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#!/usr/bin/env python

     2

# -*- coding: utf-8 -*-

     3

     4

# This file is part of Beremiz

     5

#

     6

# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT

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#                          RTES Lab : CRKim, JBLee, youcu

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#                          Higen Motor : Donggu Kang

     9

#

    10

# See COPYING file for copyrights details.

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    12

import os

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import cPickle

    14

from lxml import etree

    15

from copy import deepcopy

    16

    17

import wx

    18

    19

from xmlclass import *

    20

    21

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

    22

from ConfigTreeNode import ConfigTreeNode

    23

from dialogs import BrowseValuesLibraryDialog

    24

from IDEFrame import TITLE, FILEMENU, PROJECTTREE

    25

    26

from EthercatSlave import _EthercatSlaveCTN, ExtractHexDecValue, GenerateHexDecValue, TYPECONVERSION, VARCLASSCONVERSION, _CommonSlave

    27

from EthercatCFileGenerator import _EthercatCFileGenerator

    28

from ConfigEditor import MasterEditor

    29

from POULibrary import POULibrary

    30

    31

try:

    32

    from EthercatCIA402Slave import _EthercatCIA402SlaveCTN

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    HAS_MCL = True

    34

except Exception:

    35

    HAS_MCL = False

    36

    37

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

    38

#         Remote Exec Etherlab Commands

    39

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

    40

    41

SCAN_COMMAND = """

    42

import commands

    43

result = commands.getoutput("ethercat slaves")

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slaves = []

    45

for slave_line in result.splitlines():

    46

    chunks = slave_line.split()

    47

    idx, pos, state, flag = chunks[:4]

    48

    name = " ".join(chunks[4:])

    49

    alias, position = pos.split(":")

    50

    slave = {"idx": int(idx),

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             "alias": int(alias),

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             "position": int(position),

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             "name": name}

    54

    details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"])

    55

    for details_line in details.splitlines():

    56

        details_line = details_line.strip()

    57

        for header, param in [("Vendor Id:", "vendor_id"),

    58

                              ("Product code:", "product_code"),

    59

                              ("Revision number:", "revision_number")]:

    60

            if details_line.startswith(header):

    61

                slave[param] = details_line.split()[-1]

    62

                break

    63

    slaves.append(slave)

    64

returnVal = slaves

    65

"""

    66

    67

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

    68

#      Etherlab Specific Blocks Library

    69

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

    70

    71

    72

def GetLocalPath(filename):

    73

    return os.path.join(os.path.split(__file__)[0], filename)

    74

    75

    76

class EtherlabLibrary(POULibrary):

    77

    def GetLibraryPath(self):

    78

        return GetLocalPath("pous.xml")

    79

    80

    def Generate_C(self, buildpath, varlist, IECCFLAGS):

    81

        etherlab_ext_file = open(GetLocalPath("etherlab_ext.c"), 'r')

    82

        etherlab_ext_code = etherlab_ext_file.read()

    83

        etherlab_ext_file.close()

    84

    85

        Gen_etherlabfile_path = os.path.join(buildpath, "etherlab_ext.c")

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        ethelabfile = open(Gen_etherlabfile_path, 'w')

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        ethelabfile.write(etherlab_ext_code)

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        ethelabfile.close()

    89

    90

        runtimefile_path = os.path.join(os.path.split(__file__)[0], "runtime_etherlab.py")

    91

        return ((["etherlab_ext"], [(Gen_etherlabfile_path, IECCFLAGS)], True), "",

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                ("runtime_etherlab.py", file(GetLocalPath("runtime_etherlab.py"))))

    93

    94

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

    95

#                 Ethercat MASTER

    96

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

    97

    98

EtherCATConfigParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd"))

    99

   100

   101

def sort_commands(x, y):

   102

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

   103

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

   104

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

   105

   106

cls = EtherCATConfigParser.GetElementClass("Slave", "Config")

   107

if cls:

   108

   109

    def getType(self):

   110

        slave_info = self.getInfo()

   111

        return {"device_type": slave_info.getName(),

   112

                "vendor": GenerateHexDecValue(slave_info.getVendorId()),

   113

                "product_code": GenerateHexDecValue(slave_info.getProductCode(), 16),

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                "revision_number": GenerateHexDecValue(slave_info.getRevisionNo(), 16)}

   115

    setattr(cls, "getType", getType)

   116

   117

    def setType(self, type_infos):

