12

import os, shutil

    13

from lxml import etree

    14

    15

import wx

    16

import csv

    17

    18

from xmlclass import *

    19

    20

from ConfigTreeNode import ConfigTreeNode, XSDSchemaErrorMessage

    21

from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY

    22

    23

from EthercatSlave import ExtractHexDecValue, ExtractName

    24

from EthercatMaster import _EthercatCTN

    25

from ConfigEditor import LibraryEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE

    26

    27

ScriptDirectory = os.path.split(os.path.realpath(__file__))[0]

    28

    29

#--------------------------------------------------

    30

#                 Ethercat ConfNode

    31

#--------------------------------------------------

    32

    33

EtherCATInfoParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd")) 

    34

EtherCATInfo_XPath = lambda xpath: etree.XPath(xpath)

    35

    36

def HexDecValue(context, *args):

    37

    return str(ExtractHexDecValue(args[0][0]))

    38

    39

def EntryName(context, *args):

    40

    return ExtractName(args[0], 

    41

        args[1][0] if len(args) > 1 else None)

    42

    43

ENTRY_INFOS_KEYS = [

    44

    ("Index", lambda x: "#x%4.4X" % int(x), "#x0000"),

    45

    ("SubIndex", str, "0"),

    46

    ("Name", str, ""),

    47

    ("Type", str, ""),

    48

    ("BitSize", int, 0),

    49

    ("Access", str, ""),

    50

    ("PDOMapping", str, ""),

    51

    ("PDO index", str, ""),

    52

    ("PDO name", str, ""),

    53

    ("PDO type", str, "")]

    54

    55

class EntryListFactory:

    56

    57

    def __init__(self, entries):

    58

        self.Entries = entries

    59

    60

    def AddEntry(self, context, *args):

    61

        index, subindex = map(lambda x: int(x[0]), args[:2])

    62

        new_entry_infos = {

    63

            key: translate(arg[0]) if len(arg) > 0 else default

    64

            for (key, translate, default), arg

    65

            in zip(ENTRY_INFOS_KEYS, args)}

    66

    67

        if (index, subindex) != (0, 0):

    68

            entry_infos = self.Entries.get((index, subindex))

    69

            if entry_infos is not None:

    70

                for param in ["PDO index", "PDO name", "PDO type"]:

    71

                    value = new_entry_infos.get(param)

    72

                    if value is not None:

    73

                        entry_infos[param] = value

    74

            else:

    75

                self.Entries[(index, subindex)] = new_entry_infos

    76

    77

entries_list_xslt = etree.parse(

    78

    os.path.join(ScriptDirectory, "entries_list.xslt"))

    79

    80

cls = EtherCATInfoParser.GetElementClass("DeviceType")

    81

if cls:

    82

    83

    profile_numbers_xpath = EtherCATInfo_XPath("Profile/ProfileNo")

    84

    def GetProfileNumbers(self):

    85

        return [number.text for number in profile_numbers_xpath(self)]

    86

    setattr(cls, "GetProfileNumbers", GetProfileNumbers)

    87

    88

    def getCoE(self):

    89

        mailbox = self.getMailbox()

    90

        if mailbox is not None:

    91

            return mailbox.getCoE()

    92

        return None

    93

    setattr(cls, "getCoE", getCoE)

    94

    95

    def GetEntriesList(self, limits=None):

    96

        entries = {}

    97

    98

        factory = EntryListFactory(entries)

    99

   100

        entries_list_xslt_tree = etree.XSLT(

   101

            entries_list_xslt, extensions = {

   102

                ("entries_list_ns", "AddEntry"): factory.AddEntry,

   103

                ("entries_list_ns", "HexDecValue"): HexDecValue,

   104

                ("entries_list_ns", "EntryName"): EntryName})

   105

        entries_list_xslt_tree(self, **dict(zip(

   106

            ["min_index", "max_index"], 

   107

            map(lambda x: etree.XSLT.strparam(str(x)),

   108

                limits if limits is not None else [0x0000, 0xFFFF])

   109

            )))

   110

   111

        return entries

   112

    setattr(cls, "GetEntriesList", GetEntriesList)

   113

   114

    def GetSyncManagers(self):

   115

        sync_managers = []

   116

        for sync_manager in self.getSm():

   117

            sync_manager_infos = {}

   118

            for name, value in [("Name", sync_manager.getcontent()),

   119

                                ("Start Address", sync_manager.getStartAddress()),

   120

                                ("Default Size", sync_manager.getDefaultSize()),

   121

                                ("Control Byte", sync_manager.getControlByte()),

   122

                                ("Enable", sync_manager.getEnable())]:

