1

import os, sys

     2

     3

base_folder = os.path.split(sys.path[0])[0]

     4

CanFestivalPath = os.path.join(base_folder, "CanFestival-3")

     5

sys.path.append(os.path.join(CanFestivalPath, "objdictgen"))

     6

     7

import wx

     8

     9

from nodelist import NodeList

    10

from nodemanager import NodeManager

    11

import config_utils, gen_cfile, eds_utils

    12

from networkedit import networkedit

    13

from objdictedit import objdictedit

    14

import canfestival_config as local_canfestival_config

    15

from ConfigTreeNode import ConfigTreeNode

    16

from commondialogs import CreateNodeDialog

    17

    18

from SlaveEditor import SlaveEditor, MasterViewer

    19

from NetworkEditor import NetworkEditor

    20

    21

from gnosis.xml.pickle import *

    22

from gnosis.xml.pickle.util import setParanoia

    23

setParanoia(0)

    24

    25

from util.TranslationCatalogs import AddCatalog

    26

AddCatalog(os.path.join(CanFestivalPath, "objdictgen", "locale"))

    27

    28

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

    29

#                    SLAVE

    30

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

    31

    32

class _SlaveCTN(NodeManager):

    33

    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

    34

    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

    35

      <xsd:element name="CanFestivalSlaveNode">

    36

        <xsd:complexType>

    37

          <xsd:attribute name="CAN_Device" type="xsd:string" use="optional"/>

    38

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional"/>

    39

          <xsd:attribute name="NodeId" type="xsd:integer" use="optional" default="2"/>

    40

          <xsd:attribute name="Sync_Align" type="xsd:integer" use="optional" default="0"/>

    41

          <xsd:attribute name="Sync_Align_Ratio" use="optional" default="50">

    42

            <xsd:simpleType>

    43

                <xsd:restriction base="xsd:integer">

    44

                    <xsd:minInclusive value="1"/>

    45

                    <xsd:maxInclusive value="99"/>

    46

                </xsd:restriction>

    47

            </xsd:simpleType>

    48

          </xsd:attribute>

    49

        </xsd:complexType>

    50

      </xsd:element>

    51

    </xsd:schema>

    52

    """

    53

    54

    EditorType = SlaveEditor

    55

    IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")

    56

    57

    def __init__(self):

    58

        # TODO change netname when name change

    59

        NodeManager.__init__(self)

    60

        odfilepath = self.GetSlaveODPath()

    61

        if(os.path.isfile(odfilepath)):

    62

            self.OpenFileInCurrent(odfilepath)

    63

        else:

    64

            self.FilePath = ""

    65

            dialog = CreateNodeDialog(None, wx.OK)

    66

            dialog.Type.Enable(False)

    67

            dialog.GenSYNC.Enable(False)

    68

            if dialog.ShowModal() == wx.ID_OK:

    69

                name, id, nodetype, description = dialog.GetValues()

    70

                profile, filepath = dialog.GetProfile()

    71

                NMT = dialog.GetNMTManagement()

    72

                options = dialog.GetOptions()

    73

                self.CreateNewNode(name,       # Name - will be changed at build time

    74

                                   id,         # NodeID - will be changed at build time

    75

                                   "slave",    # Type

    76

                                   description,# description 

    77

                                   profile,    # profile

    78

                                   filepath,   # prfile filepath

    79

                                   NMT,        # NMT

    80

                                   options)     # options

    81

            else:

    82

                self.CreateNewNode("SlaveNode",  # Name - will be changed at build time

    83

                                   0x00,         # NodeID - will be changed at build time

    84

                                   "slave",      # Type

    85

                                   "",           # description 

    86

                                   "None",       # profile

    87

                                   "", # prfile filepath

    88

                                   "heartbeat",  # NMT

    89

                                   [])           # options

    90

            dialog.Destroy()

    91

            self.OnCTNSave()

    92

    93

    def GetCurrentNodeName(self):