   118

        slave_info = self.getInfo()

   119

        slave_info.setName(type_infos["device_type"])

   120

        slave_info.setVendorId(ExtractHexDecValue(type_infos["vendor"]))

   121

        slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"]))

   122

        slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"]))

   123

    setattr(cls, "setType", setType)

   124

   125

    def getInitCmds(self, create_default=False):

   126

        Mailbox = self.getMailbox()

   127

        if Mailbox is None:

   128

            if create_default:

   129

                self.addMailbox()

   130

                Mailbox = self.getMailbox()

   131

            else:

   132

                return None

   133

        CoE = Mailbox.getCoE()

   134

        if CoE is None:

   135

            if create_default:

   136

                Mailbox.addCoE()

   137

                CoE = Mailbox.getCoE()

   138

            else:

   139

                return None

   140

        InitCmds = CoE.getInitCmds()

   141

        if InitCmds is None and create_default:

   142

            CoE.addInitCmds()

   143

            InitCmds = CoE.getInitCmds()

   144

        return InitCmds

   145

    setattr(cls, "getInitCmds", getInitCmds)

   146

   147

    def getStartupCommands(self):

   148

        pos = self.getInfo().getPhysAddr()

   149

        InitCmds = self.getInitCmds()

   150

        if InitCmds is None:

   151

            return []

   152

        commands = []

   153

        for idx, InitCmd in enumerate(InitCmds.getInitCmd()):

   154

            comment = InitCmd.getComment()

   155

            if comment is None:

   156

                comment = ""

   157

            commands.append({

   158

                "command_idx": idx,

   159

                "Position": pos,

   160

                "Index": InitCmd.getIndex(),

   161

                "Subindex": InitCmd.getSubIndex(),

   162

                "Value": InitCmd.getData(),

   163

                "Description": comment})

   164

        commands.sort(sort_commands)

   165

        return commands

   166

    setattr(cls, "getStartupCommands", getStartupCommands)

   167

   168

    def appendStartupCommand(self, command_infos):

   169

        InitCmds = self.getInitCmds(True)

   170

        command = EtherCATConfigParser.CreateElement("InitCmd", "InitCmds", 1)

   171

        InitCmds.appendInitCmd(command)

   172

        command.setIndex(command_infos["Index"])

   173

        command.setSubIndex(command_infos["Subindex"])

   174

        command.setData(command_infos["Value"])

   175

        command.setComment(command_infos["Description"])

   176

        return len(InitCmds.getInitCmd()) - 1

   177

    setattr(cls, "appendStartupCommand", appendStartupCommand)

   178

   179

    def setStartupCommand(self, command_infos):

   180

        InitCmds = self.getInitCmds()

   181

        if InitCmds is not None:

   182

            commands = InitCmds.getInitCmd()

   183

            if command_infos["command_idx"] < len(commands):

   184

                command = commands[command_infos["command_idx"]]

   185

                command.setIndex(command_infos["Index"])

   186

                command.setSubIndex(command_infos["Subindex"])

   187

                command.setData(command_infos["Value"])

   188

                command.setComment(command_infos["Description"])

   189

    setattr(cls, "setStartupCommand", setStartupCommand)

   190

   191

    def removeStartupCommand(self, command_idx):

   192

        InitCmds = self.getInitCmds()

   193

        if InitCmds is not None:

   194

            if command_idx < len(InitCmds.getInitCmd()):

   195

                InitCmds.removeInitCmd(command_idx)

   196

    setattr(cls, "removeStartupCommand", removeStartupCommand)

   197

   198

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

   199

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

   200

      <xsd:element name="ProcessVariables">

   201

        <xsd:complexType>

   202

          <xsd:sequence>

   203

            <xsd:element name="variable" minOccurs="0" maxOccurs="unbounded">

   204

              <xsd:complexType>

   205

                <xsd:sequence>

   206

                  <xsd:element name="ReadFrom" type="LocationDesc" minOccurs="0"/>

   207

                  <xsd:element name="WriteTo" type="LocationDesc" minOccurs="0"/>

   208

                </xsd:sequence>

   209

                <xsd:attribute name="Name" type="xsd:string" use="required"/>

   210

                <xsd:attribute name="Comment" type="xsd:string" use="required"/>

   211

              </xsd:complexType>

   212

            </xsd:element>

   213

          </xsd:sequence>

   214

        </xsd:complexType>

   215

      </xsd:element>

   216

      <xsd:complexType name="LocationDesc">

   217

        <xsd:attribute name="Position" type="xsd:integer" use="required"/>

   218

        <xsd:attribute name="Index" type="xsd:integer" use="required"/>

   219

        <xsd:attribute name="SubIndex" type="xsd:integer" use="required"/>

   220

      </xsd:complexType>

   221

    </xsd:schema>

   222

"""

