1

import os, sys

     2

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

     3

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

     4

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

     5

     6

from nodelist import NodeList

     7

from nodemanager import NodeManager

     8

import config_utils, gen_cfile, eds_utils

     9

from networkedit import networkedit

    10

from objdictedit import objdictedit

    11

import canfestival_config as local_canfestival_config

    13

from commondialogs import CreateNodeDialog

    14

import wx

    15

    16

from SlaveEditor import SlaveEditor

    17

from NetworkEditor import NetworkEditor

    18

    19

from gnosis.xml.pickle import *

    20

from gnosis.xml.pickle.util import setParanoia

    21

setParanoia(0)

    22

    23

if wx.Platform == '__WXMSW__':

    24

    DEFAULT_SETTINGS = {

    25

        "CAN_Driver": "can_tcp_win32",

    26

        "CAN_Device": "127.0.0.1",

    27

        "CAN_Baudrate": "125K",

    28

        "Slave_NodeId": 2,

    29

        "Master_NodeId": 1,

    30

    }

    31

else:

    32

    DEFAULT_SETTINGS = {

    33

        "CAN_Driver": "../CanFestival-3/drivers/can_socket/libcanfestival_can_socket.so",

    34

        "CAN_Device": "vcan0",

    35

        "CAN_Baudrate": "125K",

    36

        "Slave_NodeId": 2,

    37

        "Master_NodeId": 1,

    38

    }

    39

    40

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

    41

#                    SLAVE

    42

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

    43

    44

class _SlavePlug(NodeManager):

    45

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

    46

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

    47

      <xsd:element name="CanFestivalSlaveNode">

    48

        <xsd:complexType>

    49

          <xsd:attribute name="CAN_Device" type="xsd:string" use="optional" default="%(CAN_Device)s"/>

    50

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional" default="%(CAN_Baudrate)s"/>

    51

          <xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Slave_NodeId)d"/>

    52

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

    53

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

    54

            <xsd:simpleType>

    55

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

    56

                    <xsd:minInclusive value="1"/>

    57

                    <xsd:maxInclusive value="99"/>

    58

                </xsd:restriction>

    59

            </xsd:simpleType>

    60

          </xsd:attribute>

    61

        </xsd:complexType>

    62

      </xsd:element>

    63

    </xsd:schema>

    64

    """ % DEFAULT_SETTINGS

    65

    66

    EditorType = SlaveEditor

    67

    68

    def __init__(self):

    69

        # TODO change netname when name change

    70

        NodeManager.__init__(self)

    71

        odfilepath = self.GetSlaveODPath()

    72

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

    73

            self.OpenFileInCurrent(odfilepath)

    74

        else:

    75

            self.FilePath = ""

    76

            dialog = CreateNodeDialog(None, wx.OK)

    77

            dialog.Type.Enable(False)

    78

            dialog.GenSYNC.Enable(False)

    79

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

    80

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

    81

                profile, filepath = dialog.GetProfile()

    82

                NMT = dialog.GetNMTManagement()

    83

                options = dialog.GetOptions()

    84

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

    85

                                   id,         # NodeID - will be changed at build time

    86

                                   "slave",    # Type

    87

                                   description,# description 

    88

                                   profile,    # profile

    89

                                   filepath,   # prfile filepath

    90

                                   NMT,        # NMT

    91

                                   options)     # options

    92

            else:

    93

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

    94

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

    95

                                   "slave",      # Type

    96

                                   "",           # description 

    97

                                   "None",       # profile

    98

                                   "", # prfile filepath

    99

                                   "heartbeat",  # NMT

   100

                                   [])           # options

   101

            dialog.Destroy()

   102

            self.OnPlugSave()

   103

   104

    def GetSlaveODPath(self):

   105

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

   106

   107

    def GetCanDevice(self):

   108

        return self.CanFestivalSlaveNode.getCan_Device()

   109

   110

    def _OpenView(self):

   112

        if self._View is not None:

   113

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

   114

   116

        {"bitmap" : os.path.join("images", "NetworkEdit"),

   117

         "name" : "Edit slave", 

   118

         "tooltip" : "Edit CanOpen slave with ObjdictEdit",

   119

         "method" : "_OpenView"},

   120

    ]

