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) 2007: Edouard TISSERANT and Laurent BESSARD

     8

#

     9

# See COPYING file for copyrights details.

    10

#

    11

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

    12

# modify it under the terms of the GNU General Public License

    13

# as published by the Free Software Foundation; either version 2

    14

# of the License, or (at your option) any later version.

    15

#

    16

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

    17

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

    18

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    19

# GNU General Public License for more details.

    20

#

    21

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

    22

# along with this program; if not, write to the Free Software

    23

# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

    24

    25

from plcopen import PLCOpenParser

    26

from plcopen.structures import *

    27

from types import *

    28

import re

    29

    30

# Dictionary associating PLCOpen variable categories to the corresponding

    31

# IEC 61131-3 variable categories

    32

varTypeNames = {"localVars": "VAR", "tempVars": "VAR_TEMP", "inputVars": "VAR_INPUT",

    33

                "outputVars": "VAR_OUTPUT", "inOutVars": "VAR_IN_OUT", "externalVars": "VAR_EXTERNAL",

    34

                "globalVars": "VAR_GLOBAL", "accessVars": "VAR_ACCESS"}

    35

    36

    37

# Dictionary associating PLCOpen POU categories to the corresponding

    38

# IEC 61131-3 POU categories

    39

pouTypeNames = {"function": "FUNCTION", "functionBlock": "FUNCTION_BLOCK", "program": "PROGRAM"}

    40

    41

    42

errorVarTypes = {

    43

    "VAR_INPUT": "var_input",

    44

    "VAR_OUTPUT": "var_output",

    45

    "VAR_INOUT": "var_inout",

    46

}

    47

    48

    49

def ReIndentText(text, nb_spaces):

    50

    """ Helper function for reindenting text """

    51

    compute = ""

    52

    lines = text.splitlines()

    53

    if len(lines) > 0:

    54

        line_num = 0

    55

        while line_num < len(lines) and len(lines[line_num].strip()) == 0:

    56

            line_num += 1

    57

        if line_num < len(lines):

    58

            spaces = 0

    59

            while lines[line_num][spaces] == " ":

    60

                spaces += 1

    61

            indent = ""

    62

            for i in xrange(spaces, nb_spaces):

    63

                indent += " "

    64

            for line in lines:

    65

                if line != "":

    66

                    compute += "%s%s\n" % (indent, line)

    67

                else:

    68

                    compute += "\n"

    69

    return compute

    70

    71

    72

def SortInstances(a, b):

    73

    ax, ay = int(a.getx()), int(a.gety())

    74

    bx, by = int(b.getx()), int(b.gety())

    75

    if abs(ay - by) < 10:

    76

        return cmp(ax, bx)

    77

    else:

    78

        return cmp(ay, by)

    79

    80

    81

def JoinList(separator, mylist):

    82

    """ Helper for emulate join on element list """

    83

    if len(mylist) > 0:

    84

        return reduce(lambda x, y: x + separator + y, mylist)

    85

    else:

    86

        return mylist

    87

    88

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

    89

#                  Specific exception for PLC generating errors

    90

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

    91

    92

    93

class PLCGenException(Exception):

    94

    pass

    95

    96

    97

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

    98

#                           Generator of PLC program

    99

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

   100

   101

   102

class ProgramGenerator:

   103

   104

    # Create a new PCL program generator

   105

    def __init__(self, controler, project, errors, warnings):

   106

        # Keep reference of the controler and project

   107

        self.Controler = controler

   108

        self.Project = project

   109

        # Reset the internal variables used to generate PLC programs

   110

        self.Program = []

   111

        self.DatatypeComputed = {}

   112

        self.PouComputed = {}

   113

        self.Errors = errors

   114

        self.Warnings = warnings

   115

   116

    # Compute value according to type given

   117

    def ComputeValue(self, value, var_type):

   118

        base_type = self.Controler.GetBaseType(var_type)

   119

        if base_type == "STRING" and not value.startswith("'") and not value.endswith("'"):