   223

   224

ProcessVariablesParser = GenerateParserFromXSDstring(ProcessVariablesXSD)

   225

   226

   227

class _EthercatCTN:

   228

   229

    CTNChildrenTypes = [("EthercatSlave", _EthercatSlaveCTN, "Ethercat Slave")]

   230

    if HAS_MCL:

   231

        CTNChildrenTypes.append(("EthercatCIA402Slave", _EthercatCIA402SlaveCTN, "Ethercat CIA402 Slave"))

   232

    EditorType = MasterEditor

   233

   234

    def __init__(self):

   235

        config_filepath = self.ConfigFileName()

   236

        config_is_saved = False

   237

        self.Config = None

   238

        if os.path.isfile(config_filepath):

   239

            config_xmlfile = open(config_filepath, 'r')

   240

            try:

   241

                self.Config, error = \

   242

                    EtherCATConfigParser.LoadXMLString(config_xmlfile.read())

   243

                if error is None:

   244

                    config_is_saved = True

   245

            except Exception, e:

   246

                error = e.message

   247

            config_xmlfile.close()

   248

   249

            if error is not None:

   250

                self.GetCTRoot().logger.write_error(

   251

                    _("Couldn't load %s network configuration file.") % CTNName)

   252

   253

        if self.Config is None:

   254

            self.Config = EtherCATConfigParser.CreateElement("EtherCATConfig")

   255

   256

        process_filepath = self.ProcessVariablesFileName()

   257

        process_is_saved = False

   258

        self.ProcessVariables = None

   259

        if os.path.isfile(process_filepath):

   260

            process_xmlfile = open(process_filepath, 'r')

   261

            try:

   262

                self.ProcessVariables, error = \

   263

                    ProcessVariablesParser.LoadXMLString(process_xmlfile.read())

   264

                if error is None:

   265

                    process_is_saved = True

   266

            except Exception, e:

   267

                error = e.message

   268

            process_xmlfile.close()

   269

   270

            if error is not None:

   271

                self.GetCTRoot().logger.write_error(

   272

                    _("Couldn't load %s network process variables file.") % CTNName)

   273

   274

        if self.ProcessVariables is None:

   275

            self.ProcessVariables = ProcessVariablesParser.CreateElement("ProcessVariables")

   276

   277

        if config_is_saved and process_is_saved:

   278

            self.CreateBuffer(True)

   279

        else:

   280

            self.CreateBuffer(False)

   281

            self.OnCTNSave()

   282

   283

        # ----------- call ethercat mng. function --------------

   284

        self.CommonMethod = _CommonSlave(self)

   285

   286

    def GetIconName(self):

   287

        return "Ethercat"

   288

   289

    def GetContextualMenuItems(self):

   290

        return [("Add Ethercat Slave", "Add Ethercat Slave to Master", self.OnAddEthercatSlave)]

   291

   292

    def OnAddEthercatSlave(self, event):

   293

        app_frame = self.GetCTRoot().AppFrame

   294

        dialog = BrowseValuesLibraryDialog(app_frame,

   295

            "Ethercat Slave Type", self.GetSlaveTypesLibrary())

   296

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

   297

            type_infos = dialog.GetValueInfos()

   298

            device, module_extra_params = self.GetModuleInfos(type_infos)

   299

            if device is not None:

   300

                if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():

   301

                    ConfNodeType = "EthercatCIA402Slave"

   302

                else:

   303

                    ConfNodeType = "EthercatSlave"

   304

                new_child = self.CTNAddChild("%s_0" % ConfNodeType, ConfNodeType)

   305

                new_child.SetParamsAttribute("SlaveParams.Type", type_infos)

   306

                self.CTNRequestSave()

   307

                new_child._OpenView()

   308

                app_frame._Refresh(TITLE, FILEMENU, PROJECTTREE)

   309

        dialog.Destroy()

   310

   311

    def ExtractHexDecValue(self, value):

   312

        return ExtractHexDecValue(value)

