1

import os, shutil

     2

import cPickle

     3

from xml.dom import minidom

     4

     5

import wx

     6

     7

from xmlclass import *

     8

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

     9

from ConfigEditor import ConfigEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE

    10

    11

TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L",

    12

    "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L", 

    13

    "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"}

    14

    15

DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64",

    16

    "USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64", 

    17

    "BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"}

    18

    19

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

    20

#                 Ethercat MASTER

    21

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

    22

    23

EtherCATConfigClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd")) 

    24

    25

def ExtractHexDecValue(value):

    26

    try:

    27

        return int(value)

    28

    except:

    29

        pass

    30

    try:

    31

        return int(value.replace("#", "0"), 16)

    32

    except:

    33

        raise "Invalid value for HexDecValue \"%s\"" % value

    34

    35

def GenerateHexDecValue(value, base=10):

    36

    if base == 10:

    37

        return str(value)

    38

    elif base == 16:

    39

        return "#x%.8x" % value

    40

    else:

    41

        raise "Not supported base"

    42

    43

cls = EtherCATConfigClasses.get("Config_Slave", None)

    44

if cls:

    45

    46

    def getType(self):

    47

        slave_info = self.getInfo()

    48

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

    49

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

    50

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

    51

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

    52

    setattr(cls, "getType", getType)

    53

    54

    def setType(self, type_infos):

    55

        slave_info = self.getInfo()

    56

        slave_info.setName(type_infos["device_type"])

    57

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

    58

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

    59

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

    60

    setattr(cls, "setType", setType)

    61

    62

cls = EtherCATConfigClasses.get("Slave_Info", None)

    63

if cls:

    64

    65

    def getSlavePosition(self):

    66

        return self.getPhysAddr(), self.getAutoIncAddr()

    67

    setattr(cls, "getSlavePosition", getSlavePosition)

    68

    69

    def setSlavePosition(self, alias, pos):

    70

        self.setPhysAddr(alias)

    71

        self.setAutoIncAddr(pos)

    72

    setattr(cls, "setSlavePosition", setSlavePosition)

    73

    74

class _EthercatPlug:

    75

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

    76

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

    77

      <xsd:element name="EtherlabNode">

    78

        <xsd:complexType>

    79

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

    80

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

    81

        </xsd:complexType>

    82

      </xsd:element>

    83

    </xsd:schema>

    84

    """

    85

    EditorType = ConfigEditor

    86

    87

    def __init__(self):

    88

        filepath = self.ConfigFileName()

    89

    90

        self.Config = EtherCATConfigClasses["EtherCATConfig"]()

    91

        if os.path.isfile(filepath):

    92

            xmlfile = open(filepath, 'r')

    93

            tree = minidom.parse(xmlfile)

    94

            xmlfile.close()

    95

    96

            for child in tree.childNodes:

    97

                if child.nodeType == tree.ELEMENT_NODE and child.nodeName == "EtherCATConfig":

    98

                    self.Config.loadXMLTree(child, ["xmlns:xsi", "xsi:noNamespaceSchemaLocation"])

    99

                    self.CreateConfigBuffer(True)

   100

        else:

   101

            self.CreateConfigBuffer(False)

   102

            self.OnPlugSave()

   103

   104

    def ExtractHexDecValue(self, value):

   105

        return ExtractHexDecValue(value)

   106

   107

    def GetSizeOfType(self, type):

   108

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

   109

   110

    def ConfigFileName(self):

   111

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

   112

   113

    def GetFilename(self):

   114

        return self.MandatoryParams[1].getName()

   115

   116

    def GetSlaves(self):

   117

        slaves = []

   118

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

   119

            slaves.append(slave.getInfo().getSlavePosition())

   120

        slaves.sort()

   121

        return slaves

   122

   123

    def GetSlave(self, slave_pos):

   124

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

   125

            slave_info = slave.getInfo()

   126

            if slave_info.getSlavePosition() == slave_pos:

   127

                return slave

   128

        return None

   129

   130

    def AddSlave(self):

   131

        slaves = self.GetSlaves()

   132

        if len(slaves) > 0:

   133

            new_pos = (slaves[-1][0] + 1, 0)

   134

        else:

   135

            new_pos = (0, 0)

   136

        slave = EtherCATConfigClasses["Config_Slave"]()

   137

        slave_infos = slave.getInfo()

   138

        slave_infos.setName("undefined")

   139

        slave_infos.setSlavePosition(new_pos[0], new_pos[1])

   140

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

   141

        self.BufferConfig()

   142

        return new_pos

   143

   144

    def RemoveSlave(self, slave_pos):

   145

        config = self.Config.getConfig()

   146

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

   147

            slave_infos = slave.getInfo()

   148

            if slave_infos.getSlavePosition() == slave_pos:

   149

                config.removeSlave(idx)

   150

                self.BufferConfig()

   151

                return True

   152

        return False

   153

   154

    def SetSlavePos(self, slave_pos, alias=None, position=None):

   155

        slave = self.GetSlave(slave_pos)

   156

        if slave is not None:

   157

            slave_info = slave.getInfo()

   158

            new_pos = slave_pos

   159

            if alias is not None:

   160

                new_pos = (alias, new_pos[1])

   161

            if position is not None:

   162

                new_pos = (new_pos[0], position)

   163

            if self.GetSlave(new_pos) is not None:

   164

                return _("Slave with position \"%d:%d\" already exists!" % new_pos)

   165

            slave_info.setSlavePosition(*new_pos)

   166

            self.BufferConfig()

   167

        return None

   168

   169

    def GetSlaveType(self, slave_pos):

   170

        slave = self.GetSlave(slave_pos)

   171

        if slave is not None:

   172

            return slave.getType()

   173

        return None

   174

   175

    def SetSlaveType(self, slave_pos, type_infos):

   176

        slave = self.GetSlave(slave_pos)

   177

        if slave is not None:

   178

            slave.setType(type_infos)

   179

            self.BufferConfig()

   180

        return None

   181

   182

    def GetSlaveInfos(self, slave_pos):

   183

        slave = self.GetSlave(slave_pos)

   184

        if slave is not None:

   185

            type_infos = slave.getType()

   186

            device = self.GetModuleInfos(type_infos)

   187

            if device is not None:

   188

                infos = type_infos.copy()

   189

                infos.update({"physics": device.getPhysics(),

   190

                              "variables": []})

   191

                for TxPdo in device.getTxPdo():

   192

                    ExtractPdoInfos(TxPdo, "Transmit", infos)

   193

                for RxPdo in device.getRxPdo():

   194

                    ExtractPdoInfos(RxPdo, "Receive", infos)

   195

                return infos

   196

        return None

   197

   198

    def GetModuleInfos(self, type_infos):

   199

        return self.PlugParent.GetModuleInfos(type_infos)

   200

   201

    def GetSlaveTypesLibrary(self):

   202

        return self.PlugParent.GetModulesLibrary()

   203

   204

    def GetVariableLocationTree(self):

   205

        '''See PlugTemplate.GetVariableLocationTree() for a description.'''

   206

   207

        current_location = self.GetCurrentLocation()

   208

   209

        groups = []

   210

        for slave_pos in self.GetSlaves():

   211

   212

            slave = self.GetSlave(slave_pos)

   213

            if slave is not None:

   214

                type_infos = slave.getType()

   215

   216

                device = self.GetModuleInfos(type_infos)

   217

                if device is not None:

   218

                    vars = []

   219

   220

                    sync_managers = []

   221

                    for sync_manager in device.getSm():

   222

                        sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())

   223

                        sync_manager_direction = sync_manager_control_byte & 0x0c

   224

                        if sync_manager_direction:

   225

                            sync_managers.append(LOCATION_VAR_OUTPUT)

   226

                        else:

   227

                            sync_managers.append(LOCATION_VAR_INPUT)

