plugins/canfestival/canfestival.py
author Edouard Tisserant
Thu, 29 Mar 2012 00:14:35 +0200
changeset 705 a5977f64d4d9
parent 684 d376a8b0b602
permissions -rw-r--r--
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import os, sys
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base_folder = os.path.split(sys.path[0])[0]
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CanFestivalPath = os.path.join(base_folder, "CanFestival-3")
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sys.path.append(os.path.join(CanFestivalPath, "objdictgen"))
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from nodelist import NodeList
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from nodemanager import NodeManager
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import config_utils, gen_cfile, eds_utils
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from networkedit import networkedit
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from objdictedit import objdictedit
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import canfestival_config as local_canfestival_config
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from plugger import PlugTemplate
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from commondialogs import CreateNodeDialog
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import wx
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from SlaveEditor import SlaveEditor
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from NetworkEditor import NetworkEditor
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from gnosis.xml.pickle import *
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from gnosis.xml.pickle.util import setParanoia
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setParanoia(0)
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if wx.Platform == '__WXMSW__':
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    DEFAULT_SETTINGS = {
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        "CAN_Driver": "can_tcp_win32",
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        "CAN_Device": "127.0.0.1",
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        "CAN_Baudrate": "125K",
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        "Slave_NodeId": 2,
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        "Master_NodeId": 1,
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    }
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else:
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    DEFAULT_SETTINGS = {
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        "CAN_Driver": "../CanFestival-3/drivers/can_socket/libcanfestival_can_socket.so",
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        "CAN_Device": "vcan0",
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        "CAN_Baudrate": "125K",
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        "Slave_NodeId": 2,
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        "Master_NodeId": 1,
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    }
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#--------------------------------------------------
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#                    SLAVE
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#--------------------------------------------------
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class _SlavePlug(NodeManager):
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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="CanFestivalSlaveNode">
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        <xsd:complexType>
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          <xsd:attribute name="CAN_Device" type="xsd:string" use="optional" default="%(CAN_Device)s"/>
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          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional" default="%(CAN_Baudrate)s"/>
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          <xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Slave_NodeId)d"/>
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          <xsd:attribute name="Sync_Align" type="xsd:integer" use="optional" default="0"/>
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          <xsd:attribute name="Sync_Align_Ratio" use="optional" default="50">
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            <xsd:simpleType>
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                <xsd:restriction base="xsd:integer">
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                    <xsd:minInclusive value="1"/>
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                    <xsd:maxInclusive value="99"/>
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                </xsd:restriction>
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            </xsd:simpleType>
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          </xsd:attribute>
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        </xsd:complexType>
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      </xsd:element>
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    </xsd:schema>
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    """ % DEFAULT_SETTINGS
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    EditorType = SlaveEditor
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    def __init__(self):
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        # TODO change netname when name change
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        NodeManager.__init__(self)
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        odfilepath = self.GetSlaveODPath()
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        if(os.path.isfile(odfilepath)):
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            self.OpenFileInCurrent(odfilepath)
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        else:
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            self.FilePath = ""
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            dialog = CreateNodeDialog(None, wx.OK)
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            dialog.Type.Enable(False)
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            dialog.GenSYNC.Enable(False)
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            if dialog.ShowModal() == wx.ID_OK:
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                name, id, nodetype, description = dialog.GetValues()
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                profile, filepath = dialog.GetProfile()
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                NMT = dialog.GetNMTManagement()
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                options = dialog.GetOptions()
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                self.CreateNewNode(name,       # Name - will be changed at build time
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                                   id,         # NodeID - will be changed at build time
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                                   "slave",    # Type
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                                   description,# description 
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                                   profile,    # profile
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                                   filepath,   # prfile filepath
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                                   NMT,        # NMT
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                                   options)     # options
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            else:
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                self.CreateNewNode("SlaveNode",  # Name - will be changed at build time
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                                   0x00,         # NodeID - will be changed at build time
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                                   "slave",      # Type
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                                   "",           # description 
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                                   "None",       # profile
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                                   "", # prfile filepath
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                                   "heartbeat",  # NMT
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                                   [])           # options
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            dialog.Destroy()
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            self.OnPlugSave()
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    def GetSlaveODPath(self):
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        return os.path.join(self.PlugPath(), 'slave.od')
