1

#!/usr/bin/env python

     2

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

     3

     4

# This file is part of Beremiz

     5

#

     6

# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab., University of Seoul

     7

#

     8

# See COPYING file for copyrights details.

     9

    10

from __future__ import absolute_import

    11

from __future__ import division

    12

import os

    13

import string

    14

from xml.dom import minidom

    15

    16

import wx

    17

import wx.grid

    18

import wx.gizmos

    19

import wx.lib.buttons

    20

    21

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

    22

from controls import CustomGrid, CustomTable

    23

from runtime import PlcStatus

    24

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

    25

    26

# ------------ for register management ---------------

    27

    28

from util.TranslationCatalogs import NoTranslate

    29

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

    30

    31

    32

# ----------------------------- For Sync Manager Table -----------------------------------

    33

def GetSyncManagersTableColnames():

    34

    """

    35

    Returns column names of SyncManager Table in Slave state panel.

    36

    """

    37

    _ = NoTranslate

    38

    return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")]

    39

    40

    41

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

    42

#                    Sync Managers Table

    43

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

    44

class SyncManagersTable(CustomTable):

    45

    def GetValue(self, row, col):

    46

        if row < self.GetNumberRows():

    47

            if col == 0:

    48

                return row

    49

            return self.data[row].get(self.GetColLabelValue(col, False), "")

    50

    51

    52

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

    53

#                    EtherCAT Management Treebook

    54

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

    55

class EtherCATManagementTreebook(wx.Treebook):

    56

    def __init__(self, parent, controler, node_editor):

    57

        """

    58

        Constructor

    59

        @param parent: Reference to the parent wx.ScrolledWindow object

    60

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

    61

        @param node_editor: Reference to Beremiz frame

    62

        """

    63

        wx.Treebook.__init__(self, parent, -1, size=wx.DefaultSize, style=wx.BK_DEFAULT)

    64

        self.parent = parent

    65

        self.Controler = controler

    66

        self.NodeEditor = node_editor

    67

    68

        self.EtherCATManagementClassObject = {}

    69

    70

        # fill EtherCAT Management Treebook

    71

        panels = [

    72

            ("Slave State",        SlaveStatePanelClass, []),

    73

            ("SDO Management",     SDOPanelClass, []),

    74

            ("PDO Monitoring",     PDOPanelClass, []),

    75

            ("ESC Management",     EEPROMAccessPanel, [

    76

                ("Smart View", SlaveSiiSmartView),

    77

                ("Hex View", HexView)]),

    78

            ("Register Access",     RegisterAccessPanel, [])

    79

        ]

    80

        for pname, pclass, subs in panels:

    81

            self.AddPage(pclass(self, self.Controler), pname)

    82

            for spname, spclass in subs:

    83

                self.AddSubPage(spclass(self, self.Controler), spname)

    84

    85

    86

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

    87

#                    For SlaveState Panel

    88

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

    89

class SlaveStatePanelClass(wx.Panel):

    90

    def __init__(self, parent, controler):

    91

        """

    92

        Constructor

    93

        @param parent: Reference to the parent EtherCATManagementTreebook class

    94

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

    95

        """

    96

        wx.Panel.__init__(self, parent, -1, (0, 0), size=wx.DefaultSize, style=wx.SUNKEN_BORDER)

    97

        self.Controler = controler

    98

        self.parent = parent

    99

   100

        # initialize SlaveStatePanel UI dictionaries

   101

        self.StaticBoxDic = {}

   102

        self.StaticTextDic = {}

   103

        self.TextCtrlDic = {}

   104

        self.ButtonDic = {}

   105

   106

        # iniitalize BoxSizer and FlexGridSizer

   107

        self.SizerDic = {

   108

            "SlaveState_main_sizer": wx.BoxSizer(wx.VERTICAL),

   109

            "SlaveState_inner_main_sizer": wx.FlexGridSizer(cols=1, hgap=50, rows=3, vgap=10),

   110

            "SlaveInfosDetailsInnerSizer": wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

