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

    12

from plugger import PlugTemplate

    13

from commondialogs import CreateNodeDialog

    14

import wx

    15

    16

from gnosis.xml.pickle import *

    17

from gnosis.xml.pickle.util import setParanoia

    18

setParanoia(0)

    19

    20

if wx.Platform == '__WXMSW__':

    21

    DEFAULT_SETTINGS = {

    22

        "CAN_Driver": "can_tcp_win32",

    23

        "CAN_Device": "127.0.0.1",

    24

        "CAN_Baudrate": "125K",

    25

        "Slave_NodeId": 2,

    26

        "Master_NodeId": 1,

    27

    }

    28

else:

    29

    DEFAULT_SETTINGS = {

    30

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

    31

        "CAN_Device": "vcan0",

    32

        "CAN_Baudrate": "125K",

    33

        "Slave_NodeId": 2,

    34

        "Master_NodeId": 1,

    35

    }

    36

    37

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

    38

#                    SLAVE

    39

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

    40

    41

class _SlavePlug(NodeManager):

    42

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

    43

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

    44

      <xsd:element name="CanFestivalSlaveNode">

    45

        <xsd:complexType>

    46

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

    47

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

    48

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

    49

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

    50

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

    51

            <xsd:simpleType>

    52

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

    53

                    <xsd:minInclusive value="1"/>

    54

                    <xsd:maxInclusive value="99"/>

    55

                </xsd:restriction>

    56

            </xsd:simpleType>

    57

          </xsd:attribute>

    58

        </xsd:complexType>

    59

      </xsd:element>

    60

    </xsd:schema>

    61

    """ % DEFAULT_SETTINGS

    62

    63

    def GetSlaveODPath(self):

    64

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

    65

    66

    def __init__(self):

    67

        # TODO change netname when name change

    68

        NodeManager.__init__(self)

    69

        odfilepath = self.GetSlaveODPath()

    70

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

    71

            self.OpenFileInCurrent(odfilepath)

    72

        else:

    73

            self.FilePath = ""

    74

            dialog = CreateNodeDialog(None, wx.OK)

    75

            dialog.Type.Enable(False)

    76

            dialog.GenSYNC.Enable(False)

    77

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

    78

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

    79

                profile, filepath = dialog.GetProfile()

    80

                NMT = dialog.GetNMTManagement()

    81

                options = dialog.GetOptions()

    82

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

    83

                                   id,         # NodeID - will be changed at build time

    84

                                   "slave",    # Type

    85

                                   description,# description 

    86

                                   profile,    # profile

    87

                                   filepath,   # prfile filepath

    88

                                   NMT,        # NMT

    89

                                   options)     # options

    90

            else:

    91

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

    92

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

    93

                                   "slave",      # Type

    94

                                   "",           # description 

    95

                                   "None",       # profile

    96

                                   "", # prfile filepath

    97

                                   "heartbeat",  # NMT

    98

                                   [])           # options

    99

            dialog.Destroy()

   100

    _View = None

   101

    def _OpenView(self):

   102

        if not self._View:

   103

            open_objdictedit = True

   104

            has_permissions = self.GetPlugRoot().CheckProjectPathPerm()

   105

            if not has_permissions:

   106

                dialog = wx.MessageDialog(self.GetPlugRoot().AppFrame,

   107

                                          _("You don't have write permissions.\nOpen ObjDictEdit anyway ?"),

   108

                                          _("Open ObjDictEdit"),

   109

                                          wx.YES_NO|wx.ICON_QUESTION)

   110

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

   111

                dialog.Destroy()

   112

            if open_objdictedit:

   113

                def _onclose():

   114

                    self._View = None

   115

                if has_permissions:

   116

                    def _onsave():

   117

                        self.GetPlugRoot().SaveProject()

   118

                else:

   119

                    def _onsave():

   120

                        pass

   121

   122

                self._View = objdictedit(self.GetPlugRoot().AppFrame, self)

   123

                # TODO redefine BusId when IEC channel change

   124

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

   125

                self._View._onclose = _onclose

   126

                self._View._onsave = _onsave

   127

                self._View.Show()

   128

   129

    PluginMethods = [

   130

        {"bitmap" : os.path.join("images", "NetworkEdit"),

   131

         "name" : "Edit slave", 

   132

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

   133

         "method" : "_OpenView"},

   134

    ]

   135

   136

    def OnPlugClose(self):

   137

        if self._View:

   138

            self._View.Close()

   139

   140

    def PlugTestModified(self):

   141

        return self.ChangesToSave or self.OneFileHasChanged()

   142

   143

    def OnPlugSave(self):

   144

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   145

   146

    def PlugGenerate_C(self, buildpath, locations):

   147

        """

   148

        Generate C code

   149

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

   150

        @param locations: List of complete variables locations \

   151

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

   152

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

   153

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

   154

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

   155

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

   156

            }, ...]

