1

#!/usr/bin/env python

     2

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

     3

     4

     5

# This file is part of Beremiz

     6

#

     7

# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab. University of Seoul, Korea

     8

#

     9

# See COPYING file for copyrights details.

    10

    11

from __future__ import absolute_import

    12

import wx

    13

    14

mailbox_protocols = ["AoE", "EoE", "CoE", "FoE", "SoE", "VoE"]

    15

    16

    17

def ExtractHexDecValue(value):

    18

    """

    19

     convert numerical value in string format into decimal or hex format.

    20

     @param value : hex or decimal data

    21

     @return integer data

    22

    """

    23

    try:

    24

        return int(value)

    25

    except Exception:

    26

        pass

    27

    try:

    28

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

    29

    30

    except Exception:

    31

        raise ValueError(_("Invalid value for HexDecValue \"%s\"") % value)

    32

    33

    34

def ExtractName(names, default=None):

    35

    """

    36

     Extract "name" field from XML entries.

    37

     @param names : XML entry

    38

     @default : if it fails to extract from the designated XML entry, return the default value ("None").

    39

     @return default or the name extracted

    40

    """

    41

    if len(names) == 1:

    42

        return names[0].getcontent()

    43

    else:

    44

        for name in names:

    45

            if name.getLcId() == 1033:

    46

                return name.getcontent()

    47

    return default

    48

    49

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

    50

#         Remote Exec Etherlab Commands

    51

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

    52

    53

    54

# --------------------- for master ---------------------------

    55

MASTER_STATE = """

    56

import commands

    57

result = commands.getoutput("ethercat master")

    58

returnVal =result

    59

"""

    60

    61

# --------------------- for slave ----------------------------

    62

# ethercat state -p (slave position) (state (INIT, PREOP, SAFEOP, OP))

    63

SLAVE_STATE = """

    64

import commands

    65

result = commands.getoutput("ethercat state -p %d %s")

    66

returnVal = result

    67

"""

    68

    69

# ethercat slave

    70

GET_SLAVE = """

    71

import commands

    72

result = commands.getoutput("ethercat slaves")

    73

returnVal =result

    74

"""

    75

    76

# ethercat xml -p (slave position)

    77

SLAVE_XML = """

    78

import commands

    79

result = commands.getoutput("ethercat xml -p %d")

    80

returnVal = result

    81

"""

    82

    83

# ethercat sdos -p (slave position)

    84

SLAVE_SDO = """

    85

import commands

    86

result = commands.getoutput("ethercat sdos -p %d")

    87

returnVal =result

    88

"""

    89

    90

# ethercat upload -p (slave position) (main index) (sub index)

    91

GET_SLOW_SDO = """

    92

import commands

    93

result = commands.getoutput("ethercat upload -p %d %s %s")

    94

returnVal =result

    95

"""

    96

    97

# ethercat download -p (slave position) (main index) (sub index) (value)

    98

SDO_DOWNLOAD = """

    99

import commands

   100

result = commands.getoutput("ethercat download --type %s -p %d %s %s %s")

   101

returnVal =result

   102

"""

   103

   104

# ethercat sii_read -p (slave position)

   105

SII_READ = """

   106

import commands

   107

result = commands.getoutput("ethercat sii_read -p %d")

   108

returnVal =result

   109

"""

   110

   111

# ethercat reg_read -p (slave position) (address) (size)

   112

REG_READ = """

   113

import commands

   114

result = commands.getoutput("ethercat reg_read -p %d %s %s")

   115

returnVal =result

   116

"""

   117

   118

# ethercat sii_write -p (slave position) - (contents)

   119

SII_WRITE = """

   120

import subprocess

   121

process = subprocess.Popen(

   122

    ["ethercat", "-f", "sii_write", "-p", "%d", "-"],

   123

    stdin=subprocess.PIPE)

   124

process.communicate(sii_data)

   125

returnVal = process.returncode

   126

"""

   127

   128

# ethercat reg_write -p (slave position) -t (uinit16) (address) (data)

   129

REG_WRITE = """

   130

import commands

   131

result = commands.getoutput("ethercat reg_write -p %d -t uint16 %s %s")

   132

returnVal =result

   133

"""

   134

   135

# ethercat rescan -p (slave position)

   136

RESCAN = """

   137

import commands

   138

result = commands.getoutput("ethercat rescan -p %d")

   139

returnVal =result

   140

"""

   141

   142

   143

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

   144

#    Common Method For EtherCAT Management

   145

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

   146

class _CommonSlave(object):

