
self.TextCtrl[key][index] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
- self.MasterStateSizer['innerFrameInfo'].Add(self.TextCtrl[key][index])
-
- self.MasterStateSizer['frameInfo'].AddSizer(self.MasterStateSizer['innerFrameInfo'])
-
+ self.MasterStateSizer["innerFrameInfo"].Add(self.TextCtrl[key][index])
+
+ self.MasterStateSizer["frameInfo"].AddSizer(self.MasterStateSizer["innerFrameInfo"])
+
+ # ------------------------------- Slave Information -----------------------------------------------
+ self.SITreeListCtrl = SITreeListCtrl(self, self.Controler)
+ self.MasterStateSizer["innerSlaveInfo"].AddMany([self.SIUpdateButton,
+ self.SITreeListCtrl])
+ self.MasterStateSizer["slaveInfo"].AddSizer(
+ self.MasterStateSizer["innerSlaveInfo"])
+
# --------------------------------- Main Sizer ----------------------------------------------------
+ self.MasterStateSizer["main"].Add(self.MSUpdateButton)
for key, sub, in [
- ('innerTopHalf', [
- 'masterState', 'deviceInfo']),
- ('innerBottomHalf', [
- 'frameInfo']),
- ('innerMain', [
- 'innerTopHalf', 'innerBottomHalf'])]:
+ ("innerTop", [
+ "masterState", "deviceInfo"]),
+ ("innerMiddle", [
+ "frameInfo"]),
+ ("innerBottom", [
+ "slaveInfo"]),
+ ("main", [
+ "innerTop", "innerMiddle", "innerBottom"])]:
for key2 in sub:
self.MasterStateSizer[key].AddSizer(self.MasterStateSizer[key2])
- self.MasterStateSizer['main'].AddSizer(self.UpdateButton)
- self.MasterStateSizer['main'].AddSizer(self.MasterStateSizer['innerMain'])
-
- self.SetSizer(self.MasterStateSizer['main'])
-
- def OnButtonClick(self, event):
- """
- Handle the event of the 'Update' button.
+ self.SetSizer(self.MasterStateSizer["main"])
+
+ def OnMSUpdateButtonClick(self, event):
+ """
+ Handle the event of the "Update" button.
Update the data of the master state.
@param event: wx.EVT_BUTTON object
"""
@@ -2203,5 +2769,821 @@
self.TextCtrl[key][index].SetValue(self.MasterState[key][int(index)])
else:
self.TextCtrl[key].SetValue(self.MasterState[key][0])
+
else :
self.Controler.CommonMethod.CreateErrorDialog('PLC not connected!')
+
+ def OnSIUpdateButtonClick(self, event):
+ """
+ Handle the event of the radio box in the slave information
+ @param event: wx.EVT_RADIOBOX object
+ """
+ if self.Controler.GetCTRoot()._connector is not None:
+ self.SITreeListCtrl.UpdateSI()
+
+ else :
+ self.Controler.CommonMethod.CreateErrorDialog('PLC not connected!')
+
+
+#-------------------------------------------------------------------------------
+# For Slave Information Panel
+#-------------------------------------------------------------------------------
+class SITreeListCtrl(wx.Panel):
+
+ EC_Addrs = ["0x0300", "0x0302", "0x0304", "0x0306", "0x0301", "0x0303", "0x0305",
+ "0x0307", "0x0308", "0x0309", "0x030A", "0x030B", "0x030C", "0x030D",
+ "0x0310", "0x0311", "0x0312", "0x0313", "0x0442", "0x0443"]
+
+ def __init__(self, parent, controler):
+ """
+ Constructor
+ @param parent: Reference to the MasterStatePanel class
+ @param Controler: _EthercatCTN class in EthercatMaster.py
+ """
+
+ wx.Panel.__init__(self, parent, -1, size=wx.Size(750, 350))
+
+ self.Controler=controler
+
+ self.Tree = wx.gizmos.TreeListCtrl(self, -1, size=wx.Size(750,350),
+ style=wx.TR_HAS_BUTTONS
+ |wx.TR_HIDE_ROOT
+ |wx.TR_ROW_LINES
+ |wx.TR_COLUMN_LINES
+ |wx.TR_FULL_ROW_HIGHLIGHT)
+ for label, width in [
+ ("name", 400),
+ ("position", 100),
+ ("state", 100),
+ ("error", 100)]:
+ self.Tree.AddColumn(label, width=width)
+
+ self.Tree.SetMainColumn(0)
+
+ def UpdateSI(self):
+ """
+ Update the data of the slave information.