    94

        return self.CTNName()

    95

    96

    def GetSlaveODPath(self):

    97

        return os.path.join(self.CTNPath(), 'slave.od')

    98

    99

    def GetCanDevice(self):

   100

        return self.CanFestivalSlaveNode.getCAN_Device()

   101

   102

    def _OpenView(self, name=None, onlyopened=False):

   103

        ConfigTreeNode._OpenView(self, name, onlyopened)

   104

        if self._View is not None:

   105

            self._View.SetBusId(self.GetCurrentLocation())

   106

        return self._View

   107

   108

    def _ExportSlave(self):

   109

        dialog = wx.FileDialog(self.GetCTRoot().AppFrame, 

   110

                               _("Choose a file"), 

   111

                               os.path.expanduser("~"), 

   112

                               "%s.eds" % self.CTNName(),  

   113

                               _("EDS files (*.eds)|*.eds|All files|*.*"),

   114

                               wx.SAVE|wx.OVERWRITE_PROMPT)

   115

        if dialog.ShowModal() == wx.ID_OK:

   116

            result = eds_utils.GenerateEDSFile(dialog.GetPath(), self.GetCurrentNodeCopy())

   117

            if result:

   118

                self.GetCTRoot().logger.write_error(_("Error: Export slave failed\n"))

   119

        dialog.Destroy()  

   120

   121

    ConfNodeMethods = [

   122

        {"bitmap" : "ExportSlave",

   123

         "name" : _("Export slave"), 

   124

         "tooltip" : _("Export CanOpen slave to EDS file"),

   125

         "method" : "_ExportSlave"},

   126

    ]

   127

   128

    def CTNTestModified(self):

   129

        return self.ChangesToSave or self.OneFileHasChanged()

   130

   131

    def OnCTNSave(self):

   132

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   133

   134

    def SetParamsAttribute(self, path, value):

   135

        result = ConfigTreeNode.SetParamsAttribute(self, path, value)

   136

   137

        # Filter IEC_Channel and Name, that have specific behavior

   138

        if path == "BaseParams.IEC_Channel" and self._View is not None:

   139

            self._View.SetBusId(self.GetCurrentLocation())

   140

   141

        return result

   142

   143

    def CTNGenerate_C(self, buildpath, locations):

   144

        """

   145

        Generate C code

   146

        @param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)

   147

        @param locations: List of complete variables locations \

   148

            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)

   149

            "NAME" : name of the variable (generally "__IW0_1_2" style)

   150

            "DIR" : direction "Q","I" or "M"

   151

            "SIZE" : size "X", "B", "W", "D", "L"

   152

            "LOC" : tuple of interger for IEC location (0,1,2,...)

   153

            }, ...]

   154

        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND

   155

        """

   156

        current_location = self.GetCurrentLocation()

   157

        # define a unique name for the generated C file

   158

        prefix = "_".join(map(str, current_location))

   159

        Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )

   160

        # Create a new copy of the model

   161

        slave = self.GetCurrentNodeCopy()

   162

        slave.SetNodeName("OD_%s"%prefix)

   163

        # allow access to local OD from Slave PLC

   164

        pointers = config_utils.LocalODPointers(locations, current_location, slave)

   165

        res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)

   166

        if res :

   167

            raise Exception, res

   168

        res = eds_utils.GenerateEDSFile(os.path.join(buildpath, "Slave_%s.eds"%prefix), slave)

   169

        if res :

   170

            raise Exception, res

   171

        return [(Gen_OD_path,local_canfestival_config.getCFLAGS(CanFestivalPath))],"",False

   172

   173

    def LoadPrevious(self):

   174

        self.LoadCurrentPrevious()

   175

   176

    def LoadNext(self):

   177

        self.LoadCurrentNext()

   178

   179

    def GetBufferState(self):

   180

        return self.GetCurrentBufferState()

