1

#!/usr/bin/env python

     2

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

     3

     4

# This file is part of Beremiz, a Integrated Development Environment for

     5

# programming IEC 61131-3 automates supporting plcopen standard and CanFestival.

     6

#

     7

# Copyright (c) 2016 Mario de Sousa (msousa@fe.up.pt)

     8

#

     9

# This program is free software: you can redistribute it and/or modify

    10

# it under the terms of the GNU General Public License as published by

    11

# the Free Software Foundation, either version 2 of the License, or

    12

# (at your option) any later version.

    13

#

    14

# This program is distributed in the hope that it will be useful,

    15

# but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

# GNU General Public License for more details.

    18

#

    19

# You should have received a copy of the GNU General Public License

    20

# along with this program.  If not, see <http://www.gnu.org/licenses/>.

    21

#

    22

# This code is made available on the understanding that it will not be

    23

# used in safety-critical situations without a full and competent review.

    24

    25

    26

from __future__ import absolute_import

    27

import os

    28

from six.moves import xrange

    29

    30

from modbus.mb_utils import *

    31

from ConfigTreeNode import ConfigTreeNode

    32

from PLCControler import LOCATION_CONFNODE, LOCATION_VAR_MEMORY

    33

import util.paths as paths

    34

    35

base_folder = os.path.split(os.path.dirname(os.path.realpath(__file__)))[0]

    36

base_folder = os.path.join(base_folder, "..")

    37

ModbusPath = os.path.join(base_folder, "Modbus")

    38

    39

    40

#

    41

#

    42

#

    43

# C L I E N T    R E Q U E S T            #

    44

#

    45

#

    46

#

    47

    48

    49

class _RequestPlug(object):

    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="ModbusRequest">

    53

        <xsd:complexType>

    54

          <xsd:attribute name="Function" type="xsd:string" use="optional" default="01 - Read Coils"/>

    55

          <xsd:attribute name="SlaveID" use="optional" default="1">

    56

            <xsd:simpleType>

    57

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

    58

                    <xsd:minInclusive value="0"/>

    59

                    <xsd:maxInclusive value="255"/>

    60

                </xsd:restriction>

    61

            </xsd:simpleType>

    62

          </xsd:attribute>

    63

          <xsd:attribute name="Nr_of_Channels" use="optional" default="1">

    64

            <xsd:simpleType>

    65

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

    66

                    <xsd:minInclusive value="1"/>

    67

                    <xsd:maxInclusive value="2000"/>

    68

                </xsd:restriction>

    69

            </xsd:simpleType>

    70

          </xsd:attribute>

    71

          <xsd:attribute name="Start_Address" use="optional" default="0">

    72

            <xsd:simpleType>

    73

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

    74

                    <xsd:minInclusive value="0"/>

    75

                    <xsd:maxInclusive value="65535"/>

    76

                </xsd:restriction>

    77

            </xsd:simpleType>

    78

          </xsd:attribute>

    79

          <xsd:attribute name="Timeout_in_ms" use="optional" default="10">

    80

            <xsd:simpleType>

    81

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

    82

                    <xsd:minInclusive value="1"/>

    83

                    <xsd:maxInclusive value="100000"/>

    84

                </xsd:restriction>

    85

            </xsd:simpleType>

    86

          </xsd:attribute>

    87

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

    88

        </xsd:complexType>

    89

      </xsd:element>

    90

    </xsd:schema>

    91

    """

    92

    93

    def GetParamsAttributes(self, path=None):

    94

        infos = ConfigTreeNode.GetParamsAttributes(self, path=path)

    95

        for element in infos:

    96

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

    97

                for child in element["children"]:

    98

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

    99

                        list = modbus_function_dict.keys()

   100

                        list.sort()

   101

                        child["type"] = list

   102

        return infos

   103

   104

    def GetVariableLocationTree(self):

   105

        current_location = self.GetCurrentLocation()

   106

        name = self.BaseParams.getName()

   107

        address = self.GetParamsAttributes()[0]["children"][3]["value"]

   108

        count = self.GetParamsAttributes()[0]["children"][2]["value"]

   109

        function = self.GetParamsAttributes()[0]["children"][0]["value"]

   110

        # 'BOOL' or 'WORD'

   111

        datatype = modbus_function_dict[function][3]

