etherlab/EthercatCIA402Slave.py
author Edouard Tisserant <edouard.tisserant@gmail.com>
Thu, 21 May 2020 11:29:45 +0200
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# This file is part of Beremiz
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#
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# 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
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#
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# See COPYING file for copyrights details.
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from __future__ import absolute_import
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import os
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import wx
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from PLCControler import LOCATION_CONFNODE, LOCATION_VAR_INPUT
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from MotionLibrary import AxisXSD
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from etherlab.EthercatSlave import _EthercatSlaveCTN, _CommonSlave
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from etherlab.ConfigEditor import CIA402NodeEditor
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# Definition of node variables that have to be mapped in PDO
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# [(name, index, subindex, type,
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#   direction for master ('I': input, 'Q': output)),...]
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NODE_VARIABLES = [
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    ("ControlWord",             0x6040, 0x00, "UINT", "Q"),
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    ("TargetPosition",          0x607a, 0x00, "DINT", "Q"),
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    ("TargetVelocity",          0x60ff, 0x00, "DINT", "Q"),
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    ("TargetTorque",            0x6071, 0x00, "INT",  "Q"),
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    ("ModesOfOperation",        0x6060, 0x00, "SINT", "Q"),
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    ("StatusWord",              0x6041, 0x00, "UINT", "I"),
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    ("ModesOfOperationDisplay", 0x6061, 0x00, "SINT", "I"),
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    ("ActualPosition",          0x6064, 0x00, "DINT", "I"),
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    ("ActualVelocity",          0x606c, 0x00, "DINT", "I"),
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    ("ActualTorque",            0x6077, 0x00, "INT",  "I"),
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]
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# Definition of optional node variables that can be added to PDO mapping.
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# A checkbox will be displayed for each section in node configuration panel to
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# enable them
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# [(section_name,
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#   [{'description', (name, index, subindex, type,
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#                     direction for master ('I': input, 'Q': output)),
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#     'retrieve', string_template_for_retrieve_variable (None: not retrieved,
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#                                 default string template if not defined),
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#     'publish', string_template_for_publish_variable (None: not published,
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#                                 default string template if not defined),
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#    },...]
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EXTRA_NODE_VARIABLES = [
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    ("ErrorCode", [
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        {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),
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         "publish": None}
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        ]),
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    ("DigitalInputs", [
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        {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"),
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         "publish": None}
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        ]),
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    ("DigitalOutputs", [
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        {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"),
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         "retrieve": None}
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        ]),
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    ("TouchProbe", [
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        {"description": ("TouchProbeFunction", 0x60B8, 0x00, "UINT", "Q"),
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         "retrieve": None},
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        {"description": ("TouchProbeStatus", 0x60B9, 0x00, "UINT", "I"),
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         "publish": None},
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        {"description": ("TouchProbePos1PosValue", 0x60BA, 0x00, "DINT", "I"),
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         "publish": None},
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        {"description": ("TouchProbePos1NegValue", 0x60BB, 0x00, "DINT", "I"),
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         "publish": None},
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        ]),
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]
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# List of parameters name in no configuration panel for optional variable
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# sections
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EXTRA_NODE_VARIABLES_DICT = {
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    "Enable" + name: params
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    for name, params in EXTRA_NODE_VARIABLES}
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# List of block to define to interface MCL to fieldbus for specific functions
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FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [
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    {"blocktype": "GetTorqueLimit",
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     "inputs": [],
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     "outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
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                 {"name": "TorqueLimitNeg", "type": "UINT"}]},
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    {"blocktype": "SetTorqueLimit",
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     "inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
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                {"name": "TorqueLimitNeg", "type": "UINT"}],
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     "outputs": []},
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]
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# --------------------------------------------------
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#                 Ethercat CIA402 Node
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# --------------------------------------------------
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class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
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    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
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    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
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      <xsd:element name="CIA402SlaveParams">
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        <xsd:complexType>
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          %s
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        </xsd:complexType>
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      </xsd:element>
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    </xsd:schema>
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    """ % ("\n".join(["""\
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          <xsd:attribute name="Enable%s" type="xsd:boolean"
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                         use="optional" default="false"/>""" % category
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                      for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
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    NODE_PROFILE = 402
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    EditorType = CIA402NodeEditor
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    ConfNodeMethods = [
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        {
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            "bitmap": "CIA402AxisRef",
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            "name": _("Axis Ref"),
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            "tooltip": _("Initiate Drag'n drop of Axis ref located variable"),
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            "method": "_getCIA402AxisRef",
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            "push": True,
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        },
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        {
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            "bitmap": "CIA402NetPos",
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            "name": _("Axis Pos"),
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            "tooltip": _("Initiate Drag'n drop of Network position located variable"),
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            "method": "_getCIA402NetworkPosition",
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            "push": True,
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        },