   313

   314

    def GetSizeOfType(self, type):

   315

        return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)

   316

   317

    def ConfigFileName(self):

   318

        return os.path.join(self.CTNPath(), "config.xml")

   319

   320

    def ProcessVariablesFileName(self):

   321

        return os.path.join(self.CTNPath(), "process_variables.xml")

   322

   323

    def FilterSlave(self, slave, vendor=None, slave_pos=None, slave_profile=None):

   324

        if slave_pos is not None and slave.getInfo().getPhysAddr() != slave_pos:

   325

            return False

   326

        type_infos = slave.getType()

   327

        if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor:

   328

            return False

   329

        device, module_extra_params = self.GetModuleInfos(type_infos)

   330

        if slave_profile is not None and slave_profile not in device.GetProfileNumbers():

   331

            return False

   332

        return True

   333

   334

    def GetSlaveName(self, slave_pos):

   335

        CTNChild = self.GetChildByIECLocation((slave_pos,))

   336

        if CTNChild is not None:

   337

            return CTNChild.CTNName()

   338

        return self.CTNName()

   339

   340

    def GetSlaves(self, vendor=None, slave_pos=None, slave_profile=None):

   341

        slaves = []

   342

        for slave in self.Config.getConfig().getSlave():

   343

            if self.FilterSlave(slave, vendor, slave_pos, slave_profile):

   344

                slaves.append(slave.getInfo().getPhysAddr())

   345

        slaves.sort()

   346

        return slaves

   347

   348

    def GetSlave(self, slave_pos):

   349

        for slave in self.Config.getConfig().getSlave():

   350

            slave_info = slave.getInfo()

   351

            if slave_info.getPhysAddr() == slave_pos:

   352

                return slave

   353

        return None

   354

   355

    def GetStartupCommands(self, vendor=None, slave_pos=None, slave_profile=None):

   356

        commands = []

   357

        for slave in self.Config.getConfig().getSlave():

   358

            if self.FilterSlave(slave, vendor, slave_pos, slave_profile):

   359

                commands.append((slave.getInfo().getPhysAddr(), slave.getStartupCommands()))

   360

        commands.sort()

   361

        return reduce(lambda x, y: x + y[1], commands, [])

   362

   363

    def AppendStartupCommand(self, command_infos):

   364

        slave = self.GetSlave(command_infos["Position"])

   365

        if slave is not None:

   366

            command_idx = slave.appendStartupCommand(command_infos)

   367

            self.BufferModel()

   368

            return command_idx

   369

        return None

   370

   371

    def SetStartupCommandInfos(self, command_infos):

   372

        slave = self.GetSlave(command_infos["Position"])

   373

        if slave is not None:

   374

            slave.setStartupCommand(command_infos)

   375

            self.BufferModel()

   376

   377

    def RemoveStartupCommand(self, slave_pos, command_idx, buffer=True):

   378

        slave = self.GetSlave(slave_pos)

   379

        if slave is not None:

   380

            slave.removeStartupCommand(command_idx)

   381

            if buffer:

   382

                self.BufferModel()

   383

   384

    def SetProcessVariables(self, variables):

   385

        vars = []

   386

        for var in variables:

   387

            variable = ProcessVariablesParser.CreateElement("variable", "ProcessVariables")

   388

            variable.setName(var["Name"])

   389

            variable.setComment(var["Description"])

   390

            if var["ReadFrom"] != "":

   391

                position, index, subindex = var["ReadFrom"]

   392

                if variable.getReadFrom() is None:

   393

                    variable.addReadFrom()

   394

                read_from = variable.getReadFrom()

   395

                read_from.setPosition(position)

   396

                read_from.setIndex(index)

   397

                read_from.setSubIndex(subindex)

   398

            elif variable.getReadFrom() is not None:

   399

                variable.deleteReadFrom()

   400

            if var["WriteTo"] != "":

   401

                position, index, subindex = var["WriteTo"]

   402

                if variable.getWriteTo() is None:

   403

                    variable.addWriteTo()

   404

                write_to = variable.getWriteTo()

   405

                write_to.setPosition(position)

   406

                write_to.setIndex(index)

   407

                write_to.setSubIndex(subindex)

   408

            elif variable.getWriteTo() is not None:

   409

                variable.deleteWriteTo()

   410

            vars.append(variable)

   411

        self.ProcessVariables.setvariable(vars)

   412

        self.BufferModel()