+ """
+ position, not_used, state, not_used, name = range(5)
+
+ slave_node = []
+ slave_info_list = []
+ error_counter= []
+
+ # get slave informations (name, position, state)
+ slaves_infos = self.Controler.CommonMethod.GetSlaveStateFromSlave()
+ slave_info_lines = slaves_infos.splitlines()
+
+ for line in slave_info_lines:
+ slave_info_list.append(line.split(None,4))
+
+ slave_num = len(slave_info_lines)
+
+ reg_info = []
+ for ec in self.EC_Addrs:
+ reg_info.append(ec + ",0x001")
+
+ # get error counts of slaves
+ err_count_list = self.Controler.CommonMethod.MultiRegRead(slave_num, reg_info)
+
+ self.Tree.DeleteAllItems()
+
+ root = self.Tree.AddRoot("")
+ ec_list_idx = 0
+
+ for slave_idx in range(slave_num):
+ slave_node = self.Tree.AppendItem(root, "")
+
+ # set name, postion, state
+ col_num = 0
+ for info_idx in [name, position, state]:
+ self.Tree.SetItemText(slave_node,
+ slave_info_list[slave_idx][info_idx], col_num)
+ col_num += 1
+
+ error_counter = {}
+ ec_idx = 0
+
+ # set error counter's name and default value
+ for ec, sub_ecs in [("Port Error Counters 0/1/2/3",[
+ "Invaild Frame Counter 0/1/2/3",
+ "RX Error Counter 0/1/2/3"]),
+ ("Forward RX Error Counter 0/1/2/3", []),
+ ("ECAT Processing Unit Error Counter", []),
+ ("PDI Error Counter", []),
+ ("Lost Link Counter 0/1/2/3", []),
+ ("Watchdog Counter Process Data", []),
+ ("Watchdog Counter PDI", [])]:
+ ec_sub_idx = 0
+ ec_name = ec
+ tree_node = self.Tree.AppendItem(slave_node, "%s" % ec)
+
+ if ec_name.find("0/1/2/3") > 0:
+ num_ports = 4
+ err_count = [0, 0, 0, 0]
+ else:
+ num_ports = 1
+ err_count = [0]
+
+ error_counter[(ec_idx, ec_sub_idx)] = {
+ "name": ec_name,
+ "tree_node": tree_node,
+ "num_ports": num_ports,
+ "err_count": err_count}
+
+ for sub_ec in sub_ecs:
+ ec_sub_idx += 1
+ ec_name = sub_ec
+ tree_node = self.Tree.AppendItem(\
+ error_counter[(ec_idx, 0)]["tree_node"],
+ "%s" % sub_ec)
+
+ if ec_name.find("0/1/2/3") > 0:
+ num_ports = 4
+ err_count = [0, 0, 0, 0]
+ else:
+ num_ports = 1
+ err_count = [0]
+
+ error_counter[(ec_idx, ec_sub_idx)] = {
+ "name": ec_name,
+ "tree_node": tree_node,
+ "num_ports": num_ports,
+ "err_count": err_count}
+
+ for port_num in range(num_ports):
+ try:
+ error_counter[(ec_idx, ec_sub_idx)]["err_count"][port_num] += \
+ int(err_count_list[ec_list_idx].split(",")[2], 16)
+ except:
+ error_counter[(ec_idx, ec_sub_idx)]["err_count"][port_num] = -1
+
+ ec_list_idx += 1
+
+ if ec_sub_idx > 0:
+ for port_num in range(num_ports):
+ err_sum = 0
+ for sub_idx in range(1, ec_sub_idx+1):
+ err_sum += error_counter[(ec_idx, sub_idx)]\
+ ["err_count"][port_num]
+ error_counter[(ec_idx, 0)]["err_count"][port_num] = err_sum
+
+ else:
+ for port_num in range(num_ports):
+ try:
+ error_counter[(ec_idx, ec_sub_idx)]["err_count"][port_num] += \
+ int(err_count_list[ec_list_idx].split(",")[2], 16)
+ except:
+ error_counter[(ec_idx, ec_sub_idx)]["err_count"][port_num] = -1
+ ec_list_idx += 1
+
+ ec_idx += 1
+
+ # set texts in "error" column.
