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

if wx.Platform == '__WXMSW__':

    29

    DEFAULT_SETTINGS = {

    30

        "CAN_Driver": "can_tcp_win32",

    31

        "CAN_Device": "127.0.0.1",

    32

        "CAN_Baudrate": "125K",

    33

        "Slave_NodeId": 2,

    34

        "Master_NodeId": 1,

    35

    }

    36

else:

    37

    DEFAULT_SETTINGS = {

    38

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

    39

        "CAN_Device": "vcan0",

    40

        "CAN_Baudrate": "125K",

    41

        "Slave_NodeId": 2,

    42

        "Master_NodeId": 1,

    43

    }

    44

    45

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

    46

#                    SLAVE

    47

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

    48

    49

class _SlaveCTN(NodeManager):

    50

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

    51

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

    52

      <xsd:element name="CanFestivalSlaveNode">

    53

        <xsd:complexType>

    54

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

    55

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

    57

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

    58

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

    59

            <xsd:simpleType>

    60

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

    61

                    <xsd:minInclusive value="1"/>

    62

                    <xsd:maxInclusive value="99"/>

    63

                </xsd:restriction>

    64

            </xsd:simpleType>

    65

          </xsd:attribute>

    66

        </xsd:complexType>

    67

      </xsd:element>

    68

    </xsd:schema>

    69

    """ % DEFAULT_SETTINGS

    70

    71

    EditorType = SlaveEditor

    72

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

    73

    74

    def __init__(self):

    75

        # TODO change netname when name change

    76

        NodeManager.__init__(self)

    77

        odfilepath = self.GetSlaveODPath()

    78

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

    79

            self.OpenFileInCurrent(odfilepath)

    80

        else:

    81

            self.FilePath = ""

    82

            dialog = CreateNodeDialog(None, wx.OK)

    83

            dialog.Type.Enable(False)

    84

            dialog.GenSYNC.Enable(False)

    85

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

    86

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

    87

                profile, filepath = dialog.GetProfile()

    88

                NMT = dialog.GetNMTManagement()

    89

                options = dialog.GetOptions()

    90

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

    91

                                   id,         # NodeID - will be changed at build time

    92

                                   "slave",    # Type

    93

                                   description,# description 

    94

                                   profile,    # profile

    95

                                   filepath,   # prfile filepath

    96

                                   NMT,        # NMT

    97

                                   options)     # options

    98

            else:

    99

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

   100

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

   101

                                   "slave",      # Type

   102

                                   "",           # description 

   103

                                   "None",       # profile

   104

                                   "", # prfile filepath

   105

                                   "heartbeat",  # NMT

   106

                                   [])           # options

   107

            dialog.Destroy()

   108

            self.OnCTNSave()

   109

   113

    def GetSlaveODPath(self):

   114

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

   115

   116

    def GetCanDevice(self):

   117

        return self.CanFestivalSlaveNode.getCan_Device()

   118

   119

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

   120

        ConfigTreeNode._OpenView(self, name, onlyopened)

   121

        if self._View is not None:

   122

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

   123

        return self._View

   124

   125

    def _ExportSlave(self):

   126

        dialog = wx.FileDialog(self.GetCTRoot().AppFrame, _("Choose a file"), os.getcwd(), "",  _("EDS files (*.eds)|*.eds|All files|*.*"), wx.SAVE|wx.OVERWRITE_PROMPT)

   127

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

   128

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

   129

            if result:

   130

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

   131

        dialog.Destroy()  

   132

   133

    ConfNodeMethods = [

   134

        {"bitmap" : "ExportSlave",

   135

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

   136

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

   137

         "method" : "_ExportSlave"},

   138

    ]

   139

   140

    def CTNTestModified(self):

   141

        return self.ChangesToSave or self.OneFileHasChanged()

   142

   143

    def OnCTNSave(self):

   144

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   145

   146

    def SetParamsAttribute(self, path, value):

   147

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

   148

   149

        # Filter IEC_Channel and Name, that have specific behavior

   150

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

   151

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

   152

   153

        return result

   154

   155

    def CTNGenerate_C(self, buildpath, locations):

   156

        """

   157

        Generate C code

   158

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

   159

        @param locations: List of complete variables locations \

   160

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

   161

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

   162

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

   163

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

   164

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

   165

            }, ...]

