1

#!/usr/bin/env python

     2

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

     3

     4

# This file is part of Beremiz

     5

#

     6

# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT

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#                          RTES Lab : CRKim, JBLee, youcu

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#                          Higen Motor : Donggu Kang

     9

#

    10

# See COPYING file for copyrights details.

    11

    12

from __future__ import absolute_import

    13

import os

    14

from copy import deepcopy

    15

from lxml import etree

    16

    17

import wx

    18

    19

from xmlclass import *

    20

    21

from PLCControler import UndoBuffer, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT

    22

from ConfigTreeNode import ConfigTreeNode

    23

from dialogs import BrowseValuesLibraryDialog

    24

from IDEFrame import TITLE, FILEMENU, PROJECTTREE

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from POULibrary import POULibrary

    26

    27

from etherlab.ConfigEditor import MasterEditor

    28

from etherlab.EthercatCFileGenerator import _EthercatCFileGenerator

    29

from etherlab.EthercatSlave import \

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    _EthercatSlaveCTN, \

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    ExtractHexDecValue, \

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    GenerateHexDecValue, \

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    TYPECONVERSION, \

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    VARCLASSCONVERSION, \

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    _CommonSlave

    36

    37

try:

    38

    from etherlab.EthercatCIA402Slave import _EthercatCIA402SlaveCTN

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    HAS_MCL = True

    40

except Exception:

    41

    HAS_MCL = False

    42

    43

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

    44

#         Remote Exec Etherlab Commands

    45

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

    46

    47

SCAN_COMMAND = """

    48

import commands

    49

result = commands.getoutput("ethercat slaves")

    50

slaves = []

    51

for slave_line in result.splitlines():

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    chunks = slave_line.split()

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    idx, pos, state, flag = chunks[:4]

    54

    name = " ".join(chunks[4:])

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    alias, position = pos.split(":")

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    slave = {"idx": int(idx),

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             "alias": int(alias),

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             "position": int(position),

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             "name": name}

    60

    details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"])

    61

    for details_line in details.splitlines():

    62

        details_line = details_line.strip()

    63

        for header, param in [("Vendor Id:", "vendor_id"),

    64

                              ("Product code:", "product_code"),

    65

                              ("Revision number:", "revision_number")]:

    66

            if details_line.startswith(header):

    67

                slave[param] = details_line.split()[-1]

    68

                break

    69

    slaves.append(slave)

    70

returnVal = slaves

    71

"""

    72

    73

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

    74

#      Etherlab Specific Blocks Library

    75

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

    76

    77

    78

def GetLocalPath(filename):

    79

    return os.path.join(os.path.split(__file__)[0], filename)

    80

    81

    82

class EtherlabLibrary(POULibrary):

    83

    def GetLibraryPath(self):

    84

        return GetLocalPath("pous.xml")

    85

    86

    def Generate_C(self, buildpath, varlist, IECCFLAGS):

    87

        etherlab_ext_file = open(GetLocalPath("etherlab_ext.c"), 'r')

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        etherlab_ext_code = etherlab_ext_file.read()

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        etherlab_ext_file.close()

    90

    91

        Gen_etherlabfile_path = os.path.join(buildpath, "etherlab_ext.c")

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        ethelabfile = open(Gen_etherlabfile_path, 'w')

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        ethelabfile.write(etherlab_ext_code)

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        ethelabfile.close()

    95

    96

        return ((["etherlab_ext"], [(Gen_etherlabfile_path, IECCFLAGS)], True), "",

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                ("runtime_etherlab.py", open(GetLocalPath("runtime_etherlab.py"))))

    98

    99

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

   100

#                 Ethercat MASTER

   101

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

   102

   103

   104

EtherCATConfigParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd"))

   105

   106

   107

def sort_commands(x, y):

   108

    if x["Index"] == y["Index"]:

   109

        return cmp(x["Subindex"], y["Subindex"])

   110

    return cmp(x["Index"], y["Index"])

   111

   112

   113

cls = EtherCATConfigParser.GetElementClass("Slave", "Config")

   114

if cls:

   115

   116

    def getType(self):

   117

        slave_info = self.getInfo()

   118

        return {"device_type": slave_info.getName(),

   119

                "vendor": GenerateHexDecValue(slave_info.getVendorId()),

   120

                "product_code": GenerateHexDecValue(slave_info.getProductCode(), 16),

   121

                "revision_number": GenerateHexDecValue(slave_info.getRevisionNo(), 16)}

   122

    setattr(cls, "getType", getType)