   228

   229

                    for pdo in device.getTxPdo() + device.getRxPdo():

   230

                        var_class = sync_managers[pdo.getSm()]

   231

   232

                        for entry in pdo.getEntry():

   233

                            index = ExtractHexDecValue(entry.getIndex().getcontent())

   234

                            subindex = ExtractHexDecValue(entry.getSubIndex())

   235

                            var_type = entry.getDataType().getcontent()

   236

                            var_size = self.GetSizeOfType(var_type)

   237

                            if var_class == LOCATION_VAR_INPUT:

   238

                                var_dir = "%I"

   239

                            else:

   240

                                var_dir = "%Q"    

   241

   242

                            pdo_name = ExtractName(pdo.getName())

   243

                            entry_name = ExtractName(entry.getName())

   244

                            vars.append({"name": "%s - %s" % (pdo_name, entry_name),

   245

                                         "type": var_class,

   246

                                         "size": var_size,

   247

                                         "IEC_type": var_type,

   248

                                         "var_name": "%s_%s" % (type_infos["device_type"], "_".join(pdo_name.split())),

   249

                                         "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location + 

   250

                                                                                                    slave_pos + 

   251

                                                                                                    (index, subindex)))),

   252

                                         "description": "",

   253

                                         "children": []})

   254

   255

                    groups.append({"name": "%s (%d,%d)" % ((type_infos["device_type"],) + slave_pos),

   256

                                   "type": LOCATION_GROUP,

   257

                                   "location": ".".join(map(str, current_location + slave_pos)) + ".x",

   258

                                   "children": vars})

   259

   260

        return  {"name": self.BaseParams.getName(),

   261

                 "type": LOCATION_PLUGIN,

   262

                 "location": self.GetFullIEC_Channel(),

   263

                 "children": groups}

   264

   265

    PluginMethods = [

   266

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

   267

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

   268

         "tooltip" : _("Edit Config"),

   269

         "method" : "_OpenView"},

   270

    ]

   271

   272

    def PlugTestModified(self):

   273

        return self.ChangesToSave or not self.ConfigIsSaved()    

   274

   275

    def OnPlugSave(self):

   276

        filepath = self.ConfigFileName()

   277

   278

        text = "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\n"

   279

        extras = {"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance",

   280

                  "xsi:noNamespaceSchemaLocation" : "EtherCATInfo.xsd"}

   281

        text += self.Config.generateXMLText("EtherCATConfig", 0, extras)

   282

   283

        xmlfile = open(filepath,"w")

   284

        xmlfile.write(text.encode("utf-8"))

   285

        xmlfile.close()

   286

   287

        self.ConfigBuffer.CurrentSaved()

   288

        return True

   289

   290

    def PlugGenerate_C(self, buildpath, locations):

   291

        """

   292

        Generate C code

   293

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

   294

        @param locations: List of complete variables locations \

   295

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

   296

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

   297

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

   298

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

   299

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

   300

            }, ...]

   301

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

   302

        """

   303

        current_location = self.GetCurrentLocation()

   304

        # define a unique name for the generated C file

   305

        location_str = "_".join(map(lambda x:str(x), current_location))

   306

   307

        Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str)

   308

   309

        file_generator = _EthercatCFileGenerator(self, Gen_Ethercatfile_path)

   310

   311

        for location in locations:

   312

            loc = location["LOC"][len(current_location):]

   313

            file_generator.DeclareVariable(loc[:2], loc[2], loc[3], location["IEC_TYPE"], location["DIR"], location["NAME"])

   314

   315

        file_generator.GenerateCFile()

   316

   317

        return [(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))], "-lethercat -lrtdm", True

   318

   319

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

   320

#                      Current Buffering Management Functions

   321

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

   322

   323

    """

   324

    Return a copy of the config

   325

    """

   326

    def Copy(self, model):

   327

        return cPickle.loads(cPickle.dumps(model))

   328

   329

    def CreateConfigBuffer(self, saved):

