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

    10

from objdictedit import objdictedit

    11

import canfestival_config

    12

from plugger import PlugTemplate

    13

from commondialogs import CreateNodeDialog

    14

import wx

    15

    16

from gnosis.xml.pickle import *

    17

from gnosis.xml.pickle.util import setParanoia

    18

setParanoia(0)

    19

    20

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

    21

#                    SLAVE

    22

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

    23

    24

class _SlavePlug(NodeManager):

    25

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

    26

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

    27

      <xsd:element name="CanFestivalSlaveNode">

    28

        <xsd:complexType>

    29

          <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>

    30

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>

    31

          <xsd:attribute name="NodeId" type="xsd:string" use="required"/>

    32

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

    33

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

    34

            <xsd:simpleType>

    35

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

    36

                    <xsd:minInclusive value="1"/>

    37

                    <xsd:maxInclusive value="99"/>

    38

                </xsd:restriction>

    39

            </xsd:simpleType>

    40

          </xsd:attribute>

    41

        </xsd:complexType>

    42

      </xsd:element>

    43

    </xsd:schema>

    44

    """

    45

    46

    def GetSlaveODPath(self):

    47

        return os.path.join(self.PlugPath(), 'slave.od')

    48

    49

    def __init__(self):

    50

        # TODO change netname when name change

    51

        NodeManager.__init__(self)

    52

        odfilepath = self.GetSlaveODPath()

    53

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

    54

            self.OpenFileInCurrent(odfilepath)

    55

        else:

    56

            self.FilePath = ""

    57

            dialog = CreateNodeDialog(None, wx.OK)

    58

            dialog.Type.Enable(False)

    59

            dialog.GenSYNC.Enable(False)

    60

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

    61

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

    62

                profile, filepath = dialog.GetProfile()

    63

                NMT = dialog.GetNMTManagement()

    64

                options = dialog.GetOptions()

    65

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

    66

                                   id,         # NodeID - will be changed at build time

    67

                                   "slave",    # Type

    68

                                   description,# description 

    69

                                   profile,    # profile

    70

                                   filepath,   # prfile filepath

    71

                                   NMT,        # NMT

    72

                                   options)     # options

    73

            else:

    74

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

    75

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

    76

                                   "slave",      # Type

    77

                                   "",           # description 

    78

                                   "None",       # profile

    79

                                   "", # prfile filepath

    80

                                   "heartbeat",  # NMT

    81

                                   [])           # options

    82

            dialog.Destroy()

    83

    _View = None

    84

    def _OpenView(self):

    85

        if not self._View:

    86

            def _onclose():

    87

                self._View = None

    88

            def _onsave():

    89

                self.GetPlugRoot().SaveProject()

    90

            self._View = objdictedit(self.GetPlugRoot().AppFrame, self)

    91

            # TODO redefine BusId when IEC channel change

    92

            self._View.SetBusId(self.GetCurrentLocation())

    93

            self._View._onclose = _onclose

    94

            self._View._onsave = _onsave

    95

            self._View.Show()

    96

    97

    PluginMethods = [

    98

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

    99

         "name" : "Edit slave", 

   100

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

   101

         "method" : "_OpenView"},

   102

    ]

   103

   104

    def OnPlugClose(self):

   105

        if self._View:

   106

            self._View.Close()

   107

   108

    def PlugTestModified(self):

   109

        return self.ChangesToSave or self.OneFileHasChanged()

   110

   111

    def OnPlugSave(self):

   112

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   113

   114

    def PlugGenerate_C(self, buildpath, locations):

   115

        """

   116

        Generate C code

   117

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

   118

        @param locations: List of complete variables locations \

   119

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

   120

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

   121

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

   122

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

   123

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

   124

            }, ...]

   125

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

   126

        """

   127

        current_location = self.GetCurrentLocation()

   128

        # define a unique name for the generated C file

   129

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

   130

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

   131

        # Create a new copy of the model

   132

        slave = self.GetCurrentNodeCopy()

   133

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

   134

        # allow access to local OD from Slave PLC

   135

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

   136

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

   137

        if res :

   138

            raise Exception, res

   139

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

   140

        if res :

   141

            raise Exception, res

   142

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

   143

   144

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

   145

#                    MASTER

   146

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

   147

   148

class _NodeListPlug(NodeList):

   149

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

   150

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

   151

      <xsd:element name="CanFestivalNode">

   152

        <xsd:complexType>

   153

          <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>

   154

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>

   155

          <xsd:attribute name="NodeId" type="xsd:string" use="required"/>

   156

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

   157

        </xsd:complexType>

   158

      </xsd:element>

   159

    </xsd:schema>

   160

    """

   161

   162

    def __init__(self):

   163

        manager = NodeManager()

   164

        # TODO change netname when name change

   165

        NodeList.__init__(self, manager, self.BaseParams.getName())

   166

        self.LoadProject(self.PlugPath())

   167

   168

    _View = None

   169

    def _OpenView(self):

   170

        if not self._View:

   171

            def _onclose():

   172

                self._View = None

   173

            def _onsave():

   174

                self.GetPlugRoot().SaveProject()

   175

            self._View = networkedit(self.GetPlugRoot().AppFrame, self)

   176

            # TODO redefine BusId when IEC channel change

   177

            self._View.SetBusId(self.GetCurrentLocation())

   178

            self._View._onclose = _onclose

   179

            self._View._onsave = _onsave

   180

            self._View.Show()

   181

   182

    def _ShowMasterGenerated(self):

   183

        buildpath = self._getBuildPath()

   184

        # Eventually create build dir

   185

        if not os.path.exists(buildpath):

   186

            self.logger.write_error("Error: No PLC built\n")

   187

            return

   188

   189

        masterpath = os.path.join(buildpath, "MasterGenerated.od")