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    def GetCanDevice(self):
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        return self.CanFestivalSlaveNode.getCan_Device()
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    def _OpenView(self):
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        PlugTemplate._OpenView(self)
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        if self._View is not None:
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            self._View.SetBusId(self.GetCurrentLocation())
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    PluginMethods = [
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        {"bitmap" : os.path.join("images", "NetworkEdit"),
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         "name" : "Edit slave", 
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         "tooltip" : "Edit CanOpen slave with ObjdictEdit",
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         "method" : "_OpenView"},
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    ]
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    def OnPlugClose(self):
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        if self._View:
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            self._View.Close()
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    def PlugTestModified(self):
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        return self.ChangesToSave or self.OneFileHasChanged()
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    def OnPlugSave(self):
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        return self.SaveCurrentInFile(self.GetSlaveODPath())
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    def SetParamsAttribute(self, path, value):
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        result = PlugTemplate.SetParamsAttribute(self, path, value)
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        # Filter IEC_Channel and Name, that have specific behavior
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        if path == "BaseParams.IEC_Channel" and self._View is not None:
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            self._View.SetBusId(self.GetCurrentLocation())
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        return result
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    def PlugGenerate_C(self, buildpath, locations):
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        """
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        Generate C code
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        @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)
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        @param locations: List of complete variables locations \
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            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
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            "NAME" : name of the variable (generally "__IW0_1_2" style)
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            "DIR" : direction "Q","I" or "M"
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            "SIZE" : size "X", "B", "W", "D", "L"
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            "LOC" : tuple of interger for IEC location (0,1,2,...)
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            }, ...]
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        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
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        """
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        current_location = self.GetCurrentLocation()
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        # define a unique name for the generated C file
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        prefix = "_".join(map(str, current_location))
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        Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
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        # Create a new copy of the model
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        slave = self.GetCurrentNodeCopy()
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        slave.SetNodeName("OD_%s"%prefix)
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        # allow access to local OD from Slave PLC
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        pointers = config_utils.LocalODPointers(locations, current_location, slave)
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        res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)
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        if res :
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            raise Exception, res
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        res = eds_utils.GenerateEDSFile(os.path.join(buildpath, "Slave_%s.eds"%prefix), slave)
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        if res :
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            raise Exception, res
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        return [(Gen_OD_path,local_canfestival_config.getCFLAGS(CanFestivalPath))],"",False
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    def LoadPrevious(self):
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        self.LoadCurrentPrevious()
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    def LoadNext(self):
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        self.LoadCurrentNext()
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    def GetBufferState(self):
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        return self.GetCurrentBufferState()
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#--------------------------------------------------
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#                    MASTER
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#--------------------------------------------------
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class MiniNodeManager(NodeManager):
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    def __init__(self, parent, filepath, fullname):
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        NodeManager.__init__(self)
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        self.OpenFileInCurrent(filepath)
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        self.Parent = parent
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        self.Fullname = fullname
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    def OnCloseEditor(self, view):
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        self.Parent.OnCloseEditor(view)
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    def PlugFullName(self):
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        return self.Fullname
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    def GetBufferState(self):
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        return self.GetCurrentBufferState()
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class _NodeListPlug(NodeList):
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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="CanFestivalNode">
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        <xsd:complexType>
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          <xsd:attribute name="CAN_Device" type="xsd:string" use="optional" default="%(CAN_Device)s"/>
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          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional" default="%(CAN_Baudrate)s"/>
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          <xsd:attribute name="NodeId" type="xsd:string" use="optional" default="%(Master_NodeId)d"/>
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          <xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>
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        </xsd:complexType>
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      </xsd:element>
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    </xsd:schema>
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    """ % DEFAULT_SETTINGS
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    EditorType = NetworkEditor
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    def __init__(self):
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        manager = NodeManager()
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        NodeList.__init__(self, manager)
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        self.LoadProject(self.PlugPath())
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        self.SetNetworkName(self.BaseParams.getName())
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    def GetCanDevice(self):
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        return self.CanFestivalNode.getCan_Device()
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    def SetParamsAttribute(self, path, value):