+ ec_info_list = error_counter.items()
+ ec_info_list.sort()
+
+ err_checker = "none"
+
+ for (idx, sub_idx), ec_info in ec_info_list:
+ ec_text = ""
+ for port_num in range(ec_info["num_ports"]):
+ if ec_info["err_count"][port_num] != 0:
+ err_checker = "occurred"
+
+ if ec_info["err_count"][port_num] < 0:
+ ec_text = "reg I/O error"
+ else:
+ ec_text = ec_text + "%d/" % ec_info["err_count"][port_num]
+
+ ec_text = ec_text.strip("/")
+
+ self.Tree.SetItemText(ec_info["tree_node"], ec_text, col_num)
+
+ self.Tree.SetItemText(slave_node, err_checker, col_num)
+
+class DCConfigPanel(wx.Panel):
+ def __init__(self, parent, controler):
+ """
+ Constructor
+ @param parent: Reference to the MasterStatePanel class
+ @param Controler: _EthercatCTN class in EthercatMaster.py
+ """
+
+ wx.Panel.__init__(self, parent, -1, size=wx.Size(750, 350))
+
+ self.Controler = controler
+ self.parent = parent
+
+ self.ESI_DC_Data = self.Controler.CommonMethod.LoadESIData()
+
+ # initialize SlaveStatePanel UI dictionaries
+ self.StaticBoxDic = {}
+ self.StaticTextDic = {}
+ self.TextCtrlDic = {}
+ self.ComboBoxDic = {}
+ self.CheckBoxDic = {}
+ self.RadioButtonDic = {}
+ OperationModeComboList = []
+ Sync1CycleComboList = []
+
+ for ESI_Data in self.ESI_DC_Data:
+ OperationModeComboList.append(ESI_Data["desc"])
+
+ UnitComboList = [ "/100", "/ 50", "/ 40", "/ 30", "/ 25", "/ 20", "/16",
+ "/ 10", "/ 8", "/ 5", "/ 4", "/ 3", "/ 2", "x 1", "x 2", "x 3", "x 4",
+ "x 5", "x 8", "x 10", "x 16", "x 20", "x 25", "x 30", "x 40", "x 50",
+ "x 100"
+ ]
+
+ UnitComboListPlus = [ "/100", "/ 50", "/ 40", "/ 30", "/ 25", "/ 20", "/16",
+ "/ 10", "/ 8", "/ 5", "/ 4", "/ 3", "/ 2", "x 0", "x 1", "x 2", "x 3",
+ "x 4", "x 5", "x 8", "x 10", "x 16", "x 20", "x 25", "x 30", "x 40",
+ "x 50", "x 100"
+ ]
+
+ for i in range(1024):
+ Sync1CycleComboList.append("x " + str(i + 1))
+
+ # iniitalize BoxSizer and FlexGridSizer
+ self.SizerDic = {
+ "DCConfig_main_sizer" : wx.BoxSizer(wx.VERTICAL),
+ "DCConfig_inner_main_sizer" : wx.FlexGridSizer(cols=1, hgap=50, rows=2, vgap=10),
+ "CyclicMode_InnerSizer" : wx.FlexGridSizer(cols=1, hgap=5, rows=2, vgap=5),
+ "SyncMode_InnerSizer" : wx.FlexGridSizer(cols=2, hgap=5, rows=1, vgap=5),
+ "OperationMode_InnerSizer" : wx.FlexGridSizer(cols=2, hgap=100, rows=2, vgap=10),
+ "CheckEnable_InnerSizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10),
+ "Sync0_InnerSizer" : wx.FlexGridSizer(cols=1, hgap=15, rows=3, vgap=10),
+ "Sync0_CycleTimeSizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=2, vgap=5),
+ "Sync0_ShiftTimeSizer" : wx.FlexGridSizer(cols=2, hgap=20, rows=2, vgap=5),
+ "Sync1_InnerSizer" : wx.FlexGridSizer(cols=1, hgap=15, rows=3, vgap=10),
+ "Sync1_CycleTimeSizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=2, vgap=5),
+ "Sync1_ShiftTimeSizer" : wx.FlexGridSizer(cols=2, hgap=20, rows=2, vgap=5)
+ }
+
+ # initialize StaticBox and StaticBoxSizer
+ for box_name, box_label in [
+ ("CyclicModeBox", "Cyclic Mode"),
+ ("Sync0Box", "Sync0"),
+ ("Sync0CycleTimeBox", "Cycle Time (us):"),
+ ("Sync0ShiftTimeBox", "Shift Time (us):"),
+ ("Sync1Box", "Sync1"),
+ ("Sync1CycleTimeBox", "Cycle Time (us):"),
+ ("Sync1ShiftTimeBox", "Shift Time (us):")
+ ]:
+ self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label))
+ self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name])
+
+ for statictext_name, statictext_label in [
+ ("MainLabel", "Distributed Clock"),
+ ("OperationModeLabel", "Operation Mode:"),
+ ("SyncUnitCycleLabel", "Sync Unit Cycle (us)"),
+ ("Sync0ShiftTimeUserDefinedLabel", "User Defined"),
+ ("Sync1ShiftTimeUserDefinedLabel", "User Defined"),
+ ("BlankObject", ""),
+ ("BlankObject1", "")
+ ]:
+ self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))
+
+ for textctl_name in [
+ ("SyncUnitCycle_Ctl"),
+ ("Sync0CycleTimeUserDefined_Ctl"),
+ ("Sync0ShiftTimeUserDefined_Ctl"),
+ ("Sync1CycleTimeUserDefined_Ctl"),
+ ("Sync1ShiftTimeUserDefined_Ctl"),
+ ]:
+ self.TextCtrlDic[textctl_name] = wx.TextCtrl(
