author | lbessard |
Mon, 30 Jun 2008 14:29:23 +0200 | |
changeset 187 | b147a2b0a163 |
parent 178 | 2390b409eb93 |
child 203 | cb9901076a21 |
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 |
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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 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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#-------------------------------------------------- |
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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="required"/> |
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<xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/> |
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<xsd:attribute name="NodeId" type="xsd:string" use="required"/> |
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<xsd:attribute name="Sync_Align" type="xsd:integer" use="optional" default="0"/> |
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</xsd:complexType> |
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</xsd:element> |
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</xsd:schema> |
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""" |
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||
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def GetSlaveODPath(self): |
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return os.path.join(self.PlugPath(), 'slave.od') |
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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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_View = None |
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def _OpenView(self, logger): |
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if not self._View: |
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def _onclose(): |
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self._View = None |
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def _onsave(): |
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self.GetPlugRoot().SaveProject() |
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self._View = objdictedit(self.GetPlugRoot().AppFrame, self) |
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# TODO redefine BusId when IEC channel change |
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self._View.SetBusId(self.GetCurrentLocation()) |
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self._View._onclose = _onclose |
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self._View._onsave = _onsave |
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self._View.Show() |
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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 PlugGenerate_C(self, buildpath, locations, logger): |
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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,canfestival_config.getCFLAGS(CanFestivalPath))],"",False |
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#-------------------------------------------------- |
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# MASTER |
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#-------------------------------------------------- |
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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="required"/> |
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<xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/> |
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<xsd:attribute name="NodeId" type="xsd:string" use="required"/> |
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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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""" |
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def __init__(self): |
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manager = NodeManager() |
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# TODO change netname when name change |
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NodeList.__init__(self, manager, self.BaseParams.getName()) |
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self.LoadProject(self.PlugPath()) |
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_View = None |
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def _OpenView(self, logger): |
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if not self._View: |
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def _onclose(): |
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self._View = None |
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def _onsave(): |
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self.GetPlugRoot().SaveProject() |
166 | 167 |
self._View = networkedit(self.GetPlugRoot().AppFrame, self) |
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# TODO redefine BusId when IEC channel change |
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self._View.SetBusId(self.GetCurrentLocation()) |
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self._View._onclose = _onclose |
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self._View._onsave = _onsave |
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self._View.Show() |
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173 |
|
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def _ShowMasterGenerated(self, logger): |
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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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logger.write_error("Error: No PLC built\n") |
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179 |
return |
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180 |
|
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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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logger.write_error("Error: No Master generated\n") |
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return |
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185 |
|
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new_dialog = objdictedit(None, filesOpen=[masterpath]) |
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new_dialog.Show() |
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188 |
|
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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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{"name" : "Show Master", |
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"tooltip" : "Show Master generated by config_utils", |
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"method" : "_ShowMasterGenerated"} |
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197 |
] |
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198 |
|
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def OnPlugClose(self): |
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200 |
if self._View: |
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201 |
self._View.Close() |
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202 |
|
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def PlugTestModified(self): |
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return self.ChangesToSave or self.HasChanged() |
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205 |
|
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def OnPlugSave(self): |
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207 |
self.SetRoot(self.PlugPath()) |
166 | 208 |
return self.SaveProject() is not None |
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209 |
|
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210 |
def PlugGenerate_C(self, buildpath, locations, logger): |
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211 |
""" |
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212 |
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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217 |
"DIR" : direction "Q","I" or "M" |
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218 |
"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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220 |
}, ...] |
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@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND |
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222 |
""" |
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223 |
current_location = self.GetCurrentLocation() |
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224 |
# define a unique name for the generated C file |
166 | 225 |
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 with DCF loaded with PDO mappings for desired location |
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228 |
master, pointers = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(),"OD_%s"%prefix) |
166 | 229 |
# allow access to local OD from Master PLC |
230 |
pointers.update(config_utils.LocalODPointers(locations, current_location, master)) |
|
231 |
# Do generate C file. |
|
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res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers) |
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233 |
if res : |
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234 |
raise Exception, res |
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235 |
|
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file = open(os.path.join(buildpath, "MasterGenerated.od"), "w") |
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237 |
dump(master, file) |
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238 |
file.close() |
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|
239 |
|
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240 |
return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False |
12 | 241 |
|
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242 |
class RootClass: |
12 | 243 |
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?> |
244 |
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema"> |
|
245 |
<xsd:element name="CanFestivalInstance"> |
|
246 |
<xsd:complexType> |
|
86 | 247 |
<xsd:attribute name="CAN_Driver" type="xsd:string" use="required"/> |
157 | 248 |
<xsd:attribute name="Debug_mode" type="xsd:boolean" use="optional" default="false"/> |
12 | 249 |
</xsd:complexType> |
250 |
</xsd:element> |
|
251 |
</xsd:schema> |
|
252 |