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        result = PlugTemplate.SetParamsAttribute(self, path, value)
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        # Filter IEC_Channel and Name, that have specific behavior
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        if path == "BaseParams.IEC_Channel" and self._View is not None:
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            self._View.SetBusId(self.GetCurrentLocation())
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        elif path == "BaseParams.Name":
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            self.SetNetworkName(value)
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        return result
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    def _OpenView(self):
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        PlugTemplate._OpenView(self)
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        if self._View is not None:
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            self._View.SetBusId(self.GetCurrentLocation())
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    _GeneratedView = None
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    def _ShowMasterGenerated(self):
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        if self._GeneratedView is None:
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            buildpath = self._getBuildPath()
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            # Eventually create build dir
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            if not os.path.exists(buildpath):
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                self.GetPlugRoot().logger.write_error(_("Error: No PLC built\n"))
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                return
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            masterpath = os.path.join(buildpath, "MasterGenerated.od")
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            if not os.path.exists(masterpath):
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                self.GetPlugRoot().logger.write_error(_("Error: No Master generated\n"))
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                return
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            app_frame = self.GetPlugRoot().AppFrame
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            manager = MiniNodeManager(self, masterpath, self.PlugFullName() + ".generated_master")
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            self._GeneratedView = SlaveEditor(app_frame.TabsOpened, manager, app_frame, False)
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            app_frame.EditProjectElement(self._GeneratedView, "MasterGenerated")
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    def _CloseGenerateView(self):
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        if self._GeneratedView is not None:
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            app_frame = self.GetPlugRoot().AppFrame
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            if app_frame is not None:
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                app_frame.DeletePage(self._GeneratedView)
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    PluginMethods = [
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        {"bitmap" : os.path.join("images", "NetworkEdit"),
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         "name" : _("Edit network"), 
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         "tooltip" : _("Edit CanOpen Network with NetworkEdit"),
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         "method" : "_OpenView"},
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        {"bitmap" : os.path.join("images", "ShowMaster"),
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         "name" : _("Show Master"), 
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         "tooltip" : _("Show Master generated by config_utils"),
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         "method" : "_ShowMasterGenerated"}
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    ]
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    def OnCloseEditor(self, view):
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        PlugTemplate.OnCloseEditor(self, view)
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        if self._GeneratedView == view:
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            self._GeneratedView = None
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    def OnPlugClose(self):
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        PlugTemplate.OnPlugClose(self)
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        self._CloseGenerateView()
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        return True
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    def PlugTestModified(self):
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        return self.ChangesToSave or self.HasChanged()
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    def OnPlugSave(self):
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        self.SetRoot(self.PlugPath())
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   297
        return self.SaveProject() is None
163
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diff changeset
   298
203
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   299
    def PlugGenerate_C(self, buildpath, locations):
163
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   300
        """
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
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   301
        Generate C code
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   302
        @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)
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diff changeset
   303
        @param locations: List of complete variables locations \
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   304
            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
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   305
            "NAME" : name of the variable (generally "__IW0_1_2" style)
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diff changeset
   306
            "DIR" : direction "Q","I" or "M"
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   307
            "SIZE" : size "X", "B", "W", "D", "L"
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   308
            "LOC" : tuple of interger for IEC location (0,1,2,...)
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diff changeset
   309
            }, ...]
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   310
        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
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diff changeset
   311
        """
682
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   312
        self._CloseGenerateView()
163
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diff changeset
   313
        current_location = self.GetCurrentLocation()
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   314
        # define a unique name for the generated C file
166
121b18748de0 Preliminary CANopen slave generation support
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   315
        prefix = "_".join(map(str, current_location))
163
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   316
        Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
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   317
        # Create a new copy of the model with DCF loaded with PDO mappings for desired location
341
d3ae1f0e0220 Get PDOmapping exception from canfestival plugin
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diff changeset
   318
        try:
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greg
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diff changeset
   319
            master, pointers = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(),"OD_%s"%prefix)
d3ae1f0e0220 Get PDOmapping exception from canfestival plugin
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diff changeset
   320
        except config_utils.PDOmappingException, e:
d3ae1f0e0220 Get PDOmapping exception from canfestival plugin
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diff changeset
   321
            raise Exception, e.message
166
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   322
        # Do generate C file.
163
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etisserant
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diff changeset
   323
        res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)
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etisserant
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diff changeset
   324
        if res :
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diff changeset
   325
            raise Exception, res
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diff changeset
   326
        
