etherlab/EthercatSlave.py
author Edouard Tisserant <edouard@beremiz.fr>
Wed, 24 Jul 2024 15:14:02 +0200
changeset 4000 87f11a874477
parent 3750 f62625418bff
permissions -rw-r--r--
IDE: Fix "Save" toolbar button and file menu entry not appearing when extension makes changes
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# This file is part of Beremiz
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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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from PLCControler import LOCATION_CONFNODE, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
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from ConfigTreeNode import ConfigTreeNode
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from etherlab.ConfigEditor import NodeEditor
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# ------------------------------------------
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from etherlab.CommonEtherCATFunction import _CommonSlave
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# ------------------------------------------
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TYPECONVERSION = {"BOOL": "X", "SINT": "B", "INT": "W", "DINT": "D", "LINT": "L",
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                  "USINT": "B", "UINT": "W", "UDINT": "D", "ULINT": "L",
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                  "BYTE": "B", "WORD": "W", "DWORD": "D", "LWORD": "L"}
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DATATYPECONVERSION = {"BOOL": "BIT", "SINT": "S8", "INT": "S16", "DINT": "S32", "LINT": "S64",
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                      "USINT": "U8", "UINT": "U16", "UDINT": "U32", "ULINT": "U64",
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                      "BYTE": "U8", "WORD": "U16", "DWORD": "U32", "LWORD": "U64"}
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VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY}
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def ExtractHexDecValue(value):
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    try:
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        return int(value)
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    except Exception:
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        pass
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    try:
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        return int(value.replace("#", "0"), 16)
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    except Exception:
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        raise ValueError("Invalid value for HexDecValue \"%s\"" % value)
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def GenerateHexDecValue(value, base=10):
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    if base == 10:
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        return str(value)
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    elif base == 16:
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        return "#x%.8x" % value
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    else:
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        raise ValueError("Not supported base")
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def ExtractName(names, default=None):
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    if len(names) == 1:
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        return names[0].getcontent()
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    else:
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        for name in names:
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            if name.getLcId() == 1033:
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                return name.getcontent()
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    return default
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# --------------------------------------------------
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#                    Ethercat Node
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# --------------------------------------------------
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class _EthercatSlaveCTN(object):
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    NODE_PROFILE = None
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    EditorType = NodeEditor
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    def __init__(self):
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        # ----------- call ethercat mng. function --------------
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        self.CommonMethod = _CommonSlave(self)
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        self.SelectedRxPDOIndex = []
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        self.SelectedTxPDOIndex = []
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    def GetIconName(self):
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        return "Slave"
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    def ExtractHexDecValue(self, value):
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        return ExtractHexDecValue(value)
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    def GetSizeOfType(self, type):
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        return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)
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    def GetSlavePos(self):
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        return self.BaseParams.getIEC_Channel()
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    def GetParamsAttributes(self, path=None):
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        if path:
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            parts = path.split(".", 1)
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            if self.MandatoryParams and parts[0] == self.MandatoryParams[0]:
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                return self.MandatoryParams[1].getElementInfos(parts[0], parts[1])
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            elif self.CTNParams and parts[0] == self.CTNParams[0]:
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                return self.CTNParams[1].getElementInfos(parts[0], parts[1])
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        else:
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            params = []
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            if self.CTNParams:
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                params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0]))
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            else:
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                params.append({
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                    'use': 'required',
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                    'type': 'element',
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                    'name': 'SlaveParams',
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                    'value': None,
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                    'children': []
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                })
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            slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
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            params[0]['children'].insert(
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                0,
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                {
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                    'use': 'optional',
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                    'type': self.CTNParent.GetSlaveTypesLibrary(self.NODE_PROFILE),
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                    'name': 'Type',
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                    'value': (slave_type["device_type"], slave_type)
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                })
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            params[0]['children'].insert(
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                1,
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                {
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                    'use': 'optional',
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                    'type': 'unsignedLong',
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                    'name': 'Alias',
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                    'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())
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                })
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            return params
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    def SetParamsAttribute(self, path, value):
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        self.GetSlaveInfos()
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        position = self.BaseParams.getIEC_Channel()
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        if path == "SlaveParams.Type":
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            self.CTNParent.SetSlaveType(position, value)
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            slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
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            value = (slave_type["device_type"], slave_type)
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            # if self._View is not None:
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            #     wx.CallAfter(self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos())
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            #     self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos()
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            #     self._View.EtherCATManagementTreebook.PDOMonitoringPanel.PDOInfoUpdate()
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            #     self._View.EtherCATManagementTreebook.SmartView.Create_SmartView()
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            return value, True
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        elif path == "SlaveParams.Alias":
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            self.CTNParent.SetSlaveAlias(position, value)
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            return value, True
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        value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value)
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        # Filter IEC_Channel, Slave_Type and Alias that have specific behavior
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        if path == "BaseParams.IEC_Channel" and value != position:
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            self.CTNParent.SetSlavePosition(position, value)
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        return value, refresh
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    def GetSlaveInfos(self):
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        return self.CTNParent.GetSlaveInfos(self.GetSlavePos())
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    def GetSlaveVariables(self, limits):
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        return self.CTNParent.GetSlaveVariables(self.GetSlavePos(), limits)
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    def GetVariableLocationTree(self):
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        return {
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            "name": self.BaseParams.getName(),
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            "type": LOCATION_CONFNODE,
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            "location": self.GetFullIEC_Channel(),
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            "children": self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), self.GetCurrentLocation(), self.BaseParams.getName())
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        }
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    def CTNGenerate_C(self, buildpath, locations):
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        return [], "", False