   121

   122

    def OnPlugClose(self):

   123

        if self._View:

   124

            self._View.Close()

   125

   126

    def PlugTestModified(self):

   127

        return self.ChangesToSave or self.OneFileHasChanged()

   128

   129

    def OnPlugSave(self):

   130

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   131

   132

    def SetParamsAttribute(self, path, value):

   134

   135

        # Filter IEC_Channel and Name, that have specific behavior

   136

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

   137

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

   138

   139

        return result

   140

   141

    def PlugGenerate_C(self, buildpath, locations):

   142

        """

   143

        Generate C code

   145

        @param locations: List of complete variables locations \

   146

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

   147

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

   148

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

   149

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

   150

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

   151

            }, ...]

   152

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

   153

        """

   154

        current_location = self.GetCurrentLocation()

   155

        # define a unique name for the generated C file

   156

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

   157

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

   158

        # Create a new copy of the model

   159

        slave = self.GetCurrentNodeCopy()

   160

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

   161

        # allow access to local OD from Slave PLC

   162

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

   163

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

   164

        if res :

   165

            raise Exception, res

   166

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

   167

        if res :

   168

            raise Exception, res

   169

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

   170

   171

    def LoadPrevious(self):

   172

        self.LoadCurrentPrevious()

   173

   174

    def LoadNext(self):

   175

        self.LoadCurrentNext()

   176

   177

    def GetBufferState(self):

   178

        return self.GetCurrentBufferState()

   179

   180

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

   181

#                    MASTER

   182

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

   183

   184

class MiniNodeManager(NodeManager):

   185

   186

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

   187

        NodeManager.__init__(self)

   188

   189

        self.OpenFileInCurrent(filepath)

   190

   191

        self.Parent = parent

   192

        self.Fullname = fullname

   193

   194

    def OnCloseEditor(self, view):

   195

        self.Parent.OnCloseEditor(view)

   196

   197

    def PlugFullName(self):

   198

        return self.Fullname

   199

   200

    def GetBufferState(self):

   201

        return self.GetCurrentBufferState()

   202

   203

class _NodeListPlug(NodeList):

   204

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

   205

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

   206

      <xsd:element name="CanFestivalNode">

   207

        <xsd:complexType>

   208

          <xsd:attribute name="CAN_Device" type="xsd:string" use="optional" default="%(CAN_Device)s"/>

   209

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional" default="%(CAN_Baudrate)s"/>

   210

          <xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Master_NodeId)d"/>

   211

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

   212

        </xsd:complexType>

   213

      </xsd:element>

   214

    </xsd:schema>

   215

    """ % DEFAULT_SETTINGS

   216

   217

    EditorType = NetworkEditor

   218

   219

    def __init__(self):

   220

        manager = NodeManager()

   221

        NodeList.__init__(self, manager)

   222

        self.LoadProject(self.PlugPath())

   223

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

   224

   225

    def GetCanDevice(self):

   226

        return self.CanFestivalNode.getCan_Device()

   227

   228

    def SetParamsAttribute(self, path, value):

   230

   231

        # Filter IEC_Channel and Name, that have specific behavior

   232

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

   233

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

   234

        elif path == "BaseParams.Name":

   235

            self.SetNetworkName(value)

   236

   237

        return result

   238

   239

    def _OpenView(self):

   241

        if self._View is not None:

   242

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

   243

   244

    _GeneratedView = None

   245

    def _ShowMasterGenerated(self):

   246

        if self._GeneratedView is None:

   247

            buildpath = self._getBuildPath()

   248

            # Eventually create build dir

   249

            if not os.path.exists(buildpath):

   250

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

   251

                return

   252

   253

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

   254

            if not os.path.exists(masterpath):

   255

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

   256

                return

   257

   258

            app_frame = self.GetPlugRoot().AppFrame

   259

   260

            manager = MiniNodeManager(self, masterpath, self.PlugFullName() + ".generated_master")