   120

            return "'%s'" % value

   121

        elif base_type == "WSTRING" and not value.startswith('"') and not value.endswith('"'):

   122

            return "\"%s\"" % value

   123

        return value

   124

   125

    # Generate a data type from its name

   126

    def GenerateDataType(self, datatype_name):

   127

        # Verify that data type hasn't been generated yet

   128

        if not self.DatatypeComputed.get(datatype_name, True):

   129

            # If not mark data type as computed

   130

            self.DatatypeComputed[datatype_name] = True

   131

   132

            # Getting datatype model from project

   133

            datatype = self.Project.getdataType(datatype_name)

   134

            tagname = self.Controler.ComputeDataTypeName(datatype.getname())

   135

            datatype_def = [("  ", ()),

   136

                            (datatype.getname(), (tagname, "name")),

   137

                            (" : ", ())]

   138

            basetype_content = datatype.baseType.getcontent()

   139

            basetype_content_type = basetype_content.getLocalTag()

   140

            # Data type derived directly from a user defined type

   141

            if basetype_content_type == "derived":

   142

                basetype_name = basetype_content.getname()

   143

                self.GenerateDataType(basetype_name)

   144

                datatype_def += [(basetype_name, (tagname, "base"))]

   145

            # Data type is a subrange

   146

            elif basetype_content_type in ["subrangeSigned", "subrangeUnsigned"]:

   147

                base_type = basetype_content.baseType.getcontent()

   148

                base_type_type = base_type.getLocalTag()

   149

                # Subrange derived directly from a user defined type

   150

                if base_type_type == "derived":

   151

                    basetype_name = base_type_type.getname()

   152

                    self.GenerateDataType(basetype_name)

   153

                # Subrange derived directly from an elementary type

   154

                else:

   155

                    basetype_name = base_type_type

   156

                min_value = basetype_content.range.getlower()

   157

                max_value = basetype_content.range.getupper()

   158

                datatype_def += [(basetype_name, (tagname, "base")),

   159

                                 (" (", ()),

   160

                                 ("%s" % min_value, (tagname, "lower")),

   161

                                 ("..", ()),

   162

                                 ("%s" % max_value, (tagname, "upper")),

   163

                                 (")", ())]

   164

            # Data type is an enumerated type

   165

            elif basetype_content_type == "enum":

   166

                values = [[(value.getname(), (tagname, "value", i))]

   167

                          for i, value in enumerate(

   168

                              basetype_content.xpath("ppx:values/ppx:value",

   169

                                  namespaces=PLCOpenParser.NSMAP))]

   170

                datatype_def += [("(", ())]

   171

                datatype_def += JoinList([(", ", ())], values)

   172

                datatype_def += [(")", ())]

   173

            # Data type is an array

   174

            elif basetype_content_type == "array":

   175

                base_type = basetype_content.baseType.getcontent()

   176

                base_type_type = base_type.getLocalTag()

   177

                # Array derived directly from a user defined type

   178

                if base_type_type == "derived":

   179

                    basetype_name = base_type.getname()

   180

                    self.GenerateDataType(basetype_name)

   181

                # Array derived directly from an elementary type

   182

                else:

   183

                    basetype_name = base_type_type.upper()

   184

                dimensions = [[("%s" % dimension.getlower(), (tagname, "range", i, "lower")),

   185

                               ("..", ()),

   186

                               ("%s" % dimension.getupper(), (tagname, "range", i, "upper"))]

   187

                              for i, dimension in enumerate(basetype_content.getdimension())]

   188

                datatype_def += [("ARRAY [", ())]

   189

                datatype_def += JoinList([(",", ())], dimensions)

   190

                datatype_def += [("] OF ", ()),

   191

                                 (basetype_name, (tagname, "base"))]

   192

            # Data type is a structure

   193

            elif basetype_content_type == "struct":

   194

                elements = []

   195

                for i, element in enumerate(basetype_content.getvariable()):

   196

                    element_type = element.type.getcontent()

   197

                    element_type_type = element_type.getLocalTag()