+ self, size=wx.Size(130, 24), style=wx.TE_READONLY)
+
+ for checkbox_name, checkbox_label in [
+ ("DCEnable", "Enable"),
+ ("Sync0Enable", "Enable Sync0"),
+ ("Sync1Enable", "Enable Sync1")
+ ]:
+ self.CheckBoxDic[checkbox_name] = wx.CheckBox(self, -1, checkbox_label)
+
+ for combobox_name, combobox_list, size in [
+ ("OperationModeChoice", OperationModeComboList, 250),
+ ("Sync0UnitCycleChoice", UnitComboList, 130),
+ ("Sync1UnitCycleChoice", UnitComboList, 130)
+ ]:
+ self.ComboBoxDic[combobox_name] = wx.ComboBox(self, size=wx.Size(size, 24),
+ choices = combobox_list, style = wx.CB_DROPDOWN | wx.CB_READONLY)
+
+ for radiobutton_name, radiobutton_label in [
+ ("Sync0CycleTimeUnitRadioButton", "Sync Unit Cycle"),
+ ("Sync0CycleTimeUserDefinedRadioButton", "User Defined"),
+ ("Sync1CycleTimeUnitRadioButton", "Sync Unit Cycle"),
+ ("Sync1CycleTimeUserDefinedRadioButton", "User Defined")
+ ]:
+ self.RadioButtonDic[radiobutton_name] = wx.RadioButton(
+ self, label = radiobutton_label, style = wx.RB_SINGLE)
+
+
+ self.ApplyButton = wx.Button(self, label="Apply")
+
+ # binding event
+ self.Bind(wx.EVT_CHECKBOX, self.CheckDCEnable, self.CheckBoxDic["DCEnable"])
+ #self.Bind(wx.EVT_COMBOBOX, self.SelectOperationMode, self.ComboBoxDic["OperationModeChoice"])
+ #self.Bind(wx.EVT_COMBOBOX, self.SelectUnitCycle, self.ComboBoxDic["Sync0UnitChoice"])
+ self.Bind(wx.EVT_RADIOBUTTON, self.SelectSync0CycleTime,
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"])
+ self.Bind(wx.EVT_RADIOBUTTON, self.SelectSync0CycleTime,
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"])
+ self.Bind(wx.EVT_RADIOBUTTON, self.SelectSync1CycleTime,
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"])
+ self.Bind(wx.EVT_RADIOBUTTON, self.SelectSync1CycleTime,
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"])
+ self.Bind(wx.EVT_CHECKBOX, self.CheckSync0Enable, self.CheckBoxDic["Sync0Enable"])
+ self.Bind(wx.EVT_CHECKBOX, self.CheckSync1Enable, self.CheckBoxDic["Sync1Enable"])
+ self.Bind(wx.EVT_BUTTON, self.OnClickApplyButton, self.ApplyButton)
+
+ # sync1 shifttime box contents
+ self.SizerDic["Sync1_ShiftTimeSizer"].AddMany([
+ self.StaticTextDic["Sync1ShiftTimeUserDefinedLabel"],
+ self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"]
+ ])
+
+ # sync1 shifttime box
+ self.SizerDic["Sync1ShiftTimeBox"].Add(self.SizerDic["Sync1_ShiftTimeSizer"])
+
+ # sync1 cycletime box contents
+ self.SizerDic["Sync1_CycleTimeSizer"].AddMany([
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"],
+ self.ComboBoxDic["Sync1UnitCycleChoice"],
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"],
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"]
+ ])
+
+ # sync0 cycletime box
+ self.SizerDic["Sync1CycleTimeBox"].Add(self.SizerDic["Sync1_CycleTimeSizer"])
+
+ self.SizerDic["Sync1_InnerSizer"].AddMany([
+ self.CheckBoxDic["Sync1Enable"], self.SizerDic["Sync1CycleTimeBox"],
+ self.SizerDic["Sync1ShiftTimeBox"]
+ ])
+
+ # sync1 box
+ self.SizerDic["Sync1Box"].Add(self.SizerDic["Sync1_InnerSizer"])
+
+ # sync0 shifttime box contents
+ self.SizerDic["Sync0_ShiftTimeSizer"].AddMany([
+ self.StaticTextDic["Sync0ShiftTimeUserDefinedLabel"],
+ self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"]
+ ])
+
+ # sync0 shifttime box
+ self.SizerDic["Sync0ShiftTimeBox"].Add(self.SizerDic["Sync0_ShiftTimeSizer"])
+
+ # sync0 cycletime box contents
+ self.SizerDic["Sync0_CycleTimeSizer"].AddMany([
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"],
+ self.ComboBoxDic["Sync0UnitCycleChoice"],
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"],
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"]
+ ])
+
+ # sync0 cycletime box
+ self.SizerDic["Sync0CycleTimeBox"].Add(self.SizerDic["Sync0_CycleTimeSizer"])
+
+ self.SizerDic["Sync0_InnerSizer"].AddMany([
+ self.CheckBoxDic["Sync0Enable"], self.SizerDic["Sync0CycleTimeBox"],
+ self.SizerDic["Sync0ShiftTimeBox"]
+ ])
+
+ # sync0 box
+ self.SizerDic["Sync0Box"].Add(self.SizerDic["Sync0_InnerSizer"])
+
+ # sync0, sync1 box