   111

            "SyncManagerInnerSizer": wx.FlexGridSizer(cols=1, hgap=5, rows=1, vgap=5),

   112

            "SlaveState_sizer": wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10),

   113

            "SlaveState_up_sizer": wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

   114

            "SlaveState_down_sizer": wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)}

   115

   116

        # initialize StaticBox and StaticBoxSizer

   117

        for box_name, box_label in [

   118

                ("SlaveInfosDetailsBox", "Slave Informations"),

   119

                ("SyncManagerBox", "Sync Manager"),

   120

                ("SlaveStateBox", "Slave State Transition && Monitoring")]:

   121

            self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label))

   122

            self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name])

   123

   124

        for statictext_name, statictext_label, textctrl_name in [

   125

                ("VendorLabel", "Vendor:", "vendor"),

   126

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

   127

                ("RevisionnumberLabel", "Slave Count:", "revision_number"),

   128

                ("PhysicsLabel", "Physics:", "physics")]:

   129

            self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

   130

            self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)

   131

            self.SizerDic["SlaveInfosDetailsInnerSizer"].AddMany([self.StaticTextDic[statictext_name],

   132

                                                                  self.TextCtrlDic[textctrl_name]])

   133

   134

        self.SizerDic["SlaveInfosDetailsBox"].AddSizer(self.SizerDic["SlaveInfosDetailsInnerSizer"])

   135

   136

        self.SyncManagersGrid = CustomGrid(self, size=wx.Size(605, 155), style=wx.VSCROLL)

   137

   138

        self.SizerDic["SyncManagerInnerSizer"].Add(self.SyncManagersGrid)

   139

        self.SizerDic["SyncManagerBox"].Add(self.SizerDic["SyncManagerInnerSizer"])

   140

   141

        buttons = [

   142

            ("InitButton",   0, "INIT", "State Transition to \"Init\" State",     self.OnButtonClick, []),

   143

            ("PreOPButton",  1, "PREOP", "State Transition to \"PreOP\" State",   self.OnButtonClick, [

   144

                ("TargetStateLabel", "Target State:", "TargetState")]),

   145

            ("SafeOPButton", 2, "SAFEOP", "State Transition to \"SafeOP\" State", self.OnButtonClick, []),

   146

            ("OPButton",     3, "OP",  "State Transition to \"OP\" State",        self.OnButtonClick, [

   147

                ("CurrentStateLabel", "Current State:", "CurrentState")])

   148

        ]

   149

        for button_name, button_id, button_label, button_tooltipstring, event_method, sub_item in buttons:

   150

            self.ButtonDic[button_name] = wx.Button(self, id=button_id, label=_(button_label))

   151

            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

   152

            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

   153

            self.SizerDic["SlaveState_up_sizer"].Add(self.ButtonDic[button_name])

   154

            for statictext_name, statictext_label, textctrl_name in sub_item:

   155

                self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

   156

                self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.DefaultSize, style=wx.TE_READONLY)

   157

                self.SizerDic["SlaveState_up_sizer"].AddMany([self.StaticTextDic[statictext_name],

   158

                                                              self.TextCtrlDic[textctrl_name]])

   159

   160

        for button_name, button_label, button_tooltipstring, event_method in [

   161

                ("StartTimerButton", "Start State Monitoring", "Slave State Update Restart", self.StartTimer),

   162

                ("StopTimerButton", "Stop State Monitoring", "Slave State Update Stop", self.CurrentStateThreadStop)]:

   163

            self.ButtonDic[button_name] = wx.Button(self, label=_(button_label))

   164

            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

   165

            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

   166

            self.SizerDic["SlaveState_down_sizer"].Add(self.ButtonDic[button_name])

   167

   168

        self.SizerDic["SlaveState_sizer"].AddMany([self.SizerDic["SlaveState_up_sizer"],

   169

                                                   self.SizerDic["SlaveState_down_sizer"]])

   170

   171

        self.SizerDic["SlaveStateBox"].Add(self.SizerDic["SlaveState_sizer"])