   330

        self.ConfigBuffer = UndoBuffer(cPickle.dumps(self.Config), saved)

   331

   332

    def BufferConfig(self):

   333

        self.ConfigBuffer.Buffering(cPickle.dumps(self.Config))

   334

   335

    def ConfigIsSaved(self):

   336

        if self.ConfigBuffer is not None:

   337

            return self.ConfigBuffer.IsCurrentSaved()

   338

        else:

   339

            return True

   340

   341

    def LoadPrevious(self):

   342

        self.Config = cPickle.loads(self.ConfigBuffer.Previous())

   343

   344

    def LoadNext(self):

   345

        self.Config = cPickle.loads(self.ConfigBuffer.Next())

   346

   347

    def GetBufferState(self):

   348

        first = self.ConfigBuffer.IsFirst()

   349

        last = self.ConfigBuffer.IsLast()

   350

        return not first, not last

   351

   352

   353

SLAVE_PDOS_CONFIGURATION_DECLARATION = """

   354

/* Slave %(slave)d, "%(device_type)s"

   355

 * Vendor ID:       0x%(vendor).8x

   356

 * Product code:    0x%(product_code).8x

   357

 * Revision number: 0x%(revision_number).8x

   358

 */

   359

   360

ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = {

   361

%(pdos_entries_infos)s

   362

};

   363

   364

ec_pdo_info_t slave_%(slave)d_pdos[] = {

   365

%(pdos_infos)s

   366

};

   367

   368

ec_sync_info_t slave_%(slave)d_syncs[] = {

   369

%(pdos_sync_infos)s

   370

    {0xff}

   371

};

   372

"""

   373

   374

SLAVE_CONFIGURATION_TEMPLATE = """

   375

    if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) {

   376

        fprintf(stderr, "Failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.\\n");

   377

        return -1;

   378

    }

   379

   380

    if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) {

   381

        fprintf(stderr, "Failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.\\n");

   382

        return -1;

   383

    }

   384

"""

   385

   386

class _EthercatCFileGenerator:

   387

   388

    def __init__(self, controler, filepath):

   389

        self.Controler = controler

   390

        self.FilePath = filepath

   391

   392

        self.UsedVariables = {}

   393

   394

    def __del__(self):

   395

        self.Controler = None

   396

   397

    def DeclareVariable(self, slave_identifier, index, subindex, iec_type, dir, name):

   398

        slave_variables = self.UsedVariables.setdefault(slave_identifier, {})

   399

   400

        entry_infos = slave_variables.get((index, subindex), None)

   401

        if entry_infos is None:

   402

            slave_variables[(index, subindex)] = (iec_type, dir, name)

   403

        elif entry_infos != (iec_type, dir, name):

   404

            raise ValueError, _("Definition conflict for location \"%s\"") % name 

   405

   406

    def GenerateCFile(self):

   407

   408

        current_location = self.Controler.GetCurrentLocation()

   409

        # define a unique name for the generated C file

   410

        location_str = "_".join(map(lambda x:str(x), current_location))

   411

   412

        plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")

   413

        plc_etherlab_file = open(plc_etherlab_filepath, 'r')

   414

        plc_etherlab_code = plc_etherlab_file.read()

   415

        plc_etherlab_file.close()

   416

   417

        str_completion = {

   418

            "location": location_str,

   419

            "configure_pdos": int(self.Controler.EtherlabNode.getConfigurePDOs()),

   420

            "master_number": self.Controler.EtherlabNode.getMasterNumber(),

   421

            "located_variables_declaration": [],

   422

            "used_pdo_entry_offset_variables_declaration": [],

   423

            "used_pdo_entry_configuration": [],

   424

            "pdos_configuration_declaration": "",

   425

            "slaves_declaration": "",

   426

            "slaves_configuration": "",

   427

            "retrieve_variables": [],

   428

            "publish_variables": [],

   429

        }

   430

   431

        for slave_idx, slave_pos in enumerate(self.Controler.GetSlaves()):

