1

#!/usr/bin/env python

     2

# -*- coding: utf-8 -*-

     3

     4

# This file is part of Beremiz

     5

#

     6

# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab., University of Seoul

     7

#

     8

# See COPYING file for copyrights details.

     9

    10

import os

    11

    12

import wx

    13

import wx.grid

    14

import wx.gizmos

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import wx.lib.buttons

    16

    17

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

    18

from controls import CustomGrid, CustomTable

    19

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

    20

    21

# ------------ for SDO Management --------------------

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import string

    23

import wx.grid as gridlib

    24

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

    25

    26

# ------------ for register management ---------------

    27

from xml.dom import minidom

    28

from util.TranslationCatalogs import NoTranslate

    29

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

    30

    31

    32

# ----------------------------- For Sync Manager Table -----------------------------------

    33

def GetSyncManagersTableColnames():

    34

    """

    35

    Returns column names of SyncManager Table in Slave state panel.

    36

    """

    37

    _ = NoTranslate

    38

    return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")]

    39

    40

    41

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

    42

#                    Sync Managers Table

    43

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

    44

class SyncManagersTable(CustomTable):

    45

    def GetValue(self, row, col):

    46

        if row < self.GetNumberRows():

    47

            if col == 0:

    48

                return row

    49

            return self.data[row].get(self.GetColLabelValue(col, False), "")

    50

    51

    52

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

    53

#                    EtherCAT Management Treebook

    54

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

    55

class EtherCATManagementTreebook(wx.Treebook):

    56

    def __init__(self, parent, controler, node_editor):

    57

        """

    58

        Constructor

    59

        @param parent: Reference to the parent wx.ScrolledWindow object

    60

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

    61

        @param node_editor: Reference to Beremiz frame

    62

        """

    63

        wx.Treebook.__init__(self, parent, -1, size=wx.DefaultSize, style=wx.BK_DEFAULT)

    64

        self.parent = parent

    65

        self.Controler = controler

    66

        self.NodeEditor = node_editor

    67

    68

        self.EtherCATManagementClassObject = {}

    69

    70

        # fill EtherCAT Management Treebook

    71

        panels = [

    72

            ("Slave State",        SlaveStatePanelClass, []),

    73

            ("SDO Management",     SDOPanelClass, []),

    74

            ("PDO Monitoring",     PDOPanelClass, []),

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            ("ESC Management",     EEPROMAccessPanel, [

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                ("Smart View", SlaveSiiSmartView),

    77

                ("Hex View", HexView)]),

    78

            ("Register Access",     RegisterAccessPanel, [])

    79

        ]

    80

        for pname, pclass, subs in panels:

    81

            self.AddPage(pclass(self, self.Controler), pname)

    82

            for spname, spclass in subs:

    83

                self.AddSubPage(spclass(self, self.Controler), spname)

    84

    85

        self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGED, self.OnPageChanged)

    86

        self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGING, self.OnPageChanging)

    87

    88

    def OnPageChanged(self, event):

    89

        old = event.GetOldSelection()

    90

        new = event.GetSelection()

    91

        sel = event.GetSelection()

    92

        event.Skip()

    93

    94

    def OnPageChanging(self, event):

    95

        old = event.GetOldSelection()

    96

        new = event.GetSelection()

    97

        sel = event.GetSelection()

    98

        event.Skip()

    99

   100

   101

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

   102

#                    For SlaveState Panel

   103

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

   104

class SlaveStatePanelClass(wx.Panel):

   105

    def __init__(self, parent, controler):

   106

        """

   107

        Constructor

   108

        @param parent: Reference to the parent EtherCATManagementTreebook class

   109

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   110

        """

   111

        wx.Panel.__init__(self, parent, -1, (0, 0), size=wx.DefaultSize, style=wx.SUNKEN_BORDER)