   172

   173

        self.SizerDic["SlaveState_inner_main_sizer"].AddMany([

   174

            self.SizerDic["SlaveInfosDetailsBox"], self.SizerDic["SyncManagerBox"],

   175

            self.SizerDic["SlaveStateBox"]])

   176

   177

        self.SizerDic["SlaveState_main_sizer"].Add(self.SizerDic["SlaveState_inner_main_sizer"])

   178

   179

        self.SetSizer(self.SizerDic["SlaveState_main_sizer"])

   180

   181

        # register a timer for periodic exectuion of slave state update (period: 1000 ms)

   182

        self.Bind(wx.EVT_TIMER, self.GetCurrentState)

   183

   184

        self.CreateSyncManagerTable()

   185

   186

        self.Centre()

   187

   188

    def CreateSyncManagerTable(self):

   189

        """

   190

        Create grid for "SyncManager"

   191

        """

   192

        # declare Table object

   193

        self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames())

   194

        self.SyncManagersGrid.SetTable(self.SyncManagersTable)

   195

        # set grid alignment attr. (CENTER)

   196

        self.SyncManagersGridColAlignements = [wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE,

   197

                                               wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE]

   198

        # set grid size

   199

        self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100]

   200

        self.SyncManagersGrid.SetRowLabelSize(0)

   201

        for col in range(self.SyncManagersTable.GetNumberCols()):

   202

            attr = wx.grid.GridCellAttr()

   203

            attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTRE)

   204

            self.SyncManagersGrid.SetColAttr(col, attr)

   205

            self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col])

   206

            self.SyncManagersGrid.AutoSizeColumn(col, False)

   207

   208

        self.RefreshSlaveInfos()

   209

   210

    def RefreshSlaveInfos(self):

   211

        """

   212

        Fill data in "Slave Information" and "SyncManager"

   213

        """

   214

        slave_infos = self.Controler.GetSlaveInfos()

   215

        sync_manager_section = ["vendor", "product_code", "revision_number", "physics"]

   216

        if slave_infos is not None:

   217

            # this method is same as "TextCtrl.SetValue"

   218

            for textctrl_name in sync_manager_section:

   219

                self.TextCtrlDic[textctrl_name].SetValue(slave_infos[textctrl_name])

   220

            self.SyncManagersTable.SetData(slave_infos["sync_managers"])

   221

            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

   222

        else:

   223

            for textctrl_name in sync_manager_section:

   224

                self.TextCtrlDic[textctrl_name].SetValue("")

   225

            self.SyncManagersTable.SetData([])

   226

            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

   227

   228

    def OnButtonClick(self, event):

   229

        """

   230

        Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button)

   231

        @param event : wx.EVT_BUTTON object

   232

        """

   233

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)

   234

        if check_connect_flag:

   235

            state_dic = ["INIT", "PREOP", "SAFEOP", "OP"]

   236

   237

            # If target state is one of {INIT, PREOP, SAFEOP}, request slave state transition immediately.

   238

            if event.GetId() < 3:

   239

                self.Controler.CommonMethod.RequestSlaveState(state_dic[event.GetId()])

   240

                self.TextCtrlDic["TargetState"].SetValue(state_dic[event.GetId()])

   241

   242

            # If target state is OP, first check "PLC status".

   243

            #  (1) If current PLC status is "Started", then request slave state transition

   244

            #  (2) Otherwise, show error message and return

   245

            else:

   246

                status, _log_count = self.Controler.GetCTRoot()._connector.GetPLCstatus()

   247

                if status == PlcStatus.Started:

   248

                    self.Controler.CommonMethod.RequestSlaveState("OP")

   249

                    self.TextCtrlDic["TargetState"].SetValue("OP")

   250

                else:

   251

                    self.Controler.CommonMethod.CreateErrorDialog(_("PLC is Not Started"))

   252

   253

    def GetCurrentState(self, event):

   254

        """

   255

        Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec).