   261

            self._GeneratedView = SlaveEditor(app_frame.TabsOpened, manager, app_frame, False)

   262

   263

            app_frame.EditProjectElement(self._GeneratedView, "MasterGenerated")

   264

   265

    def _CloseGenerateView(self):

   266

        if self._GeneratedView is not None:

   267

            app_frame = self.GetPlugRoot().AppFrame

   268

            if app_frame is not None:

   269

                app_frame.DeletePage(self._GeneratedView)

   270

   272

        {"bitmap" : os.path.join("images", "NetworkEdit"),

   273

         "name" : _("Edit network"), 

   274

         "tooltip" : _("Edit CanOpen Network with NetworkEdit"),

   275

         "method" : "_OpenView"},

   276

        {"bitmap" : os.path.join("images", "ShowMaster"),

   277

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

   278

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

   279

         "method" : "_ShowMasterGenerated"}

   280

    ]

   281

   282

    def OnCloseEditor(self, view):

   284

        if self._GeneratedView == view:

   285

            self._GeneratedView = None

   286

   287

    def OnPlugClose(self):

   289

        self._CloseGenerateView()

   290

        return True

   291

   292

    def PlugTestModified(self):

   293

        return self.ChangesToSave or self.HasChanged()

   294

   295

    def OnPlugSave(self):

   296

        self.SetRoot(self.PlugPath())

   297

        return self.SaveProject() is None

   298

   299

    def PlugGenerate_C(self, buildpath, locations):

   300

        """

   301

        Generate C code

   303

        @param locations: List of complete variables locations \

   304

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

   305

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

   306

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

   307

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

   308

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

   309

            }, ...]

   310

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

   311

        """

   312

        self._CloseGenerateView()

   313

        current_location = self.GetCurrentLocation()

   314

        # define a unique name for the generated C file

   315

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

   316

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

   317

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

   318

        try:

   319

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

   320

        except config_utils.PDOmappingException, e:

   321

            raise Exception, e.message

   322

        # Do generate C file.

   323

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

   324

        if res :

   325

            raise Exception, res

   326

   327

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

   328

        dump(master, file)

   329

        file.close()

   330

   331

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

   332

   333

    def LoadPrevious(self):

   334

        self.Manager.LoadCurrentPrevious()

   335

   336

    def LoadNext(self):

   337

        self.Manager.LoadCurrentNext()

   338

   339

    def GetBufferState(self):

   340

        return self.Manager.GetCurrentBufferState()

   341

   342

class RootClass:

   343

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

   344

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

   345

      <xsd:element name="CanFestivalInstance">

   346

        <xsd:complexType>

   347

          <xsd:attribute name="CAN_Driver" type="xsd:string" use="optional" default="%(CAN_Driver)s"/>

   348

          <xsd:attribute name="Debug_mode" type="xsd:boolean" use="optional" default="false"/>

   349

        </xsd:complexType>

   350

      </xsd:element>

   351

    </xsd:schema>

   352

    """ % DEFAULT_SETTINGS

   353

   354

    PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"),

   355

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

   356

    def GetParamsAttributes(self, path = None):

   358

        for element in infos:

   359

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

   360

                for child in element["children"]:

   361

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

   362

                        DLL_LIST= getattr(local_canfestival_config,"DLL_LIST",None)

   363

                        if DLL_LIST is not None:

   364

                            child["type"] = DLL_LIST  

   365

        return infos

   366

   367

    def GetCanDriver(self):

   368

        can_driver = self.CanFestivalInstance.getCAN_Driver()

   369

        if sys.platform == 'win32':

   370

            if self.CanFestivalInstance.getDebug_mode() and os.path.isfile(os.path.join("%s"%(can_driver + '_DEBUG.dll'))):

   371

                can_driver += '_DEBUG.dll'

   372

            else:

   373

                can_driver += '.dll'

   374

        return can_driver

   375

   376

    def PlugGenerate_C(self, buildpath, locations):