   147

   148

    # ----- Data Structure for ethercat management ----

   149

    SlaveState = ""

   150

   151

    # category of SDO data

   152

    DatatypeDescription, CommunicationObject, ManufacturerSpecific, \

   153

        ProfileSpecific, Reserved, AllSDOData = range(6)

   154

   155

    # store the execution result of "ethercat sdos" command into SaveSDOData.

   156

    SaveSDOData = []

   157

   158

    # Flags for checking "write" permission of OD entries

   159

    CheckPREOP = False

   160

    CheckSAFEOP = False

   161

    CheckOP = False

   162

   163

    # Save PDO Data

   164

    TxPDOInfo = []

   165

    TxPDOCategory = []

   166

    RxPDOInfo = []

   167

    RxPDOCategory = []

   168

   169

    # Save EEPROM Data

   170

    SiiData = ""

   171

   172

    # Save Register Data

   173

    RegData = ""

   174

    CrtRegSpec = {"ESCType": "",

   175

                  "FMMUNumber": "",

   176

                  "SMNumber": "",

   177

                  "PDIType": ""}

   178

   179

    def __init__(self, controler):

   180

        """

   181

        Constructor

   182

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   183

        """

   184

        self.Controler = controler

   185

   186

        self.ClearSDODataSet()

   187

   188

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

   189

    #                        Used Master State

   190

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

   191

    def GetMasterState(self):

   192

        """

   193

        Execute "ethercat master" command and parse the execution result

   194

        @return MasterState

   195

        """

   196

   197

        # exectute "ethercat master" command

   198

        _error, return_val = self.Controler.RemoteExec(MASTER_STATE, return_val=None)

   199

        master_state = {}

   200

        # parse the reslut

   201

        for each_line in return_val.splitlines():

   202

            if len(each_line) > 0:

   203

                chunks = each_line.strip().split(':', 1)

   204

                key = chunks[0]

   205

                value = []

   206

                if len(chunks) > 1:

   207

                    value = chunks[1].split()

   208

                if '(attached)' in value:

   209

                    value.remove('(attached)')

   210

                master_state[key] = value

   211

   212

        return master_state

   213

   214

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

   215

    #                        Used Slave State

   216

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

   217

    def RequestSlaveState(self, command):

   218

        """

   219

        Set slave state to the specified one using "ethercat states -p %d %s" command.

   220

        Command example : "ethercat states -p 0 PREOP" (target slave position and target state are given.)

   221

        @param command : target slave state

   222

        """

   223

        _error, _return_val = self.Controler.RemoteExec(

   224

            SLAVE_STATE % (self.Controler.GetSlavePos(), command),

   225

            return_val=None)

   226

   227

    def GetSlaveStateFromSlave(self):

   228

        """

   229

        Get slave information using "ethercat slaves" command and store the information into internal data structure

   230

        (self.SlaveState) for "Slave State"

   231

        return_val example : 0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)

   232

        """

   233

        _error, return_val = self.Controler.RemoteExec(GET_SLAVE, return_val=None)

   234

        self.SlaveState = return_val

   235

        return return_val

   236

   237

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

   238

    #                        Used SDO Management

   239

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

   240

    def GetSlaveSDOFromSlave(self):

   241

        """

   242

        Get SDO objects information of current slave using "ethercat sdos -p %d" command.

   243

        Command example : "ethercat sdos -p 0"

   244

        @return return_val : execution results of "ethercat sdos" command (need to be parsed later)

   245

        """

   246

        _error, return_val = self.Controler.RemoteExec(SLAVE_SDO % (self.Controler.GetSlavePos()), return_val=None)

   247

        return return_val

   248

   249

    def SDODownload(self, data_type, idx, sub_idx, value):

   250

        """

   251

        Set an SDO object value to user-specified value using "ethercat download" command.

   252

        Command example : "ethercat download --type int32 -p 0 0x8020 0x12 0x00000000"

   253

        @param data_type : data type of SDO entry

   254

        @param idx : index of the SDO entry

   255

        @param sub_idx : subindex of the SDO entry

   256

        @param value : value of SDO entry

   257

        """

   258

        _error, _return_val = self.Controler.RemoteExec(

   259

            SDO_DOWNLOAD % (data_type, self.Controler.GetSlavePos(), idx, sub_idx, value),

   260

            return_val=None)

   261

   262

    def BackupSDODataSet(self):

   263

        """

   264

        Back-up current SDO entry information to restore the SDO data

   265

        in case that the user cancels SDO update operation.