   198

                    # Structure element derived directly from a user defined type

   199

                    if element_type_type == "derived":

   200

                        elementtype_name = element_type.getname()

   201

                        self.GenerateDataType(elementtype_name)

   202

                    elif element_type_type == "array":

   203

                        base_type = element_type.baseType.getcontent()

   204

                        base_type_type = base_type.getLocalTag()

   205

                        # Array derived directly from a user defined type

   206

                        if base_type_type == "derived":

   207

                            basetype_name = base_type.getname()

   208

                            self.GenerateDataType(basetype_name)

   209

                        # Array derived directly from an elementary type

   210

                        else:

   211

                            basetype_name = base_type_type.upper()

   212

                        dimensions = ["%s..%s" % (dimension.getlower(), dimension.getupper())

   213

                                      for dimension in element_type.getdimension()]

   214

                        elementtype_name = "ARRAY [%s] OF %s" % (",".join(dimensions), basetype_name)

   215

                    # Structure element derived directly from an elementary type

   216

                    else:

   217

                        elementtype_name = element_type_type.upper()

   218

                    element_text = [("\n    ", ()),

   219

                                    (element.getname(), (tagname, "struct", i, "name")),

   220

                                    (" : ", ()),

   221

                                    (elementtype_name, (tagname, "struct", i, "type"))]

   222

                    if element.initialValue is not None:

   223

                        element_text.extend([(" := ", ()),

   224

                                             (self.ComputeValue(element.initialValue.getvalue(), elementtype_name), (tagname, "struct", i, "initial value"))])

   225

                    element_text.append((";", ()))

   226

                    elements.append(element_text)

   227

                datatype_def += [("STRUCT", ())]

   228

                datatype_def += JoinList([("", ())], elements)

   229

                datatype_def += [("\n  END_STRUCT", ())]

   230

            # Data type derived directly from a elementary type

   231

            else:

   232

                datatype_def += [(basetype_content_type.upper(), (tagname, "base"))]

   233

            # Data type has an initial value

   234

            if datatype.initialValue is not None:

   235

                datatype_def += [(" := ", ()),

   236

                                 (self.ComputeValue(datatype.initialValue.getvalue(), datatype_name), (tagname, "initial value"))]

   237

            datatype_def += [(";\n", ())]

   238

            self.Program += datatype_def

   239

   240

    # Generate a POU from its name

   241

    def GeneratePouProgram(self, pou_name):

   242

        # Verify that POU hasn't been generated yet

   243

        if not self.PouComputed.get(pou_name, True):

   244

            # If not mark POU as computed

   245

            self.PouComputed[pou_name] = True

   246

   247

            # Getting POU model from project

   248

            pou = self.Project.getpou(pou_name)

   249

            pou_type = pou.getpouType()

   250

            # Verify that POU type exists

   251

            if pouTypeNames.has_key(pou_type):

   252

                # Create a POU program generator

   253

                pou_program = PouProgramGenerator(self, pou.getname(), pouTypeNames[pou_type], self.Errors, self.Warnings)

   254

                program = pou_program.GenerateProgram(pou)

   255

                self.Program += program

   256

            else:

   257

                raise PLCGenException, _("Undefined pou type \"%s\"") % pou_type

   258

   259

    # Generate a POU defined and used in text

   260

    def GeneratePouProgramInText(self, text):

   261

        for pou_name in self.PouComputed.keys():

   262

            model = re.compile("(?:^|[^0-9^A-Z])%s(?:$|[^0-9^A-Z])" % pou_name.upper())

   263

            if model.search(text) is not None:

   264

                self.GeneratePouProgram(pou_name)

   265

   266

    # Generate a configuration from its model

   267

    def GenerateConfiguration(self, configuration):

   268

        tagname = self.Controler.ComputeConfigurationName(configuration.getname())

   269

        config = [("\nCONFIGURATION ", ()),

   270

                  (configuration.getname(), (tagname, "name")),

   271

                  ("\n", ())]