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   327
        file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")
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   328
        dump(master, file)
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diff changeset
   329
        file.close()
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diff changeset
   330
        
512
36aeab46f27d Improved CanFEstival support for LPC - now build and link plugin generated files
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   331
        return [(Gen_OD_path,local_canfestival_config.getCFLAGS(CanFestivalPath))],"",False
12
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   332
    
682
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   333
    def LoadPrevious(self):
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   334
        self.Manager.LoadCurrentPrevious()
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diff changeset
   335
    
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   336
    def LoadNext(self):
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   337
        self.Manager.LoadCurrentNext()
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   338
    
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   339
    def GetBufferState(self):
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   340
        return self.Manager.GetCurrentBufferState()
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   341
    
13
f1f0edbeb313 More precise design for plugins.... to be continued...
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   342
class RootClass:
12
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   343
    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
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   344
    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
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   345
      <xsd:element name="CanFestivalInstance">
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   346
        <xsd:complexType>
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8261c8f1e365 Bug on Debug trying to start (and stop) before PLC started fixed.
laurent
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   347
          <xsd:attribute name="CAN_Driver" type="xsd:string" use="optional" default="%(CAN_Driver)s"/>
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2e6d52c17cab add debug mode for CanFestival dll under windows
greg
parents: 118
diff changeset
   348
          <xsd:attribute name="Debug_mode" type="xsd:boolean" use="optional" default="false"/>
12
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diff changeset
   349
        </xsd:complexType>
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   350
      </xsd:element>
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diff changeset
   351
    </xsd:schema>
411
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laurent
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   352
    """ % DEFAULT_SETTINGS
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laurent
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diff changeset
   353
    
169
8e87b69286c0 SlaveBootup now set operational state for both local node and network nodes only when all nodes declared in network edit have been initialized.
etisserant
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diff changeset
   354
    PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"),
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   355
                       ("CanOpenSlave",_SlavePlug, "CanOpen Slave")]
95
646a44a12e2a add GetParamsAttributes to canfestival.py to allow dll list in beremiz
greg
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diff changeset
   356
    def GetParamsAttributes(self, path = None):
646a44a12e2a add GetParamsAttributes to canfestival.py to allow dll list in beremiz
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diff changeset
   357
        infos = PlugTemplate.GetParamsAttributes(self, path = None)
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diff changeset
   358
        for element in infos:
163
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
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diff changeset
   359
            if element["name"] == "CanFestivalInstance":
95
646a44a12e2a add GetParamsAttributes to canfestival.py to allow dll list in beremiz
greg
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diff changeset
   360
                for child in element["children"]:
646a44a12e2a add GetParamsAttributes to canfestival.py to allow dll list in beremiz
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parents: 86
diff changeset
   361
                    if child["name"] == "CAN_Driver":
512
36aeab46f27d Improved CanFEstival support for LPC - now build and link plugin generated files
edouard
parents: 427
diff changeset
   362
                        DLL_LIST= getattr(local_canfestival_config,"DLL_LIST",None)
95
646a44a12e2a add GetParamsAttributes to canfestival.py to allow dll list in beremiz
greg
parents: 86
diff changeset
   363
                        if DLL_LIST is not None:
682
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
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diff changeset
   364
                            child["type"] = DLL_LIST  
95
646a44a12e2a add GetParamsAttributes to canfestival.py to allow dll list in beremiz
greg
parents: 86
diff changeset
   365
        return infos
682
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
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diff changeset
   366
    