   123

   124

    def setType(self, type_infos):

   125

        slave_info = self.getInfo()

   126

        slave_info.setName(type_infos["device_type"])

   127

        slave_info.setVendorId(ExtractHexDecValue(type_infos["vendor"]))

   128

        slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"]))

   129

        slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"]))

   130

    setattr(cls, "setType", setType)

   131

   132

    def getInitCmds(self, create_default=False):

   133

        Mailbox = self.getMailbox()

   134

        if Mailbox is None:

   135

            if create_default:

   136

                self.addMailbox()

   137

                Mailbox = self.getMailbox()

   138

            else:

   139

                return None

   140

        CoE = Mailbox.getCoE()

   141

        if CoE is None:

   142

            if create_default:

   143

                Mailbox.addCoE()

   144

                CoE = Mailbox.getCoE()

   145

            else:

   146

                return None

   147

        InitCmds = CoE.getInitCmds()

   148

        if InitCmds is None and create_default:

   149

            CoE.addInitCmds()

   150

            InitCmds = CoE.getInitCmds()

   151

        return InitCmds

   152

    setattr(cls, "getInitCmds", getInitCmds)

   153

   154

    def getStartupCommands(self):

   155

        pos = self.getInfo().getPhysAddr()

   156

        InitCmds = self.getInitCmds()

   157

        if InitCmds is None:

   158

            return []

   159

        commands = []

   160

        for idx, InitCmd in enumerate(InitCmds.getInitCmd()):

   161

            comment = InitCmd.getComment()

   162

            if comment is None:

   163

                comment = ""

   164

            commands.append({

   165

                "command_idx": idx,

   166

                "Position": pos,

   167

                "Index": InitCmd.getIndex(),

   168

                "Subindex": InitCmd.getSubIndex(),

   169

                "Value": InitCmd.getData(),

   170

                "Description": comment})

   171

        commands.sort(sort_commands)

   172

        return commands

   173

    setattr(cls, "getStartupCommands", getStartupCommands)

   174

   175

    def appendStartupCommand(self, command_infos):

   176

        InitCmds = self.getInitCmds(True)

   177

        command = EtherCATConfigParser.CreateElement("InitCmd", "InitCmds", 1)

   178

        InitCmds.appendInitCmd(command)

   179

        command.setIndex(command_infos["Index"])

   180

        command.setSubIndex(command_infos["Subindex"])

   181

        command.setData(command_infos["Value"])

   182

        command.setComment(command_infos["Description"])

   183

        return len(InitCmds.getInitCmd()) - 1

   184

    setattr(cls, "appendStartupCommand", appendStartupCommand)

   185

   186

    def setStartupCommand(self, command_infos):

   187

        InitCmds = self.getInitCmds()

   188

        if InitCmds is not None:

   189

            commands = InitCmds.getInitCmd()

   190

            if command_infos["command_idx"] < len(commands):

   191

                command = commands[command_infos["command_idx"]]

   192

                command.setIndex(command_infos["Index"])

   193

                command.setSubIndex(command_infos["Subindex"])

   194

                command.setData(command_infos["Value"])

   195

                command.setComment(command_infos["Description"])

   196

    setattr(cls, "setStartupCommand", setStartupCommand)

   197

   198

    def removeStartupCommand(self, command_idx):

   199

        InitCmds = self.getInitCmds()

   200

        if InitCmds is not None:

   201

            if command_idx < len(InitCmds.getInitCmd()):

   202

                InitCmds.removeInitCmd(command_idx)

   203

    setattr(cls, "removeStartupCommand", removeStartupCommand)

   204

   205

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

   206

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

   207

      <xsd:element name="ProcessVariables">

   208

        <xsd:complexType>

   209

          <xsd:sequence>

   210

            <xsd:element name="variable" minOccurs="0" maxOccurs="unbounded">

   211

              <xsd:complexType>

   212

                <xsd:sequence>

   213

                  <xsd:element name="ReadFrom" type="LocationDesc" minOccurs="0"/>

   214

                  <xsd:element name="WriteTo" type="LocationDesc" minOccurs="0"/>

   215

                </xsd:sequence>

   216

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

   217

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

   218

              </xsd:complexType>

   219

            </xsd:element>

   220

          </xsd:sequence>

   221

        </xsd:complexType>

   222

      </xsd:element>

   223

      <xsd:complexType name="LocationDesc">

   224

        <xsd:attribute name="Position" type="xsd:integer" use="required"/>

   225

        <xsd:attribute name="Index" type="xsd:integer" use="required"/>

   226

        <xsd:attribute name="SubIndex" type="xsd:integer" use="required"/>

   227

      </xsd:complexType>

   228

    </xsd:schema>

   229

"""