   272

        var_number = 0

   273

   274

        varlists = [(varlist, varlist.getvariable()[:]) for varlist in configuration.getglobalVars()]

   275

   276

        extra_variables = self.Controler.GetConfigurationExtraVariables()

   277

        extra_global_vars = None

   278

        if len(extra_variables) > 0 and len(varlists) == 0:

   279

            extra_global_vars = PLCOpenParser.CreateElement("globalVars", "interface")

   280

            configuration.setglobalVars([extra_global_vars])

   281

            varlists = [(extra_global_vars, [])]

   282

   283

        for variable in extra_variables:

   284

            varlists[-1][0].appendvariable(variable)

   285

            varlists[-1][1].append(variable)

   286

   287

        # Generate any global variable in configuration

   288

        for varlist, varlist_variables in varlists:

   289

            variable_type = errorVarTypes.get("VAR_GLOBAL", "var_local")

   290

            # Generate variable block with modifier

   291

            config += [("  VAR_GLOBAL", ())]

   292

            if varlist.getconstant():

   293

                config += [(" CONSTANT", (tagname, variable_type, (var_number, var_number + len(varlist.getvariable())), "constant"))]

   294

            elif varlist.getretain():

   295

                config += [(" RETAIN", (tagname, variable_type, (var_number, var_number + len(varlist.getvariable())), "retain"))]

   296

            elif varlist.getnonretain():

   297

                config += [(" NON_RETAIN", (tagname, variable_type, (var_number, var_number + len(varlist.getvariable())), "non_retain"))]

   298

            config += [("\n", ())]

   299

            # Generate any variable of this block

   300

            for var in varlist_variables:

   301

                vartype_content = var.gettype().getcontent()

   302

                if vartype_content.getLocalTag() == "derived":

   303

                    var_type = vartype_content.getname()

   304

                    self.GenerateDataType(var_type)

   305

                else:

   306

                    var_type = var.gettypeAsText()

   307

   308

                config += [("    ", ()),

   309

                           (var.getname(), (tagname, variable_type, var_number, "name")),

   310

                           (" ", ())]

   311

                # Generate variable address if exists

   312

                address = var.getaddress()

   313

                if address:

   314

                    config += [("AT ", ()),

   315

                               (address, (tagname, variable_type, var_number, "location")),

   316

                               (" ", ())]

   317

                config += [(": ", ()),

   318

                           (var.gettypeAsText(), (tagname, variable_type, var_number, "type"))]

   319

                # Generate variable initial value if exists

   320

                initial = var.getinitialValue()

   321

                if initial is not None:

   322

                    config += [(" := ", ()),

   323

                               (self.ComputeValue(initial.getvalue(), var_type), (tagname, variable_type, var_number, "initial value"))]

   324

                config += [(";\n", ())]

   325

                var_number += 1

   326

            config += [("  END_VAR\n", ())]

   327

   328

        if extra_global_vars is not None:

   329

            configuration.remove(extra_global_vars)

   330

        else:

   331

            for variable in extra_variables:

   332

                varlists[-1][0].remove(variable)

   333

   334

        # Generate any resource in the configuration

   335

        for resource in configuration.getresource():

   336

            config += self.GenerateResource(resource, configuration.getname())

   337

        config += [("END_CONFIGURATION\n", ())]

   338

        return config

   339

   340

    # Generate a resource from its model

   341

    def GenerateResource(self, resource, config_name):

   342

        tagname = self.Controler.ComputeConfigurationResourceName(config_name, resource.getname())

   343

        resrce = [("\n  RESOURCE ", ()),

   344

                  (resource.getname(), (tagname, "name")),

   345

                  (" ON PLC\n", ())]

   346

        var_number = 0

   347

        # Generate any global variable in configuration

   348

        for varlist in resource.getglobalVars():

   349

            variable_type = errorVarTypes.get("VAR_GLOBAL", "var_local")

   350

            # Generate variable block with modifier

   351

            resrce += [("    VAR_GLOBAL", ())]

   352

            if varlist.getconstant():