   112

        self.Controler = controler

   113

        self.parent = parent

   114

   115

        # initialize SlaveStatePanel UI dictionaries

   116

        self.StaticBoxDic = {}

   117

        self.StaticTextDic = {}

   118

        self.TextCtrlDic = {}

   119

        self.ButtonDic = {}

   120

   121

        # iniitalize BoxSizer and FlexGridSizer

   122

        self.SizerDic = {

   123

            "SlaveState_main_sizer": wx.BoxSizer(wx.VERTICAL),

   124

            "SlaveState_inner_main_sizer": wx.FlexGridSizer(cols=1, hgap=50, rows=3, vgap=10),

   125

            "SlaveInfosDetailsInnerSizer": wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

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            "SyncManagerInnerSizer": wx.FlexGridSizer(cols=1, hgap=5, rows=1, vgap=5),

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            "SlaveState_sizer": wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10),

   128

            "SlaveState_up_sizer": wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

   129

            "SlaveState_down_sizer": wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)}

   130

   131

        # initialize StaticBox and StaticBoxSizer

   132

        for box_name, box_label in [

   133

                ("SlaveInfosDetailsBox", "Slave Informations"),

   134

                ("SyncManagerBox", "Sync Manager"),

   135

                ("SlaveStateBox", "Slave State Transition && Monitoring")]:

   136

            self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label))

   137

            self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name])

   138

   139

        for statictext_name, statictext_label, textctrl_name in [

   140

                ("VendorLabel", "Vendor:", "vendor"),

   141

                ("ProductcodeLabel", "Product code:", "product_code"),

   142

                ("RevisionnumberLabel", "Slave Count:", "revision_number"),

   143

                ("PhysicsLabel", "Physics:", "physics")]:

   144

            self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

   145

            self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)

   146

            self.SizerDic["SlaveInfosDetailsInnerSizer"].AddMany([self.StaticTextDic[statictext_name],

   147

                                                               self.TextCtrlDic[textctrl_name]])

   148

   149

        self.SizerDic["SlaveInfosDetailsBox"].AddSizer(self.SizerDic["SlaveInfosDetailsInnerSizer"])

   150

   151

        self.SyncManagersGrid = CustomGrid(self, size=wx.Size(605, 155), style=wx.VSCROLL)

   152

   153

        self.SizerDic["SyncManagerInnerSizer"].Add(self.SyncManagersGrid)

   154

        self.SizerDic["SyncManagerBox"].Add(self.SizerDic["SyncManagerInnerSizer"])

   155

   156

        buttons = [

   157

            ("InitButton",   0, "INIT", "State Transition to \"Init\" State",     self.OnButtonClick, []),

   158

            ("PreOPButton",  1, "PREOP", "State Transition to \"PreOP\" State",   self.OnButtonClick, [

   159

                ("TargetStateLabel", "Target State:", "TargetState")]),

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            ("SafeOPButton", 2, "SAFEOP", "State Transition to \"SafeOP\" State", self.OnButtonClick, []),

   161

            ("OPButton",     3, "OP",  "State Transition to \"OP\" State",        self.OnButtonClick, [

   162

                ("CurrentStateLabel", "Current State:", "CurrentState")])

   163

        ]

   164

        for button_name, button_id, button_label, button_tooltipstring, event_method, sub_item in buttons:

   165

            self.ButtonDic[button_name] = wx.Button(self, id=button_id, label=_(button_label))

   166

            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

   167

            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

   168

            self.SizerDic["SlaveState_up_sizer"].Add(self.ButtonDic[button_name])

   169

            for statictext_name, statictext_label, textctrl_name in sub_item:

   170

                self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

   171

                self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.DefaultSize, style=wx.TE_READONLY)

   172

                self.SizerDic["SlaveState_up_sizer"].AddMany([self.StaticTextDic[statictext_name],

   174

   175

        for button_name, button_label, button_tooltipstring, event_method in [

   176

                ("StartTimerButton", "Start State Monitoring", "Slave State Update Restart", self.StartTimer),

   177

                ("StopTimerButton", "Stop State Monitoring", "Slave State Update Stop", self.CurrentStateThreadStop)]:

   178

            self.ButtonDic[button_name] = wx.Button(self, label=_(button_label))

   179

            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

   180

            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

   181

            self.SizerDic["SlaveState_down_sizer"].Add(self.ButtonDic[button_name])

   182

   183

        self.SizerDic["SlaveState_sizer"].AddMany([self.SizerDic["SlaveState_up_sizer"],

   184

            self.SizerDic["SlaveState_down_sizer"]])

   185

   186

        self.SizerDic["SlaveStateBox"].Add(self.SizerDic["SlaveState_sizer"])

   187

   188

        self.SizerDic["SlaveState_inner_main_sizer"].AddMany([

   189

            self.SizerDic["SlaveInfosDetailsBox"], self.SizerDic["SyncManagerBox"],

   190

            self.SizerDic["SlaveStateBox"]])

   191

   192

        self.SizerDic["SlaveState_main_sizer"].Add(self.SizerDic["SlaveState_inner_main_sizer"])

   193

   194

        self.SetSizer(self.SizerDic["SlaveState_main_sizer"])

   195

   196

        # register a timer for periodic exectuion of slave state update (period: 1000 ms)

   197

        self.Bind(wx.EVT_TIMER, self.GetCurrentState)

   198

   199

        self.CreateSyncManagerTable()

   200

   201

        self.Centre()

   202

   203

    def CreateSyncManagerTable(self):

   204

        """

   205

        Create grid for "SyncManager"

   206

        """

   207

        # declare Table object

   208

        self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames())

   209

        self.SyncManagersGrid.SetTable(self.SyncManagersTable)

   210

        # set grid alignment attr. (CENTER)

   211

        self.SyncManagersGridColAlignements = [wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE,

   212

                                               wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE]

   213

        # set grid size

   214

        self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100]

   215

        self.SyncManagersGrid.SetRowLabelSize(0)

   216

        for col in range(self.SyncManagersTable.GetNumberCols()):

   217

            attr = wx.grid.GridCellAttr()

   218

            attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTRE)

   219

            self.SyncManagersGrid.SetColAttr(col, attr)

   220

            self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col])

   221

            self.SyncManagersGrid.AutoSizeColumn(col, False)

   222

   223

        self.RefreshSlaveInfos()

   224

   225

    def RefreshSlaveInfos(self):

   226

        """

   227

        Fill data in "Slave Information" and "SyncManager"

   228

        """

   229

        slave_infos = self.Controler.GetSlaveInfos()

   230

        sync_manager_section = ["vendor", "product_code", "revision_number", "physics"]

   231

        if slave_infos is not None:

   232

            # this method is same as "TextCtrl.SetValue"

   233

            for textctrl_name in sync_manager_section:

   234

                self.TextCtrlDic[textctrl_name].SetValue(slave_infos[textctrl_name])

   235

            self.SyncManagersTable.SetData(slave_infos["sync_managers"])

   236

            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

   237

        else:

   238

            for textctrl_name in sync_manager_section:

   239

                self.TextCtrlDic[textctrl_name].SetValue("")

   240

            self.SyncManagersTable.SetData([])

   241

            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

   242

   243

    def OnButtonClick(self, event):

   244

        """

   245

        Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button)

   246

        @param event : wx.EVT_BUTTON object

   247

        """

   248

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)

   249

        if check_connect_flag:

   250

            state_dic = ["INIT", "PREOP", "SAFEOP", "OP"]

   251

   252

            # If target state is one of {INIT, PREOP, SAFEOP}, request slave state transition immediately.

   253

            if event.GetId() < 3:

   254

                self.Controler.CommonMethod.RequestSlaveState(state_dic[event.GetId()])

   255

                self.TextCtrlDic["TargetState"].SetValue(state_dic[event.GetId()])

   256

   257

            # If target state is OP, first check "PLC status".

   258

            #  (1) If current PLC status is "Started", then request slave state transition

   259

            #  (2) Otherwise, show error message and return

   260

            else:

   261

                status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()

   262

                if status == "Started":

   263

                    self.Controler.CommonMethod.RequestSlaveState("OP")

   264

                    self.TextCtrlDic["TargetState"].SetValue("OP")

   265

                else:

   266

                    self.Controler.CommonMethod.CreateErrorDialog("PLC is Not Started")

   267

   268

    def GetCurrentState(self, event):

   269

        """

   270

        Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec).

