author | Andrey Skvortsov <andrej.skvortzov@gmail.com> |
Sat, 29 Sep 2018 16:53:46 +0300 | |
changeset 2400 | 7afecc27db95 |
parent 2396 | 41adf1dfc7a7 |
child 2405 | af050469fc5c |
permissions | -rw-r--r-- |
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#!/usr/bin/env python |
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# -*- coding: utf-8 -*- |
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|
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# 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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# |
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# See COPYING file for copyrights details. |
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import os |
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import wx |
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from PLCControler import LOCATION_CONFNODE, LOCATION_VAR_INPUT |
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from MotionLibrary import Headers, AxisXSD |
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from EthercatSlave import _EthercatSlaveCTN, _CommonSlave |
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from ConfigEditor import CIA402NodeEditor |
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# Definition of node variables that have to be mapped in PDO |
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# [(name, index, subindex, type, |
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# direction for master ('I': input, 'Q': output)),...] |
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NODE_VARIABLES = [ |
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("ControlWord", 0x6040, 0x00, "UINT", "Q"), |
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("TargetPosition", 0x607a, 0x00, "DINT", "Q"), |
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("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"), |
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("TargetTorque", 0x6071, 0x00, "INT", "Q"), |
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("ModesOfOperation", 0x6060, 0x00, "SINT", "Q"), |
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("StatusWord", 0x6041, 0x00, "UINT", "I"), |
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("ModesOfOperationDisplay", 0x6061, 0x00, "SINT", "I"), |
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("ActualPosition", 0x6064, 0x00, "DINT", "I"), |
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("ActualVelocity", 0x606c, 0x00, "DINT", "I"), |
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("ActualTorque", 0x6077, 0x00, "INT", "I"), |
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] |
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# Definition of optional node variables that can be added to PDO mapping. |
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# A checkbox will be displayed for each section in node configuration panel to |
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# enable them |
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# [(section_name, |
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# [{'description', (name, index, subindex, type, |
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# direction for master ('I': input, 'Q': output)), |
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# 'retrieve', string_template_for_retrieve_variable (None: not retrieved, |
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# default string template if not defined), |
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# 'publish', string_template_for_publish_variable (None: not published, |
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# default string template if not defined), |
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# },...] |
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EXTRA_NODE_VARIABLES = [ |
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("ErrorCode", [ |
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{"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"), |
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"publish": None} |
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]), |
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("DigitalInputs", [ |
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{"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"), |
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"publish": None} |
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]), |
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("DigitalOutputs", [ |
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{"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"), |
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"retrieve": None} |
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]), |
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("TouchProbe", [ |
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{"description": ("TouchProbeFunction", 0x60B8, 0x00, "UINT", "Q"), |
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"retrieve": None}, |
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{"description": ("TouchProbeStatus", 0x60B9, 0x00, "UINT", "I"), |
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"publish": None}, |
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{"description": ("TouchProbePos1PosValue", 0x60BA, 0x00, "DINT", "I"), |
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"publish": None}, |
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{"description": ("TouchProbePos1NegValue", 0x60BB, 0x00, "DINT", "I"), |
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"publish": None}, |
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]), |
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] |
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# List of parameters name in no configuration panel for optional variable |
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# sections |
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EXTRA_NODE_VARIABLES_DICT = { |
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"Enable" + name: params |
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for name, params in EXTRA_NODE_VARIABLES} |
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# List of block to define to interface MCL to fieldbus for specific functions |
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FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [ |
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{"blocktype": "GetTorqueLimit", |
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"inputs": [], |
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"outputs": [{"name": "TorqueLimitPos", "type": "UINT"}, |
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{"name": "TorqueLimitNeg", "type": "UINT"}]}, |
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{"blocktype": "SetTorqueLimit", |
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"inputs": [{"name": "TorqueLimitPos", "type": "UINT"}, |
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{"name": "TorqueLimitNeg", "type": "UINT"}], |
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"outputs": []}, |
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] |
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# -------------------------------------------------- |
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# Ethercat CIA402 Node |
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# -------------------------------------------------- |
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class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN): |
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XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?> |
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<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema"> |
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<xsd:element name="CIA402SlaveParams"> |
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<xsd:complexType> |
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%s |
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</xsd:complexType> |
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</xsd:element> |
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</xsd:schema> |
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""" % ("\n".join(["""\ |
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<xsd:attribute name="Enable%s" type="xsd:boolean" |
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use="optional" default="false"/>""" % category |
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for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD) |
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NODE_PROFILE = 402 |
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EditorType = CIA402NodeEditor |
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ConfNodeMethods = [ |
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{ |
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"bitmap": "CIA402AxisRef", |
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"name": _("Axis Ref"), |
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"tooltip": _("Initiate Drag'n drop of Axis ref located variable"), |