   353

                resrce += [(" CONSTANT", (tagname, variable_type, (var_number, var_number + len(varlist.getvariable())), "constant"))]

   354

            elif varlist.getretain():

   355

                resrce += [(" RETAIN", (tagname, variable_type, (var_number, var_number + len(varlist.getvariable())), "retain"))]

   356

            elif varlist.getnonretain():

   357

                resrce += [(" NON_RETAIN", (tagname, variable_type, (var_number, var_number + len(varlist.getvariable())), "non_retain"))]

   358

            resrce += [("\n", ())]

   359

            # Generate any variable of this block

   360

            for var in varlist.getvariable():

   361

                vartype_content = var.gettype().getcontent()

   362

                if vartype_content.getLocalTag() == "derived":

   363

                    var_type = vartype_content.getname()

   364

                    self.GenerateDataType(var_type)

   365

                else:

   366

                    var_type = var.gettypeAsText()

   367

   368

                resrce += [("      ", ()),

   369

                           (var.getname(), (tagname, variable_type, var_number, "name")),

   370

                           (" ", ())]

   371

                address = var.getaddress()

   372

                # Generate variable address if exists

   373

                if address:

   374

                    resrce += [("AT ", ()),

   375

                               (address, (tagname, variable_type, var_number, "location")),

   376

                               (" ", ())]

   377

                resrce += [(": ", ()),

   378

                           (var.gettypeAsText(), (tagname, variable_type, var_number, "type"))]

   379

                # Generate variable initial value if exists

   380

                initial = var.getinitialValue()

   381

                if initial is not None:

   382

                    resrce += [(" := ", ()),

   383

                               (self.ComputeValue(initial.getvalue(), var_type), (tagname, variable_type, var_number, "initial value"))]

   384

                resrce += [(";\n", ())]

   385

                var_number += 1

   386

            resrce += [("    END_VAR\n", ())]

   387

        # Generate any task in the resource

   388

        tasks = resource.gettask()

   389

        task_number = 0

   390

        for task in tasks:

   391

            # Task declaration

   392

            resrce += [("    TASK ", ()),

   393

                       (task.getname(), (tagname, "task", task_number, "name")),

   394

                       ("(", ())]

   395

            args = []

   396

            single = task.getsingle()

   397

            # Single argument if exists

   398

            if single is not None:

   399

                if len(single) == 0:

   400

                    msg = _("Source signal has to be defined for single task '{a1}' in resource '{a2}.{a3}'.").\

   401

                          format(a1=task.getname(), a2=config_name, a3=resource.getname())

   402

                    raise PLCGenException, msg

   403

   404

                if single[0] == '[' and single[-1] == ']':

   405

                    SNGLKW = "MULTI"

   406

                else:

   407

                    SNGLKW = "SINGLE"

   408

                resrce += [(SNGLKW + " := ", ()),

   409

                           (single, (tagname, "task", task_number, "single")),

   410

                           (",", ())]

   411

            # Interval argument if exists

   412

            interval = task.getinterval()

   413

            if interval is not None:

   414

                resrce += [("INTERVAL := ", ()),

   415

                           (interval, (tagname, "task", task_number, "interval")),

   416

                           (",", ())]

   417

##                resrce += [("INTERVAL := t#", ())]

   418

##                if interval.hour != 0:

   419

##                    resrce += [("%dh"%interval.hour, (tagname, "task", task_number, "interval", "hour"))]

   420

##                if interval.minute != 0:

   421

##                    resrce += [("%dm"%interval.minute, (tagname, "task", task_number, "interval", "minute"))]

   422

##                if interval.second != 0:

   423

##                    resrce += [("%ds"%interval.second, (tagname, "task", task_number, "interval", "second"))]

   424

##                if interval.microsecond != 0:

   425

##                    resrce += [("%dms"%(interval.microsecond / 1000), (tagname, "task", task_number, "interval", "millisecond"))]

   426

##                resrce += [(",", ())]

   427

            # Priority argument

   428

            resrce += [("PRIORITY := ", ()),

   429

                       ("%d" % task.getpriority(), (tagname, "task", task_number, "priority")),

   430

                       (");\n", ())]