   413

   414

    def GetProcessVariables(self):

   415

        variables = []

   416

        idx = 0

   417

        for variable in self.ProcessVariables.getvariable():

   418

            var = {"Name": variable.getName(),

   419

                   "Number": idx,

   420

                   "Description": variable.getComment()}

   421

            read_from = variable.getReadFrom()

   422

            if read_from is not None:

   423

                var["ReadFrom"] = (read_from.getPosition(),

   424

                                   read_from.getIndex(),

   425

                                   read_from.getSubIndex())

   426

            else:

   427

                var["ReadFrom"] = ""

   428

            write_to = variable.getWriteTo()

   429

            if write_to is not None:

   430

                var["WriteTo"] = (write_to.getPosition(),

   431

                                   write_to.getIndex(),

   432

                                   write_to.getSubIndex())

   433

            else:

   434

                var["WriteTo"] = ""

   435

            variables.append(var)

   436

            idx += 1

   437

        return variables

   438

   439

    def _ScanNetwork(self):

   440

        app_frame = self.GetCTRoot().AppFrame

   441

   442

        execute = True

   443

        if len(self.Children) > 0:

   444

            dialog = wx.MessageDialog(app_frame,

   445

                _("The current network configuration will be deleted.\nDo you want to continue?"),

   446

                _("Scan Network"),

   448

            execute = dialog.ShowModal() == wx.ID_YES

   449

            dialog.Destroy()

   450

   451

        if execute:

   452

            error, returnVal = self.RemoteExec(SCAN_COMMAND, returnVal=None)

   453

            if error != 0:

   455

                dialog.ShowModal()

   456

                dialog.Destroy()

   457

            elif returnVal is not None:

   458

                for child in self.IECSortedChildren():

   459

                    self._doRemoveChild(child)

   460

   461

                for slave in returnVal:

   462

                    type_infos = {

   463

                        "vendor": slave["vendor_id"],

   464

                        "product_code": slave["product_code"],

   465

                        "revision_number": slave["revision_number"],

   466

                    }

   467

                    device, module_extra_params = self.GetModuleInfos(type_infos)

   468

                    if device is not None:

   469

                        if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():

   470

                            CTNType = "EthercatCIA402Slave"

   471

                        else:

   472

                            CTNType = "EthercatSlave"

   473

                        self.CTNAddChild("slave%s" % slave["idx"], CTNType, slave["idx"])

   474

                        self.SetSlaveAlias(slave["idx"], slave["alias"])

   475

                        type_infos["device_type"] = device.getType().getcontent()

   476

                        self.SetSlaveType(slave["idx"], type_infos)

   477

   478

                if app_frame:

   479

                    app_frame.RefreshProjectTree()

   480

   481

    def CTNAddChild(self, CTNName, CTNType, IEC_Channel=0):

   482

        """

   483

        Create the confnodes that may be added as child to this node self

   484

        @param CTNType: string desining the confnode class name (get name from CTNChildrenTypes)

   485

        @param CTNName: string for the name of the confnode instance

   486

        """

   487

        newConfNodeOpj = ConfigTreeNode.CTNAddChild(self, CTNName, CTNType, IEC_Channel)

   488

   489

        slave = self.GetSlave(newConfNodeOpj.BaseParams.getIEC_Channel())

   490

        if slave is None:

   491

            slave = EtherCATConfigParser.CreateElement("Slave", "Config")

   492

            self.Config.getConfig().appendSlave(slave)

   493

            slave_infos = slave.getInfo()

   494

            slave_infos.setName("undefined")

   495

            slave_infos.setPhysAddr(newConfNodeOpj.BaseParams.getIEC_Channel())

   496

            slave_infos.setAutoIncAddr(0)

   497

            self.BufferModel()

   498

            self.OnCTNSave()

   499

   500

        return newConfNodeOpj

   501

   502

    def _doRemoveChild(self, CTNInstance):

   503

        slave_pos = CTNInstance.GetSlavePos()

   504

        config = self.Config.getConfig()

   505

        for idx, slave in enumerate(config.getSlave()):

   506

            slave_infos = slave.getInfo()

   507

            if slave_infos.getPhysAddr() == slave_pos:

   508

                config.removeSlave(idx)

   509

                self.BufferModel()

   510

                self.OnCTNSave()

   511

        ConfigTreeNode._doRemoveChild(self, CTNInstance)

   512