   112

        # 1 or 16

   113

        datasize = modbus_function_dict[function][4]

   114

        # 'Q' for coils and holding registers, 'I' for input discretes and input registers

   115

        # datazone = modbus_function_dict[function][5]

   116

        # 'X' for bits, 'W' for words

   117

        datatacc = modbus_function_dict[function][6]

   118

        # 'Coil', 'Holding Register', 'Input Discrete' or 'Input Register'

   119

        dataname = modbus_function_dict[function][7]

   120

        # start off with a boolean entry

   121

        # This is a flag used to allow the user program to control when to 

   122

        # execute the Modbus request.

   123

        # NOTE: If the Modbus request has a 'current_location' of

   124

        #          %QX1.2.3

   125

        #       then the execution control flag will be

   126

        #          %QX1.2.3.0.0

   127

        #       and all the Modbus registers/coils will be

   128

        #          %QX1.2.3.0

   129

        #          %QX1.2.3.1

   130

        #          %QX1.2.3.2

   131

        #            ..

   132

        #          %QX1.2.3.n

   133

        entries = []

   134

        entries.append({

   135

            "name": "Exec. request flag",

   136

            "type": LOCATION_VAR_MEMORY,

   137

            "size": 1,           # BOOL flag

   138

            "IEC_type": "BOOL",  # BOOL flag

   139

            "var_name": "var_name",

   140

            "location": "X" + ".".join([str(i) for i in current_location]) + ".0.0",

   141

            "description": "MB request execution control flag",

   142

            "children": []})        

   143

        for offset in range(address, address + count):

   144

            entries.append({

   145

                "name": dataname + " " + str(offset),

   146

                "type": LOCATION_VAR_MEMORY,

   147

                "size": datasize,

   148

                "IEC_type": datatype,

   149

                "var_name": "MB_" + "".join([w[0] for w in dataname.split()]) + "_" + str(offset),

   150

                "location": datatacc + ".".join([str(i) for i in current_location]) + "." + str(offset),

   151

                "description": "description",

   152

                "children": []})

   153

        return {"name": name,

   154

                "type": LOCATION_CONFNODE,

   155

                "location": ".".join([str(i) for i in current_location]) + ".x",

   156

                "children": entries}

   157

   158

    def CTNGenerate_C(self, buildpath, locations):

   159

        """

   160

        Generate C code

   161

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

   162

        @param locations: List of complete variables locations \

   163

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

   164

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

   165

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

   166

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

   167

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

   168

            }, ...]

   169

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

   170

        """

   171

        return [], "", False

   172

   173

   174

#

   175

#

   176

#

   177

# S E R V E R    M E M O R Y    A R E A       #

   178

#

   179

#

   180

#

   181

   182

# dictionary implementing:

   183

# key - string with the description we want in the request plugin GUI

   184

# list - (modbus function number, request type, max count value)

   185

modbus_memtype_dict = {

   186

    "01 - Coils":            ('1', 'rw_bits',  65536, "BOOL", 1, "Q", "X", "Coil"),

   187

    "02 - Input Discretes":  ('2', 'ro_bits',  65536, "BOOL", 1, "I", "X", "Input Discrete"),

   188

    "03 - Holding Registers": ('3', 'rw_words', 65536, "WORD", 16, "Q", "W", "Holding Register"),

   189

    "04 - Input Registers":  ('4', 'ro_words', 65536, "WORD", 16, "I", "W", "Input Register"),

   190

}

   191

   192

   193

class _MemoryAreaPlug(object):

   194

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

   195

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

   196

      <xsd:element name="MemoryArea">

   197

        <xsd:complexType>

   198

          <xsd:attribute name="MemoryAreaType" type="xsd:string" use="optional" default="01 - Coils"/>

   199

          <xsd:attribute name="Nr_of_Channels" use="optional" default="1">

   200

            <xsd:simpleType>

   201

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

   202

                    <xsd:minInclusive value="1"/>

   203

                    <xsd:maxInclusive value="65536"/>

   204

                </xsd:restriction>

   205

            </xsd:simpleType>

   206

          </xsd:attribute>

   207

          <xsd:attribute name="Start_Address" use="optional" default="0">

   208

            <xsd:simpleType>

   209

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

   210

                    <xsd:minInclusive value="0"/>

   211

                    <xsd:maxInclusive value="65535"/>

   212

                </xsd:restriction>

   213

            </xsd:simpleType>

   214

          </xsd:attribute>

   215

        </xsd:complexType>

   216

      </xsd:element>

   217

    </xsd:schema>

   218

    """