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    ]
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# --------------------------------------------------
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#    class code
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# --------------------------------------------------
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    def __init__(self):
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        _EthercatSlaveCTN.__init__(self)
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        # ----------- call ethercat mng. function --------------
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        self.CommonMethod = _CommonSlave(self)
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    def GetIconName(self):
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        return "CIA402Slave"
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    def SetParamsAttribute(self, path, value):
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        if path == "CIA402SlaveParams.Type":
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            path = "SlaveParams.Type"
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        elif path == "CIA402SlaveParams.Alias":
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            path = "SlaveParams.Alias"
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        return _EthercatSlaveCTN.SetParamsAttribute(self, path, value)
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    def GetVariableLocationTree(self):
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        axis_name = self.CTNName()
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        current_location = self.GetCurrentLocation()
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        children = [
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            {
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                "name": name_frmt % (axis_name),
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                "type": LOCATION_VAR_INPUT,
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                "size": "W",
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                "IEC_type": iec_type,
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                "var_name": var_name_frmt % axis_name,
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                "location": location_frmt % (".".join(map(str, current_location))),
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                "description": "",
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                "children": []
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            }
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            for name_frmt, iec_type, var_name_frmt, location_frmt in [
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                ("%s Network Position", "UINT", "%s_pos", "%%IW%s"),
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                ("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402")
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            ]
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        ]
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        children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(),
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                                                             current_location,
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                                                             axis_name))
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        return {
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            "name": axis_name,
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            "type": LOCATION_CONFNODE,
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            "location": self.GetFullIEC_Channel(),
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            "children": children,
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        }
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    def CTNGlobalInstances(self):
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        current_location = self.GetCurrentLocation()
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        return [("%s_%s" % (block_infos["blocktype"],
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                            "_".join(map(str, current_location))),
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                 "EtherLab%s" % block_infos["blocktype"], "")
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                for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES]
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    def StartDragNDrop(self, data):
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        data_obj = wx.TextDataObject(str(data))
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        dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
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        dragSource.SetData(data_obj)
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        dragSource.DoDragDrop()
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    def _getCIA402NetworkPosition(self):
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        self.StartDragNDrop(
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            ("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())),
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             "location", "UINT", self.CTNName() + "_Pos", ""))
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    def _getCIA402AxisRef(self):
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        self.StartDragNDrop(
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            ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())),
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             "location", "AXIS_REF", self.CTNName(), ""))
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    def CTNGenerate_C(self, buildpath, locations):
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        current_location = self.GetCurrentLocation()
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        location_str = "_".join(map(str, current_location))
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        slave_pos = self.GetSlavePos()
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        # Open CIA402 node code template file
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        plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0],
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                                               "plc_cia402node.c")
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        plc_cia402node_file = open(plc_cia402node_filepath, 'r')
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        plc_cia402node_code = plc_cia402node_file.read()
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        plc_cia402node_file.close()
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        # Init list of generated strings for each code template file section
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        fieldbus_interface_declaration = []
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        fieldbus_interface_definition = []
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        init_axis_params = []
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        extra_variables_retrieve = []
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        extra_variables_publish = []
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        extern_located_variables_declaration = []
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        entry_variables = []
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        init_entry_variables = []
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        # Fieldbus interface code sections
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        for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES:
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            blocktype = blocktype_infos["blocktype"]
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            ucase_blocktype = blocktype.upper()
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            blockname = "_".join([ucase_blocktype, location_str])
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            extract_inputs = "\n".join([
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                """\
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                __SET_VAR(%s->, %s,, %s);""" % (blockname, input_name, input_value)
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                for (input_name, input_value) in
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                [("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [
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                    (input["name"].upper(),
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                     "__GET_VAR(data__->%s)" % input["name"].upper())
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                    for input in blocktype_infos["inputs"]
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                ]])
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            return_outputs = "\n".join([
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                """\
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                __SET_VAR(data__->,%(output_name)s,,
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                __GET_VAR(%(blockname)s->%(output_name)s));""" % {
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                    "output_name": output_name,
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                    "blockname": blockname
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                }
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                for output_name in ["DONE", "BUSY", "ERROR"] + [
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                    output["name"].upper()
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                    for output in blocktype_infos["outputs"]]
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            ])
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            loc_dict = {