   190

        if not os.path.exists(masterpath):

   191

            self.logger.write_error("Error: No Master generated\n")

   192

            return

   193

   194

        new_dialog = objdictedit(None, filesOpen=[masterpath])

   195

        new_dialog.Show()

   196

   197

    PluginMethods = [

   198

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

   199

         "name" : "Edit network", 

   200

         "tooltip" : "Edit CanOpen Network with NetworkEdit",

   201

         "method" : "_OpenView"},

   202

        {"name" : "Show Master", 

   203

         "tooltip" : "Show Master generated by config_utils",

   204

         "method" : "_ShowMasterGenerated"}

   205

    ]

   206

   207

    def OnPlugClose(self):

   208

        if self._View:

   209

            self._View.Close()

   210

   211

    def PlugTestModified(self):

   212

        return self.ChangesToSave or self.HasChanged()

   213

   214

    def OnPlugSave(self):

   215

        self.SetRoot(self.PlugPath())

   216

        return self.SaveProject() is not None

   217

   218

    def PlugGenerate_C(self, buildpath, locations):

   219

        """

   220

        Generate C code

   221

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

   222

        @param locations: List of complete variables locations \

   223

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

   224

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

   225

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

   226

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

   227

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

   228

            }, ...]

   229

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

   230

        """

   231

        current_location = self.GetCurrentLocation()

   232

        # define a unique name for the generated C file

   233

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

   234

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

   235

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

   236

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

   237

        # allow access to local OD from Master PLC

   238

        pointers.update(config_utils.LocalODPointers(locations, current_location, master))

   239

        # Do generate C file.

   240

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

   241

        if res :

   242

            raise Exception, res

   243

   244

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

   245

        dump(master, file)

   246

        file.close()

   247

   248

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

   249

   250

class RootClass:

   251

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

   252

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

   253

      <xsd:element name="CanFestivalInstance">

   254

        <xsd:complexType>

   255

          <xsd:attribute name="CAN_Driver" type="xsd:string" use="required"/>

   256

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

   257

        </xsd:complexType>

   258

      </xsd:element>

   259

    </xsd:schema>

   260

    """

   261

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

   262

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

   263

    def GetParamsAttributes(self, path = None):

   264

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

   265

        for element in infos:

   266

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

   267

                for child in element["children"]:

   268

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

   269

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

   270

                        if DLL_LIST is not None:

   271

                            child["type"] = DLL_LIST

   272

                        return infos    

   273

        return infos

   274

   275

    def PlugGenerate_C(self, buildpath, locations):

   276

   277

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

   278

                       "candriver" : self.CanFestivalInstance.getCAN_Driver(),

   279

                       "nodes_includes" : "",

   280

                       "board_decls" : "",

   281

                       "nodes_init" : "",

   282

                       "nodes_open" : "",

   283

                       "nodes_close" : "",

   284

                       "nodes_send_sync" : "",

   285

                       "nodes_proceed_sync" : "",

   286

                       "slavebootups" : "",

   287

                       "slavebootup_register" : "",

   288

                       "post_sync" : "",

   289

                       "post_sync_register" : "",

   290

                       }

   291

        for child in self.IECSortedChilds():

   292

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

   293

            nodename = "OD_%s" % childlocstr

   294

   295

            # Try to get Slave Node

   296

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

   297

            if child_data is None:

   298

                # Not a slave -> master

   299

                child_data = getattr(child, "CanFestivalNode")

   300

                # Apply sync setting

   301

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

   302

                       nodename,

   303

                       child_data.getNodeId())

   304

                if child_data.getSync_TPDOs():

   305

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

   306

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

   307

   308

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   309

                SlaveIDs = child.GetSlaveIDs()

   310

                for id in SlaveIDs:

   311

                    format_dict["slavebootups"] += (

   312

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

   313

                # define post_SlaveBootup lookup functions

   314

                format_dict["slavebootups"] += (

   315

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

   316

                    "    switch(nodeId){\n")

   317

                # one case per declared node, mark node as booted

   318

                for id in SlaveIDs:

   319

                    format_dict["slavebootups"] += (

   320

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

   321

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

   322

                    "            break;\n")

   323

                format_dict["slavebootups"] += (

   324

                    "        default:\n"+

   325

                    "            break;\n"+

   326

                    "    }\n"+

   327

                    "    if( ")

   328

                # expression to test if all declared nodes booted

   329

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

   330

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

   331

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

   332

                    "}\n")

   333

                # register previously declared func as post_SlaveBootup callback for that node

   334

                format_dict["slavebootup_register"] += (

   335

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

   336

            else:

   337

                # Slave node

   338

                align = child_data.getSync_Align()

   339

                align_ratio=child_data.getSync_Align_Ratio()

   340

                if align > 0:

   341

                    format_dict["post_sync"] += (

   342

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

   343

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

   344

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

   345

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

   346

                        "        align_tick(-1);\n"+

   347

                        "    }else{\n"+

   348

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

   349

                        "    }\n"+

   350

                        "}\n")

   351

                    format_dict["post_sync_register"] += (

   352

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

   353

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

   354

                       nodename,

   355

                       child_data.getNodeId())

   356

   357

            # Include generated OD headers

   358

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

   359

            # Declare CAN channels according user filled config

   360

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

   361

                   nodename,

   362

                   child_data.getCAN_Device(),

   363

                   child_data.getCAN_Baudrate())

   364

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

   365

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

   366

   367

        if sys.platform == 'win32':

   368

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

   369

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

   370

            else:

   371

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

   372

   373

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

   374

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

   375

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

   376

        f = open(cf_main_path,'w')

   377

        f.write(cf_main)

   378

        f.close()

   379

   380

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

   381

   382