   157

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

   158

        """

   159

        current_location = self.GetCurrentLocation()

   160

        # define a unique name for the generated C file

   161

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

   162

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

   163

        # Create a new copy of the model

   164

        slave = self.GetCurrentNodeCopy()

   165

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

   166

        # allow access to local OD from Slave PLC

   167

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

   168

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

   169

        if res :

   170

            raise Exception, res

   171

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

   172

        if res :

   173

            raise Exception, res

   174

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

   175

   176

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

   177

#                    MASTER

   178

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

   179

   180

class _NodeListPlug(NodeList):

   181

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

   182

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

   183

      <xsd:element name="CanFestivalNode">

   184

        <xsd:complexType>

   185

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

   186

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

   187

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

   188

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

   189

        </xsd:complexType>

   190

      </xsd:element>

   191

    </xsd:schema>

   192

    """ % DEFAULT_SETTINGS

   193

   194

    def __init__(self):

   195

        manager = NodeManager()

   196

        # TODO change netname when name change

   197

        NodeList.__init__(self, manager, self.BaseParams.getName())

   198

        self.LoadProject(self.PlugPath())

   199

   200

    _View = None

   201

    def _OpenView(self):

   202

        if not self._View:

   203

            open_networkedit = True

   204

            has_permissions = self.GetPlugRoot().CheckProjectPathPerm()

   205

            if not has_permissions:

   206

                dialog = wx.MessageDialog(self.GetPlugRoot().AppFrame,

   207

                                          _("You don't have write permissions.\nOpen NetworkEdit anyway ?"),

   208

                                          _("Open NetworkEdit"),

   209

                                          wx.YES_NO|wx.ICON_QUESTION)

   210

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

   211

                dialog.Destroy()

   212

            if open_networkedit:

   213

                def _onclose():

   214

                    self._View = None

   215

                if has_permissions:

   216

                    def _onsave():

   217

                        self.GetPlugRoot().SaveProject()

   218

                else:

   219

                    def _onsave():

   220

                        pass

   221

                self._View = networkedit(self.GetPlugRoot().AppFrame, self)

   222

                # TODO redefine BusId when IEC channel change

   223

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

   224

                self._View._onclose = _onclose

   225

                self._View._onsave = _onsave

   226

                self._View.Show()

   227

   228

    def _ShowMasterGenerated(self):

   229

        buildpath = self._getBuildPath()

   230

        # Eventually create build dir

   231

        if not os.path.exists(buildpath):

   232

            self.GetPlugRoot().logger.write_error(_("Error: No PLC built\n"))

   233

            return

   234

   235

        masterpath = os.path.join(buildpath, "MasterGenerated.od")

   236

        if not os.path.exists(masterpath):

   237

            self.GetPlugRoot().logger.write_error(_("Error: No Master generated\n"))

   238

            return

   239

   240

        new_dialog = objdictedit(None, filesOpen=[masterpath])

   241

        new_dialog.Show()

   242

   243

    PluginMethods = [

   244

        {"bitmap" : os.path.join("images", "NetworkEdit"),

   245

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

   246

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

   247

         "method" : "_OpenView"},

   248

        {"bitmap" : os.path.join("images", "ShowMaster"),

   249

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

   250

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

   251

         "method" : "_ShowMasterGenerated"}

   252

    ]

   253

   254

    def OnPlugClose(self):

   255

        if self._View:

   256

            self._View.Close()

   257

   258

    def PlugTestModified(self):

   259

        return self.ChangesToSave or self.HasChanged()

   260

   261

    def OnPlugSave(self):

   262

        self.SetRoot(self.PlugPath())

   263

        return self.SaveProject() is None

   264

   265

    def PlugGenerate_C(self, buildpath, locations):

   266

        """

   267

        Generate C code

   268

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

   269

        @param locations: List of complete variables locations \

   270

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

   271

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

   272

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

   273

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

   274

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

   275

            }, ...]