   166

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

   167

        """

   168

        current_location = self.GetCurrentLocation()

   169

        # define a unique name for the generated C file

   170

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

   171

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

   172

        # Create a new copy of the model

   173

        slave = self.GetCurrentNodeCopy()

   174

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

   176

        # allow access to local OD from Slave PLC

   177

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

   178

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

   179

        if res :

   180

            raise Exception, res

   181

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

   182

        if res :

   183

            raise Exception, res

   184

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

   185

   186

    def LoadPrevious(self):

   187

        self.LoadCurrentPrevious()

   188

   189

    def LoadNext(self):

   190

        self.LoadCurrentNext()

   191

   192

    def GetBufferState(self):

   193

        return self.GetCurrentBufferState()

   194

   195

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

   196

#                    MASTER

   197

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

   198

   199

class MiniNodeManager(NodeManager):

   200

   201

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

   202

        NodeManager.__init__(self)

   203

   204

        self.OpenFileInCurrent(filepath)

   205

   206

        self.Parent = parent

   207

        self.Fullname = fullname

   208

   209

    def GetIconName(self):

   210

        return None

   211

   212

    def OnCloseEditor(self, view):

   213

        self.Parent.OnCloseEditor(view)

   214

   215

    def CTNFullName(self):

   216

        return self.Fullname

   217

   218

    def CTNTestModified(self):

   219

        return False

   220

   221

    def GetBufferState(self):

   222

        return self.GetCurrentBufferState()

   223

   224

    ConfNodeMethods = []

   225

   241

class _NodeListCTN(NodeList):

   242

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

   243

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

   244

      <xsd:element name="CanFestivalNode">

   245

        <xsd:complexType>

   246

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

   247

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

   249

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

   250

        </xsd:complexType>

   251

      </xsd:element>

   252

    </xsd:schema>

   253

    """ % DEFAULT_SETTINGS

   254

   255

    EditorType = NetworkEditor

   256

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

   257

   258

    def __init__(self):

   260

        NodeList.__init__(self, manager)

   261

        self.LoadProject(self.CTNPath())

   262

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

   263

   264

    def GetCanDevice(self):

   265

        return self.CanFestivalNode.getCan_Device()

   266

   267

    def SetParamsAttribute(self, path, value):

   280

   281

        # Filter IEC_Channel and Name, that have specific behavior

   282

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

   283

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

   284

        elif path == "BaseParams.Name":

   285

            self.SetNetworkName(value)

   294

    _GeneratedMasterView = None

   295

    def _ShowGeneratedMaster(self):

   296

        self._OpenView("Generated master")

   297

   298

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

   299

        if name == "Generated master":

   300

            app_frame = self.GetCTRoot().AppFrame

   301

            if self._GeneratedMasterView is None:

   302

                buildpath = self._getBuildPath()

   303

                # Eventually create build dir

   304

                if not os.path.exists(buildpath):

   305

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

   306

                    return

   307

   308

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

   309

                if not os.path.exists(masterpath):

   310

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

   311

                    return

   312

   313

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

   314

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

   315

   316

            if self._GeneratedMasterView is not None:

   317

                app_frame.EditProjectElement(self._GeneratedMasterView, name)

   318

   319

            return self._GeneratedMasterView

   320

        else:

   321

            ConfigTreeNode._OpenView(self, name, onlyopened)

   322

            if self._View is not None:

   323

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

   324

            return self._View

   325

   326

    ConfNodeMethods = [

   327

        {"bitmap" : "ShowMaster",

   328

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

   329

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

   330

         "method" : "_ShowGeneratedMaster"}

   331

    ]

   332

   333

    def OnCloseEditor(self, view):

   334

        ConfigTreeNode.OnCloseEditor(self, view)

   335

        if self._GeneratedMasterView == view:

   336

            self._GeneratedMasterView = None

   337

   338

    def OnCTNClose(self):

   339

        ConfigTreeNode.OnCTNClose(self)

   340

        self._CloseView(self._GeneratedMasterView)

   341

        return True

   342

   343

    def CTNTestModified(self):

   344

        return self.ChangesToSave or self.HasChanged()

   345

   346

    def OnCTNSave(self):

   347

        self.SetRoot(self.CTNPath())

   348

        return self.SaveProject() is None

   349

   350

    def CTNGenerate_C(self, buildpath, locations):

   351

        """

   352

        Generate C code

   353

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

   354

        @param locations: List of complete variables locations \

   355

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

   356

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

   357

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

   358

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

   359

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

   360

            }, ...]