   181

   182

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

   183

#                    MASTER

   184

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

   185

   186

class MiniNodeManager(NodeManager):

   187

   188

    def __init__(self, parent, filepath, fullname):

   189

        NodeManager.__init__(self)

   190

   191

        self.OpenFileInCurrent(filepath)

   192

   193

        self.Parent = parent

   194

        self.Fullname = fullname

   195

   196

    def GetIconName(self):

   197

        return None

   198

   199

    def OnCloseEditor(self, view):

   200

        self.Parent.OnCloseEditor(view)

   201

   202

    def CTNFullName(self):

   203

        return self.Fullname

   204

   205

    def CTNTestModified(self):

   206

        return False

   207

   208

    def GetBufferState(self):

   209

        return self.GetCurrentBufferState()

   210

   211

    ConfNodeMethods = []

   212

   213

class _NodeManager(NodeManager):

   214

   215

    def __init__(self, parent, *args, **kwargs):

   216

        NodeManager.__init__(self, *args, **kwargs)

   217

        self.Parent = parent

   218

   219

    def __del__(self):

   220

        self.Parent = None

   221

   222

    def GetCurrentNodeName(self):

   223

        return self.Parent.CTNName()

   224

   225

    def GetCurrentNodeID(self):

   226

        return self.Parent.CanFestivalNode.getNodeId()

   227

   228

class _NodeListCTN(NodeList):

   229

    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

   230

    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

   231

      <xsd:element name="CanFestivalNode">

   232

        <xsd:complexType>

   233

          <xsd:attribute name="CAN_Device" type="xsd:string" use="optional"/>

   234

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional"/>

   235

          <xsd:attribute name="NodeId" type="xsd:integer" use="optional" default="1"/>

   236

          <xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>

   237

        </xsd:complexType>

   238

      </xsd:element>

   239

    </xsd:schema>

   240

    """ 

   241

   242

    EditorType = NetworkEditor

   243

    IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")

   244

   245

    def __init__(self):

   246

        manager = _NodeManager(self)

   247

        NodeList.__init__(self, manager)

   248

        self.LoadProject(self.CTNPath())

   249

        self.SetNetworkName(self.BaseParams.getName())

   250

   251

    def GetCanDevice(self):

   252

        return self.CanFestivalNode.getCAN_Device()

   253

   254

    def SetParamsAttribute(self, path, value):

   255

        if path == "CanFestivalNode.NodeId":

   256

            nodeid = self.CanFestivalNode.getNodeId()

   257

            if value != nodeid:

   258

                slaves = self.GetSlaveIDs()

   259

                dir = (value - nodeid) / abs(value - nodeid)

   260

                while value in slaves and value >= 0:

   261

                    value += dir

   262

                if value < 0:

   263

                    value = nodeid

   264

   265

        value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value)

   266

        refresh_network = False

   267

   268

        # Filter IEC_Channel and Name, that have specific behavior

   269

        if path == "BaseParams.IEC_Channel" and self._View is not None:

   270

            self._View.SetBusId(self.GetCurrentLocation())

   271

        elif path == "BaseParams.Name":

   272

            self.SetNetworkName(value)

   273

            refresh_network = True

   274

        elif path == "CanFestivalNode.NodeId":

   275

            refresh_network = True

   276

   277

        if refresh_network and self._View is not None:

   278

            wx.CallAfter(self._View.RefreshBufferState)

   279

        return value, refresh

   280

   281

    _GeneratedMasterView = None

   282

    def _ShowGeneratedMaster(self):

   283

        self._OpenView("Generated master")

   284

   285

    def _OpenView(self, name=None, onlyopened=False):

   286

        if name == "Generated master":

   287

            app_frame = self.GetCTRoot().AppFrame

   288

            if self._GeneratedMasterView is None:

   289

                buildpath = self._getBuildPath()

   290

                # Eventually create build dir

   291

                if not os.path.exists(buildpath):