   377

   378

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

   379

                       "candriver" : self.GetCanDriver(),

   380

                       "nodes_includes" : "",

   381

                       "board_decls" : "",

   382

                       "nodes_init" : "",

   383

                       "nodes_open" : "",

   384

                       "nodes_stop" : "",

   385

                       "nodes_close" : "",

   386

                       "nodes_send_sync" : "",

   387

                       "nodes_proceed_sync" : "",

   388

                       "slavebootups" : "",

   389

                       "slavebootup_register" : "",

   390

                       "post_sync" : "",

   391

                       "post_sync_register" : "",

   392

                       }

   393

        for child in self.IECSortedChilds():

   394

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

   395

            nodename = "OD_%s" % childlocstr

   396

   397

            # Try to get Slave Node

   398

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

   399

            if child_data is None:

   400

                # Not a slave -> master

   401

                child_data = getattr(child, "CanFestivalNode")

   402

                # Apply sync setting

   403

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

   404

                       nodename,

   405

                       child_data.getNodeId())

   406

                if child_data.getSync_TPDOs():

   407

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

   408

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

   409

   410

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   411

                SlaveIDs = child.GetSlaveIDs()

   412

                if len(SlaveIDs) == 0:

   413

                    # define post_SlaveBootup lookup functions

   414

                    format_dict["slavebootups"] += (

   415

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

   416

                else:

   417

                    for id in SlaveIDs:

   418

                        format_dict["slavebootups"] += (

   419

                        "int %s_slave_%d_booted = 0;\n"%(nodename, id))

   420

                    # define post_SlaveBootup lookup functions

   421

                    format_dict["slavebootups"] += (

   422

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

   423

                        "    switch(nodeId){\n")

   424

                    # one case per declared node, mark node as booted

   425

                    for id in SlaveIDs:

   426

                        format_dict["slavebootups"] += (

   427

                        "        case %d:\n"%(id)+

   428

                        "            %s_slave_%d_booted = 1;\n"%(nodename, id)+

   429

                        "            break;\n")

   430

                    format_dict["slavebootups"] += (

   431

                        "        default:\n"+

   432

                        "            break;\n"+

   433

                        "    }\n"+

   434

                        "    if( ")

   435

                    # expression to test if all declared nodes booted

   436

                    format_dict["slavebootups"] += " && ".join(["%s_slave_%d_booted"%(nodename, id) for id in SlaveIDs])

   437

                    format_dict["slavebootups"] += " )\n" + (

   438

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

   439

                        "}\n")

   440

                # register previously declared func as post_SlaveBootup callback for that node

   441

                format_dict["slavebootup_register"] += (

   442

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

   443

            else:

   444

                # Slave node

   445

                align = child_data.getSync_Align()

   446

                align_ratio=child_data.getSync_Align_Ratio()

   447

                if align > 0:

   448

                    format_dict["post_sync"] += (

   449

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

   450

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

   451

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

   452

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

   453

                        "        align_tick(-1);\n"+

   454

                        "    }else{\n"+

   455

                        "        align_tick(%d);\n"%(align_ratio)+

   456

                        "    }\n"+

   457

                        "}\n")

   458

                    format_dict["post_sync_register"] += (

   459

                        "%s_Data.post_sync = %s_post_sync;\n"%(nodename,nodename))

   460

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

   461

                       nodename,

   462

                       child_data.getNodeId())

   463

   464

            # Include generated OD headers

   465

            format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)

   466

            # Declare CAN channels according user filled config

   467

            format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(

   468

                   nodename,

   469

                   child.GetCanDevice(),

   470

                   child_data.getCAN_Baudrate())

   471

            format_dict["nodes_open"] += 'NODE_OPEN(%s)\n    '%(nodename)

   472

            format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n    '%(nodename)

   473

            format_dict["nodes_stop"] += 'NODE_STOP(%s)\n    '%(nodename)

   474

   475

        filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")

   476

        cf_main = open(filename).read() % format_dict

   477

        cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)

   478

        f = open(cf_main_path,'w')

   479

        f.write(cf_main)

   480

        f.close()

   481

   482

        return [(cf_main_path, local_canfestival_config.getCFLAGS(CanFestivalPath))],local_canfestival_config.getLDFLAGS(CanFestivalPath), True

   483

   484