1

import os, sys

     2

base_folder = os.path.split(sys.path[0])[0]

     3

CanFestivalPath = os.path.join(base_folder, "CanFestival-3")

     4

sys.path.append(os.path.join(CanFestivalPath, "objdictgen"))

     5

     6

from nodelist import NodeList

     7

from nodemanager import NodeManager

     8

import config_utils, gen_cfile, eds_utils

     9

from networkedit import networkedit

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from objdictedit import objdictedit

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import canfestival_config as local_canfestival_config

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from plugger import PlugTemplate

    13

from commondialogs import CreateNodeDialog

    14

import wx

    15

    19

from gnosis.xml.pickle import *

    20

from gnosis.xml.pickle.util import setParanoia

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setParanoia(0)

    22

    23

if wx.Platform == '__WXMSW__':

    24

    DEFAULT_SETTINGS = {

    25

        "CAN_Driver": "can_tcp_win32",

    26

        "CAN_Device": "127.0.0.1",

    27

        "CAN_Baudrate": "125K",

    28

        "Slave_NodeId": 2,

    29

        "Master_NodeId": 1,

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    }

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else:

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    DEFAULT_SETTINGS = {

    33

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

    34

        "CAN_Device": "vcan0",

    35

        "CAN_Baudrate": "125K",

    36

        "Slave_NodeId": 2,

    37

        "Master_NodeId": 1,

    38

    }

    39

    40

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

    41

#                    SLAVE

    42

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

    43

    44

class _SlavePlug(NodeManager):

    45

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

    46

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

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      <xsd:element name="CanFestivalSlaveNode">

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        <xsd:complexType>

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

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

    51

          <xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Slave_NodeId)d"/>

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

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

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            <xsd:simpleType>

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

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                    <xsd:minInclusive value="1"/>

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                    <xsd:maxInclusive value="99"/>

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                </xsd:restriction>

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            </xsd:simpleType>

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          </xsd:attribute>

    61

        </xsd:complexType>

    62

      </xsd:element>

    63

    </xsd:schema>

    64

    """ % DEFAULT_SETTINGS

    67

    68

    def __init__(self):

    69

        # TODO change netname when name change

    70

        NodeManager.__init__(self)

    71

        odfilepath = self.GetSlaveODPath()

    72

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

    73

            self.OpenFileInCurrent(odfilepath)

    74

        else:

    75

            self.FilePath = ""

    76

            dialog = CreateNodeDialog(None, wx.OK)

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            dialog.Type.Enable(False)

    78

            dialog.GenSYNC.Enable(False)

    79

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

    80

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

    81

                profile, filepath = dialog.GetProfile()

    82

                NMT = dialog.GetNMTManagement()

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                options = dialog.GetOptions()

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

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                                   id,         # NodeID - will be changed at build time

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                                   "slave",    # Type

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                                   description,# description 

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                                   profile,    # profile

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                                   filepath,   # prfile filepath

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                                   NMT,        # NMT

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                                   options)     # options

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            else:

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

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

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                                   "slave",      # Type

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                                   "",           # description 

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                                   "None",       # profile

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                                   "", # prfile filepath

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                                   "heartbeat",  # NMT

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                                   [])           # options

   101

            dialog.Destroy()

   110

    def _OpenView(self):

   114

   115

    PluginMethods = [

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

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         "name" : "Edit slave", 

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         "tooltip" : "Edit CanOpen slave with ObjdictEdit",

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         "method" : "_OpenView"},

   120

    ]

   121

   122

    def OnPlugClose(self):

   123

        if self._View:

   124

            self._View.Close()

   125

   126

    def PlugTestModified(self):

   127

        return self.ChangesToSave or self.OneFileHasChanged()

   128

   129

    def OnPlugSave(self):

   130

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   131

   141

    def PlugGenerate_C(self, buildpath, locations):

   142

        """

   143

        Generate C code

   144

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

   145

        @param locations: List of complete variables locations \

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

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

   148

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

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

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

   151

            }, ...]

   152

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

   153

        """

   154

        current_location = self.GetCurrentLocation()

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        # define a unique name for the generated C file

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

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

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        # Create a new copy of the model

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        slave = self.GetCurrentNodeCopy()

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

   161

        # allow access to local OD from Slave PLC

   162

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

   163

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

   164

        if res :

   165

            raise Exception, res

   166

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

   167

        if res :

   168

            raise Exception, res

   169

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

   170

   180

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

   181

#                    MASTER

   182

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

   183

   203

class _NodeListPlug(NodeList):

   204

    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="CanFestivalNode">

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        <xsd:complexType>

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

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

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          <xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Master_NodeId)d"/>

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

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        </xsd:complexType>

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      </xsd:element>

   214

    </xsd:schema>

   215

    """ % DEFAULT_SETTINGS

   219

    def __init__(self):

   220

        manager = NodeManager()

   222

        self.LoadProject(self.PlugPath())

   239

    def _OpenView(self):

   245

    def _ShowMasterGenerated(self):

   271

    PluginMethods = [

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

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

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         "tooltip" : _("Edit CanOpen Network with NetworkEdit"),

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         "method" : "_OpenView"},

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

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

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

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         "method" : "_ShowMasterGenerated"}

   280

    ]

   286

   287

    def OnPlugClose(self):

   291

   292

    def PlugTestModified(self):

   293

        return self.ChangesToSave or self.HasChanged()

   294

   295

    def OnPlugSave(self):

   296

        self.SetRoot(self.PlugPath())

   297

        return self.SaveProject() is None

   298

   299

    def PlugGenerate_C(self, buildpath, locations):

   300

        """

   301

        Generate C code

   302

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

   303

        @param locations: List of complete variables locations \

   304

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

   305

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

   306

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

   307

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

   308

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

   309

            }, ...]