   266

        """

   267

        self.BackupDatatypeDescription = self.SaveDatatypeDescription

   268

        self.BackupCommunicationObject = self.SaveCommunicationObject

   269

        self.BackupManufacturerSpecific = self.SaveManufacturerSpecific

   270

        self.BackupProfileSpecific = self.SaveProfileSpecific

   271

        self.BackupReserved = self.SaveReserved

   272

        self.BackupAllSDOData = self.SaveAllSDOData

   273

   274

    def ClearSDODataSet(self):

   275

        """

   276

        Clear the specified SDO entry information.

   277

        """

   278

        for dummy in range(6):

   279

            self.SaveSDOData.append([])

   280

   281

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

   282

    #                        Used PDO Monitoring

   283

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

   284

    def RequestPDOInfo(self):

   285

        """

   286

        Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method).

   287

        """

   288

        # Load slave information from ESI XML file (def EthercatMaster.py)

   289

        slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())

   290

   291

        type_infos = slave.getType()

   292

        device, _alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)

   293

        # Initialize PDO data set

   294

        self.ClearDataSet()

   295

   296

        # if 'device' object is valid, call SavePDOData() to parse PDO data

   297

        if device is not None:

   298

            self.SavePDOData(device)

   299

   300

    def SavePDOData(self, device):

   301

        """

   302

        Parse PDO data and store the results in TXPDOCategory and RXPDOCategory

   303

        Tx(Rx)PDOCategory : index, name, entry number

   304

        Tx(Rx)Info : entry index, sub index, name, length, type

   305

        @param device : Slave information extracted from ESI XML file

   306

        """

   307

        # Parsing TXPDO entries

   308

        for pdo, _pdo_info in ([(pdo, "Inputs") for pdo in device.getTxPdo()]):

   309

            # Save pdo_index, entry, and name of each entry

   310

            pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())

   311

            entries = pdo.getEntry()

   312

            pdo_name = ExtractName(pdo.getName())

   313

   314

            # Initialize entry number count

   315

            count = 0

   316

   317

            # Parse entries

   318

            for entry in entries:

   319

                # Save index and subindex

   320

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

   321

                subindex = ExtractHexDecValue(entry.getSubIndex())

   322

                # if entry name exists, save entry data

   323

                if ExtractName(entry.getName()) is not None:

   324

                    entry_infos = {

   325

                        "entry_index": index,

   326

                        "subindex": subindex,

   327

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

   328

                        "bitlen": entry.getBitLen(),

   329

                        "type": entry.getDataType().getcontent()

   330

                    }

   331

                    self.TxPDOInfo.append(entry_infos)

   332

                    count += 1

   333

   334

            categorys = {"pdo_index": pdo_index, "name": pdo_name, "number_of_entry": count}

   335

            self.TxPDOCategory.append(categorys)

   336

   337

        # Parsing RxPDO entries

   338

        for pdo, _pdo_info in ([(rxpdo, "Outputs") for rxpdo in device.getRxPdo()]):

   339

            # Save pdo_index, entry, and name of each entry

   340

            pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())

   341

            entries = pdo.getEntry()

   342

            pdo_name = ExtractName(pdo.getName())

   343

   344

            # Initialize entry number count

   345

            count = 0

   346

   347

            # Parse entries

   348

            for entry in entries:

   349

                # Save index and subindex

   350

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

   351

                subindex = ExtractHexDecValue(entry.getSubIndex())

   352

                # if entry name exists, save entry data

   353

                if ExtractName(entry.getName()) is not None:

   354

                    entry_infos = {

   355

                        "entry_index": index,

   356

                        "subindex": subindex,

   357

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

   358

                        "bitlen": str(entry.getBitLen()),

   359

                        "type": entry.getDataType().getcontent()

   360

                    }

   361

                    self.RxPDOInfo.append(entry_infos)

   362

                    count += 1

   363

   364

            categorys = {"pdo_index": pdo_index, "name": pdo_name, "number_of_entry": count}

   365

            self.RxPDOCategory.append(categorys)

   366

   367

    def GetTxPDOCategory(self):

   368

        """

   369

        Get TxPDOCategory data structure (Meta informaton of TxPDO).

   370

        TxPDOCategorys : index, name, number of entries

   371

        @return TxPDOCategorys

   372

        """

   373

        return self.TxPDOCategory

   374

   375

    def GetRxPDOCategory(self):

   376

        """

   377

        Get RxPDOCategory data structure (Meta information of RxPDO).