   230

   231

ProcessVariablesParser = GenerateParserFromXSDstring(ProcessVariablesXSD)

   232

   233

   234

class _EthercatCTN(object):

   235

   236

    CTNChildrenTypes = [("EthercatSlave", _EthercatSlaveCTN, "Ethercat Slave")]

   237

    if HAS_MCL:

   238

        CTNChildrenTypes.append(("EthercatCIA402Slave", _EthercatCIA402SlaveCTN, "Ethercat CIA402 Slave"))

   239

    EditorType = MasterEditor

   240

   241

    def __init__(self):

   242

        config_filepath = self.ConfigFileName()

   243

        config_is_saved = False

   244

        self.Config = None

   245

        if os.path.isfile(config_filepath):

   246

            config_xmlfile = open(config_filepath, 'r')

   247

            try:

   248

                self.Config, error = \

   249

                    EtherCATConfigParser.LoadXMLString(config_xmlfile.read())

   250

                if error is None:

   251

                    config_is_saved = True

   252

            except Exception as e:

   253

                error = str(e)

   254

            config_xmlfile.close()

   255

   256

            if error is not None:

   257

                self.GetCTRoot().logger.write_error(

   258

                    _("Couldn't load %s network configuration file.") % self.CTNName())

   259

   260

        if self.Config is None:

   261

            self.Config = EtherCATConfigParser.CreateElement("EtherCATConfig")

   262

   263

        process_filepath = self.ProcessVariablesFileName()

   264

        process_is_saved = False

   265

        self.ProcessVariables = None

   266

        if os.path.isfile(process_filepath):

   267

            process_xmlfile = open(process_filepath, 'r')

   268

            try:

   269

                self.ProcessVariables, error = \

   270

                    ProcessVariablesParser.LoadXMLString(process_xmlfile.read())

   271

                if error is None:

   272

                    process_is_saved = True

   273

            except Exception as e:

   274

                error = str(e)

   275

            process_xmlfile.close()

   276

   277

            if error is not None:

   278

                self.GetCTRoot().logger.write_error(

   279

                    _("Couldn't load %s network process variables file.") % self.CTNName())

   280

   281

        if self.ProcessVariables is None:

   282

            self.ProcessVariables = ProcessVariablesParser.CreateElement("ProcessVariables")

   283

   284

        if config_is_saved and process_is_saved:

   285

            self.CreateBuffer(True)

   286

        else:

   287

            self.CreateBuffer(False)

   288

            self.OnCTNSave()

   289

   290

        # ----------- call ethercat mng. function --------------

   291

        self.CommonMethod = _CommonSlave(self)

   292

   293

    def GetIconName(self):

   294

        return "Ethercat"

   295

   296

    def GetContextualMenuItems(self):

   297

        return [(_("Add Ethercat Slave"), _("Add Ethercat Slave to Master"), self.OnAddEthercatSlave)]

   298

   299

    def OnAddEthercatSlave(self, event):

   300

        app_frame = self.GetCTRoot().AppFrame

   301

        dialog = BrowseValuesLibraryDialog(app_frame,

   302

                                           _("Ethercat Slave Type"),

   303

                                           self.GetSlaveTypesLibrary())

   304

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

   305

            type_infos = dialog.GetValueInfos()

   306

            device, _module_extra_params = self.GetModuleInfos(type_infos)

   307

            if device is not None:

   308

                if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():

   309

                    ConfNodeType = "EthercatCIA402Slave"

   310

                else:

   311

                    ConfNodeType = "EthercatSlave"

   312

                new_child = self.CTNAddChild("%s_0" % ConfNodeType, ConfNodeType)

   313

                new_child.SetParamsAttribute("SlaveParams.Type", type_infos)

   314

                self.CTNRequestSave()

   315

                new_child._OpenView()