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
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diff changeset
   367
    def GetCanDriver(self):
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diff changeset
   368
        can_driver = self.CanFestivalInstance.getCAN_Driver()
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diff changeset
   369
        if sys.platform == 'win32':
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
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diff changeset
   370
            if self.CanFestivalInstance.getDebug_mode() and os.path.isfile(os.path.join("%s"%(can_driver + '_DEBUG.dll'))):
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
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diff changeset
   371
                can_driver += '_DEBUG.dll'
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
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diff changeset
   372
            else:
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
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diff changeset
   373
                can_driver += '.dll'
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
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diff changeset
   374
        return can_driver
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diff changeset
   375
    
203
cb9901076a21 Added concepts :
etisserant
parents: 178
diff changeset
   376
    def PlugGenerate_C(self, buildpath, locations):
52
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   377
        
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   378
        format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())),
682
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
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parents: 512
diff changeset
   379
                       "candriver" : self.GetCanDriver(),
52
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   380
                       "nodes_includes" : "",
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   381
                       "board_decls" : "",
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   382
                       "nodes_init" : "",
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   383
                       "nodes_open" : "",
336
ae3488c79283 Fixed bug : Segmentation fault or locks when stop PLC if no CAN network.
greg
parents: 307
diff changeset
   384
                       "nodes_stop" : "",
57
3b53f9a509d9 Basic CANOpen master node test compiles and run.
etisserant
parents: 52
diff changeset
   385
                       "nodes_close" : "",
3b53f9a509d9 Basic CANOpen master node test compiles and run.
etisserant
parents: 52
diff changeset
   386
                       "nodes_send_sync" : "",
169
8e87b69286c0 SlaveBootup now set operational state for both local node and network nodes only when all nodes declared in network edit have been initialized.
etisserant
parents: 166
diff changeset
   387
                       "nodes_proceed_sync" : "",
174
dc81d1d0f463 Fixed slavebootup bug in generated code.
etisserant
parents: 172
diff changeset
   388
                       "slavebootups" : "",
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   389
                       "slavebootup_register" : "",
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   390
                       "post_sync" : "",
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   391
                       "post_sync_register" : "",
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   392
                       }
52
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   393
        for child in self.IECSortedChilds():
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   394
            childlocstr = "_".join(map(str,child.GetCurrentLocation()))
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   395
            nodename = "OD_%s" % childlocstr
166
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   396
            
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   397
            # Try to get Slave Node
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   398
            child_data = getattr(child, "CanFestivalSlaveNode", None)
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   399
            if child_data is None:
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   400
                # Not a slave -> master
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   401
                child_data = getattr(child, "CanFestivalNode")
169
8e87b69286c0 SlaveBootup now set operational state for both local node and network nodes only when all nodes declared in network edit have been initialized.
etisserant
parents: 166
diff changeset
   402
                # Apply sync setting
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   403
                format_dict["nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n    '%(
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   404
                       nodename,
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   405
                       child_data.getNodeId())
166
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   406
                if child_data.getSync_TPDOs():
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   407
                    format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n    '%(nodename)
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   408
                    format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n    '%(nodename)
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   409
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   410
                # initialize and declare node boot status variables for post_SlaveBootup lookup
169
8e87b69286c0 SlaveBootup now set operational state for both local node and network nodes only when all nodes declared in network edit have been initialized.
etisserant
parents: 166
diff changeset
   411
                SlaveIDs = child.GetSlaveIDs()
682
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   412
                if len(SlaveIDs) == 0:
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   413
                    # define post_SlaveBootup lookup functions
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   414
                    format_dict["slavebootups"] += (
682
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   415
                        "static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){}\n"%(nodename))
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   416
                else:
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   417
                    for id in SlaveIDs:
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   418
                        format_dict["slavebootups"] += (
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   419
                        "int %s_slave_%d_booted = 0;\n"%(nodename, id))
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   420
                    # define post_SlaveBootup lookup functions
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   421
                    format_dict["slavebootups"] += (
682
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   422
                        "static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"%(nodename)+
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   423
                        "    switch(nodeId){\n")
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   424
                    # one case per declared node, mark node as booted
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   425
                    for id in SlaveIDs:
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   426
                        format_dict["slavebootups"] += (
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   427
                        "        case %d:\n"%(id)+
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   428
                        "            %s_slave_%d_booted = 1;\n"%(nodename, id)+
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   429
                        "            break;\n")
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   430
                    format_dict["slavebootups"] += (
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   431
                        "        default:\n"+
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   432
                        "            break;\n"+
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   433
                        "    }\n"+
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   434
                        "    if( ")
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   435
                    # expression to test if all declared nodes booted
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   436
                    format_dict["slavebootups"] += " && ".join(["%s_slave_%d_booted"%(nodename, id) for id in SlaveIDs])
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   437
                    format_dict["slavebootups"] += " )\n" + (
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   438
                        "        Master_post_SlaveBootup(d,nodeId);\n"+
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   439
                        "}\n")
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   440
                # register previously declared func as post_SlaveBootup callback for that node
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   441
                format_dict["slavebootup_register"] += (
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   442
                    "%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n"%(nodename,nodename))
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   443
            else:
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   444
                # Slave node
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   445
                align = child_data.getSync_Align()
203
cb9901076a21 Added concepts :
etisserant
parents: 178
diff changeset
   446
                align_ratio=child_data.getSync_Align_Ratio()
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   447
                if align > 0:
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   448
                    format_dict["post_sync"] += (
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   449
                        "static int %s_CalCount = 0;\n"%(nodename)+
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   450
                        "static void %s_post_sync(CO_Data* d){\n"%(nodename)+
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   451
                        "    if(%s_CalCount < %d){\n"%(nodename, align)+
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   452
                        "        %s_CalCount++;\n"%(nodename)+
203
cb9901076a21 Added concepts :
etisserant
parents: 178
diff changeset
   453
                        "        align_tick(-1);\n"+
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   454
                        "    }else{\n"+
203
cb9901076a21 Added concepts :
etisserant
parents: 178
diff changeset
   455
                        "        align_tick(%d);\n"%(align_ratio)+
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   456
                        "    }\n"+
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   457
                        "}\n")
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   458
                    format_dict["post_sync_register"] += (
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   459
                        "%s_Data.post_sync = %s_post_sync;\n"%(nodename,nodename))
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   460
                format_dict["nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n    '%(
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   461
                       nodename,
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   462
                       child_data.getNodeId())
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   463
    