   378

        RxPDOCategorys : index, name, number of entries

   379

        @return RxPDOCategorys

   380

        """

   381

        return self.RxPDOCategory

   382

   383

    def GetTxPDOInfo(self):

   384

        """

   385

        Get TxPDOInfo data structure (Detailed information on TxPDO entries).

   386

        TxPDOInfos : entry index, sub index, name, length, type

   387

        @return TxPDOInfos

   388

        """

   389

        return self.TxPDOInfo

   390

   391

    def GetRxPDOInfo(self):

   392

        """

   393

        Get RxPDOInfo data structure (Detailed information on RxPDO entries).

   394

        RxPDOInfos : entry index, sub index, name, length, type

   395

        @return RxPDOInfos

   396

        """

   397

        return self.RxPDOInfo

   398

   399

    def ClearDataSet(self):

   400

        """

   401

        Initialize PDO management data structure.

   402

        """

   403

        self.TxPDOInfos = []

   404

        self.TxPDOCategorys = []

   405

        self.RxPDOInfos = []

   406

        self.RxPDOCategorys = []

   407

   408

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

   409

    #                        Used EEPROM Management

   410

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

   411

    # Base data types in ETG2000; format = {"Name": "BitSize"}

   412

    BaseDataTypeDict = {"BOOL": "01",

   413

                        "SINT": "02",

   414

                        "INT": "03",

   415

                        "DINT": "04",

   416

                        "USINT": "05",

   417

                        "UINT": "06",

   418

                        "UDINT": "07",

   419

                        "REAL": "08",

   420

                        "INT24": "10",

   421

                        "LREAL": "11",

   422

                        "INT40": "12",

   423

                        "INT48": "13",

   424

                        "INT56": "14",

   425

                        "LINT": "15",

   426

                        "UINT24": "16",

   427

                        "UINT40": "18",

   428

                        "UINT48": "19",

   429

                        "UINT56": "1a",

   430

                        "ULINT": "1b",

   431

                        "BITARR8": "2d",

   432

                        "BITARR16": "2e",

   433

                        "BITARR32": "2f",

   434

                        "BIT1": "30",

   435

                        "BIT2": "31",

   436

                        "BIT3": "32",

   437

                        "BIT4": "33",

   438

                        "BIT5": "34",

   439

                        "BIT6": "35",

   440

                        "BIT7": "36",

   441

                        "BIT8": "37"}

   442

   443

    def GetSmartViewInfos(self):

   444

        """

   445

        Parse XML data for "Smart View" of EEPROM contents.

   446

        @return smartview_infos : EEPROM contents dictionary

   447

        """

   448

   449

        smartview_infos = {"eeprom_size": 128,

   450

                           "pdi_type": 0,

   451

                           "device_emulation": "False",

   452

                           "vendor_id": '0x00000000',

   453

                           "product_code": '0x00000000',

   454

                           "revision_no": '0x00000000',

   455

                           "serial_no": '0x00000000',

   456

                           "supported_mailbox": "",

   457

                           "mailbox_bootstrapconf_outstart": '0',

   458

                           "mailbox_bootstrapconf_outlength": '0',

   459

                           "mailbox_bootstrapconf_instart": '0',

   460

                           "mailbox_bootstrapconf_inlength": '0',

   461

                           "mailbox_standardconf_outstart": '0',

   462

                           "mailbox_standardconf_outlength": '0',

   463

                           "mailbox_standardconf_instart": '0',

   464

                           "mailbox_standardconf_inlength": '0'}

   465

   466

        slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())

   467

        type_infos = slave.getType()

   468

        device, _alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)

   469

   470

        # 'device' represents current slave device selected by user

   471

        if device is not None:

   472

            for eeprom_element in device.getEeprom().getcontent():

   473

                # get EEPROM size; <Device>-<Eeprom>-<ByteSize>

   474

                if eeprom_element["name"] == "ByteSize":

   475

                    smartview_infos["eeprom_size"] = eeprom_element

   476

   477

                elif eeprom_element["name"] == "ConfigData":

   478

                    configData_data = self.DecimalToHex(eeprom_element)

   479

                    # get PDI type; <Device>-<Eeprom>-<ConfigData> address 0x00

   480

                    smartview_infos["pdi_type"] = int(configData_data[0:2], 16)

   481

                    # get state of device emulation; <Device>-<Eeprom>-<ConfigData> address 0x01

   482

                    if "{:0>8b}".format(int(configData_data[2:4], 16))[7] == '1':

   483

                        smartview_infos["device_emulation"] = "True"

   484