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"method": "_getCIA402AxisRef", |
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"push": True, |
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}, |
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{ |
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"bitmap": "CIA402NetPos", |
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"name": _("Axis Pos"), |
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"tooltip": _("Initiate Drag'n drop of Network position located variable"), |
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"method": "_getCIA402NetworkPosition", |
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"push": True, |
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}, |
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] |
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# -------------------------------------------------- |
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# class code |
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# -------------------------------------------------- |
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def __init__(self): |
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_EthercatSlaveCTN.__init__(self) |
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# ----------- call ethercat mng. function -------------- |
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self.CommonMethod = _CommonSlave(self) |
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140 |
|
2111 | 141 |
def GetIconName(self): |
142 |
return "CIA402Slave" |
|
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143 |
|
2111 | 144 |
def SetParamsAttribute(self, path, value): |
145 |
if path == "CIA402SlaveParams.Type": |
|
146 |
path = "SlaveParams.Type" |
|
147 |
elif path == "CIA402SlaveParams.Alias": |
|
148 |
path = "SlaveParams.Alias" |
|
149 |
return _EthercatSlaveCTN.SetParamsAttribute(self, path, value) |
|
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|
2111 | 151 |
def GetVariableLocationTree(self): |
152 |
axis_name = self.CTNName() |
|
153 |
current_location = self.GetCurrentLocation() |
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children = [ |
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155 |
{ |
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"name": name_frmt % (axis_name), |
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"type": LOCATION_VAR_INPUT, |
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158 |
"size": "W", |
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159 |
"IEC_type": iec_type, |
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"var_name": var_name_frmt % axis_name, |
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"location": location_frmt % (".".join(map(str, current_location))), |
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162 |
"description": "", |
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163 |
"children": [] |
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164 |
} |
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165 |
for name_frmt, iec_type, var_name_frmt, location_frmt in [ |
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166 |
("%s Network Position", "UINT", "%s_pos", "%%IW%s"), |
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167 |
("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402") |
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168 |
] |
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169 |
] |
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children.extend(self.CTNParent.GetDeviceLocationTree( |
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171 |
self.GetSlavePos(), current_location, axis_name)) |
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172 |
return { |
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173 |
"name": axis_name, |
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174 |
"type": LOCATION_CONFNODE, |
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"location": self.GetFullIEC_Channel(), |
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"children": children, |
2111 | 177 |
} |
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178 |
|
2111 | 179 |
def CTNGlobalInstances(self): |
180 |
current_location = self.GetCurrentLocation() |
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181 |
return [("%s_%s" % (block_infos["blocktype"], |
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"_".join(map(str, current_location))), |
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"EtherLab%s" % block_infos["blocktype"], "") |
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184 |
for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES] |
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185 |
|
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186 |
def StartDragNDrop(self, data): |
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data_obj = wx.TextDataObject(str(data)) |
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dragSource = wx.DropSource(self.GetCTRoot().AppFrame) |
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dragSource.SetData(data_obj) |
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190 |
dragSource.DoDragDrop() |
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191 |
|
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192 |
def _getCIA402NetworkPosition(self): |
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193 |
self.StartDragNDrop( |
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194 |
("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())), |
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195 |
"location", "UINT", self.CTNName() + "_Pos", "")) |
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196 |
|
2111 | 197 |
def _getCIA402AxisRef(self): |
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198 |
self.StartDragNDrop( |
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199 |
("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())), |
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200 |
"location", "AXIS_REF", self.CTNName(), "")) |
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201 |
|
2111 | 202 |
def CTNGenerate_C(self, buildpath, locations): |
203 |
current_location = self.GetCurrentLocation() |
|
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204 |
|
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205 |
location_str = "_".join(map(str, current_location)) |
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206 |
slave_pos = self.GetSlavePos() |
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207 |
MCL_headers = Headers |
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208 |
|
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209 |
# Open CIA402 node code template file |
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210 |
plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], |
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|
211 |
"plc_cia402node.c") |
2111 | 212 |
plc_cia402node_file = open(plc_cia402node_filepath, 'r') |
213 |
plc_cia402node_code = plc_cia402node_file.read() |
|
214 |
plc_cia402node_file.close() |
|
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215 |
|
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216 |
# Init list of generated strings for each code template file section |
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217 |
fieldbus_interface_declaration = [] |
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218 |
fieldbus_interface_definition = [] |
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219 |
init_axis_params = [] |
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|
220 |
extra_variables_retrieve = [] |
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|
221 |
extra_variables_publish = [] |
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|
222 |
extern_located_variables_declaration = [] |
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|
223 |
entry_variables = [] |
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224 |
init_entry_variables = [] |
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225 |
|
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|
226 |
# Fieldbus interface code sections |
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227 |
for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES: |
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228 |
blocktype = blocktype_infos["blocktype"] |
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|
229 |
ucase_blocktype = blocktype.upper() |
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230 |
blockname = "_".join([ucase_blocktype, location_str]) |
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|
231 |
|
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|
232 |
extract_inputs = "\n".join(["""\ |
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233 |
__SET_VAR(%s->, %s,, %s);""" % (blockname, input_name, input_value) |
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234 |
for (input_name, input_value) in [ |
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235 |
("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [ |
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236 |
(input["name"].upper(), |
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237 |