+ self.SizerDic["SyncMode_InnerSizer"].AddMany([
+ self.SizerDic["Sync0Box"], self.SizerDic["Sync1Box"]
+ ])
+
+ # CyclicMode Box
+ self.SizerDic["CheckEnable_InnerSizer"].AddMany([
+ self.StaticTextDic["SyncUnitCycleLabel"],
+ self.TextCtrlDic["SyncUnitCycle_Ctl"]
+ ])
+
+ self.SizerDic["OperationMode_InnerSizer"].AddMany([
+ self.StaticTextDic["OperationModeLabel"],
+ self.ComboBoxDic["OperationModeChoice"],
+ self.CheckBoxDic["DCEnable"], self.SizerDic["CheckEnable_InnerSizer"]
+ ])
+
+ self.SizerDic["CyclicMode_InnerSizer"].AddMany([
+ self.SizerDic["OperationMode_InnerSizer"],
+ self.SizerDic["SyncMode_InnerSizer"]
+ ])
+
+ self.SizerDic["CyclicModeBox"].Add(self.SizerDic["CyclicMode_InnerSizer"])
+
+ # Main Sizer
+ self.SizerDic["DCConfig_inner_main_sizer"].AddMany([
+ self.StaticTextDic["MainLabel"], self.ApplyButton,
+ self.SizerDic["CyclicModeBox"]
+ ])
+
+ self.SizerDic["DCConfig_main_sizer"].Add(self.SizerDic["DCConfig_inner_main_sizer"])
+
+ self.SetSizer(self.SizerDic["DCConfig_main_sizer"])
+
+ self.Centre()
+
+ self.UIOnOffSet(False)
+ self.LoadProjectDCData()
+
+ def UIOnOffSet(self, activate):
+ if activate :
+ for object in self.RadioButtonDic:
+ self.RadioButtonDic[object].Enable()
+
+ for object in self.ComboBoxDic:
+ if object == "OperationModeChoice":
+ continue
+ self.ComboBoxDic[object].Enable()
+
+ for object in self.TextCtrlDic:
+ if object in ["SyncUnitCycle_Ctl", "InputReference_Ctl"]:
+ continue
+ self.TextCtrlDic[object].Enable()
+
+ for object in self.CheckBoxDic:
+ if object == "DCEnable":
+ continue
+ self.CheckBoxDic[object].Enable()
+
+ # initial set or DC enable uncheck
+ else :
+ for object in self.RadioButtonDic:
+ self.RadioButtonDic[object].Disable()
+
+ for object in self.ComboBoxDic:
+ if object == "OperationModeChoice":
+ continue
+ self.ComboBoxDic[object].Disable()
+
+ for object in self.TextCtrlDic:
+ if object == "SyncUnitCycle_Ctl":
+ continue
+ self.TextCtrlDic[object].Disable()
+
+ for object in self.CheckBoxDic:
+ if object == "DCEnable":
+ continue
+ self.CheckBoxDic[object].Disable()
+
+ for data in self.ESI_DC_Data:
+ index = self.Controler.ExtractHexDecValue(data["assign_activate"])
+ if index == 0:
+ config_name = data["desc"]
+ self.ComboBoxDic["OperationModeChoice"].SetStringSelection(config_name)
+
+ def CheckSync0Enable(self, evt):
+ if evt.GetInt():
+ self.ComboBoxDic["Sync0UnitCycleChoice"].Enable()
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].Enable()
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].Enable()
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Enable()
+ self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].Enable()
+ else :
+ self.ComboBoxDic["Sync0UnitCycleChoice"].Disable()
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].Disable()
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].Disable()
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Disable()
+ self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].Disable()
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(False)
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(False)
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].SetValue("")
+ self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].SetValue("")
+
+ def CheckSync1Enable(self, evt):
+ if evt.GetInt():
+ self.ComboBoxDic["Sync1UnitCycleChoice"].Enable()
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].Enable()
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].Enable()
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Enable()
+ self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].Enable()
+ else :
+ self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].Disable()
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].Disable()
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
+ self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].Disable()
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(False)
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(False)
