1

import os, sys

     2

base_folder = os.path.split(sys.path[0])[0]

     3

CanFestivalPath = os.path.join(base_folder, "CanFestival-3")

     4

sys.path.append(os.path.join(CanFestivalPath, "objdictgen"))

     5

     6

from nodelist import NodeList

     7

from nodemanager import NodeManager

     8

import config_utils, gen_cfile, eds_utils

     9

from networkedit import networkedit

    10

from objdictedit import objdictedit

    11

import canfestival_config as local_canfestival_config

    12

from ConfigTreeNode import ConfigTreeNode

    13

from commondialogs import CreateNodeDialog

    14

import wx

    15

    16

from SlaveEditor import SlaveEditor

    17

from NetworkEditor import NetworkEditor

    18

    19

from gnosis.xml.pickle import *

    20

from gnosis.xml.pickle.util import setParanoia

    21

setParanoia(0)

    22

    23

if wx.Platform == '__WXMSW__':

    24

    DEFAULT_SETTINGS = {

    25

        "CAN_Driver": "can_tcp_win32",

    26

        "CAN_Device": "127.0.0.1",

    27

        "CAN_Baudrate": "125K",

    28

        "Slave_NodeId": 2,

    29

        "Master_NodeId": 1,

    30

    }

    31

else:

    32

    DEFAULT_SETTINGS = {

    33

        "CAN_Driver": "../CanFestival-3/drivers/can_socket/libcanfestival_can_socket.so",

    34

        "CAN_Device": "vcan0",

    35

        "CAN_Baudrate": "125K",

    36

        "Slave_NodeId": 2,

    37

        "Master_NodeId": 1,

    38

    }

    39

    40

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

    41

#                    SLAVE

    42

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

    43

    44

class _SlaveCTN(NodeManager):

    45

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

    46

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

    47

      <xsd:element name="CanFestivalSlaveNode">

    48

        <xsd:complexType>

    49

          <xsd:attribute name="CAN_Device" type="xsd:string" use="optional" default="%(CAN_Device)s"/>

    50

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional" default="%(CAN_Baudrate)s"/>

    51

          <xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Slave_NodeId)d"/>

    52

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

    53

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

    54

            <xsd:simpleType>

    55

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

    56

                    <xsd:minInclusive value="1"/>

    57

                    <xsd:maxInclusive value="99"/>

    58

                </xsd:restriction>

    59

            </xsd:simpleType>

    60

          </xsd:attribute>

    61

        </xsd:complexType>

    62

      </xsd:element>

    63

    </xsd:schema>

    64

    """ % DEFAULT_SETTINGS

    65

    66

    EditorType = SlaveEditor

    67

    IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")

    68

    69

    def __init__(self):

    70

        # TODO change netname when name change

    71

        NodeManager.__init__(self)

    72

        odfilepath = self.GetSlaveODPath()

    73

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

    74

            self.OpenFileInCurrent(odfilepath)

    75

        else:

    76

            self.FilePath = ""

    77

            dialog = CreateNodeDialog(None, wx.OK)

    78

            dialog.Type.Enable(False)

    79

            dialog.GenSYNC.Enable(False)

    80

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

    81

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

    82

                profile, filepath = dialog.GetProfile()

    83

                NMT = dialog.GetNMTManagement()

    84

                options = dialog.GetOptions()

    85

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

    86

                                   id,         # NodeID - will be changed at build time

    87

                                   "slave",    # Type

    88

                                   description,# description 

    89

                                   profile,    # profile

    90

                                   filepath,   # prfile filepath

    91

                                   NMT,        # NMT

    92

                                   options)     # options

    93

            else:

    94

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

    95

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

    96

                                   "slave",      # Type

    97

                                   "",           # description 

    98

                                   "None",       # profile

    99

                                   "", # prfile filepath

   100

                                   "heartbeat",  # NMT

   101

                                   [])           # options

   102

            dialog.Destroy()

   103

            self.OnCTNSave()

   104

   105

    def GetSlaveODPath(self):

   106

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

   107

   108

    def GetCanDevice(self):

   109

        return self.CanFestivalSlaveNode.getCan_Device()

   110

   111

    def _OpenView(self):

   112

        ConfigTreeNode._OpenView(self)

   113

        if self._View is not None:

   114

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

   116

   117

    ConfNodeMethods = [

   118

        {"bitmap" : "NetworkEdit",

   119

         "name" : "Edit slave", 

   120

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

   121

         "method" : "_OpenView"},

   122

    ]

   123

   124

    def CTNTestModified(self):

   125

        return self.ChangesToSave or self.OneFileHasChanged()

   126

   127

    def OnCTNSave(self):

   128

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   129

   130

    def SetParamsAttribute(self, path, value):

   131

        result = ConfigTreeNode.SetParamsAttribute(self, path, value)

   132

   133

        # Filter IEC_Channel and Name, that have specific behavior

   134

        if path == "BaseParams.IEC_Channel" and self._View is not None:

   135

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

   136

   137

        return result

   138

   139

    def CTNGenerate_C(self, buildpath, locations):

   140

        """

   141

        Generate C code

   142

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

   143

        @param locations: List of complete variables locations \

   144

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

   145

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

   146

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

   147

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

   148

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

   149

            }, ...]