   219

   220

    def GetParamsAttributes(self, path=None):

   221

        infos = ConfigTreeNode.GetParamsAttributes(self, path=path)

   222

        for element in infos:

   223

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

   224

                for child in element["children"]:

   225

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

   226

                        list = modbus_memtype_dict.keys()

   227

                        list.sort()

   228

                        child["type"] = list

   229

        return infos

   230

   231

    def GetVariableLocationTree(self):

   232

        current_location = self.GetCurrentLocation()

   233

        name = self.BaseParams.getName()

   234

        address = self.GetParamsAttributes()[0]["children"][2]["value"]

   235

        count = self.GetParamsAttributes()[0]["children"][1]["value"]

   236

        function = self.GetParamsAttributes()[0]["children"][0]["value"]

   237

        # 'BOOL' or 'WORD'

   238

        datatype = modbus_memtype_dict[function][3]

   239

        # 1 or 16

   240

        datasize = modbus_memtype_dict[function][4]

   241

        # 'Q' for coils and holding registers, 'I' for input discretes and input registers

   242

        # datazone = modbus_memtype_dict[function][5]

   243

        # 'X' for bits, 'W' for words

   244

        datatacc = modbus_memtype_dict[function][6]

   245

        # 'Coil', 'Holding Register', 'Input Discrete' or 'Input Register'

   246

        dataname = modbus_memtype_dict[function][7]

   247

        entries = []

   248

        for offset in range(address, address + count):

   249

            entries.append({

   250

                "name": dataname + " " + str(offset),

   251

                "type": LOCATION_VAR_MEMORY,

   252

                "size": datasize,

   253

                "IEC_type": datatype,

   254

                "var_name": "MB_" + "".join([w[0] for w in dataname.split()]) + "_" + str(offset),

   255

                "location": datatacc + ".".join([str(i) for i in current_location]) + "." + str(offset),

   256

                "description": "description",

   257

                "children": []})

   258

        return {"name": name,

   259

                "type": LOCATION_CONFNODE,

   260

                "location": ".".join([str(i) for i in current_location]) + ".x",

   261

                "children": entries}

   262

   263

    def CTNGenerate_C(self, buildpath, locations):

   264

        """

   265

        Generate C code

   266

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

   267

        @param locations: List of complete variables locations \

   268

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

   269

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

   270

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

   271

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

   272

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

   273

            }, ...]

   274

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

   275

        """

   276

        return [], "", False

   277

   278

   279

#

   280

#

   281

#

   282

# T C P    C L I E N T                 #

   283

#

   284

#

   285

#

   286

   289

class _ModbusTCPclientPlug(object):

   290

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

   291

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

   292

      <xsd:element name="ModbusTCPclient">

   293

        <xsd:complexType>

   294

          <xsd:attribute name="Configuration_Name" type="xsd:string" use="optional" default=""/>

   295

          <xsd:attribute name="Remote_IP_Address" type="xsd:string" use="optional" default="localhost"/>

   296

          <xsd:attribute name="Remote_Port_Number" type="xsd:string" use="optional" default="502"/>

   297

          <xsd:attribute name="Invocation_Rate_in_ms" use="optional" default="100">

   298

            <xsd:simpleType>

   299

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

   300

                    <xsd:minInclusive value="0"/>

   301

                    <xsd:maxInclusive value="2147483647"/>

   302

                </xsd:restriction>

   303

            </xsd:simpleType>

   304

          </xsd:attribute>

   305

        </xsd:complexType>

   306

      </xsd:element>

   307

    </xsd:schema>

   308

    """

   309

    # NOTE: Max value of 2147483647 (i32_max) for Invocation_Rate_in_ms

   310

    # corresponds to aprox 25 days.

   311

    CTNChildrenTypes = [("ModbusRequest", _RequestPlug, "Request")]

   312

    # TODO: Replace with CTNType !!!

   313

    PlugType = "ModbusTCPclient"

   314

   315

   316

    def __init__(self):