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].SetValue("")
+ self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].SetValue("")
+
+ def CheckDCEnable(self, evt):
+ ns_mode = 1
+ task_cycle_ns = self.GetInterval(ns_mode)
+ sync0_cycle_factor = None
+ sync1_cycle_factor = None
+
+ #task_cycle_ns = self.Controler.GetCTRoot()._Ticktime
+ if (task_cycle_ns > 0):
+ self.UIOnOffSet(evt.GetInt())
+
+ if evt.GetInt():
+ # default select DC enable sync0
+ default_list_num = 0
+ config_name = self.ESI_DC_Data[default_list_num]["desc"]
+ assign_act = self.ESI_DC_Data[default_list_num]["assign_activate"]
+ sync0_cycle_time_ns = self.ESI_DC_Data[default_list_num]["cycletime_sync0"]
+ if sync0_cycle_time_ns == 0 :
+ sync0_cycle_factor = self.ESI_DC_Data[default_list_num]["cycletime_sync0_factor"]
+ sync0_shift_time_ns = self.ESI_DC_Data[default_list_num]["shifttime_sync0"]
+ sync1_cycle_time_ns = self.ESI_DC_Data[default_list_num]["cycletime_sync1"]
+ if sync1_cycle_time_ns == 0 :
+ sync1_cycle_factor = self.ESI_DC_Data[default_list_num]["cycletime_sync1_factor"]
+ sync1_shift_time_ns = self.ESI_DC_Data[default_list_num]["shifttime_sync1"]
+
+ cal_assign_act = self.Controler.ExtractHexDecValue(assign_act)
+ sync0_cycle_time_us = str(int(sync0_cycle_time_ns) / 1000)
+ sync0_shift_time_us = str(int(sync0_shift_time_ns) / 1000)
+ sync1_cycle_time_us = str(int(sync1_cycle_time_ns) / 1000)
+ sync1_shift_time_us = str(int(sync1_shift_time_ns) / 1000)
+
+ task_cycle_to_us = str(int(task_cycle_ns) / 1000)
+
+ # DC sync0 mode
+ if cal_assign_act == 768:
+ # Disable About Sync1 Objects
+ self.CheckBoxDic["Sync1Enable"].SetValue(False)
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].Disable()
+ self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].Disable()
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
+ self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].Disable()
+
+ else :
+ self.CheckBoxDic["Sync1Enable"].SetValue(True)
+ if sync1_cycle_factor is not None:
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(True)
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(False)
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
+ self.SetSyncUnitCycle(sync1_cycle_factor,
+ self.ComboBoxDic["Sync1UnitCycleChoice"])
+ else :
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(False)
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(True)
+ self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].SetValue(sync1_cycle_time_us)
+
+ self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].SetValue(sync1_shift_time_us)
+
+ # Set Sync0 Objects
+ self.CheckBoxDic["Sync0Enable"].SetValue(True)
+ if sync0_cycle_factor is not None:
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(True)
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(False)
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Disable()
+ self.SetSyncUnitCycle(sync0_cycle_factor,
+ self.ComboBoxDic["Sync0UnitCycleChoice"])
+ else :
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(False)
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(True)
+ self.ComboBoxDic["Sync0UnitCycleChoice"].Disable()
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].SetValue(sync0_cycle_time_us)
+
+ self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].SetValue(sync0_shift_time_us)
+
+ self.ComboBoxDic["OperationModeChoice"].SetStringSelection(config_name)
+ self.TextCtrlDic["SyncUnitCycle_Ctl"].SetValue(task_cycle_to_us)
+ else :
+ self.CheckBoxDic["Sync0Enable"].SetValue(False)
+ self.CheckBoxDic["Sync1Enable"].SetValue(False)
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(False)
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(False)
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(False)
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(False)
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].SetValue("")
+ self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].SetValue("")
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].SetValue("")