   316

                app_frame._Refresh(TITLE, FILEMENU, PROJECTTREE)

   317

        dialog.Destroy()

   318

   319

    def ExtractHexDecValue(self, value):

   320

        return ExtractHexDecValue(value)

   321

   322

    def GetSizeOfType(self, type):

   323

        return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)

   324

   325

    def ConfigFileName(self):

   326

        return os.path.join(self.CTNPath(), "config.xml")

   327

   328

    def ProcessVariablesFileName(self):

   329

        return os.path.join(self.CTNPath(), "process_variables.xml")

   330

   331

    def FilterSlave(self, slave, vendor=None, slave_pos=None, slave_profile=None):

   332

        if slave_pos is not None and slave.getInfo().getPhysAddr() != slave_pos:

   333

            return False

   334

        type_infos = slave.getType()

   335

        if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor:

   336

            return False

   337

        device, _module_extra_params = self.GetModuleInfos(type_infos)

   338

        if slave_profile is not None and slave_profile not in device.GetProfileNumbers():

   339

            return False

   340

        return True

   341

   342

    def GetSlaveName(self, slave_pos):

   343

        CTNChild = self.GetChildByIECLocation((slave_pos,))

   344

        if CTNChild is not None:

   345

            return CTNChild.CTNName()

   346

        return self.CTNName()

   347

   348

    def GetSlaves(self, vendor=None, slave_pos=None, slave_profile=None):

   349

        slaves = []

   350

        for slave in self.Config.getConfig().getSlave():

   351

            if self.FilterSlave(slave, vendor, slave_pos, slave_profile):

   352

                slaves.append(slave.getInfo().getPhysAddr())

   353

        slaves.sort()

   354

        return slaves

   355

   356

    def GetSlave(self, slave_pos):

   357

        for slave in self.Config.getConfig().getSlave():

   358

            slave_info = slave.getInfo()

   359

            if slave_info.getPhysAddr() == slave_pos:

   360

                return slave

   361

        return None

   362

   363

    def GetStartupCommands(self, vendor=None, slave_pos=None, slave_profile=None):

   364

        commands = []

   365

        for slave in self.Config.getConfig().getSlave():

   366

            if self.FilterSlave(slave, vendor, slave_pos, slave_profile):

   367

                commands.append((slave.getInfo().getPhysAddr(), slave.getStartupCommands()))

   368

        commands.sort()

   369

        return reduce(lambda x, y: x + y[1], commands, [])

   370

   371

    def AppendStartupCommand(self, command_infos):

   372

        slave = self.GetSlave(command_infos["Position"])

   373

        if slave is not None:

   374

            command_idx = slave.appendStartupCommand(command_infos)

   375

            self.BufferModel()

   376

            return command_idx

   377

        return None

   378

   379

    def SetStartupCommandInfos(self, command_infos):

   380

        slave = self.GetSlave(command_infos["Position"])

   381

        if slave is not None:

   382

            slave.setStartupCommand(command_infos)

   383

            self.BufferModel()

   384

   385

    def RemoveStartupCommand(self, slave_pos, command_idx, buffer=True):

   386

        slave = self.GetSlave(slave_pos)

   387

        if slave is not None:

   388

            slave.removeStartupCommand(command_idx)

   389

            if buffer:

   390

                self.BufferModel()

   391

   392

    def SetProcessVariables(self, variables):

   393

        vars = []

   394

        for var in variables:

   395

            variable = ProcessVariablesParser.CreateElement("variable", "ProcessVariables")

   396

            variable.setName(var["Name"])

   397

            variable.setComment(var["Description"])

   398

            if var["ReadFrom"] != "":

   399

                position, index, subindex = var["ReadFrom"]

   400

                if variable.getReadFrom() is None:

   401

                    variable.addReadFrom()

   402

                read_from = variable.getReadFrom()

   403

                read_from.setPosition(position)

   404

                read_from.setIndex(index)

   405

                read_from.setSubIndex(subindex)

   406

            elif variable.getReadFrom() is not None:

   407

                variable.deleteReadFrom()

   408

            if var["WriteTo"] != "":

   409

                position, index, subindex = var["WriteTo"]

   410

                if variable.getWriteTo() is None:

   411

                    variable.addWriteTo()

   412

                write_to = variable.getWriteTo()

   413

                write_to.setPosition(position)