   317

        # NOTE:

   318

        # The ModbusTCPclient attribute is added dynamically by ConfigTreeNode._AddParamsMembers()

   319

        # It will be an XML parser object created by

   320

        # GenerateParserFromXSDstring(self.XSD).CreateRoot()

   321

   322

        # Set the default value for the "Configuration_Name" parameter

   323

        # The default value will need to be different for each instance of the 

   324

        # _ModbusTCPclientPlug class, so we cannot hardcode the default value in the XSD above

   325

        # This value will be used by the web interface 

   326

        #   (i.e. the extension to the web server used to configure the Modbus parameters).

   327

        #   (The web server is run/activated/started by Beremiz_service.py)

   328

        #   (The web server code is found in runtime/NevowServer.py)

   329

        #   (The Modbus extension to the web server is found in runtime/Modbus_config.py)

   330

        loc_str = ".".join(map(str, self.GetCurrentLocation()))

   331

        self.ModbusTCPclient.setConfiguration_Name("Modbus TCP Client " + loc_str)

   332

   333

    # Return the number of (modbus library) nodes this specific TCP client will need

   334

    #   return type: (tcp nodes, rtu nodes, ascii nodes)

   335

    def GetNodeCount(self):

   336

        return (1, 0, 0)

   337

   338

    def GetConfigName(self):

   339

        """ Return the node's Configuration_Name """

   340

        return self.ModbusTCPclient.getConfiguration_Name()

   341

   342

    def CTNGenerate_C(self, buildpath, locations):

   343

        """

   344

        Generate C code

   345

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

   346

        @param locations: List of complete variables locations \

   347

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

   348

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

   349

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

   350

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

   351

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

   352

            }, ...]

   353

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

   354

        """

   355

        return [], "", False

   356

   357

   358

#

   359

#

   360

#

   361

# T C P    S E R V E R                 #

   362

#

   363

#

   364

#

   365

   368

class _ModbusTCPserverPlug(object):

   369

    # NOTE: the Port number is a 'string' and not an 'integer'!

   370

    # This is because the underlying modbus library accepts strings

   371

    # (e.g.: well known port names!)

   372

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

   373

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

   374

      <xsd:element name="ModbusServerNode">

   375

        <xsd:complexType>

   376

          <xsd:attribute name="Configuration_Name" type="xsd:string" use="optional" default=""/>

   377

          <xsd:attribute name="Local_IP_Address" type="xsd:string" use="optional"  default="#ANY#"/>

   378

          <xsd:attribute name="Local_Port_Number" type="xsd:string" use="optional" default="502"/>

   379

          <xsd:attribute name="SlaveID" use="optional" default="0">

   380

            <xsd:simpleType>

   381

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

   382

                    <xsd:minInclusive value="0"/>

   383

                    <xsd:maxInclusive value="255"/>

   384

                </xsd:restriction>

   385

            </xsd:simpleType>

   386

          </xsd:attribute>

   387

        </xsd:complexType>

   388

      </xsd:element>

   389

    </xsd:schema>

   390

    """

   391

    CTNChildrenTypes = [("MemoryArea", _MemoryAreaPlug, "Memory Area")]

   392

    # TODO: Replace with CTNType !!!

   393

    PlugType = "ModbusTCPserver"

   394

   395

    def __init__(self):

   396

        # NOTE:

   397

        # The ModbusServerNode attribute is added dynamically by ConfigTreeNode._AddParamsMembers()

   398

        # It will be an XML parser object created by

   399

        # GenerateParserFromXSDstring(self.XSD).CreateRoot()

   400

   401

        # Set the default value for the "Configuration_Name" parameter

   402

        # The default value will need to be different for each instance of the 

   403

        # _ModbusTCPclientPlug class, so we cannot hardcode the default value in the XSD above

   404

        # This value will be used by the web interface 

   405

        #   (i.e. the extension to the web server used to configure the Modbus parameters).

   406

        #   (The web server is run/activated/started by Beremiz_service.py)

   407

        #   (The web server code is found in runtime/NevowServer.py)

   408

        #   (The Modbus extension to the web server is found in runtime/Modbus_config.py)

   409

        loc_str = ".".join(map(str, self.GetCurrentLocation()))

   410

        self.ModbusServerNode.setConfiguration_Name("Modbus TCP Server " + loc_str)