   256

        @param event : wx.TIMER object

   257

        """

   258

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(True)

   259

        if check_connect_flag:

   260

            returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave()

   261

            line = returnVal.split("\n")

   262

            try:

   263

                self.SetCurrentState(line[self.Controler.GetSlavePos()])

   264

            except Exception:

   265

                pass

   266

   267

    def SetCurrentState(self, line):

   268

        """

   269

        Show current slave state using the executiob result of "ethercat slaves" command.

   270

        @param line : result of "ethercat slaves" command

   271

        """

   272

        state_array = ["INIT", "PREOP", "SAFEOP", "OP"]

   273

        try:

   274

            # parse the execution result of  "ethercat slaves" command

   275

            # Result example : 0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)

   276

            token = line.split("  ")

   277

            if token[2] in state_array:

   278

                self.TextCtrlDic["CurrentState"].SetValue(token[2])

   279

        except Exception:

   280

            pass

   281

   282

    def StartTimer(self, event):

   283

        """

   284

        Event handler for "Start State Monitoring" button.

   285

          - start slave state monitoring thread

   286

        @param event : wx.EVT_BUTTON object

   287

        """

   288

        self.SlaveStateThread = wx.Timer(self)

   289

        # set timer period (1000 ms)

   290

        self.SlaveStateThread.Start(1000)

   291

   292

    def CurrentStateThreadStop(self, event):

   293

        """

   294

        Event handler for "Stop State Monitoring" button.

   295

          - stop slave state monitoring thread

   296

        @param event : wx.EVT_BUTTON object

   297

        """

   298

        try:

   299

            self.SlaveStateThread.Stop()

   300

        except Exception:

   301

            pass

   302

   303

   304

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

   305

#                    For SDO Management Panel

   306

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

   307

class SDOPanelClass(wx.Panel):

   308

    def __init__(self, parent, controler):

   309

        """

   310

        Constructor

   311

        @param parent: Reference to the parent EtherCATManagementTreebook class

   312

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   313

        """

   314

        wx.Panel.__init__(self, parent, -1)

   315

   316

        self.DatatypeDescription, self.CommunicationObject, self.ManufacturerSpecific, \

   317

            self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6)

   318

   319

        self.Controler = controler

   320

   321

        self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL)

   322

        self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)

   323

   324

        self.SDOUpdate = wx.Button(self, label=_('update'))

   325

        self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate)

   326

   327

        self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler)

   328

        self.SDOManagementInnerMainSizer.Add(self.SDOUpdate)

   329

        self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND)

   330

   331

        self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer)

   332

   333

        self.SetSizer(self.SDOManagementMainSizer)

   334

   335

    def SDOInfoUpdate(self, event):

   336

        """

   337

        Evenet handler for SDO "update" button.

   338

          - Load SDO data from current slave

   339

        @param event : wx.EVT_BUTTON object

   340

        """

   341

        self.Controler.CommonMethod.SaveSDOData = []

   342

        self.Controler.CommonMethod.ClearSDODataSet()

   343

        self.SDOFlag = False

   344

   345

        # Check whether beremiz connected or not.

   346

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)

   347

        if check_connect_flag:

   348

            self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave()

   349

            # SDOFlag is "False", user click "Cancel" button

   350

            self.SDOFlag = self.SDOParser()

   351

   352

            if self.SDOFlag:

   353

                self.CallSDONoteBook.CreateNoteBook()

   354

                self.Refresh()

   355

   356

    def SDOParser(self):

   357

        """

   358

        Parse SDO data set that obtain "SDOInfoUpdate" Method

   359

        @return True or False

   360

        """

   361

   362

        slaveSDO_progress = wx.ProgressDialog(_("Slave SDO Monitoring"), _("Now Uploading..."),

   363

                                              maximum=len(self.SDOs.splitlines()),

   364

                                              parent=self,

   365

                                              style=wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME |

   366

                                              wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME |

   367

                                              wx.PD_AUTO_HIDE | wx.PD_SMOOTH)