   292

                    self.GetCTRoot().logger.write_error(_("Error: No PLC built\n"))

   293

                    return

   294

   295

                masterpath = os.path.join(buildpath, "MasterGenerated.od")

   296

                if not os.path.exists(masterpath):

   297

                    self.GetCTRoot().logger.write_error(_("Error: No Master generated\n"))

   298

                    return

   299

   300

                manager = MiniNodeManager(self, masterpath, self.CTNFullName())

   301

                self._GeneratedMasterView = MasterViewer(app_frame.TabsOpened, manager, app_frame, name)

   302

   303

            if self._GeneratedMasterView is not None:

   304

                app_frame.EditProjectElement(self._GeneratedMasterView, self._GeneratedMasterView.GetInstancePath())

   305

   306

            return self._GeneratedMasterView

   307

        else:

   308

            ConfigTreeNode._OpenView(self, name, onlyopened)

   309

            if self._View is not None:

   310

                self._View.SetBusId(self.GetCurrentLocation())

   311

            return self._View

   312

   313

    ConfNodeMethods = [

   314

        {"bitmap" : "ShowMaster",

   315

         "name" : _("Show Master"), 

   316

         "tooltip" : _("Show Master generated by config_utils"),

   317

         "method" : "_ShowGeneratedMaster"}

   318

    ]

   319

   320

    def OnCloseEditor(self, view):

   321

        ConfigTreeNode.OnCloseEditor(self, view)

   322

        if self._GeneratedMasterView == view:

   323

            self._GeneratedMasterView = None

   324

   325

    def OnCTNClose(self):

   326

        ConfigTreeNode.OnCTNClose(self)

   327

        self._CloseView(self._GeneratedMasterView)

   328

        return True

   329

   330

    def CTNTestModified(self):

   331

        return self.ChangesToSave or self.HasChanged()

   332

   333

    def OnCTNSave(self):

   334

        self.SetRoot(self.CTNPath())

   335

        return self.SaveProject() is None

   336

   337

    def CTNGenerate_C(self, buildpath, locations):

   338

        """

   339

        Generate C code

   340

        @param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)

   341

        @param locations: List of complete variables locations \

   342

            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)

   343

            "NAME" : name of the variable (generally "__IW0_1_2" style)

   344

            "DIR" : direction "Q","I" or "M"

   345

            "SIZE" : size "X", "B", "W", "D", "L"

   346

            "LOC" : tuple of interger for IEC location (0,1,2,...)

   347

            }, ...]

   348

        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND

   349

        """

   350

        self._CloseView(self._GeneratedMasterView)

   351

        current_location = self.GetCurrentLocation()

   352

        # define a unique name for the generated C file

   353

        prefix = "_".join(map(str, current_location))

   354

        Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )

   355

        # Create a new copy of the model with DCF loaded with PDO mappings for desired location

   356

        try:

   357

            master, pointers = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(),"OD_%s"%prefix)

   358

        except config_utils.PDOmappingException, e:

   359

            raise Exception, e.message

   360

        # Do generate C file.

   361

        res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)

   362

        if res :

   363

            raise Exception, res

   364

   365

        file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")

   366

        dump(master, file)

   367

        file.close()

   368

   369

        return [(Gen_OD_path,local_canfestival_config.getCFLAGS(CanFestivalPath))],"",False

   370

   371

    def LoadPrevious(self):

   372

        self.Manager.LoadCurrentPrevious()

   373

   374

    def LoadNext(self):

   375

        self.Manager.LoadCurrentNext()

   376

   377

    def GetBufferState(self):

   378

        return self.Manager.GetCurrentBufferState()

   379

   380

class RootClass:

   381

    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

   382

    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

   383

      <xsd:element name="CanFestivalInstance">

   384

        <xsd:complexType>

   385

          <xsd:attribute name="CAN_Driver" type="xsd:string" use="optional"/>

   386

        </xsd:complexType>

   387

      </xsd:element>

   388

    </xsd:schema>

   389

    """