   150

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

   151

        """

   152

        current_location = self.GetCurrentLocation()

   153

        # define a unique name for the generated C file

   154

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

   155

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

   156

        # Create a new copy of the model

   157

        slave = self.GetCurrentNodeCopy()

   158

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

   159

        # allow access to local OD from Slave PLC

   160

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

   161

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

   162

        if res :

   163

            raise Exception, res

   164

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

   165

        if res :

   166

            raise Exception, res

   167

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

   168

   169

    def LoadPrevious(self):

   170

        self.LoadCurrentPrevious()

   171

   172

    def LoadNext(self):

   173

        self.LoadCurrentNext()

   174

   175

    def GetBufferState(self):

   176

        return self.GetCurrentBufferState()

   177

   178

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

   179

#                    MASTER

   180

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

   181

   182

class MiniNodeManager(NodeManager):

   183

   184

    def __init__(self, parent, filepath, fullname):

   185

        NodeManager.__init__(self)

   186

   187

        self.OpenFileInCurrent(filepath)

   188

   189

        self.Parent = parent

   190

        self.Fullname = fullname

   191

   192

    def OnCloseEditor(self, view):

   193

        self.Parent.OnCloseEditor(view)

   194

   195

    def CTNFullName(self):

   196

        return self.Fullname

   197

   198

    def GetBufferState(self):

   199

        return self.GetCurrentBufferState()

   200

   203

class _NodeListCTN(NodeList):

   204

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

   205

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

   206

      <xsd:element name="CanFestivalNode">

   207

        <xsd:complexType>

   208

          <xsd:attribute name="CAN_Device" type="xsd:string" use="optional" default="%(CAN_Device)s"/>

   209

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional" default="%(CAN_Baudrate)s"/>

   210

          <xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Master_NodeId)d"/>

   211

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

   212

        </xsd:complexType>

   213

      </xsd:element>

   214

    </xsd:schema>

   215

    """ % DEFAULT_SETTINGS

   216

   217

    EditorType = NetworkEditor

   218

    IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")

   219

   220

    def __init__(self):

   221

        manager = NodeManager()

   222

        NodeList.__init__(self, manager)

   223

        self.LoadProject(self.CTNPath())

   224

        self.SetNetworkName(self.BaseParams.getName())

   225

   226

    def GetCanDevice(self):

   227

        return self.CanFestivalNode.getCan_Device()

   228

   229

    def SetParamsAttribute(self, path, value):

   230

        result = ConfigTreeNode.SetParamsAttribute(self, path, value)

   231

   232

        # Filter IEC_Channel and Name, that have specific behavior

   233

        if path == "BaseParams.IEC_Channel" and self._View is not None:

   234

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

   235

        elif path == "BaseParams.Name":

   236

            self.SetNetworkName(value)

   237

   238

        return result

   239

   264

   271

   272

    ConfNodeMethods = [

   273

        {"bitmap" : "NetworkEdit",

   274

         "name" : _("Edit network"), 

   275

         "tooltip" : _("Edit CanOpen Network with NetworkEdit"),

   276

         "method" : "_OpenView"},

   277

        {"bitmap" : "ShowMaster",

   278

         "name" : _("Show Master"), 

   279

         "tooltip" : _("Show Master generated by config_utils"),

   281

    ]

   282

   283

    def OnCloseEditor(self, view):

   284

        ConfigTreeNode.OnCloseEditor(self, view)

   288

    def OnCTNClose(self):

   289

        ConfigTreeNode.OnCTNClose(self)

   291

        return True

   292

   293

    def CTNTestModified(self):

   294

        return self.ChangesToSave or self.HasChanged()

   295

   296

    def OnCTNSave(self):

   297

        self.SetRoot(self.CTNPath())

   298

        return self.SaveProject() is None

   299

   300

    def CTNGenerate_C(self, buildpath, locations):

   301

        """

   302

        Generate C code

   303

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

   304

        @param locations: List of complete variables locations \

   305

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

   306

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

   307

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

   308

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

   309

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

   310

            }, ...]