   414

                write_to.setIndex(index)

   415

                write_to.setSubIndex(subindex)

   416

            elif variable.getWriteTo() is not None:

   417

                variable.deleteWriteTo()

   418

            vars.append(variable)

   419

        self.ProcessVariables.setvariable(vars)

   420

        self.BufferModel()

   421

   422

    def GetProcessVariables(self):

   423

        variables = []

   424

        idx = 0

   425

        for variable in self.ProcessVariables.getvariable():

   426

            var = {"Name": variable.getName(),

   427

                   "Number": idx,

   428

                   "Description": variable.getComment()}

   429

            read_from = variable.getReadFrom()

   430

            if read_from is not None:

   431

                var["ReadFrom"] = (read_from.getPosition(),

   432

                                   read_from.getIndex(),

   433

                                   read_from.getSubIndex())

   434

            else:

   435

                var["ReadFrom"] = ""

   436

            write_to = variable.getWriteTo()

   437

            if write_to is not None:

   438

                var["WriteTo"] = (write_to.getPosition(),

   439

                                  write_to.getIndex(),

   440

                                  write_to.getSubIndex())

   441

            else:

   442

                var["WriteTo"] = ""

   443

            variables.append(var)

   444

            idx += 1

   445

        return variables

   446

   447

    def _ScanNetwork(self):

   448

        app_frame = self.GetCTRoot().AppFrame

   449

   450

        execute = True

   451

        if len(self.Children) > 0:

   452

            dialog = wx.MessageDialog(

   453

                app_frame,

   454

                _("The current network configuration will be deleted.\nDo you want to continue?"),

   455

                _("Scan Network"),

   456

                wx.YES_NO | wx.ICON_QUESTION)

   457

            execute = dialog.ShowModal() == wx.ID_YES

   458

            dialog.Destroy()

   459

   460

        if execute:

   461

            error, returnVal = self.RemoteExec(SCAN_COMMAND, returnVal=None)

   462

            if error != 0:

   463

                dialog = wx.MessageDialog(app_frame, returnVal, _("Error"), wx.OK | wx.ICON_ERROR)

   464

                dialog.ShowModal()

   465

                dialog.Destroy()

   466

            elif returnVal is not None:

   467

                for child in self.IECSortedChildren():

   468

                    self._doRemoveChild(child)

   469

   470

                for slave in returnVal:

   471

                    type_infos = {

   472

                        "vendor": slave["vendor_id"],

   473

                        "product_code": slave["product_code"],

   474

                        "revision_number": slave["revision_number"],

   475

                    }

   476

                    device, _module_extra_params = self.GetModuleInfos(type_infos)

   477

                    if device is not None:

   478

                        if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():

   479

                            CTNType = "EthercatCIA402Slave"

   480

                        else:

   481

                            CTNType = "EthercatSlave"

   482

                        self.CTNAddChild("slave%s" % slave["idx"], CTNType, slave["idx"])

   483

                        self.SetSlaveAlias(slave["idx"], slave["alias"])

   484

                        type_infos["device_type"] = device.getType().getcontent()

   485

                        self.SetSlaveType(slave["idx"], type_infos)

   486

   487

                if app_frame:

   488

                    app_frame.RefreshProjectTree()

   489

   490

    def CTNAddChild(self, CTNName, CTNType, IEC_Channel=0):

   491

        """

   492

        Create the confnodes that may be added as child to this node self

   493

        @param CTNType: string desining the confnode class name (get name from CTNChildrenTypes)

   494

        @param CTNName: string for the name of the confnode instance

   495

        """

   496

        newConfNodeOpj = ConfigTreeNode.CTNAddChild(self, CTNName, CTNType, IEC_Channel)

   497

   498

        slave = self.GetSlave(newConfNodeOpj.BaseParams.getIEC_Channel())

   499

        if slave is None:

   500

            slave = EtherCATConfigParser.CreateElement("Slave", "Config")

   501

            self.Config.getConfig().appendSlave(slave)

   502

            slave_infos = slave.getInfo()

   503

            slave_infos.setName("undefined")

   504

            slave_infos.setPhysAddr(newConfNodeOpj.BaseParams.getIEC_Channel())

   505

            slave_infos.setAutoIncAddr(0)

   506

            self.BufferModel()

   507

            self.OnCTNSave()

   508

   509

        return newConfNodeOpj