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   464
            # Include generated OD headers
52
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   465
            format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)
178
2390b409eb93 Added PLC tick alignement on external synchronization source feature.
etisserant
parents: 174
diff changeset
   466
            # Declare CAN channels according user filled config
52
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   467
            format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   468
                   nodename,
682
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   469
                   child.GetCanDevice(),
166
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   470
                   child_data.getCAN_Baudrate())
57
3b53f9a509d9 Basic CANOpen master node test compiles and run.
etisserant
parents: 52
diff changeset
   471
            format_dict["nodes_open"] += 'NODE_OPEN(%s)\n    '%(nodename)
3b53f9a509d9 Basic CANOpen master node test compiles and run.
etisserant
parents: 52
diff changeset
   472
            format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n    '%(nodename)
682
9d20df7c144a Adding support for integrating CanFestival plugin panels in Beremiz main frame
smarteh-dev
parents: 512
diff changeset
   473
            format_dict["nodes_stop"] += 'NODE_STOP(%s)\n    '%(nodename)
157
2e6d52c17cab add debug mode for CanFestival dll under windows
greg
parents: 118
diff changeset
   474
        
52
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   475
        filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   476
        cf_main = open(filename).read() % format_dict
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   477
        cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   478
        f = open(cf_main_path,'w')
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   479
        f.write(cf_main)
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   480
        f.close()
eaffcd0a2f03 Added CanFestival "main" runtime part, initialize, all nodes, and start CF timer loop
etisserant
parents: 49
diff changeset
   481
        
512
36aeab46f27d Improved CanFEstival support for LPC - now build and link plugin generated files
edouard
parents: 427
diff changeset
   482
        return [(cf_main_path, local_canfestival_config.getCFLAGS(CanFestivalPath))],local_canfestival_config.getLDFLAGS(CanFestivalPath), True
36aeab46f27d Improved CanFEstival support for LPC - now build and link plugin generated files
edouard
parents: 427
diff changeset
   483
36aeab46f27d Improved CanFEstival support for LPC - now build and link plugin generated files
edouard
parents: 427
diff changeset
   484