   271

        @param event : wx.TIMER object

   272

        """

   273

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(True)

   274

        if check_connect_flag:

   275

            returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave()

   276

            line = returnVal.split("\n")

   277

            try:

   278

                self.SetCurrentState(line[self.Controler.GetSlavePos()])

   279

            except Exception:

   280

                pass

   281

   282

    def SetCurrentState(self, line):

   283

        """

   284

        Show current slave state using the executiob result of "ethercat slaves" command.

   285

        @param line : result of "ethercat slaves" command

   286

        """

   287

        state_array = ["INIT", "PREOP", "SAFEOP", "OP"]

   288

        try:

   289

            # parse the execution result of  "ethercat slaves" command

   290

            # Result example : 0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)

   291

            token = line.split("  ")

   292

            if token[2] in state_array:

   293

                self.TextCtrlDic["CurrentState"].SetValue(token[2])

   294

        except Exception:

   295

            pass

   296

   297

    def StartTimer(self, event):

   298

        """

   299

        Event handler for "Start State Monitoring" button.

   300

          - start slave state monitoring thread

   301

        @param event : wx.EVT_BUTTON object

   302

        """

   303

        self.SlaveStateThread = wx.Timer(self)

   304

        # set timer period (1000 ms)

   305

        self.SlaveStateThread.Start(1000)

   306

   307

    def CurrentStateThreadStop(self, event):

   308

        """

   309

        Event handler for "Stop State Monitoring" button.

   310

          - stop slave state monitoring thread

   311

        @param event : wx.EVT_BUTTON object

   312

        """

   313

        try:

   314

            self.SlaveStateThread.Stop()

   315

        except Exception:

   316

            pass

   317

   318

   319

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

   320

#                    For SDO Management Panel

   321

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

   322

class SDOPanelClass(wx.Panel):

   323

    def __init__(self, parent, controler):

   324

        """

   325

        Constructor

   326

        @param parent: Reference to the parent EtherCATManagementTreebook class

   327

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   328

        """

   329

        wx.Panel.__init__(self, parent, -1)

   330

   331

        self.DatatypeDescription, self.CommunicationObject, self.ManufacturerSpecific, \

   332

        self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6)

   333

   334

        self.Controler = controler

   335

   336

        self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL)

   337

        self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)

   338

   339

        self.SDOUpdate = wx.Button(self, label=_('update'))

   340

        self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate)

   341

   342

        self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler)

   343

        self.SDOManagementInnerMainSizer.Add(self.SDOUpdate)

   344

        self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND)

   345

   346

        self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer)

   347

   348

        self.SetSizer(self.SDOManagementMainSizer)

   349

   350

    def SDOInfoUpdate(self, event):

   351

        """

   352

        Evenet handler for SDO "update" button.

   353

          - Load SDO data from current slave

   354

        @param event : wx.EVT_BUTTON object

   355

        """

   356

        self.Controler.CommonMethod.SaveSDOData = []

   357

        self.Controler.CommonMethod.ClearSDODataSet()

   358

        self.SDOFlag = False

   359

   360

        # Check whether beremiz connected or not.

   361

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)

   362

        if check_connect_flag:

   363

            self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave()

   364

            # SDOFlag is "False", user click "Cancel" button

   365

            self.SDOFlag = self.SDOParser()

   366

   367

            if self.SDOFlag:

   368

                self.CallSDONoteBook.CreateNoteBook()

   369

                self.Refresh()

   370

   371

    def SDOParser(self):

   372

        """

   373

        Parse SDO data set that obtain "SDOInfoUpdate" Method

   374

        @return True or False

   375

        """