   310

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

   311

        """

   313

        current_location = self.GetCurrentLocation()

   314

        # define a unique name for the generated C file

   315

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

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

   317

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

   318

        try:

   319

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

   320

        except config_utils.PDOmappingException, e:

   321

            raise Exception, e.message

   322

        # Do generate C file.

   323

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

   324

        if res :

   325

            raise Exception, res

   326

   327

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

   328

        dump(master, file)

   329

        file.close()

   330

   331

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

   332

   342

class RootClass:

   343

    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="CanFestivalInstance">

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        <xsd:complexType>

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

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

   349

        </xsd:complexType>

   350

      </xsd:element>

   351

    </xsd:schema>

   352

    """ % DEFAULT_SETTINGS

   353

   354

    PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"),

   355

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

   356

    def GetParamsAttributes(self, path = None):

   357

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

   358

        for element in infos:

   359

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

   360

                for child in element["children"]:

   361

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

   362

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

   363

                        if DLL_LIST is not None:

   365

        return infos

   370

    def PlugGenerate_C(self, buildpath, locations):

   371

   372

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

   374

                       "nodes_includes" : "",

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                       "board_decls" : "",

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                       "nodes_init" : "",

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                       "nodes_open" : "",

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                       "nodes_stop" : "",

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                       "nodes_close" : "",

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                       "nodes_send_sync" : "",

   381

                       "nodes_proceed_sync" : "",

   382

                       "slavebootups" : "",

   383

                       "slavebootup_register" : "",

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                       "post_sync" : "",

   385

                       "post_sync_register" : "",

   386

                       }

   387

        for child in self.IECSortedChilds():

   388

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

   389

            nodename = "OD_%s" % childlocstr

   390

   391

            # Try to get Slave Node

   392

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

   393

            if child_data is None:

   394

                # Not a slave -> master

   395

                child_data = getattr(child, "CanFestivalNode")

   396

                # Apply sync setting

   397

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

   398

                       nodename,

   399

                       child_data.getNodeId())

   400

                if child_data.getSync_TPDOs():

   401

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

   402

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

   403

   404

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   405

                SlaveIDs = child.GetSlaveIDs()

   406

                for id in SlaveIDs:

   407

                    format_dict["slavebootups"] += (

   408

                    "int %s_slave_%d_booted = 0;\n"%(nodename, id))

   409

                # define post_SlaveBootup lookup functions

   410

                format_dict["slavebootups"] += (

   411

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

   412

                    "    switch(nodeId){\n")

   413

                # one case per declared node, mark node as booted

   414

                for id in SlaveIDs:

   415

                    format_dict["slavebootups"] += (

   416

                    "        case %d:\n"%(id)+

   417

                    "            %s_slave_%d_booted = 1;\n"%(nodename, id)+

   418

                    "            break;\n")

   419

                format_dict["slavebootups"] += (

   420

                    "        default:\n"+

   421

                    "            break;\n"+

   422

                    "    }\n"+

   423

                    "    if( ")

   424

                # expression to test if all declared nodes booted

   425

                format_dict["slavebootups"] += " && ".join(["%s_slave_%d_booted"%(nodename, id) for id in SlaveIDs])

   426

                format_dict["slavebootups"] += " )\n" + (

   427

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

   428

                    "}\n")

   429

                # register previously declared func as post_SlaveBootup callback for that node

   430

                format_dict["slavebootup_register"] += (

   431

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

   432

            else:

   433

                # Slave node

   434

                align = child_data.getSync_Align()

   435

                align_ratio=child_data.getSync_Align_Ratio()

   436

                if align > 0:

   437

                    format_dict["post_sync"] += (

   438

                        "static int %s_CalCount = 0;\n"%(nodename)+

   439

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

   440

                        "    if(%s_CalCount < %d){\n"%(nodename, align)+

   441

                        "        %s_CalCount++;\n"%(nodename)+

   442

                        "        align_tick(-1);\n"+

   443

                        "    }else{\n"+

   444

                        "        align_tick(%d);\n"%(align_ratio)+

   445

                        "    }\n"+

   446

                        "}\n")

   447

                    format_dict["post_sync_register"] += (

   448

                        "%s_Data.post_sync = %s_post_sync;\n"%(nodename,nodename))

   449

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

   450

                       nodename,

   451

                       child_data.getNodeId())

   452

   453

            # Include generated OD headers

   454

            format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)

   455

            # Declare CAN channels according user filled config

   456

            format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(

   457

                   nodename,

   459

                   child_data.getCAN_Baudrate())

   460

            format_dict["nodes_open"] += 'NODE_OPEN(%s)\n    '%(nodename)

   461

            format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n    '%(nodename)

   462

            format_dict["nodes_stop"] += 'NODE_STOP(%s)\n    '%(nodename)        

   463

        if sys.platform == 'win32':

   464

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

   465

                    format_dict["candriver"] += '_DEBUG.dll'

   466

            else:

   467

                format_dict["candriver"] += '.dll'

   468

   469

        filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")

   470

        cf_main = open(filename).read() % format_dict

   471

        cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)

   472

        f = open(cf_main_path,'w')

   473

        f.write(cf_main)

   474

        f.close()

   475

   476

        return [(cf_main_path, local_canfestival_config.getCFLAGS(CanFestivalPath))],local_canfestival_config.getLDFLAGS(CanFestivalPath), True

   477

   478