   311

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

   312

        """

   314

        current_location = self.GetCurrentLocation()

   315

        # define a unique name for the generated C file

   316

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

   317

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

   318

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

   319

        try:

   320

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

   321

        except config_utils.PDOmappingException, e:

   322

            raise Exception, e.message

   323

        # Do generate C file.

   324

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

   325

        if res :

   326

            raise Exception, res

   327

   328

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

   329

        dump(master, file)

   330

        file.close()

   331

   332

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

   333

   334

    def LoadPrevious(self):

   335

        self.Manager.LoadCurrentPrevious()

   336

   337

    def LoadNext(self):

   338

        self.Manager.LoadCurrentNext()

   339

   340

    def GetBufferState(self):

   341

        return self.Manager.GetCurrentBufferState()

   342

   343

class RootClass:

   344

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

   345

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

   346

      <xsd:element name="CanFestivalInstance">

   347

        <xsd:complexType>

   348

          <xsd:attribute name="CAN_Driver" type="xsd:string" use="optional" default="%(CAN_Driver)s"/>

   349

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

   350

        </xsd:complexType>

   351

      </xsd:element>

   352

    </xsd:schema>

   353

    """ % DEFAULT_SETTINGS

   354

   355

    CTNChildrenTypes = [("CanOpenNode",_NodeListCTN, "CanOpen Master"),

   356

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

   357

    def GetParamsAttributes(self, path = None):

   358

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

   359

        for element in infos:

   360

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

   361

                for child in element["children"]:

   362

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

   363

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

   364

                        if DLL_LIST is not None:

   365

                            child["type"] = DLL_LIST  

   366

        return infos

   367

   368

    def GetCanDriver(self):

   369

        can_driver = self.CanFestivalInstance.getCAN_Driver()

   370

        if sys.platform == 'win32':

   371

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

   372

                can_driver += '_DEBUG.dll'

   373

            else:

   374

                can_driver += '.dll'

   375

        return can_driver

   376

   377

    def CTNGenerate_C(self, buildpath, locations):

   378

   379

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

   380

                       "candriver" : self.GetCanDriver(),

   381

                       "nodes_includes" : "",

   382

                       "board_decls" : "",

   383

                       "nodes_init" : "",

   384

                       "nodes_open" : "",

   385

                       "nodes_stop" : "",

   386

                       "nodes_close" : "",

   387

                       "nodes_send_sync" : "",

   388

                       "nodes_proceed_sync" : "",

   389

                       "slavebootups" : "",

   390

                       "slavebootup_register" : "",

   391

                       "post_sync" : "",

   392

                       "post_sync_register" : "",

   393

                       }

   394

        for child in self.IECSortedChildren():

   395

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

   396

            nodename = "OD_%s" % childlocstr

   397

   398

            # Try to get Slave Node

   399

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

   400

            if child_data is None:

   401

                # Not a slave -> master

   402

                child_data = getattr(child, "CanFestivalNode")

   403

                # Apply sync setting

   404

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

   405

                       nodename,

   406

                       child_data.getNodeId())

   407

                if child_data.getSync_TPDOs():

   408

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

   409

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

   410

   411

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   412

                SlaveIDs = child.GetSlaveIDs()

   413

                if len(SlaveIDs) == 0:

   414

                    # define post_SlaveBootup lookup functions

   415

                    format_dict["slavebootups"] += (

   416

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

   417

                else:

   418

                    for id in SlaveIDs:

   419

                        format_dict["slavebootups"] += (

   420

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

   421

                    # define post_SlaveBootup lookup functions

   422

                    format_dict["slavebootups"] += (

   423

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

   424

                        "    switch(nodeId){\n")

   425

                    # one case per declared node, mark node as booted

   426

                    for id in SlaveIDs:

   427

                        format_dict["slavebootups"] += (

   428

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

   429

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

   430

                        "            break;\n")

   431

                    format_dict["slavebootups"] += (

   432

                        "        default:\n"+

   433

                        "            break;\n"+

   434

                        "    }\n"+

   435

                        "    if( ")

   436

                    # expression to test if all declared nodes booted

   437

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

   438

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

   439

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

   440

                        "}\n")

   441

                # register previously declared func as post_SlaveBootup callback for that node

   442

                format_dict["slavebootup_register"] += (

   443

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

   444

            else:

   445

                # Slave node

   446

                align = child_data.getSync_Align()

   447

                align_ratio=child_data.getSync_Align_Ratio()

   448

                if align > 0:

   449

                    format_dict["post_sync"] += (

   450

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

   451

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

   452

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

   453

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

   454

                        "        align_tick(-1);\n"+

   455

                        "    }else{\n"+

   456

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

   457

                        "    }\n"+

   458

                        "}\n")

   459

                    format_dict["post_sync_register"] += (

   460

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

   461

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

   462

                       nodename,

   463

                       child_data.getNodeId())

   464

   465

            # Include generated OD headers

   466

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

   467

            # Declare CAN channels according user filled config

   468

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

   469

                   nodename,

   470

                   child.GetCanDevice(),

   471

                   child_data.getCAN_Baudrate())

   472

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

   473

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

   474

            format_dict["nodes_stop"] += 'NODE_STOP(%s)\n    '%(nodename)

   475

   476

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

   477

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

   478

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

   479

        f = open(cf_main_path,'w')

   480

        f.write(cf_main)

   481

        f.close()

   482

   483

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

   484

   485