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#!/usr/bin/env python

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

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#This file is part of Beremiz, an Integrated Development Environment for

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#programming IEC 61131-3 automates supporting EtherCAT. 

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#

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

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#

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#See COPYING file for copyrights details.

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#

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

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#modify it under the terms of the GNU General Public

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#License as published by the Free Software Foundation; either

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#version 2.1 of the License, or (at your option) any later version.

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#

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

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

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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU

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#General Public License for more details.

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#

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

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

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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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    25

    26

import os

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import wx

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    31

def ExtractHexDecValue(value):

    32

    """

    33

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

    34

     @param value : hex or decimal data

    35

     @return integer data

    36

    """

    37

    try:

    38

        return int(value)

    39

    except:

    40

        pass

    41

    try:

    42

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

    43

    44

    except:

    45

        raise ValueError, "Invalid value for HexDecValue \"%s\"" % value

    46

    47

def ExtractName(names, default=None):

    48

    """

    49

     Extract "name" field from XML entries.

    50

     @param names : XML entry

    51

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

    52

     @return default or the name extracted

    53

    """

    54

    if len(names) == 1:

    55

        return names[0].getcontent()

    56

    else:

    57

        for name in names:

    58

            if name.getLcId() == 1033:

    59

                return name.getcontent()

    60

    return default

    61

    62

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

    63

#         Remote Exec Etherlab Commands

    64

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

    65

    66

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

    67

MASTER_STATE = """

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import commands

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result = commands.getoutput("ethercat master")

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returnVal =result 

    71

"""

    72

    73

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

    74

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

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SLAVE_STATE = """

    76

import commands

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

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returnVal = result 

    79

"""

    80

    81

# ethercat slave

    82

GET_SLAVE = """

    83

import commands

    84

result = commands.getoutput("ethercat slaves")

    85

returnVal =result 

    86

"""

    87

    88

# ethercat xml -p (slave position)

    89

SLAVE_XML = """

    90

import commands

    91

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

    92

returnVal = result 

    93

"""

    94

    95

# ethercat sdos -p (slave position)

    96

SLAVE_SDO = """

    97

import commands

    98

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

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returnVal =result 

   100

"""

   101

   102

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

   103

GET_SLOW_SDO = """

   104

import commands

   105

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

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returnVal =result 

   107

"""

   108

   109

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

   110

SDO_DOWNLOAD = """

   111

import commands

   112

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

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returnVal =result 

   114

"""

   115

   116

# ethercat sii_read -p (slave position)

   117

SII_READ = """

   118

import commands

   119

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

   120

returnVal =result 

   121

"""

   122

   123

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

   124

REG_READ = """

   125

import commands

   126

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

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returnVal =result 

   128

"""

   129

   130

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

   131

SII_WRITE = """ 

   132

import subprocess 

   133

process = subprocess.Popen(

   134

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

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    stdin=subprocess.PIPE)

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process.communicate(sii_data)

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returnVal = process.returncode 

   138

"""

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   140

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

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REG_WRITE = """ 

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import commands

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

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returnVal =result 

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""" 

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   147

# ethercat rescan -p (slave position)

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RESCAN = """ 

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import commands

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

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returnVal =result 

   152

"""

   153

   154

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

   155

#    Common Method For EtherCAT Management 

   156

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

   157

class _CommonSlave:

   158

   159

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

   160

    SlaveState = ""

   161

   162

    # category of SDO data

   163

    DatatypeDescription, CommunicationObject, ManufacturerSpecific, \

   164

    ProfileSpecific, Reserved, AllSDOData = range(6)

   165

   166

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

   167

    SaveSDOData = []

   168

   169

    # Flags for checking "write" permission of OD entries 

   170

    CheckPREOP = False

   171

    CheckSAFEOP = False

   172

    CheckOP = False

   173

   174

    # Save PDO Data

   175

    TxPDOInfo = []

   176

    TxPDOCategory = []

   177

    RxPDOInfo = []

   178

    RxPDOCategory = []

   179

   180

    # Save EEPROM Data

   181

    SiiData = ""

   182

   183

    # Save Register Data

   184

    RegData = ""

   185

    CrtRegSpec = {"ESCType": "",

   186

                  "FMMUNumber": "",

   187

                  "SMNumber": "",

   188

                  "PDIType": ""}

   189

   190

    def __init__(self, controler):

   191

        """

   192

        Constructor

   193

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   194

        """

   195

        self.Controler = controler

   196

   197

        self.ClearSDODataSet()

   198

   199

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

   200

    #                        Used Master State

   201

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

   202

    def GetMasterState(self):

   203

        """

   204

        Execute "ethercat master" command and parse the execution result

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        @return MasterState 

   206

        """

   207

   208

        # exectute "ethercat master" command 

   209

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

   210

        master_state = {}

   211

        # parse the reslut

   212

        for each_line in return_val.splitlines():

   213

            if len(each_line) > 0 :

   214

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

   215

                key = chunks[0]

   216

                value = []

   217

                if len(chunks) > 1 :

   218

                    value = chunks[1].split()

   219

                if '(attached)' in value:

   220

                    value.remove('(attached)')

   221

                master_state[key] = value

   222

   223

        return master_state     

   224

   225

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

   226

    #                        Used Slave State

   227

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

   228

    def RequestSlaveState(self, command):

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        """

   230

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

   231

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

   232

        @param command : target slave state 

   233

        """

   234

        error, return_val = self.Controler.RemoteExec(SLAVE_STATE%(self.Controler.GetSlavePos(), command), return_val = None)

   235

   236

    def GetSlaveStateFromSlave(self):  

   237

        """

   238

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

   239

        (self.SlaveState) for "Slave State" 

   240

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

   241

        """ 

   242

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

   243

        self.SlaveState = return_val

   244

        return return_val 

   245

   246

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

   247

    #                        Used SDO Management

   248

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

   249

    def GetSlaveSDOFromSlave(self):

   250

        """

   251

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

   252

        Command example : "ethercat sdos -p 0"

   253

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

   254

        """  

   255

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

   256

        return return_val   

   257

   258

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

   259

        """

   260

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

   261

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

   262

        @param data_type : data type of SDO entry

   263

        @param idx : index of the SDO entry

   264

        @param sub_idx : subindex of the SDO entry

   265

        @param value : value of SDO entry

   266

        """  

   267

        error, return_val = self.Controler.RemoteExec(SDO_DOWNLOAD%(data_type, self.Controler.GetSlavePos(), idx, sub_idx, value), return_val = None)

   268

   269

    def BackupSDODataSet(self):

   270

        """

   271

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

   272

         in case that the user cancels SDO update operation.

   273

    	"""  

   274

        self.BackupDatatypeDescription = self.SaveDatatypeDescription

   275

        self.BackupCommunicationObject = self.SaveCommunicationObject

   276

        self.BackupManufacturerSpecific = self.SaveManufacturerSpecific

   277

        self.BackupProfileSpecific = self.SaveProfileSpecific

   278

        self.BackupReserved = self.SaveReserved

   279

        self.BackupAllSDOData = self.SaveAllSDOData

   280

   281

    def ClearSDODataSet(self):

   282

        """

   283

        Clear the specified SDO entry information.

   284

        """ 

   285

        for count in range(6):

   286

            self.SaveSDOData.append([])

   287

   288

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

   289

    #                        Used PDO Monitoring

   290

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

   291

    def RequestPDOInfo(self):

   292

        """

   293

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

   294

        """ 

   295

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

   296

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

   297

   298

        type_infos = slave.getType()

   299

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

   300

        # Initialize PDO data set

   301

        self.ClearDataSet()

   302

   303

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

   304

        if device is not None :

   305

            self.SavePDOData(device)

   306

   307

    def SavePDOData(self, device):

   308

        """

   309

        Parse PDO data and store the results in TXPDOCategory and RXPDOCategory

   310

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

   311

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

   312

        @param device : Slave information extracted from ESI XML file

   313

        """ 

   314

        # Parsing TXPDO entries

   315

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

   316

            # Save pdo_index, entry, and name of each entry

   317

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

   318

            entries = pdo.getEntry()

   319

            pdo_name = ExtractName(pdo.getName())

   320

   321

            # Initialize entry number count

   322

            count = 0

   323

   324

            # Parse entries

   325

            for entry in entries:

   326

                # Save index and subindex

   327

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

   328

                subindex = ExtractHexDecValue(entry.getSubIndex())

   329

                # if entry name exists, save entry data

   330

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

   331

                    entry_infos = {

   332

                                "entry_index" : index,

   333

                                "subindex" : subindex,

   334

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

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                                "bitlen" : entry.getBitLen(),

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

   337

                                    }

   338

                    self.TxPDOInfo.append(entry_infos)

   339

                    count += 1

   340

   341

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

   342

            self.TxPDOCategory.append(categorys)

   343

   344

        # Parsing RxPDO entries

   345

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

   346

            # Save pdo_index, entry, and name of each entry

   347

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

   348

            entries = pdo.getEntry()

   349

            pdo_name = ExtractName(pdo.getName())

   350

   351

            # Initialize entry number count

   352

            count = 0          

   353

   354

            # Parse entries          

   355

            for entry in entries:

   356

                # Save index and subindex

   357

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

   358

                subindex = ExtractHexDecValue(entry.getSubIndex())

   359

                # if entry name exists, save entry data

   360

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

   361

                    entry_infos = {

   362

                                "entry_index" : index,

   363

                                "subindex" : subindex,

   364

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

   365

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

   366

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

   367

                                    }

   368

                    self.RxPDOInfo.append(entry_infos)

   369

                    count += 1

   370

   371

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

   372

            self.RxPDOCategory.append(categorys) 

   373

   374

    def GetTxPDOCategory(self):

   375

        """

   376

        Get TxPDOCategory data structure (Meta informaton of TxPDO).

   377

        TxPDOCategorys : index, name, number of entries

   378

        @return TxPDOCategorys

   379

        """ 

   380

        return self.TxPDOCategory

   381

   382

    def GetRxPDOCategory(self):

   383

        """

   384

        Get RxPDOCategory data structure (Meta information of RxPDO).

   385

        RxPDOCategorys : index, name, number of entries

   386

        @return RxPDOCategorys

   387

        """ 

   388

        return self.RxPDOCategory

   389

   390

    def GetTxPDOInfo(self):

   391

        """

   392

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

   393

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

   394

        @return TxPDOInfos

   395

        """ 

   396

        return self.TxPDOInfo

   397

   398

    def GetRxPDOInfo(self):

   399

        """

   400

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

   401

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

   402

        @return RxPDOInfos

   403

        """ 

   404

        return self.RxPDOInfo

   405

   406

    def ClearDataSet(self):

   407

        """

   408

        Initialize PDO management data structure.

   409

        """ 

   410

        self.TxPDOInfos = []

   411

        self.TxPDOCategorys = []

   412

        self.RxPDOInfos = []

   413

        self.RxPDOCategorys = []

   414

   415

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

   416

    #                        Used EEPROM Management

   417

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

   418

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

   419

    BaseDataTypeDict = {"BOOL": "01",

   420

                        "SINT": "02",

   421

                        "INT": "03",

   422

                        "DINT": "04",

   423

                        "USINT": "05",

   424

                        "UINT": "06",

   425

                        "UDINT": "07",

   426

                        "REAL": "08",

   427

                        "INT24": "10",

   428

                        "LREAL": "11",

   429

                        "INT40": "12",

   430

                        "INT48": "13",

   431

                        "INT56": "14",

   432

                        "LINT": "15",

   433

                        "UINT24": "16",

   434

                        "UINT40": "18",

   435

                        "UINT48": "19",

   436

                        "UINT56": "1a",

   437

                        "ULINT": "1b",

   438

                        "USINT": "1e",

   439

                        "BITARR8": "2d",

   440

                        "BITARR16": "2e",

   441

                        "BITARR32": "2f",

   442

                        "BIT1": "30",

   443

                        "BIT2": "31",

   444

                        "BIT3": "32",

   445

                        "BIT4": "33",

   446

                        "BIT5": "34",

   447

                        "BIT6": "35",

   448

                        "BIT7": "36",

   449

                        "BIT8": "37"}        

   450

   451

    def GetSmartViewInfos(self):

   452

        """

   453

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

   454

        @return smartview_infos : EEPROM contents dictionary

   455

        """ 

   456

   457

        smartview_infos = {"eeprom_size": 128,

   458

                           "pdi_type": 0,

   459

                           "device_emulation": "False",

   460

                           "vendor_id": '0x00000000',

   461

                           "product_code": '0x00000000',

   462

                           "revision_no": '0x00000000',

   463

                           "serial_no": '0x00000000',

   464

                           "supported_mailbox": "",

   465

                           "mailbox_bootstrapconf_outstart": '0',

   466

                           "mailbox_bootstrapconf_outlength": '0',

   467

                           "mailbox_bootstrapconf_instart": '0',

   468

                           "mailbox_bootstrapconf_inlength": '0',

   469

                           "mailbox_standardconf_outstart": '0',

   470

                           "mailbox_standardconf_outlength": '0',

   471

                           "mailbox_standardconf_instart": '0',

   472

                           "mailbox_standardconf_inlength": '0'}

   473

   474

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

   475

        type_infos = slave.getType()

   476

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

   477

   478

        # 'device' represents current slave device selected by user

   479

        if device is not None:

   481

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

   482

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

   484

   485

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

   487

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

   488

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

   489

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

   490

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

   491

                        smartview_infos["device_emulation"] = "True"

   492

   493

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

   495

                    # get bootstrap configuration; <Device>-<Eeprom>-<BootStrap>

   496

                    for cfg, iter in [("mailbox_bootstrapconf_outstart", 0), 

   497

                                      ("mailbox_bootstrapconf_outlength", 1),

   498

                                      ("mailbox_bootstrapconf_instart", 2),

   499

                                      ("mailbox_bootstrapconf_inlength", 3)]:

   500

                        smartview_infos[cfg] = str(int(bootstrap_data[4*iter+2:4*(iter+1)]+bootstrap_data[4*iter:4*iter+2], 16))

   501

   502

            # get protocol (profile) types supported by mailbox; <Device>-<Mailbox>

   508

            smartview_infos["supported_mailbox"] = smartview_infos["supported_mailbox"].strip(",  ")

   509

   510

            # get standard configuration of mailbox; <Device>-<Sm>

   511

            for sm_element in device.getSm():

   512

                if sm_element.getcontent() == "MBoxOut":

   513

                    smartview_infos["mailbox_standardconf_outstart"] = str(ExtractHexDecValue(sm_element.getStartAddress()))

   514

                    smartview_infos["mailbox_standardconf_outlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize()))

   515

                elif sm_element.getcontent() == "MBoxIn":

   516

                    smartview_infos["mailbox_standardconf_instart"] = str(ExtractHexDecValue(sm_element.getStartAddress()))

   517

                    smartview_infos["mailbox_standardconf_inlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize()))

   518

                else:

   519

                    pass

   520

   521

            # get device identity from <Device>-<Type>

   522

            #  vendor ID; by default, pre-defined value in self.ModulesLibrary

   523

            #             if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID.

   524

            for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():

   525

                for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]:

   526

                    if available_device[0] == type_infos["device_type"]:

   527

                        smartview_infos["vendor_id"] = "0x" + "{:0>8x}".format(vendor_id)

   528