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#!/usr/bin/env python

     2

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

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     4

# This file is part of Beremiz

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#

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# 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

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#

    10

# See COPYING file for copyrights details.

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    12

    13

import os

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from copy import deepcopy

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from functools import reduce

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from lxml import etree

    17

    18

import wx

    19

    20

from xmlclass import *

    21

    22

from PLCControler import UndoBuffer, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT

    23

from ConfigTreeNode import ConfigTreeNode

    24

from dialogs import BrowseValuesLibraryDialog

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from IDEFrame import TITLE, FILEMENU, PROJECTTREE

    26

from POULibrary import POULibrary

    27

    28

from etherlab.ConfigEditor import MasterEditor

    29

from etherlab.EthercatCFileGenerator import _EthercatCFileGenerator

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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

    37

    38

try:

    39

    from etherlab.EthercatCIA402Slave import _EthercatCIA402SlaveCTN

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    HAS_MCL = True

    41

except Exception:

    42

    HAS_MCL = False

    43

    44

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

    45

#         Remote Exec Etherlab Commands

    46

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

    47

    48

SCAN_COMMAND = """

    49

import commands

    50

result = commands.getoutput("ethercat slaves")

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slaves = []

    52

for slave_line in result.splitlines():

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    chunks = slave_line.split()

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

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

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

    57

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

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             "alias": int(alias),

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             "position": int(position),

    60

             "name": name}

    61

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

    62

    for details_line in details.splitlines():

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        details_line = details_line.strip()

    64

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

    65

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

    66

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

    67

            if details_line.startswith(header):

    68

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

    69

                break

    70

    slaves.append(slave)

    71

returnVal = slaves

    72

"""

    73

    74

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

    75

#      Etherlab Specific Blocks Library

    76

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

    77

    78

    79

def GetLocalPath(filename):

    80

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

    81

    82

    83

class EtherlabLibrary(POULibrary):

    84

    def GetLibraryPath(self):

    85

        return GetLocalPath("pous.xml")

    86

    87

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

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        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()

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    92

        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()

    96

    97

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

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

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   100

                # TODO : rename to match runtime_{location}_extname.py format

   101

   102

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

   103

#                 Ethercat MASTER

   104

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

   105

   106

   107

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

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   109

   110

def sort_commands(x, y):

   111

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

   112

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

   113

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

   114

   115

   116

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

   117

if cls:

   118

   119

    def getType(self):

   120

        slave_info = self.getInfo()

   121

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

   122

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

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

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

   125

    setattr(cls, "getType", getType)

   126

   127

    def setType(self, type_infos):

   128

        slave_info = self.getInfo()

   129

        slave_info.setName(type_infos["device_type"])

   130

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

   131

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

   132

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

   133

    setattr(cls, "setType", setType)

   134

   135

    def getInitCmds(self, create_default=False):

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        Mailbox = self.getMailbox()

   137

        if Mailbox is None:

   138

            if create_default:

   139

                self.addMailbox()

   140

                Mailbox = self.getMailbox()

   141

            else:

   142

                return None

   143

        CoE = Mailbox.getCoE()

   144

        if CoE is None:

   145

            if create_default:

   146

                Mailbox.addCoE()

   147

                CoE = Mailbox.getCoE()

   148

            else:

   149

                return None

   150

        InitCmds = CoE.getInitCmds()

   151

        if InitCmds is None and create_default:

   152

            CoE.addInitCmds()

   153

            InitCmds = CoE.getInitCmds()

   154

        return InitCmds

   155

    setattr(cls, "getInitCmds", getInitCmds)

   156

   157

    def getStartupCommands(self):

   158

        pos = self.getInfo().getPhysAddr()

   159

        InitCmds = self.getInitCmds()

   160

        if InitCmds is None:

   161

            return []

   162

        commands = []

   163

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

   164

            comment = InitCmd.getComment()

   165

            if comment is None:

   166

                comment = ""

   167

            commands.append({

   168

                "command_idx": idx,

   169

                "Position": pos,

   170

                "Index": InitCmd.getIndex(),

   171

                "Subindex": InitCmd.getSubIndex(),

   172

                "Value": InitCmd.getData(),

   173

                "Description": comment})

   174

        commands.sort(sort_commands)

   175

        return commands

   176

    setattr(cls, "getStartupCommands", getStartupCommands)

   177

   178

    def appendStartupCommand(self, command_infos):

   179

        InitCmds = self.getInitCmds(True)

   180

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

   181

        InitCmds.appendInitCmd(command)

   182

        command.setIndex(command_infos["Index"])

   183

        command.setSubIndex(command_infos["Subindex"])

   184

        command.setData(command_infos["Value"])

   185

        command.setComment(command_infos["Description"])

   186

        return len(InitCmds.getInitCmd()) - 1

   187

    setattr(cls, "appendStartupCommand", appendStartupCommand)

   188

   189

    def setStartupCommand(self, command_infos):

   190

        InitCmds = self.getInitCmds()

   191

        if InitCmds is not None:

   192

            commands = InitCmds.getInitCmd()

   193

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

   194

                command = commands[command_infos["command_idx"]]

   195

                command.setIndex(command_infos["Index"])

   196

                command.setSubIndex(command_infos["Subindex"])

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                command.setData(command_infos["Value"])

   198

                command.setComment(command_infos["Description"])

   199

    setattr(cls, "setStartupCommand", setStartupCommand)

   200

   201

    def removeStartupCommand(self, command_idx):

   202

        InitCmds = self.getInitCmds()

   203

        if InitCmds is not None:

   204

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

   205

                InitCmds.removeInitCmd(command_idx)

   206

    setattr(cls, "removeStartupCommand", removeStartupCommand)

   207

   208

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

   209

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

   210

      <xsd:element name="ProcessVariables">

   211

        <xsd:complexType>

   212

          <xsd:sequence>

   213

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

   214

              <xsd:complexType>

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                <xsd:sequence>

   216

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

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

   218

                </xsd:sequence>

   219

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

   220

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

   221

              </xsd:complexType>

   222

            </xsd:element>

   223

          </xsd:sequence>

   224

        </xsd:complexType>

   225

      </xsd:element>

   226

      <xsd:complexType name="LocationDesc">

   227

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

   228

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

   229

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

   230

      </xsd:complexType>

   231

    </xsd:schema>

   232

"""

   233

   234

ProcessVariablesParser = GenerateParserFromXSDstring(ProcessVariablesXSD)

   235

   236

   237

class _EthercatCTN(object):

   238

   239

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

   240

    if HAS_MCL:

   241

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

   242

    EditorType = MasterEditor

   243

   244

    def __init__(self):

   245

        config_filepath = self.ConfigFileName()

   246

        config_is_saved = False

   247

        self.Config = None

   248

        # if os.path.isfile(config_filepath):

   249

        #     config_xmlfile = open(config_filepath, 'r')

   250

        #     try:

   251

        #         self.Config, error = \

   252

        #             EtherCATConfigParser.LoadXMLString(config_xmlfile.read())

   253

        #         if error is None:

   254

        #             config_is_saved = True

   255

        #     except Exception as e:

   256

        #         error = str(e)

   257

        #     config_xmlfile.close()

   258

   259

        #     if error is not None:

   260

        #         self.GetCTRoot().logger.write_error(

   261

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

   262

   263

        if self.Config is None:

   264

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

   265

   266

        process_filepath = self.ProcessVariablesFileName()

   267

        process_is_saved = False

   268

        self.ProcessVariables = None

   269

        if os.path.isfile(process_filepath):

   270

            process_xmlfile = open(process_filepath, 'r')

   271

            try:

   272

                self.ProcessVariables, error = \

   273

                    ProcessVariablesParser.LoadXMLString(process_xmlfile.read())

   274

                if error is None:

   275

                    process_is_saved = True

   276

            except Exception as e:

   277

                error = str(e)

   278

            process_xmlfile.close()

   279

   280

            if error is not None:

   281

                self.GetCTRoot().logger.write_error(

   282

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

   283

   284

        if self.ProcessVariables is None:

   285

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

   286

   287

        #if config_is_saved and process_is_saved:

   288

        if process_is_saved:

   289

            self.CreateBuffer(True)

   290

        else:

   291

            self.CreateBuffer(False)

   292

            self.OnCTNSave()

   293

   294

        if os.path.isfile(config_filepath):

   295

            config_xmlfile = open(config_filepath, 'r')

   296

            try:

   297

                self.Config, error = \

   298

                    EtherCATConfigParser.LoadXMLString(config_xmlfile.read())

   299

                if error is None:

   300

                    config_is_saved = True

   301

            except Exception as e:

   302

                error = e.message

   303

            config_xmlfile.close()

   304

   305

            if error is not None:

   306

                self.GetCTRoot().logger.write_error(

   307

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

   308

   309

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

   310

        self.CommonMethod = _CommonSlave(self)

   311

   312

    def GetIconName(self):

   313

        return "Ethercat"

   314

   315

    def GetContextualMenuItems(self):

   316

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

   317

   318

    def OnAddEthercatSlave(self, event):

   319

        app_frame = self.GetCTRoot().AppFrame

   320

        dialog = BrowseValuesLibraryDialog(app_frame,

   321

                                           _("Ethercat Slave Type"),

   322

                                           self.GetSlaveTypesLibrary())

   323

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

   324

            type_infos = dialog.GetValueInfos()

   325

            device, _module_extra_params = self.GetModuleInfos(type_infos)

   326

            if device is not None:

   327

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

   328

                    ConfNodeType = "EthercatCIA402Slave"

   329

                else:

   330

                    ConfNodeType = "EthercatSlave"

   331

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

   332

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

   333

                self.CTNRequestSave()

   334

                new_child._OpenView()

   335

                app_frame._Refresh(TITLE, FILEMENU, PROJECTTREE)

   336

        dialog.Destroy()

   337

   338

    def ExtractHexDecValue(self, value):

   339

        return ExtractHexDecValue(value)

   340

   341

    def GetSizeOfType(self, type):

   342

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

   343

   344

    def ConfigFileName(self):

   345

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

   346

   347

    def ProcessVariablesFileName(self):

   348

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

   349

   350

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

   351

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

   352

            return False

   353

        type_infos = slave.getType()

   354

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

   355

            return False

   356

        device, _module_extra_params = self.GetModuleInfos(type_infos)

   357

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

   358

            return False

   359

        return True

   360

   361

    def GetSlaveName(self, slave_pos):

   362

        CTNChild = self.GetChildByIECLocation((slave_pos,))

   363

        if CTNChild is not None:

   364

            return CTNChild.CTNName()

   365

        return self.CTNName()

   366

   367

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

   368

        slaves = []

   369

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

   370

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

   371

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

   372

        slaves.sort()

   373

        return slaves

   374

   375

    def GetSlave(self, slave_pos):

   376

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

   377

            slave_info = slave.getInfo()

   378

            if slave_info.getPhysAddr() == slave_pos:

   379

                return slave

   380

        return None

   381

   382

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

   383

        commands = []

   384

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

   385

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

   386

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

   387

        commands.sort()

   388

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

   389

   390

    def AppendStartupCommand(self, command_infos):

   391

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

   392

        if slave is not None:

   393

            command_idx = slave.appendStartupCommand(command_infos)

   394

            self.BufferModel()

   395

            return command_idx

   396

        return None

   397

   398

    def SetStartupCommandInfos(self, command_infos):

   399

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

   400

        if slave is not None:

   401

            slave.setStartupCommand(command_infos)

   402

            self.BufferModel()

   403

   404

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

   405

        slave = self.GetSlave(slave_pos)

   406

        if slave is not None:

   407

            slave.removeStartupCommand(command_idx)

   408

            if buffer:

   409

                self.BufferModel()

   410

   411

    def SetProcessVariables(self, variables):

   412

        vars = []

   413

        for var in variables:

   414

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

   415

            variable.setName(var["Name"])

   416

            variable.setComment(var["Description"])

   417

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

   418

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

   419

                if variable.getReadFrom() is None:

   420

                    variable.addReadFrom()

   421

                read_from = variable.getReadFrom()

   422

                read_from.setPosition(position)

   423

                read_from.setIndex(index)

   424

                read_from.setSubIndex(subindex)

   425

            elif variable.getReadFrom() is not None:

   426

                variable.deleteReadFrom()

   427

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

   428

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

   429

                if variable.getWriteTo() is None:

   430

                    variable.addWriteTo()

   431

                write_to = variable.getWriteTo()

   432

                write_to.setPosition(position)

   433

                write_to.setIndex(index)

   434

                write_to.setSubIndex(subindex)

   435

            elif variable.getWriteTo() is not None:

   436

                variable.deleteWriteTo()

   437

            vars.append(variable)

   438

        self.ProcessVariables.setvariable(vars)

   439

        self.BufferModel()

   440

   441

    def GetProcessVariables(self):

   442

        variables = []

   443

        idx = 0

   444

        for variable in self.ProcessVariables.getvariable():

   445

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

   446

                   "Number": idx,

   447

                   "Description": variable.getComment()}

   448

            read_from = variable.getReadFrom()

   449

            if read_from is not None:

   450

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

   451

                                   read_from.getIndex(),

   452

                                   read_from.getSubIndex())

   453

            else:

   454

                var["ReadFrom"] = ""

   455

            write_to = variable.getWriteTo()

   456

            if write_to is not None:

   457

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

   458

                                  write_to.getIndex(),

   459

                                  write_to.getSubIndex())

   460

            else:

   461

                var["WriteTo"] = ""

   462

            variables.append(var)

   463

            idx += 1

   464

        return variables

   465

   466

    def _ScanNetwork(self):

   467

        app_frame = self.GetCTRoot().AppFrame

   468

   469

        execute = True

   470

        if len(self.Children) > 0:

   471

            dialog = wx.MessageDialog(

   472

                app_frame,

   473

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

   474

                _("Scan Network"),

   475

                wx.YES_NO | wx.ICON_QUESTION)

   476

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

   477

            dialog.Destroy()

   478

   479

        if execute:

   480

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

   481

            if error != 0:

   482

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

   483

                dialog.ShowModal()

   484

                dialog.Destroy()

   485

            elif returnVal is not None:

   486

                for child in self.IECSortedChildren():

   487

                    self._doRemoveChild(child)

   488

   489

                for slave in returnVal:

   490

                    type_infos = {

   491

                        "vendor": slave["vendor_id"],

   492

                        "product_code": slave["product_code"],

   493

                        "revision_number": slave["revision_number"],

   494

                    }

   495

                    device, _module_extra_params = self.GetModuleInfos(type_infos)

   496

                    if device is not None:

   497

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

   498

                            CTNType = "EthercatCIA402Slave"

   499

                        else:

   500

                            CTNType = "EthercatSlave"

   501

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

   502

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

   503

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

   504

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

   505

   506

                if app_frame:

   507

                    app_frame.RefreshProjectTree()

   508