+ self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].SetValue("")
+
+ else :
+ self.UIOnOffSet(False)
+ #error_str = "DC Enable is not possble, please set task interval"
+ error_str = "Can't Set DC Enable"
+ self.Controler.CommonMethod.CreateErrorDialog(error_str)
+
+ def SetSyncUnitCycle(self, factor, object):
+ # factor > 0 ==> * factor, factor < 0 ==> / factor
+ factor_to_int = int(factor)
+ if factor_to_int > 0:
+ lists = object.GetStrings()
+
+ for token in lists:
+ temp = token.split(" ")
+ if (temp[0] == "x") and (int(temp[1]) == factor_to_int):
+ object.SetStringSelection(token)
+ return True
+
+ else :
+ lists = object.GetStrings()
+
+ for token in lists:
+ temp = token.split(" ")
+ if (temp[0] == "/") and (int(temp[1]) == factor_to_int):
+ object.SetStringSelection(token)
+ return True
+
+ return False
+
+ def GetInterval(self, mode):
+ project_infos = self.Controler.GetCTRoot().GetProjectInfos()
+ for project_info_list in project_infos["values"]:
+ if project_info_list["name"] == "Resources" :
+ token = project_info_list["values"][0]["tagname"]
+
+ tasks, instances = self.Controler.GetCTRoot().GetEditedResourceInfos(token)
+ try:
+ task_cycle_ns = self.ParseTime(tasks[0]["Interval"])
+ except :
+ task_cycle_ns = 0
+ task_cycle_us = int(task_cycle_ns) / 1000
+
+ # mode == 1 ==> return ns
+ # mode == 2 ==> return us
+
+ if mode == 1:
+ return task_cycle_ns
+ if mode == 2:
+ return str(task_cycle_us)
+
+ def ParseTime(self, input):
+ # input example : 't#1ms'
+ # temp.split('#') -> ['t', '1ms']
+ temp = input.split('#')
+
+ # temp[1] : '1ms'
+ # temp[-2:] : 'ms'
+ # temp[:-2] : '1'
+ if temp[1][-2:] == "ms":
+ # convert nanosecond unit
+ result = int(temp[1][:-2]) * 1000000
+ elif temp[1][-2:] == "us":
+ result = int(temp[1][:-2]) * 1000
+
+ return str(result)
+
+ def SelectSync0CycleTime(self, evt):
+ selected_object = evt.GetEventObject()
+
+ if selected_object.GetLabel() == "User Defined" :
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(False)
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Enable()
+ self.ComboBoxDic["Sync0UnitCycleChoice"].Disable()
+ elif selected_object.GetLabel() == "Sync Unit Cycle" :
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(False)
+ self.ComboBoxDic["Sync0UnitCycleChoice"].Enable()
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Disable()
+
+ def SelectSync1CycleTime(self, evt):
+ selected_object = evt.GetEventObject()
+
+ if selected_object.GetLabel() == "User Defined" :
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(False)
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Enable()
+ self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
+ elif selected_object.GetLabel() == "Sync Unit Cycle" :
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(False)
+ self.ComboBoxDic["Sync1UnitCycleChoice"].Enable()
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
+
+ def GetCycle(self, period, section):
+ temp = section.split(" ")
+
+ if temp[0] == "x":
+ result = int(period) * int(temp[1])
+ elif temp[0] == "/" :
+ result = int(period) / int(temp[1])
+ else :
+ result = ""
+
+ return result
+
+ def OnClickApplyButton(self, evt):
+ us_mode = 2
+ dc_enable = self.CheckBoxDic["DCEnable"].GetValue()
+ dc_desc = self.ComboBoxDic["OperationModeChoice"].GetStringSelection()
+ dc_assign_activate = self.ESI_DC_Data[0]["assign_activate"]
+ dc_assign_activate_mod = dc_assign_activate.split('x')[1]
+
+ if self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].GetValue():
+ temp = self.ComboBoxDic["Sync0UnitCycleChoice"].GetStringSelection()
+ dc_sync0_cycle = "1_" + str(self.GetCycle(self.GetInterval(us_mode), temp))
+ elif self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].GetValue():
+ dc_sync0_cycle = "2_" + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].GetValue()
+ else :
+ dc_sync0_cycle = ""
+
+ if self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].GetValue():
+ temp = self.ComboBoxDic["Sync1UnitCycleChoice"].GetStringSelection()