   276

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

   277

        """

   278

        current_location = self.GetCurrentLocation()

   279

        # define a unique name for the generated C file

   280

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

   281

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

   282

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

   283

        try:

   284

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

   285

        except config_utils.PDOmappingException, e:

   286

            raise Exception, e.message

   287

        # Do generate C file.

   288

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

   289

        if res :

   290

            raise Exception, res

   291

   292

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

   293

        dump(master, file)

   294

        file.close()

   295

   296

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

   297

   298

class RootClass:

   299

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

   300

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

   301

      <xsd:element name="CanFestivalInstance">

   302

        <xsd:complexType>

   303

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

   304

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

   305

        </xsd:complexType>

   306

      </xsd:element>

   307

    </xsd:schema>

   308

    """ % DEFAULT_SETTINGS

   309

   310

    PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"),

   311

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

   312

    def GetParamsAttributes(self, path = None):

   313

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

   314

        for element in infos:

   315

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

   316

                for child in element["children"]:

   317

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

   318

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

   319

                        if DLL_LIST is not None:

   320

                            child["type"] = DLL_LIST

   321

                        return infos    

   322

        return infos

   323

   324

    def PlugGenerate_C(self, buildpath, locations):

   325

   326

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

   327

                       "candriver" : self.CanFestivalInstance.getCAN_Driver(),

   328

                       "nodes_includes" : "",

   329

                       "board_decls" : "",

   330

                       "nodes_init" : "",

   331

                       "nodes_open" : "",

   332

                       "nodes_stop" : "",

   333

                       "nodes_close" : "",

   334

                       "nodes_send_sync" : "",

   335

                       "nodes_proceed_sync" : "",

   336

                       "slavebootups" : "",

   337

                       "slavebootup_register" : "",

   338

                       "post_sync" : "",

   339

                       "post_sync_register" : "",

   340

                       }

   341

        for child in self.IECSortedChilds():

   342

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

   343

            nodename = "OD_%s" % childlocstr

   344

   345

            # Try to get Slave Node

   346

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

   347

            if child_data is None:

   348

                # Not a slave -> master

   349

                child_data = getattr(child, "CanFestivalNode")

   350

                # Apply sync setting

   351

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

   352

                       nodename,

   353

                       child_data.getNodeId())

   354

                if child_data.getSync_TPDOs():

   355

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

   356

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

   357

   358

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   359

                SlaveIDs = child.GetSlaveIDs()

   360

                for id in SlaveIDs:

   361

                    format_dict["slavebootups"] += (

   362

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

   363

                # define post_SlaveBootup lookup functions

   364

                format_dict["slavebootups"] += (

   365

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

   366

                    "    switch(nodeId){\n")

   367

                # one case per declared node, mark node as booted

   368

                for id in SlaveIDs:

   369

                    format_dict["slavebootups"] += (

   370

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

   371

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

   372

                    "            break;\n")

   373

                format_dict["slavebootups"] += (

   374

                    "        default:\n"+

   375

                    "            break;\n"+

   376

                    "    }\n"+

   377

                    "    if( ")

   378

                # expression to test if all declared nodes booted

   379

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

   380

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

   381

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

   382

                    "}\n")

   383

                # register previously declared func as post_SlaveBootup callback for that node

   384

                format_dict["slavebootup_register"] += (

   385

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

   386

            else:

   387

                # Slave node

   388

                align = child_data.getSync_Align()

   389

                align_ratio=child_data.getSync_Align_Ratio()

   390

                if align > 0:

   391

                    format_dict["post_sync"] += (

   392

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

   393

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

   394

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

   395

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

   396

                        "        align_tick(-1);\n"+

   397

                        "    }else{\n"+

   398

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

   399

                        "    }\n"+

   400

                        "}\n")

   401

                    format_dict["post_sync_register"] += (

   402

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

   403

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

   404

                       nodename,

   405

                       child_data.getNodeId())

   406

   407

            # Include generated OD headers

   408

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

   409

            # Declare CAN channels according user filled config

   410

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

   411

                   nodename,

   412

                   child_data.getCAN_Device(),

   413

                   child_data.getCAN_Baudrate())

   414

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

   415

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

   416

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

   417

        if sys.platform == 'win32':

   418

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

   419

                    format_dict["candriver"] += '_DEBUG.dll'

   420

            else:

   421

                format_dict["candriver"] += '.dll'

   422

   423

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

   424

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

   425

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

   426

        f = open(cf_main_path,'w')

   427

        f.write(cf_main)

   428

        f.close()

   429

   430

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

   431

   432