   123

                if value is None:

   124

                    value =""

   125

                sync_manager_infos[name] = value

   126

            sync_managers.append(sync_manager_infos)

   127

        return sync_managers

   128

    setattr(cls, "GetSyncManagers", GetSyncManagers)

   129

   130

def GroupItemCompare(x, y):

   131

    if x["type"] == y["type"]:

   132

        if x["type"] == ETHERCAT_GROUP:

   133

            return cmp(x["order"], y["order"])

   134

        else:

   135

            return cmp(x["name"], y["name"])

   136

    elif x["type"] == ETHERCAT_GROUP:

   137

        return -1

   138

    return 1

   139

   140

def SortGroupItems(group):

   141

    for item in group["children"]:

   142

        if item["type"] == ETHERCAT_GROUP:

   143

            SortGroupItems(item)

   144

    group["children"].sort(GroupItemCompare)

   145

   146

class ModulesLibrary:

   147

   148

    MODULES_EXTRA_PARAMS = [

   149

        ("pdo_alignment", {

   150

            "column_label": _("PDO alignment"), 

   151

            "column_size": 150,

   152

            "default": 8,

   153

            "description": _(

   154

"Minimal size in bits between 2 pdo entries")}),

   155

        ("max_pdo_size", {

   156

            "column_label": _("Max entries by PDO"),

   157

            "column_size": 150,

   158

            "default": 255,

   159

            "description": _(

   160

"""Maximal number of entries mapped in a PDO

   161

including empty entries used for PDO alignment""")}),

   162

        ("add_pdo", {

   163

            "column_label": _("Creating new PDO"), 

   164

            "column_size": 150,

   165

            "default": 0,

   166

            "description": _(

   167

"""Adding a PDO not defined in default configuration

   168

for mapping needed location variables

   169

(1 if possible)""")})

   170

    ]

   171

   172

    def __init__(self, path, parent_library=None):

   173

        self.Path = path

   174

        if not os.path.exists(self.Path):

   175

            os.makedirs(self.Path)

   176

        self.ParentLibrary = parent_library

   177

   178

        if parent_library is not None:

   179

            self.LoadModules()

   180

        else:

   181

            self.Library = None

   182

        self.LoadModulesExtraParams()

   183

   184

    def GetPath(self):

   185

        return self.Path

   186

   187

    def GetModulesExtraParamsFilePath(self):

   188

        return os.path.join(self.Path, "modules_extra_params.cfg")

   189

   190

    groups_xpath = EtherCATInfo_XPath("Descriptions/Groups/Group")

   191

    devices_xpath = EtherCATInfo_XPath("Descriptions/Devices/Device")

   192

    def LoadModules(self):

   193

        self.Library = {}

   194

   195

        files = os.listdir(self.Path)

   196

        for file in files:

   197

            filepath = os.path.join(self.Path, file)

   198

            if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml":

   199

                self.modules_infos = None

   200

   201

                xmlfile = open(filepath, 'r')

   202

                try:

   203

                    self.modules_infos, error = EtherCATInfoParser.LoadXMLString(xmlfile.read())

   204

                    if error is not None:

   205

                        self.GetCTRoot().logger.write_warning(

   206

                            XSDSchemaErrorMessage % (filepath + error))

   207

                except Exception, exc:

   208

                    self.modules_infos, error = None, unicode(exc)

   209

                xmlfile.close()

   210

   211

                if self.modules_infos is not None:

   212

                    vendor = self.modules_infos.getVendor()

   213

   214

                    vendor_category = self.Library.setdefault(

   215

                        ExtractHexDecValue(vendor.getId()), 

   216

                        {"name": ExtractName(vendor.getName(), _("Miscellaneous")), 

   217

                         "groups": {}})

   218

   219

                    for group in self.groups_xpath(self.modules_infos):

   220

                        group_type = group.getType()

   221

   222

                        vendor_category["groups"].setdefault(group_type, 

   223

                            {"name": ExtractName(group.getName(), group_type), 

   224

                             "parent": group.getParentGroup(),

   225

                             "order": group.getSortOrder(), 

   226

                             #"value": group.getcontent()["value"],

   227

                             "devices": []})

   228

   229

                    for device in self.devices_xpath(self.modules_infos):

   230

                        device_group = device.getGroupType()

   231

                        if not vendor_category["groups"].has_key(device_group):

   232

                            raise ValueError, "Not such group \"%\"" % device_group

   233

                        vendor_category["groups"][device_group]["devices"].append(

   234

                            (device.getType().getcontent(), device))