   432

   433

            slave = self.Controler.GetSlave(slave_pos)

   434

            if slave is not None:

   435

                type_infos = slave.getType()

   436

   437

                device = self.Controler.GetModuleInfos(type_infos)

   438

                if device is not None:

   439

   440

                    pdos = device.getTxPdo() + device.getRxPdo()

   441

                    if len(pdos) > 0:

   442

                        slave_variables = self.UsedVariables.get(slave_pos, {})

   443

   444

                        for element in ["vendor", "product_code", "revision_number"]:

   445

                            type_infos[element] = ExtractHexDecValue(type_infos[element])

   446

                        type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))

   447

   448

                        str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos

   449

                        str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos

   450

   451

                        pdos_infos = {

   452

                            "pdos_entries_infos": [],

   453

                            "pdos_infos": [],

   454

                            "pdos_sync_infos": [], 

   455

                        }

   456

                        pdos_infos.update(type_infos)

   457

   458

                        sync_managers = []

   459

                        for sync_manager_idx, sync_manager in enumerate(device.getSm()):

   460

                            sync_manager_infos = {

   461

                                "index": sync_manager_idx, 

   462

                                "slave": slave_idx,

   463

                                "pdos_number": 0,

   464

                            }

   465

   466

                            sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())

   467

                            sync_manager_direction = sync_manager_control_byte & 0x0c

   468

                            sync_manager_watchdog = sync_manager_control_byte & 0x40

   469

                            if sync_manager_direction:

   470

                                sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"

   471

                            else:

   472

                                sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"

   473

                            if sync_manager_watchdog:

   474

                                sync_manager_infos["watchdog"] = "EC_WD_ENABLE"

   475

                            else:

   476

                                sync_manager_infos["watchdog"] = "EC_WD_DISABLE"

   477

   478

                            sync_managers.append(sync_manager_infos)

   479

   480

                        entry_offset = 0

   481

                        for pdo in pdos:

   482

                            entries = pdo.getEntry()

   483

   484

                            pdo_needed = pdo.getMandatory()

   485

                            entries_infos = []

   486

   487

                            for entry in entries:

   488

                                index = ExtractHexDecValue(entry.getIndex().getcontent())

   489

                                subindex = ExtractHexDecValue(entry.getSubIndex())

   490

                                entry_infos = {

   491

                                    "index": index,

   492

                                    "subindex": subindex,

   493

                                    "name": ExtractName(entry.getName()),

   494

                                    "bitlen": entry.getBitLen(),

   495

                                }

   496

                                entry_infos.update(type_infos)

   497

                                entries_infos.append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)

   498

   499

                                entry_declaration = slave_variables.get((index, subindex), None)

   500

                                if entry_declaration is not None:

   501

                                    pdo_needed = True

   502

                                    entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration)))

   503

   504

                                    if entry_infos["var_type"] != entry.getDataType().getcontent():

   505

                                        raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"]

   506

   507

                                    data_type = DATATYPECONVERSION.get(entry_infos["var_type"], None)

   508

                                    if data_type is None:

   509

                                        raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]

   510

   511

                                    if (entry_infos["dir"] == "I" and sync_managers[pdo.getSm()]["sync_manager_type"] != "EC_DIR_INPUT" or 

   512

                                        entry_infos["dir"] == "Q" and sync_managers[pdo.getSm()]["sync_manager_type"] != "EC_DIR_OUTPUT"):

   513

                                        raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]

   514

   515

                                    str_completion["located_variables_declaration"].extend(

   516

                                        ["IEC_%(var_type)s beremiz%(var_name)s;" % entry_infos,

   517

                                         "IEC_%(var_type)s *%(var_name)s = &beremiz%(var_name)s;" % entry_infos])

   518

   519

                                    if data_type == "BIT":

   520

                                        str_completion["used_pdo_entry_offset_variables_declaration"].extend(

   521

                                            ["static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos,

   522

                                             "static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos])

   523