""" |
|
169
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PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"), |
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254 |
("CanOpenSlave",_SlavePlug, "CanOpen Slave")] |
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255 |
def GetParamsAttributes(self, path = None): |
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256 |
infos = PlugTemplate.GetParamsAttributes(self, path = None) |
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257 |
for element in infos: |
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258 |
if element["name"] == "CanFestivalInstance": |
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for child in element["children"]: |
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260 |
if child["name"] == "CAN_Driver": |
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261 |
DLL_LIST= getattr(canfestival_config,"DLL_LIST",None) |
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262 |
if DLL_LIST is not None: |
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263 |
child["type"] = DLL_LIST |
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264 |
return infos |
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265 |
return infos |
11 | 266 |
|
24 | 267 |
def PlugGenerate_C(self, buildpath, locations, logger): |
52
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268 |
|
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269 |
format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())), |
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"candriver" : self.CanFestivalInstance.getCAN_Driver(), |
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271 |
"nodes_includes" : "", |
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272 |
"board_decls" : "", |
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273 |
"nodes_init" : "", |
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274 |
"nodes_open" : "", |
57 | 275 |
"nodes_close" : "", |
276 |
"nodes_send_sync" : "", |
|
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"nodes_proceed_sync" : "", |
174 | 278 |
"slavebootups" : "", |
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279 |
"slavebootup_register" : "", |
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280 |
"post_sync" : "", |
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281 |
"post_sync_register" : "", |
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282 |
} |
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283 |
for child in self.IECSortedChilds(): |
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284 |
childlocstr = "_".join(map(str,child.GetCurrentLocation())) |
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285 |
nodename = "OD_%s" % childlocstr |
166 | 286 |
|
287 |
# Try to get Slave Node |
|
288 |
child_data = getattr(child, "CanFestivalSlaveNode", None) |
|
289 |
if child_data is None: |
|
290 |
# Not a slave -> master |
|
291 |
child_data = getattr(child, "CanFestivalNode") |
|
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292 |
# Apply sync setting |
178
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293 |
format_dict["nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n '%( |
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294 |
nodename, |
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|
295 |
child_data.getNodeId()) |
166 | 296 |
if child_data.getSync_TPDOs(): |
297 |
format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n '%(nodename) |
|
298 |
format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n '%(nodename) |
|
178
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299 |
|
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300 |
# initialize and declare node boot status variables for post_SlaveBootup lookup |
169
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301 |
SlaveIDs = child.GetSlaveIDs() |
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|
302 |
for id in SlaveIDs: |
178
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|
303 |
format_dict["slavebootups"] += ( |
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304 |
"int %s_slave_%d_booted = 0;\n"%(nodename, id)) |
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305 |
# define post_SlaveBootup lookup functions |
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|
306 |
format_dict["slavebootups"] += ( |
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|
307 |
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"%(nodename)+ |
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" switch(nodeId){\n") |
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# one case per declared node, mark node as booted |
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for id in SlaveIDs: |
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format_dict["slavebootups"] += ( |
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" case %d:\n"%(id)+ |
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" %s_slave_%d_booted = 1;\n"%(nodename, id)+ |
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" break;\n") |
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format_dict["slavebootups"] += ( |
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" default:\n"+ |
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" break;\n"+ |
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" }\n"+ |
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" if( ") |
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# expression to test if all declared nodes booted |
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format_dict["slavebootups"] += " && ".join(["%s_slave_%d_booted"%(nodename, id) for id in SlaveIDs]) |
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format_dict["slavebootups"] += " )\n" + ( |
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" Master_post_SlaveBootup(d,nodeId);\n"+ |
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"}\n") |
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# register previously declared func as post_SlaveBootup callback for that node |
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format_dict["slavebootup_register"] += ( |
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"%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n"%(nodename,nodename)) |
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else: |
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# Slave node |
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align = child_data.getSync_Align() |
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if align > 0: |
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format_dict["post_sync"] += ( |
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"static int %s_CalCount = 0;\n"%(nodename)+ |
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"static void %s_post_sync(CO_Data* d){\n"%(nodename)+ |
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" if(%s_CalCount < %d){\n"%(nodename, align)+ |
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" %s_CalCount++;\n"%(nodename)+ |
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" align_tick(1);\n"+ |
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" }else{\n"+ |
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" align_tick(0);\n"+ |
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" }\n"+ |
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"}\n") |
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format_dict["post_sync_register"] += ( |
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"%s_Data.post_sync = %s_post_sync;\n"%(nodename,nodename)) |
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format_dict["nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n '%( |
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nodename, |
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child_data.getNodeId()) |
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|
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# Include generated OD headers |
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format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename) |
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# Declare CAN channels according user filled config |
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format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%( |
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nodename, |
166 | 353 |
child_data.getCAN_Device(), |
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child_data.getCAN_Baudrate()) |
|
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format_dict["nodes_open"] += 'NODE_OPEN(%s)\n '%(nodename) |
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format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n '%(nodename) |
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|
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if sys.platform == 'win32': |
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if self.CanFestivalInstance.getDebug_mode() and os.path.isfile(os.path.join("%s"%(format_dict["candriver"] + '_DEBUG.dll'))): |
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format_dict["candriver"] += '_DEBUG.dll' |
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else: |
|
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format_dict["candriver"] += '.dll' |
|
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||
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filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c") |
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cf_main = open(filename).read() % format_dict |
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cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict) |
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f = open(cf_main_path,'w') |
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f.write(cf_main) |
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f.close() |
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|
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return [(cf_main_path, canfestival_config.getCFLAGS(CanFestivalPath))],canfestival_config.getLDFLAGS(CanFestivalPath), True |
11 | 372 |
|
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More precise design for plugins.... to be continued...
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