   235

   236

                else:

   237

   238

                    self.GetCTRoot().logger.write_error(

   239

                        _("Couldn't load %s XML file:\n%s") % (filepath, error))

   240

   241

        return self.Library

   242

   243

    def GetModulesLibrary(self, profile_filter=None):

   244

        if self.Library is None:

   245

            self.LoadModules()

   246

        library = []

   247

        for vendor_id, vendor in self.Library.iteritems():

   248

            groups = []

   249

            children_dict = {}

   250

            for group_type, group in vendor["groups"].iteritems():

   251

                group_infos = {"name": group["name"],

   252

                               "order": group["order"],

   253

                               "type": ETHERCAT_GROUP,

   254

                               "infos": None,

   255

                               "children": children_dict.setdefault(group_type, [])}

   256

                device_dict = {}

   257

                for device_type, device in group["devices"]:

   258

                    if profile_filter is None or profile_filter in device.GetProfileNumbers():

   259

                        product_code = device.getType().getProductCode()

   260

                        revision_number = device.getType().getRevisionNo()

   261

                        module_infos = {"device_type": device_type,

   262

                                        "vendor": vendor_id,

   263

                                        "product_code": product_code,

   264

                                        "revision_number": revision_number}

   265

                        module_infos.update(self.GetModuleExtraParams(vendor_id, product_code, revision_number))

   266

                        device_infos = {"name": ExtractName(device.getName()),

   267

                                        "type": ETHERCAT_DEVICE,

   268

                                        "infos": module_infos,

   269

                                        "children": []}

   270

                        group_infos["children"].append(device_infos)

   271

                        device_type_occurrences = device_dict.setdefault(device_type, [])

   272

                        device_type_occurrences.append(device_infos)

   273

                for device_type_occurrences in device_dict.itervalues():

   274

                    if len(device_type_occurrences) > 1:

   275

                        for occurrence in device_type_occurrences:

   276

                            occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"]

   277

                if len(group_infos["children"]) > 0:

   278

                    if group["parent"] is not None:

   279

                        parent_children = children_dict.setdefault(group["parent"], [])

   280

                        parent_children.append(group_infos)

   281

                    else:

   282

                        groups.append(group_infos)

   283

            if len(groups) > 0:

   284

                library.append({"name": vendor["name"],

   285

                                "type": ETHERCAT_VENDOR,

   286

                                "infos": None,

   287

                                "children": groups})

   288

        library.sort(lambda x, y: cmp(x["name"], y["name"]))

   289

        return library

   290

   291

    def GetVendors(self):

   292

        return [(vendor_id, vendor["name"]) for vendor_id, vendor in self.Library.items()]

   293

   294

    def GetModuleInfos(self, module_infos):

   295

        vendor = ExtractHexDecValue(module_infos["vendor"])

   296

        vendor_infos = self.Library.get(vendor)

   297

        if vendor_infos is not None:

   298

            for group_name, group_infos in vendor_infos["groups"].iteritems():

   299

                for device_type, device_infos in group_infos["devices"]:

   300

                    product_code = ExtractHexDecValue(device_infos.getType().getProductCode())

   301

                    revision_number = ExtractHexDecValue(device_infos.getType().getRevisionNo())

   302

                    if (product_code == ExtractHexDecValue(module_infos["product_code"]) and

   303

                        revision_number == ExtractHexDecValue(module_infos["revision_number"])):

   304

                        self.cntdevice = device_infos 

   305

                        self.cntdeviceType = device_type  

   306

                        return device_infos, self.GetModuleExtraParams(vendor, product_code, revision_number)

   307

        return None, None

   308

   309

    def ImportModuleLibrary(self, filepath):

   310

        if os.path.isfile(filepath):

   311

            shutil.copy(filepath, self.Path)

   312

            self.LoadModules()

   313

            return True

   314

        return False

   315

   316

    def LoadModulesExtraParams(self):

   317

        self.ModulesExtraParams = {}

   318

   319

        csvfile_path = self.GetModulesExtraParamsFilePath()

   320

        if os.path.exists(csvfile_path):

   321

            csvfile = open(csvfile_path, "rb")

   322

            sample = csvfile.read(1024)

   323

            csvfile.seek(0)

   324

            dialect = csv.Sniffer().sniff(sample)

   325

            has_header = csv.Sniffer().has_header(sample)

   326

            reader = csv.reader(csvfile, dialect)

   327

            for row in reader:

   328

                if has_header:

   329

                    has_header = False

   330

                else:

   331

                    params_values = {}

   332

                    for (param, param_infos), value in zip(

   333

                        self.MODULES_EXTRA_PARAMS, row[3:]):

   334

                        if value != "":

   335

                            params_values[param] = int(value)

   336

                    self.ModulesExtraParams[

   337

                        tuple(map(int, row[:3]))] = params_values

   338

            csvfile.close()

   339

   340

    def SaveModulesExtraParams(self):

   341

        csvfile = open(self.GetModulesExtraParamsFilePath(), "wb")

   342

        extra_params = [param for param, params_infos in self.MODULES_EXTRA_PARAMS]

   343

        writer = csv.writer(csvfile, delimiter=';')

   344

        writer.writerow(['Vendor', 'product_code', 'revision_number'] + extra_params)

   345

        for (vendor, product_code, revision_number), module_extra_params in self.ModulesExtraParams.iteritems():

   346

            writer.writerow([vendor, product_code, revision_number] + 

   347

                            [module_extra_params.get(param, '') 

   348

                             for param in extra_params])

   349

        csvfile.close()

   350

   351

    def SetModuleExtraParam(self, vendor, product_code, revision_number, param, value):

   352

        vendor = ExtractHexDecValue(vendor)

   353

        product_code = ExtractHexDecValue(product_code)

   354

        revision_number = ExtractHexDecValue(revision_number)

   355

   356

        module_infos = (vendor, product_code, revision_number)

   357

        self.ModulesExtraParams.setdefault(module_infos, {})

   358

        self.ModulesExtraParams[module_infos][param] = value

   359

   360

        self.SaveModulesExtraParams()

   361

   362

    def GetModuleExtraParams(self, vendor, product_code, revision_number):

   363

        vendor = ExtractHexDecValue(vendor)

   364

        product_code = ExtractHexDecValue(product_code)

   365

        revision_number = ExtractHexDecValue(revision_number)

   366

   367

        if self.ParentLibrary is not None:

   368

            extra_params = self.ParentLibrary.GetModuleExtraParams(vendor, product_code, revision_number)

   369

        else:

   370

            extra_params = {}

   371

   372

        extra_params.update(self.ModulesExtraParams.get((vendor, product_code, revision_number), {}))

   373

   374

        for param, param_infos in self.MODULES_EXTRA_PARAMS:

   375

            extra_params.setdefault(param, param_infos["default"])

   376

   377

        return extra_params

   378

   379

USERDATA_DIR = wx.StandardPaths.Get().GetUserDataDir()

   380

if wx.Platform != '__WXMSW__':

   381

    USERDATA_DIR += '_files'

   382

   383

ModulesDatabase = ModulesLibrary(

   384

    os.path.join(USERDATA_DIR, "ethercat_modules"))

   385

   386

class RootClass:

   387

   388

    CTNChildrenTypes = [("EthercatNode",_EthercatCTN,"Ethercat Master")]

   389

    EditorType = LibraryEditor

   390

   391

   392

    def __init__(self):

   393

        self.ModulesLibrary = None

   394

        self.LoadModulesLibrary()

   395

   396

    def GetIconName(self):

   397

        return "Ethercat"

   398

   399

    def GetModulesLibraryPath(self, project_path=None):

   400

        if project_path is None:

   401

            project_path = self.CTNPath()

   402

        return os.path.join(project_path, "modules") 

   403

   404

    def OnCTNSave(self, from_project_path=None):

   405

        if from_project_path is not None:

   406

            shutil.copytree(self.GetModulesLibraryPath(from_project_path),

   407

                            self.GetModulesLibraryPath())

   408

        return True

   409

   410

    def CTNGenerate_C(self, buildpath, locations):

   411

        return [],"",False

   412

   413

    def LoadModulesLibrary(self):

   414

        if self.ModulesLibrary is None:

   415

            self.ModulesLibrary = ModulesLibrary(self.GetModulesLibraryPath(), ModulesDatabase)

   416

        else:

   417

            self.ModulesLibrary.LoadModulesLibrary()

   418

   419

    def GetModulesDatabaseInstance(self):

   420

        return ModulesDatabase

   421

   422

    def GetModulesLibraryInstance(self):

   423

        return self.ModulesLibrary

   424

   425

    def GetModulesLibrary(self, profile_filter=None):

   426

        return self.ModulesLibrary.GetModulesLibrary(profile_filter)

   427

   428

    def GetVendors(self):

   429

        return self.ModulesLibrary.GetVendors()

   430

   431

    def GetModuleInfos(self, module_infos):

   432

        return self.ModulesLibrary.GetModuleInfos(module_infos)

   433