   411

   412

    # Return the number of (modbus library) nodes this specific TCP server will need

   413

    #   return type: (tcp nodes, rtu nodes, ascii nodes)

   414

    def GetNodeCount(self):

   415

        return (1, 0, 0)

   416

   417

    # Return a list with a single tuple conatining the (location, IP address, port number)

   418

    #     location   : location of this node in the configuration tree

   419

    #     port number: IP port used by this Modbus/IP server

   420

    #     IP address : IP address of the network interface on which the server will be listening

   421

    #                  ("", "*", or "#ANY#" => listening on all interfaces!)

   422

    def GetIPServerPortNumbers(self):

   423

        port = self.ModbusServerNode.getLocal_Port_Number()

   424

        addr = self.ModbusServerNode.getLocal_IP_Address()

   425

        return [(self.GetCurrentLocation(), addr, port)]

   426

   427

    def GetConfigName(self):

   428

        """ Return the node's Configuration_Name """

   429

        return self.ModbusServerNode.getConfiguration_Name()

   430

   431

    def CTNGenerate_C(self, buildpath, locations):

   432

        """

   433

        Generate C code

   434

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

   435

        @param locations: List of complete variables locations \

   436

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

   437

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

   438

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

   439

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

   440

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

   441

            }, ...]

   442

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

   443

        """

   444

        return [], "", False

   445

   446

   447

#

   448

#

   449

#

   450

# R T U    C L I E N T                 #

   451

#

   452

#

   453

#

   454

   457

class _ModbusRTUclientPlug(object):

   458

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

   459

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

   460

      <xsd:element name="ModbusRTUclient">

   461

        <xsd:complexType>

   462

          <xsd:attribute name="Configuration_Name" type="xsd:string" use="optional" default=""/>

   463

          <xsd:attribute name="Serial_Port" type="xsd:string"  use="optional" default="/dev/ttyS0"/>

   464

          <xsd:attribute name="Baud_Rate"   type="xsd:string"  use="optional" default="9600"/>

   465

          <xsd:attribute name="Parity"      type="xsd:string"  use="optional" default="even"/>

   466

          <xsd:attribute name="Stop_Bits"   type="xsd:string"  use="optional" default="1"/>

   467

          <xsd:attribute name="Invocation_Rate_in_ms" use="optional" default="100">

   468

            <xsd:simpleType>

   469

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

   470

                    <xsd:minInclusive value="0"/>

   471

                    <xsd:maxInclusive value="2147483647"/>

   472

                </xsd:restriction>

   473

            </xsd:simpleType>

   474

          </xsd:attribute>

   475

        </xsd:complexType>

   476

      </xsd:element>

   477

    </xsd:schema>

   478

    """

   479

    # NOTE: Max value of 2147483647 (i32_max) for Invocation_Rate_in_ms

   480

    # corresponds to aprox 25 days.

   481

    CTNChildrenTypes = [("ModbusRequest", _RequestPlug, "Request")]

   482

    # TODO: Replace with CTNType !!!

   483

    PlugType = "ModbusRTUclient"

   484

   485

    def __init__(self):

   486

        # NOTE:

   487

        # The ModbusRTUclient attribute is added dynamically by ConfigTreeNode._AddParamsMembers()

   488

        # It will be an XML parser object created by

   489

        # GenerateParserFromXSDstring(self.XSD).CreateRoot()

   490

   491

        # Set the default value for the "Configuration_Name" parameter

   492

        # The default value will need to be different for each instance of the 

   493

        # _ModbusTCPclientPlug class, so we cannot hardcode the default value in the XSD above

   494

        # This value will be used by the web interface 

   495

        #   (i.e. the extension to the web server used to configure the Modbus parameters).

   496

        #   (The web server is run/activated/started by Beremiz_service.py)

   497

        #   (The web server code is found in runtime/NevowServer.py)

   498

        #   (The Modbus extension to the web server is found in runtime/Modbus_config.py)

   499

        loc_str = ".".join(map(str, self.GetCurrentLocation()))

   500

        self.ModbusRTUclient.setConfiguration_Name("Modbus RTU Client " + loc_str)

   501

   502

    def GetParamsAttributes(self, path=None):

   503

        infos = ConfigTreeNode.GetParamsAttributes(self, path=path)

   504

        for element in infos:

   505

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

   506

                for child in element["children"]:

   507

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

   508