   368

   369

        # If keep_going flag is False, SDOParser method is stop and return "False".

   370

        keep_going = True

   371

        count = 0

   372

   373

        # SDO data example

   374

        # SDO 0x1000, "Device type"

   375

        # 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474

   376

        for details_line in self.SDOs.splitlines():

   377

            count += 1

   378

            line_token = details_line.split("\"")

   379

            # len(line_token[2]) case : SDO 0x1000, "Device type"

   380

            if len(line_token[2]) == 0:

   381

                title_name = line_token[1]

   382

            # else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474

   383

            else:

   384

                # line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474']

   385

                token_head, name, token_tail = line_token

   386

   387

                # token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', '']

   388

                token_head = token_head.split(",")

   389

                ful_idx, access, type, size, _empty = token_head

   390

                # ful_idx.split(":") = ['0x1000', '00']

   391

                idx, sub_idx = ful_idx.split(":")

   392

   393

                # token_tail = ['', '0x00020192', '131474']

   394

                token_tail = token_tail.split(",")

   395

                try:

   396

                    _empty, hex_val, _dec_val = token_tail

   397

   398

                # SDO data is not return "dec value"

   399

                # line example :

   400

                # 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ----

   401

                except Exception:

   402

                    _empty, hex_val = token_tail

   403

   404

                name_after_check = self.StringTest(name)

   405

   406

                # convert hex type

   407

                sub_idx = "0x" + sub_idx

   408

   409

                if type == "octet_string":

   410

                    hex_val = ' ---- '

   411

   412

                # SResult of SlaveSDO data parsing. (data type : dictionary)

   413

                self.Data = {'idx': idx.strip(), 'subIdx': sub_idx.strip(), 'access': access.strip(),

   414

                             'type': type.strip(), 'size': size.strip(),  'name': name_after_check.strip("\""),

   415

                             'value': hex_val.strip(), "category": title_name.strip("\"")}

   416

   417

                category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]

   418

   419

                for count in range(len(category_divide_value)):

   420

                    if int(idx, 0) < category_divide_value[count]:

   421

                        self.Controler.CommonMethod.SaveSDOData[count].append(self.Data)

   422

                        break

   423

   424

                self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data)

   425

   426

            if count >= len(self.SDOs.splitlines()) // 2:

   427

                (keep_going, _skip) = slaveSDO_progress.Update(count, "Please waiting a moment!!")

   428

            else:

   429

                (keep_going, _skip) = slaveSDO_progress.Update(count)

   430

   431

            # If user click "Cancel" loop suspend immediately

   432

            if not keep_going:

   433

                break

   434

   435

        slaveSDO_progress.Destroy()

   436

        return keep_going

   437

   438

    def StringTest(self, check_string):

   439

        """

   440

        Test value 'name' is alphanumeric

   441

        @param check_string : input data for check

   442

        @return result : output data after check

   443

        """

   444

        # string.printable is print this result

   445

        # '0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ

   446

        # !"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c

   447

        allow_range = string.printable

   448

        result = check_string

   449

        for i in range(0, len(check_string)):

   450

            # string.isalnum() is check whether string is alphanumeric or not

   451

            if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range:

   452

                result = check_string[:len(check_string) - i]

   453

                break

   454

        return result

   455

   456

   457

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

   458

#                    For SDO Notebook (divide category)

   459

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

   460

class SDONoteBook(wx.Notebook):

   461

    def __init__(self, parent, controler):

   462

        """

   463

        Constructor

   464

        @param parent: Reference to the parent SDOPanelClass class

   465

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   466

        """

   467

        wx.Notebook.__init__(self, parent, id=-1, size=(850, 500))

   468

        self.Controler = controler

   469

        self.parent = parent

   470

   471

        self.CreateNoteBook()

   472

   473

    def CreateNoteBook(self):

   474

        """

   475

        Create each NoteBook page, divided SDO index

   476

        According to EtherCAT Communication(03/2011), 158p

   477

        """

   478

        self.Data = []

   479

        count = 1

   480

   481

        page_texts = [("all", self.parent.AllSDOData),

   482

                      ("0x0000 - 0x0ff", self.parent.DatatypeDescription),