   361

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

   362

        """

   363

        self._CloseView(self._GeneratedMasterView)

   364

        current_location = self.GetCurrentLocation()

   365

        # define a unique name for the generated C file

   366

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

   367

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

   368

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

   369

        try:

   370

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

   371

        except config_utils.PDOmappingException, e:

   372

            raise Exception, e.message

   374

        # Do generate C file.

   375

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

   376

        if res :

   377

            raise Exception, res

   378

   379

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

   380

        dump(master, file)

   381

        file.close()

   382

   383

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

   384

   385

    def LoadPrevious(self):

   386

        self.Manager.LoadCurrentPrevious()

   387

   388

    def LoadNext(self):

   389

        self.Manager.LoadCurrentNext()

   390

   391

    def GetBufferState(self):

   392

        return self.Manager.GetCurrentBufferState()

   393

   394

class RootClass:

   395

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

   396

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

   397

      <xsd:element name="CanFestivalInstance">

   398

        <xsd:complexType>

   399

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

   400

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

   401

        </xsd:complexType>

   402

      </xsd:element>

   403

    </xsd:schema>

   404

    """ % DEFAULT_SETTINGS

   405

   406

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

   407

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

   408

    def GetParamsAttributes(self, path = None):

   409

        infos = ConfigTreeNode.GetParamsAttributes(self, path = None)

   410

        for element in infos:

   411

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

   412

                for child in element["children"]:

   413

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

   414

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

   415

                        if DLL_LIST is not None:

   416

                            child["type"] = DLL_LIST  

   417

        return infos

   418

   419

    def GetCanDriver(self):

   420

        can_driver = self.CanFestivalInstance.getCAN_Driver()

   421

        if sys.platform == 'win32':

   422

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

   423

                can_driver += '_DEBUG.dll'

   424

            else:

   425

                can_driver += '.dll'

   426

        return can_driver

   427

   428

    def CTNGenerate_C(self, buildpath, locations):

   429

   430

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

   431

                       "candriver" : self.GetCanDriver(),

   432

                       "nodes_includes" : "",

   433

                       "board_decls" : "",

   434

                       "nodes_init" : "",

   435

                       "nodes_open" : "",

   436

                       "nodes_stop" : "",

   437

                       "nodes_close" : "",

   438

                       "nodes_send_sync" : "",

   439

                       "nodes_proceed_sync" : "",

   440

                       "slavebootups" : "",

   441

                       "slavebootup_register" : "",

   442

                       "post_sync" : "",

   443

                       "post_sync_register" : "",

   444

                       "pre_op" : "",

   445

                       "pre_op_register" : "",

   446

                       }

   447

        for child in self.IECSortedChildren():

   448

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

   449

            nodename = "OD_%s" % childlocstr

   450

   451

            # Try to get Slave Node

   452

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

   453

            if child_data is None:

   454

                # Not a slave -> master

   455

                child_data = getattr(child, "CanFestivalNode")

   456

                # Apply sync setting

   457

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

   458

                       nodename,

   459

                       child_data.getNodeId())

   460

                if child_data.getSync_TPDOs():

   461

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

   462

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

   463

   464

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   465

                SlaveIDs = child.GetSlaveIDs()

   466

                if len(SlaveIDs) == 0:

   467

                    # define post_SlaveBootup lookup functions

   468

                    format_dict["slavebootups"] += (

   469

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

   470

                else:

   471

                    format_dict["slavebootups"] += (

   472

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

   473

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

   474

                        "}\n")

   475

                # register previously declared func as post_SlaveBootup callback for that node

   476

                format_dict["slavebootup_register"] += (

   477

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

   478

                format_dict["pre_op"] += (

   479

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

   480

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

   481

                    "}\n")

   482

                format_dict["pre_op_register"] += (

   483

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

   484

            else: