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

    16

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

    25

from IDEFrame import TITLE, FILEMENU, PROJECTTREE

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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

    40

    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()

    54

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

    55

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

    56

    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():

    63

        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')

    89

        etherlab_ext_code = etherlab_ext_file.read()

    90

        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"))))

    99

   100

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

   101

#                 Ethercat MASTER

   102

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

   103

   104

   105

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

   106

   107

   108

def sort_commands(x, y):

   109

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

   110

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

   111

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

   112

   113

   114

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

   115

if cls:

   116

   117

    def getType(self):

   118

        slave_info = self.getInfo()

   119

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

   120

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

   121

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

   122

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

   123

    setattr(cls, "getType", getType)

   124

   125

    def setType(self, type_infos):

   126

        slave_info = self.getInfo()

   127

        slave_info.setName(type_infos["device_type"])

   128

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

   129

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

   130

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

   131

    setattr(cls, "setType", setType)

   132

   133

    def getInitCmds(self, create_default=False):

   134

        Mailbox = self.getMailbox()

   135

        if Mailbox is None:

   136

            if create_default:

   137

                self.addMailbox()

   138

                Mailbox = self.getMailbox()

   139

            else:

   140

                return None

   141

        CoE = Mailbox.getCoE()

   142

        if CoE is None:

   143

            if create_default:

   144

                Mailbox.addCoE()

   145

                CoE = Mailbox.getCoE()

   146

            else:

   147

                return None

   148

        InitCmds = CoE.getInitCmds()

   149

        if InitCmds is None and create_default:

   150

            CoE.addInitCmds()

   151

            InitCmds = CoE.getInitCmds()

   152

        return InitCmds

   153

    setattr(cls, "getInitCmds", getInitCmds)

   154

   155

    def getStartupCommands(self):

   156

        pos = self.getInfo().getPhysAddr()

   157

        InitCmds = self.getInitCmds()

   158

        if InitCmds is None:

   159

            return []

   160

        commands = []

   161

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

   162

            comment = InitCmd.getComment()

   163

            if comment is None:

   164

                comment = ""

   165

            commands.append({

   166

                "command_idx": idx,

   167

                "Position": pos,

   168

                "Index": InitCmd.getIndex(),

   169

                "Subindex": InitCmd.getSubIndex(),

   170

                "Value": InitCmd.getData(),

   171

                "Description": comment})

   172

        commands.sort(sort_commands)

   173

        return commands

   174

    setattr(cls, "getStartupCommands", getStartupCommands)

   175

   176

    def appendStartupCommand(self, command_infos):

   177

        InitCmds = self.getInitCmds(True)

   178

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

   179

        InitCmds.appendInitCmd(command)

   180

        command.setIndex(command_infos["Index"])

   181

        command.setSubIndex(command_infos["Subindex"])

   182

        command.setData(command_infos["Value"])

   183

        command.setComment(command_infos["Description"])

   184

        return len(InitCmds.getInitCmd()) - 1

   185

    setattr(cls, "appendStartupCommand", appendStartupCommand)

   186

   187

    def setStartupCommand(self, command_infos):

   188

        InitCmds = self.getInitCmds()

   189

        if InitCmds is not None:

   190

            commands = InitCmds.getInitCmd()

   191

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

   192

                command = commands[command_infos["command_idx"]]

   193

                command.setIndex(command_infos["Index"])

   194

                command.setSubIndex(command_infos["Subindex"])

   195

                command.setData(command_infos["Value"])

   196

                command.setComment(command_infos["Description"])

   197

    setattr(cls, "setStartupCommand", setStartupCommand)

   198

   199

    def removeStartupCommand(self, command_idx):

   200

        InitCmds = self.getInitCmds()

   201

        if InitCmds is not None:

   202

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

   203

                InitCmds.removeInitCmd(command_idx)

   204

    setattr(cls, "removeStartupCommand", removeStartupCommand)

   205

   206

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

   207

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

   208

      <xsd:element name="ProcessVariables">

   209

        <xsd:complexType>

   210

          <xsd:sequence>

   211

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

   212

              <xsd:complexType>

   213

                <xsd:sequence>

   214

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

   215

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

   216

                </xsd:sequence>

   217

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

   218

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

   219

              </xsd:complexType>

   220

            </xsd:element>

   221

          </xsd:sequence>

   222

        </xsd:complexType>

   223

      </xsd:element>

   224

      <xsd:complexType name="LocationDesc">

   225

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

   226

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

   227

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

   228

      </xsd:complexType>

   229

    </xsd:schema>

   230

"""

   231

   232

ProcessVariablesParser = GenerateParserFromXSDstring(ProcessVariablesXSD)

   233

   234

   235

class _EthercatCTN(object):

   236

   237

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

   238

    if HAS_MCL:

   239

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

   240

    EditorType = MasterEditor

   241

   242

    def __init__(self):

   243

        config_filepath = self.ConfigFileName()

   244

        config_is_saved = False

   245

        self.Config = None

   246

        if os.path.isfile(config_filepath):

   247

            config_xmlfile = open(config_filepath, 'r')

   248

            try:

   249

                self.Config, error = \

   250

                    EtherCATConfigParser.LoadXMLString(config_xmlfile.read())

   251

                if error is None:

   252

                    config_is_saved = True

   253

            except Exception as e:

   254

                error = str(e)

   255

            config_xmlfile.close()

   256

   257

            if error is not None:

   258

                self.GetCTRoot().logger.write_error(

   259

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

   260

   261

        if self.Config is None:

   262

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

   263

   264

        process_filepath = self.ProcessVariablesFileName()

   265

        process_is_saved = False

   266

        self.ProcessVariables = None

   267

        if os.path.isfile(process_filepath):

   268

            process_xmlfile = open(process_filepath, 'r')

   269

            try:

   270

                self.ProcessVariables, error = \

   271

                    ProcessVariablesParser.LoadXMLString(process_xmlfile.read())

   272

                if error is None:

   273

                    process_is_saved = True

   274

            except Exception as e:

   275

                error = str(e)

   276

            process_xmlfile.close()

   277

   278

            if error is not None:

   279

                self.GetCTRoot().logger.write_error(

   280

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

   281

   282

        if self.ProcessVariables is None:

   283

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

   284

   285

        if config_is_saved and process_is_saved:

   286

            self.CreateBuffer(True)

   287

        else:

   288

            self.CreateBuffer(False)

   289

            self.OnCTNSave()

   290

   291

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

   292

        self.CommonMethod = _CommonSlave(self)

   293

   294

    def GetIconName(self):

   295

        return "Ethercat"

   296

   297

    def GetContextualMenuItems(self):

   298

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

   299

   300

    def OnAddEthercatSlave(self, event):

   301

        app_frame = self.GetCTRoot().AppFrame

   302

        dialog = BrowseValuesLibraryDialog(app_frame,

   303

                                           _("Ethercat Slave Type"),

   304

                                           self.GetSlaveTypesLibrary())

   305

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

   306

            type_infos = dialog.GetValueInfos()

   307

            device, _module_extra_params = self.GetModuleInfos(type_infos)

   308

            if device is not None:

   309

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

   310

                    ConfNodeType = "EthercatCIA402Slave"

   311

                else:

   312

                    ConfNodeType = "EthercatSlave"

   313

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

   314

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

   315

                self.CTNRequestSave()

   316

                new_child._OpenView()

   317

                app_frame._Refresh(TITLE, FILEMENU, PROJECTTREE)

   318

        dialog.Destroy()

   319

   320

    def ExtractHexDecValue(self, value):

   321

        return ExtractHexDecValue(value)

   322

   323

    def GetSizeOfType(self, type):

   324

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

   325

   326

    def ConfigFileName(self):

   327

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

   328

   329

    def ProcessVariablesFileName(self):

   330

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

   331

   332

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

   333

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

   334

            return False

   335

        type_infos = slave.getType()

   336

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

   337

            return False

   338

        device, _module_extra_params = self.GetModuleInfos(type_infos)

   339

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

   340

            return False

   341

        return True

   342

   343

    def GetSlaveName(self, slave_pos):

   344

        CTNChild = self.GetChildByIECLocation((slave_pos,))

   345

        if CTNChild is not None:

   346

            return CTNChild.CTNName()

   347

        return self.CTNName()

   348

   349

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

   350

        slaves = []

   351

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

   352

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

   353

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

   354

        slaves.sort()

   355

        return slaves

   356

   357

    def GetSlave(self, slave_pos):

   358

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

   359

            slave_info = slave.getInfo()

   360

            if slave_info.getPhysAddr() == slave_pos:

   361

                return slave

   362

        return None

   363

   364

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

   365

        commands = []

   366

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

   367

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

   368

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

   369

        commands.sort()

   370

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

   371

   372

    def AppendStartupCommand(self, command_infos):

   373

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

   374

        if slave is not None:

   375

            command_idx = slave.appendStartupCommand(command_infos)

   376

            self.BufferModel()

   377

            return command_idx

   378

        return None

   379

   380

    def SetStartupCommandInfos(self, command_infos):

   381

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

   382

        if slave is not None:

   383

            slave.setStartupCommand(command_infos)

   384

            self.BufferModel()

   385

   386

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

   387

        slave = self.GetSlave(slave_pos)

   388

        if slave is not None:

   389

            slave.removeStartupCommand(command_idx)

   390

            if buffer:

   391

                self.BufferModel()

   392

   393

    def SetProcessVariables(self, variables):

   394

        vars = []

   395

        for var in variables:

   396

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

   397

            variable.setName(var["Name"])

   398

            variable.setComment(var["Description"])

   399

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

   400

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

   401

                if variable.getReadFrom() is None:

   402

                    variable.addReadFrom()

   403

                read_from = variable.getReadFrom()

   404

                read_from.setPosition(position)

   405

                read_from.setIndex(index)

   406

                read_from.setSubIndex(subindex)

   407

            elif variable.getReadFrom() is not None:

   408

                variable.deleteReadFrom()

   409

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

   410

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

   411

                if variable.getWriteTo() is None:

   412

                    variable.addWriteTo()

   413

                write_to = variable.getWriteTo()

   414

                write_to.setPosition(position)

   415

                write_to.setIndex(index)

   416

                write_to.setSubIndex(subindex)

   417

            elif variable.getWriteTo() is not None:

   418

                variable.deleteWriteTo()

   419

            vars.append(variable)

   420

        self.ProcessVariables.setvariable(vars)

   421

        self.BufferModel()

   422

   423

    def GetProcessVariables(self):

   424

        variables = []

   425

        idx = 0

   426

        for variable in self.ProcessVariables.getvariable():

   427

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

   428

                   "Number": idx,

   429

                   "Description": variable.getComment()}

   430

            read_from = variable.getReadFrom()

   431

            if read_from is not None:

   432

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

   433

                                   read_from.getIndex(),

   434

                                   read_from.getSubIndex())

   435

            else:

   436

                var["ReadFrom"] = ""

   437

            write_to = variable.getWriteTo()

   438

            if write_to is not None:

   439

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

   440

                                  write_to.getIndex(),

   441

                                  write_to.getSubIndex())

   442

            else:

   443

                var["WriteTo"] = ""

   444

            variables.append(var)

   445

            idx += 1

   446

        return variables

   447

   448

    def _ScanNetwork(self):

   449

        app_frame = self.GetCTRoot().AppFrame

   450

   451

        execute = True

   452

        if len(self.Children) > 0:

   453

            dialog = wx.MessageDialog(

   454

                app_frame,

   455

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

   456

                _("Scan Network"),

   457

                wx.YES_NO | wx.ICON_QUESTION)

   458

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

   459

            dialog.Destroy()

   460

   461

        if execute:

   462

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

   463

            if error != 0:

   464

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

   465

                dialog.ShowModal()

   466

                dialog.Destroy()

   467

            elif returnVal is not None:

   468

                for child in self.IECSortedChildren():

   469

                    self._doRemoveChild(child)

   470

   471

                for slave in returnVal:

   472

                    type_infos = {

   473

                        "vendor": slave["vendor_id"],

   474

                        "product_code": slave["product_code"],

   475

                        "revision_number": slave["revision_number"],

   476

                    }

   477

                    device, _module_extra_params = self.GetModuleInfos(type_infos)

   478

                    if device is not None:

   479

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

   480

                            CTNType = "EthercatCIA402Slave"

   481

                        else:

   482

                            CTNType = "EthercatSlave"

   483

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

   484

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

   485

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

   486

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

   487

   488

                if app_frame:

   489

                    app_frame.RefreshProjectTree()

   490

   491

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

   492

        """

   493

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

   494

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

   495

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

   496

        """

   497

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

   498

   499

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

   500

        if slave is None:

   501

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

   502

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

   503

            slave_infos = slave.getInfo()

   504

            slave_infos.setName("undefined")

   505

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

   506

            slave_infos.setAutoIncAddr(0)

   507

            self.BufferModel()

   508

            self.OnCTNSave()

   509