+ dc_sync1_cycle = "1_" + self.GetCycle(self.GetInterval(us_mode), temp)
+ elif self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].GetValue():
+ dc_sync1_cycle = "2_" + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].GetValue()
+ else :
+ dc_sync1_cycle = ""
+
+ dc_sync0_shift = self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].GetValue()
+ dc_sync1_shift = self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].GetValue()
+
+ self.Controler.BaseParams.setDC_Enable(dc_enable)
+ self.Controler.BaseParams.setDC_Desc(dc_desc)
+ self.Controler.BaseParams.setDC_Assign_Activate(dc_assign_activate_mod)
+ if dc_sync0_cycle:
+ self.Controler.BaseParams.setDC_Sync0_Cycle_Time(dc_sync0_cycle)
+ if dc_sync0_shift:
+ self.Controler.BaseParams.setDC_Sync0_Shift_Time(dc_sync0_shift)
+ if dc_sync1_cycle:
+ self.Controler.BaseParams.setDC_Sync1_Cycle_Time(dc_sync1_cycle)
+ if dc_sync1_shift:
+ self.Controler.BaseParams.setDC_Sync1_Shift_Time(dc_sync1_shift)
+ project_infos = self.Controler.GetCTRoot().CTNRequestSave()
+
+ def GetSymbol(self, period, cycle):
+ cmp1 = int(period)
+ cmp2 = int(cycle)
+
+ if cmp1 == cmp2 :
+ return "x 1"
+ elif cmp2 > cmp1 :
+ temp = cmp2 / cmp1
+ result = "x " + str(temp)
+ else :
+ temp = cmp1 / cmp2
+ result = "/ " + str(temp)
+
+ return result
+
+ def SetSyncCycle(self, period, sync0_cycle, sync1_cycle):
+ if sync0_cycle != "None":
+ self.CheckBoxDic["Sync0Enable"].SetValue(True)
+ temp = sync0_cycle.split("_")
+ if temp[0] == "1":
+ symbol = self.GetSymbol(period, temp[1])
+ self.ComboBoxDic["Sync0UnitCycleChoice"].SetStringSelection(symbol)
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Disable()
+ self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(True)
+ else :
+ self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].SetValue(temp[1])
+ self.ComboBoxDic["Sync0UnitCycleChoice"].Disable()
+ self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(True)
+
+ if sync1_cycle != "None":
+ self.CheckBoxDic["Sync1Enable"].SetValue(True)
+ temp = sync1_cycle.split("_")
+ if temp[0] == "1":
+ symbol = self.GetSymbol(period, temp[1])
+ self.ComboBoxDic["Sync1UnitChoice"].SetStringSelection(symbol)
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(True)
+ else :
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].SetValue(temp[1])
+ self.ComboBoxDic["Sync1UnitChoice"].Disable()
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(True)
+
+ def LoadProjectDCData(self):
+ ns_mode = 1
+ task_cycle_ns = self.GetInterval(ns_mode)
+ task_cycle_to_us = int(task_cycle_ns) / 1000
+ dc_enable = self.Controler.BaseParams.getDC_Enable()
+ dc_desc = self.Controler.BaseParams.getDC_Desc()
+ dc_assign_activate = self.Controler.BaseParams.getDC_Assign_Activate()
+ dc_sync0_cycle = self.Controler.BaseParams.getDC_Sync0_Cycle_Time()
+ dc_sync0_shift = self.Controler.BaseParams.getDC_Sync0_Shift_Time()
+ dc_sync1_cycle = self.Controler.BaseParams.getDC_Sync1_Cycle_Time()
+ dc_sync1_shift = self.Controler.BaseParams.getDC_Sync1_Shift_Time()
+
+ self.UIOnOffSet(dc_enable)
+
+ if dc_enable:
+ self.CheckBoxDic["DCEnable"].SetValue(dc_enable)
+ self.ComboBoxDic["OperationModeChoice"].SetStringSelection(dc_desc)
+ self.TextCtrlDic["SyncUnitCycle_Ctl"].SetValue(str(task_cycle_to_us))
+ self.SetSyncCycle(str(task_cycle_to_us), dc_sync0_cycle, dc_sync1_cycle)
+ if dc_sync0_shift != "None":
+ self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].SetValue(dc_sync0_shift)
+ if dc_sync1_shift != "None":
+ self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].SetValue(dc_sync1_shift)
+
+ if dc_assign_activate == "300":
+ self.CheckBoxDic["Sync1Enable"].SetValue(False)
+ self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].Disable()
+ self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
+ self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].Disable()
+ self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
+ self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].Disable()
+
+
+
+
+
+
+
+
+
+