   376

   377

        slaveSDO_progress = wx.ProgressDialog("Slave SDO Monitoring", "Now Uploading...",

   378

                               maximum=len(self.SDOs.splitlines()), parent=self,

   379

                               style=wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME |

   380

                                     wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME |

   381

                                     wx.PD_AUTO_HIDE | wx.PD_SMOOTH)

   382

   383

        # If keep_going flag is False, SDOParser method is stop and return "False".

   384

        keep_going = True

   385

        count = 0

   386

   387

        # SDO data example

   388

        # SDO 0x1000, "Device type"

   389

        # 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474

   390

        for details_line in self.SDOs.splitlines():

   391

            count += 1

   392

            line_token = details_line.split("\"")

   393

            # len(line_token[2]) case : SDO 0x1000, "Device type"

   394

            if len(line_token[2]) == 0:

   395

                title_name = line_token[1]

   396

            # else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474

   397

            else:

   398

                # line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474']

   399

                token_head, name, token_tail = line_token

   400

   401

                # token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', '']

   402

                token_head = token_head.split(",")

   403

                ful_idx, access, type, size, empty = token_head

   404

                # ful_idx.split(":") = ['0x1000', '00']

   405

                idx, sub_idx = ful_idx.split(":")

   406

   407

                # token_tail = ['', '0x00020192', '131474']

   408

                token_tail = token_tail.split(",")

   409

                try:

   410

                    empty, hex_val, dec_val = token_tail

   411

   412

                # SDO data is not return "dec value"

   413

                # line example :

   414

                # 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ----

   415

                except Exception:

   416

                    empty, hex_val = token_tail

   417

   418

                name_after_check = self.StringTest(name)

   419

   420

                # convert hex type

   421

                sub_idx = "0x" + sub_idx

   422

   423

                if type == "octet_string":

   424

                    hex_val = ' ---- '

   425

   426

                # SResult of SlaveSDO data parsing. (data type : dictionary)

   427

                self.Data = {'idx': idx.strip(), 'subIdx': sub_idx.strip(), 'access': access.strip(),

   428

                             'type': type.strip(), 'size': size.strip(),  'name': name_after_check.strip("\""),

   429

                             'value': hex_val.strip(), "category": title_name.strip("\"")}

   430

   431

                category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]

   432

   433

                for count in range(len(category_divide_value)):

   434

                    if int(idx, 0) < category_divide_value[count]:

   435

                        self.Controler.CommonMethod.SaveSDOData[count].append(self.Data)

   436

                        break

   437

   438

                self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data)

   439

   440

            if count >= len(self.SDOs.splitlines()) / 2:

   441

                (keep_going, skip) = slaveSDO_progress.Update(count, "Please waiting a moment!!")

   442

            else:

   443

                (keep_going, skip) = slaveSDO_progress.Update(count)

   444

   445

            # If user click "Cancel" loop suspend immediately

   446

            if not keep_going:

   447

                break

   448

   449

        slaveSDO_progress.Destroy()

   450

        return keep_going

   451

   452

    def StringTest(self, check_string):

   453

        """

   454

        Test value 'name' is alphanumeric

   455

        @param check_string : input data for check

   456

        @return result : output data after check

   457

        """

   458

        # string.printable is print this result

   459

        # '0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ

   460

        # !"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c

   461

        allow_range = string.printable

   462

        result = check_string

   463

        for i in range(0, len(check_string)):

   464

            # string.isalnum() is check whether string is alphanumeric or not

   465

            if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range:

   466

                result = check_string[:len(check_string) - i]

   467

                break

   468

        return result

   469

   470

   471

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

   472

#                    For SDO Notebook (divide category)

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

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class SDONoteBook(wx.Notebook):

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    def __init__(self, parent, controler):

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        """

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        Constructor

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        @param parent: Reference to the parent SDOPanelClass class

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        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

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        """

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        wx.Notebook.__init__(self, parent, id=-1, size=(850, 500))

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        self.Controler = controler

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        self.parent = parent