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                "ucase_blocktype": ucase_blocktype,
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                "blocktype": blocktype,
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                "blockname": blockname,
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                "location_str": location_str,
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                "extract_inputs": extract_inputs,
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                "return_outputs": return_outputs,
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            }
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            fieldbus_interface_declaration.append("""
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extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
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void __%(blocktype)s_%(location_str)s(MC_%(ucase_blocktype)s *data__) {
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__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
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ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
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__SET_VAR(%(blockname)s->, POS,, AxsPub.axis->NetworkPosition);
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%(extract_inputs)s
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ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
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%(return_outputs)s
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}""" % loc_dict)
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            fieldbus_interface_definition.append("""\
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        AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\
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""" % loc_dict)
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        # Get a copy list of default variables to map
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        variables = NODE_VARIABLES[:]
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        # Set AxisRef public struct members value
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        node_params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
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        for param in node_params["children"]:
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            param_name = param["name"]
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            # Param is optional variables section enable flag
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            extra_node_variable_infos = EXTRA_NODE_VARIABLES_DICT.get(param_name)
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            if extra_node_variable_infos is not None:
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                param_name = param_name.replace("Enable", "") + "Enabled"
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                if not param["value"]:
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                    continue
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                # Optional variables section is enabled
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                for variable_infos in extra_node_variable_infos:
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                    var_name = variable_infos["description"][0]
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                    # Add each variables defined in section description to the
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                    # list of variables to map
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                    variables.append(variable_infos["description"])
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                    # Add code to publish or retrive variable
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                    coded = [
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                        ("retrieve",
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                         extra_variables_retrieve,
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                         "    AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"),
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                        ("publish",
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                         extra_variables_publish,
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                         "    *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")
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                    ]
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                    for var_exchange_dir, _str_list, default_template in coded:
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                        template = variable_infos.get(var_exchange_dir, default_template)
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                        if template is not None:
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                            extra_variables_publish.append(template % locals())
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            # Set AxisRef public struct member value if defined
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            if param["value"] is not None:
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                param_value = ({True: "1", False: "0"}[param["value"]]
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                               if param["type"] == "boolean"
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                               else str(param["value"]))
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                init_axis_params.append("""\
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                AxsPub.axis->%(param_name)s = %(param_value)s;""" % {
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                    "param_value": param_value,
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                    "param_name": param_name,
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                })
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        # Add each variable in list of variables to map to master list of
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        # variables to add to network configuration
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        for name, index, subindex, var_type, dir in variables:
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            var_size = self.GetSizeOfType(var_type)
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            loc_dict = {
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                "var_size": var_size,
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                "var_type": var_type,
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                "name:": name,
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                "location_str": location_str,
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                "index": index,
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                "subindex": subindex,
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            }
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            var_name = """\
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__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % loc_dict
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            loc_dict["var_name"] = var_name
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            extern_located_variables_declaration.append(
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                "IEC_%(var_type)s *%(var_name)s;" % loc_dict)
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            entry_variables.append(
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                "    IEC_%(var_type)s *%(name)s;" % loc_dict)
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            init_entry_variables.append(
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                "    AxsPub.%(name)s = %(var_name)s;" % loc_dict)
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            self.CTNParent.FileGenerator.DeclareVariable(
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                slave_pos, index, subindex, var_type, dir, var_name)
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        # Add newline between string in list of generated strings for sections
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        [fieldbus_interface_declaration, fieldbus_interface_definition,
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         init_axis_params, extra_variables_retrieve, extra_variables_publish,
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         extern_located_variables_declaration, entry_variables,
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         init_entry_variables] = map("\n".join, [
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             fieldbus_interface_declaration, fieldbus_interface_definition,
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             init_axis_params, extra_variables_retrieve, extra_variables_publish,
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             extern_located_variables_declaration, entry_variables,
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             init_entry_variables])
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        # Write generated content to CIA402 node file
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        Gen_CIA402Nodefile_path = os.path.join(buildpath,
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                                               "cia402node_%s.c" % location_str)
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        cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
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        cia402nodefile.write(plc_cia402node_code % locals())
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        cia402nodefile.close()
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        return [(Gen_CIA402Nodefile_path, '"-I%s"' % os.path.abspath(self.GetCTRoot().GetIECLibPath()))], "", True