"__GET_VAR(data__->%s)" % input["name"].upper()) |
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238 |
for input in blocktype_infos["inputs"]] |
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|
239 |
]) |
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|
240 |
|
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241 |
return_outputs = "\n".join([ |
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242 |
"""\ |
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243 |
__SET_VAR(data__->,%(output_name)s,, |
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244 |
__GET_VAR(%(blockname)s->%(output_name)s));""" % locals() |
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for output_name in ["DONE", "BUSY", "ERROR"] + [ |
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246 |
output["name"].upper() |
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247 |
for output in blocktype_infos["outputs"]] |
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248 |
]) |
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249 |
|
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250 |
fieldbus_interface_declaration.append(""" |
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251 |
extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__); |
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252 |
void __%(blocktype)s_%(location_str)s(MC_%(ucase_blocktype)s *data__) { |
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253 |
__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s); |
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254 |
ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s(); |
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255 |
__SET_VAR(%(blockname)s->, POS,, AxsPub.axis->NetworkPosition); |
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|
256 |
%(extract_inputs)s |
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257 |
ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s); |
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258 |
%(return_outputs)s |
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|
259 |
}""" % locals()) |
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fieldbus_interface_definition.append("""\ |
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AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\ |
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""" % locals()) |
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# Get a copy list of default variables to map |
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variables = NODE_VARIABLES[:] |
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# Set AxisRef public struct members value |
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node_params = self.CTNParams[1].getElementInfos(self.CTNParams[0]) |
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for param in node_params["children"]: |
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param_name = param["name"] |
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# Param is optional variables section enable flag |
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extra_node_variable_infos = EXTRA_NODE_VARIABLES_DICT.get(param_name) |
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if extra_node_variable_infos is not None: |
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param_name = param_name.replace("Enable", "") + "Enabled" |
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if not param["value"]: |
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continue |
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280 |
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# Optional variables section is enabled |
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for variable_infos in extra_node_variable_infos: |
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var_name = variable_infos["description"][0] |
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284 |
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# Add each variables defined in section description to the |
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# list of variables to map |
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variables.append(variable_infos["description"]) |
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# Add code to publish or retrive variable |
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for var_exchange_dir, str_list, default_template in [ |
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("retrieve", extra_variables_retrieve, |
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" AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"), |
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("publish", extra_variables_publish, |
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" *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")]: |
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295 |
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template = variable_infos.get(var_exchange_dir, |
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default_template) |
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if template is not None: |
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extra_variables_publish.append(template % locals()) |
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# Set AxisRef public struct member value if defined |
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if param["value"] is not None: |
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param_value = ({True: "1", False: "0"}[param["value"]] |
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if param["type"] == "boolean" |
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else str(param["value"])) |
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init_axis_params.append("""\ |
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AxsPub.axis->%(param_name)s = %(param_value)s;""" % locals()) |
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# Add each variable in list of variables to map to master list of |
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# variables to add to network configuration |
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for name, index, subindex, var_type, dir in variables: |
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var_size = self.GetSizeOfType(var_type) |
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var_name = """\ |
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__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % locals() |
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316 |
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extern_located_variables_declaration.append( |
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"IEC_%(var_type)s *%(var_name)s;" % locals()) |
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entry_variables.append( |
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" IEC_%(var_type)s *%(name)s;" % locals()) |
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init_entry_variables.append( |
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" AxsPub.%(name)s = %(var_name)s;" % locals()) |
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323 |
|
2111 | 324 |
self.CTNParent.FileGenerator.DeclareVariable( |
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slave_pos, index, subindex, var_type, dir, var_name) |
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326 |
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# Add newline between string in list of generated strings for sections |
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328 |
[fieldbus_interface_declaration, fieldbus_interface_definition, |
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init_axis_params, extra_variables_retrieve, extra_variables_publish, |
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extern_located_variables_declaration, entry_variables, |
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init_entry_variables] = map("\n".join, [ |
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fieldbus_interface_declaration, fieldbus_interface_definition, |
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333 |
init_axis_params, extra_variables_retrieve, extra_variables_publish, |
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extern_located_variables_declaration, entry_variables, |
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335 |
init_entry_variables]) |
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336 |
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# Write generated content to CIA402 node file |
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Gen_CIA402Nodefile_path = os.path.join(buildpath, |
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"cia402node_%s.c" % location_str) |
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cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') |
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cia402nodefile.write(plc_cia402node_code % locals()) |
2111 | 342 |
cia402nodefile.close() |
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343 |
|
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return [(Gen_CIA402Nodefile_path, '"-I%s"' % os.path.abspath(self.GetCTRoot().GetIECLibPath()))], "", True |