   390

   391

    CTNChildrenTypes = [("CanOpenNode",_NodeListCTN, "CanOpen Master"),

   392

                       ("CanOpenSlave",_SlaveCTN, "CanOpen Slave")]

   393

    def GetParamsAttributes(self, path = None):

   394

        infos = ConfigTreeNode.GetParamsAttributes(self, path = path)

   395

        for element in infos:

   396

            if element["name"] == "CanFestivalInstance":

   397

                for child in element["children"]:

   398

                    if child["name"] == "CAN_Driver":

   399

                        child["type"] = local_canfestival_config.DLL_LIST

   400

        return infos

   401

   402

    def GetCanDriver(self):

   407

   408

    def CTNGenerate_C(self, buildpath, locations):

   419

   420

        format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())),

   421

                       "candriver" : can_driver_name,

   422

                       "nodes_includes" : "",

   423

                       "board_decls" : "",

   424

                       "nodes_init" : "",

   425

                       "nodes_open" : "",

   426

                       "nodes_stop" : "",

   427

                       "nodes_close" : "",

   428

                       "nodes_send_sync" : "",

   429

                       "nodes_proceed_sync" : "",

   430

                       "slavebootups" : "",

   431

                       "slavebootup_register" : "",

   432

                       "post_sync" : "",

   433

                       "post_sync_register" : "",

   434

                       "pre_op" : "",

   435

                       "pre_op_register" : "",

   436

                       }

   437

        for child in self.IECSortedChildren():

   438

            childlocstr = "_".join(map(str,child.GetCurrentLocation()))

   439

            nodename = "OD_%s" % childlocstr

   440

   441

            # Try to get Slave Node

   442

            child_data = getattr(child, "CanFestivalSlaveNode", None)

   443

            if child_data is None:

   444

                # Not a slave -> master

   445

                child_data = getattr(child, "CanFestivalNode")

   446

                # Apply sync setting

   447

                format_dict["nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n    '%(

   448

                       nodename,

   449

                       child_data.getNodeId())

   450

                if child_data.getSync_TPDOs():

   451

                    format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n    '%(nodename)

   452

                    format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n    '%(nodename)

   453

   454

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   455

                SlaveIDs = child.GetSlaveIDs()

   456

                if len(SlaveIDs) == 0:

   457

                    # define post_SlaveBootup lookup functions

   458

                    format_dict["slavebootups"] += (

   459

                        "static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){}\n"%(nodename))

   460

                else:

   461

                    format_dict["slavebootups"] += (

   462

                        "static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"%(nodename)+

   463

                        "    check_and_start_node(d, nodeId);\n"+

   464

                        "}\n")

   465

                # register previously declared func as post_SlaveBootup callback for that node

   466

                format_dict["slavebootup_register"] += (

   467

                    "%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n"%(nodename,nodename))

   468

                format_dict["pre_op"] += (

   469

                    "static void %s_preOperational(CO_Data* d){\n    "%(nodename)+

   470

                    "".join(["    masterSendNMTstateChange(d, %d, NMT_Reset_Comunication);\n"%NdId for NdId in SlaveIDs])+

   471

                    "}\n")

   472

                format_dict["pre_op_register"] += (

   473

                    "%s_Data.preOperational = %s_preOperational;\n"%(nodename,nodename))

   474

            else:

   475

                # Slave node

   476

                align = child_data.getSync_Align()

   477

                align_ratio=child_data.getSync_Align_Ratio()

   478

                if align > 0:

   479

                    format_dict["post_sync"] += (

   480

                        "static int %s_CalCount = 0;\n"%(nodename)+

   481

                        "static void %s_post_sync(CO_Data* d){\n"%(nodename)+

   482

                        "    if(%s_CalCount < %d){\n"%(nodename, align)+

   483

                        "        %s_CalCount++;\n"%(nodename)+

   484

                        "        align_tick(-1);\n"+