   431

            task_number += 1

   432

        instance_number = 0

   433

        # Generate any program assign to each task

   434

        for task in tasks:

   435

            for instance in task.getpouInstance():

   436

                resrce += [("    PROGRAM ", ()),

   437

                           (instance.getname(), (tagname, "instance", instance_number, "name")),

   438

                           (" WITH ", ()),

   439

                           (task.getname(), (tagname, "instance", instance_number, "task")),

   440

                           (" : ", ()),

   441

                           (instance.gettypeName(), (tagname, "instance", instance_number, "type")),

   442

                           (";\n", ())]

   443

                instance_number += 1

   444

        # Generate any program assign to no task

   445

        for instance in resource.getpouInstance():

   446

            resrce += [("    PROGRAM ", ()),

   447

                           (instance.getname(), (tagname, "instance", instance_number, "name")),

   448

                           (" : ", ()),

   449

                           (instance.gettypeName(), (tagname, "instance", instance_number, "type")),

   450

                           (";\n", ())]

   451

            instance_number += 1

   452

        resrce += [("  END_RESOURCE\n", ())]

   453

        return resrce

   454

   455

    # Generate the entire program for current project

   456

    def GenerateProgram(self):

   457

        # Find all data types defined

   458

        for datatype in self.Project.getdataTypes():

   459

            self.DatatypeComputed[datatype.getname()] = False

   460

        # Find all data types defined

   461

        for pou in self.Project.getpous():

   462

            self.PouComputed[pou.getname()] = False

   463

        # Generate data type declaration structure if there is at least one data

   464

        # type defined

   465

        if len(self.DatatypeComputed) > 0:

   466

            self.Program += [("TYPE\n", ())]

   467

            # Generate every data types defined

   468

            for datatype_name in self.DatatypeComputed.keys():

   469

                self.GenerateDataType(datatype_name)

   470

            self.Program += [("END_TYPE\n\n", ())]

   471

        # Generate every POUs defined

   472

        for pou_name in self.PouComputed.keys():

   473

            self.GeneratePouProgram(pou_name)

   474

        # Generate every configurations defined

   475

        for config in self.Project.getconfigurations():

   476

            self.Program += self.GenerateConfiguration(config)

   477

   478

    # Return generated program

   479

    def GetGeneratedProgram(self):

   480

        return self.Program

   481

   482

   483

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

   484

#                           Generator of POU programs

   485

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

   486

   487

[ConnectorClass, ContinuationClass, ActionBlockClass] = [

   488

    PLCOpenParser.GetElementClass(instance_name, "commonObjects")

   489

    for instance_name in ["connector", "continuation", "actionBlock"]]

   490

[InVariableClass, InOutVariableClass, OutVariableClass, BlockClass] = [

   491

    PLCOpenParser.GetElementClass(instance_name, "fbdObjects")

   492

    for instance_name in ["inVariable", "inOutVariable", "outVariable", "block"]]

   493

[ContactClass, CoilClass, LeftPowerRailClass, RightPowerRailClass] = [

   494

    PLCOpenParser.GetElementClass(instance_name, "ldObjects")

   495

    for instance_name in ["contact", "coil", "leftPowerRail", "rightPowerRail"]]

   496

[StepClass, TransitionClass, JumpStepClass,

   497

 SelectionConvergenceClass, SelectionDivergenceClass,

   498

 SimultaneousConvergenceClass, SimultaneousDivergenceClass] = [

   499

    PLCOpenParser.GetElementClass(instance_name, "sfcObjects")

   500

    for instance_name in ["step", "transition", "jumpStep",

   501

        "selectionConvergence", "selectionDivergence",

   502

        "simultaneousConvergence", "simultaneousDivergence"]]

   503

TransitionObjClass = PLCOpenParser.GetElementClass("transition", "transitions")

   504

ActionObjClass = PLCOpenParser.GetElementClass("action", "actions")

   505

   506