etherlab/EthercatCIA402Slave.py
author Edouard Tisserant <edouard.tisserant@gmail.com>
Mon, 25 Nov 2019 08:10:45 +0100
changeset 2643 b98d9e08231f
parent 2413 803daf19a1b5
parent 2641 c9deff128c37
permissions -rw-r--r--
Etherlab : Merged 2014-2018 changes from jblee and others
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# This file is part of Beremiz
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#
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# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
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#                          RTES Lab : CRKim, JBLee, youcu
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#                          Higen Motor : Donggu Kang
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#
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# See COPYING file for copyrights details.
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from __future__ import absolute_import
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import os
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import wx
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from PLCControler import LOCATION_CONFNODE, LOCATION_VAR_INPUT
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from MotionLibrary import AxisXSD
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from etherlab.EthercatSlave import _EthercatSlaveCTN, _CommonSlave
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from etherlab.ConfigEditor import CIA402NodeEditor
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# Definition of node variables that have to be mapped in PDO
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# [(name, index, subindex, type,
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#   direction for master ('I': input, 'Q': output)),...]
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NODE_VARIABLES = [
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    ("ControlWord",             0x6040, 0x00, "UINT", "Q"),
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    ("TargetPosition",          0x607a, 0x00, "DINT", "Q"),
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    ("TargetVelocity",          0x60ff, 0x00, "DINT", "Q"),
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    ("TargetTorque",            0x6071, 0x00, "INT",  "Q"),
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    ("ModesOfOperation",        0x6060, 0x00, "SINT", "Q"),
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    ("StatusWord",              0x6041, 0x00, "UINT", "I"),
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    ("ModesOfOperationDisplay", 0x6061, 0x00, "SINT", "I"),
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    ("ActualPosition",          0x6064, 0x00, "DINT", "I"),
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    ("ActualVelocity",          0x606c, 0x00, "DINT", "I"),
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    ("ActualTorque",            0x6077, 0x00, "INT",  "I"),
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]
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# Definition of optional node variables that can be added to PDO mapping.
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# A checkbox will be displayed for each section in node configuration panel to
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# enable them
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# [(section_name,
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#   [{'description', (name, index, subindex, type,
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#                     direction for master ('I': input, 'Q': output)),
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#     'retrieve', string_template_for_retrieve_variable (None: not retrieved,
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#                                 default string template if not defined),
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#     'publish', string_template_for_publish_variable (None: not published,
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#                                 default string template if not defined),
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#    },...]
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EXTRA_NODE_VARIABLES = [
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    ("ErrorCode", [
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        {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),
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         "publish": None}
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        ]),
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    ("DigitalInputs", [
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        {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"),
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         "publish": None}
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        ]),
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    ("DigitalOutputs", [
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        {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"),
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         "retrieve": None}
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        ]),
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    ("TouchProbe", [
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        {"description": ("TouchProbeFunction", 0x60B8, 0x00, "UINT", "Q"),
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         "retrieve": None},
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        {"description": ("TouchProbeStatus", 0x60B9, 0x00, "UINT", "I"),
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         "publish": None},
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        {"description": ("TouchProbePos1PosValue", 0x60BA, 0x00, "DINT", "I"),
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         "publish": None},
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        {"description": ("TouchProbePos1NegValue", 0x60BB, 0x00, "DINT", "I"),
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         "publish": None},
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        ]),
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]
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# List of parameters name in no configuration panel for optional variable
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# sections
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EXTRA_NODE_VARIABLES_DICT = {
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    "Enable" + name: params
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    for name, params in EXTRA_NODE_VARIABLES}
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# List of block to define to interface MCL to fieldbus for specific functions
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FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [
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    {"blocktype": "GetTorqueLimit",
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     "inputs": [],
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     "outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
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                 {"name": "TorqueLimitNeg", "type": "UINT"}]},
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    {"blocktype": "SetTorqueLimit",
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     "inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
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                {"name": "TorqueLimitNeg", "type": "UINT"}],
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     "outputs": []},
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]
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# --------------------------------------------------
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#                 Ethercat CIA402 Node
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# --------------------------------------------------
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class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
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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="CIA402SlaveParams">
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        <xsd:complexType>
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          %s
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        </xsd:complexType>
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      </xsd:element>
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    </xsd:schema>
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    """ % ("\n".join(["""\
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          <xsd:attribute name="Enable%s" type="xsd:boolean"
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                         use="optional" default="false"/>""" % category
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                      for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
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    NODE_PROFILE = 402
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    EditorType = CIA402NodeEditor
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    ConfNodeMethods = [
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        {
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            "bitmap": "CIA402AxisRef",
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            "name": _("Axis Ref"),
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            "tooltip": _("Initiate Drag'n drop of Axis ref located variable"),
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            "method": "_getCIA402AxisRef",
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            "push": True,
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        },
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        {
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            "bitmap": "CIA402NetPos",
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            "name": _("Axis Pos"),
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            "tooltip": _("Initiate Drag'n drop of Network position located variable"),
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            "method": "_getCIA402NetworkPosition",
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            "push": True,
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        },
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    ]
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# --------------------------------------------------
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#    class code
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# --------------------------------------------------
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    def __init__(self):
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        _EthercatSlaveCTN.__init__(self)
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        # ----------- call ethercat mng. function --------------
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        self.CommonMethod = _CommonSlave(self)
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    def GetIconName(self):
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        return "CIA402Slave"
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    def SetParamsAttribute(self, path, value):
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        if path == "CIA402SlaveParams.Type":
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            path = "SlaveParams.Type"
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        elif path == "CIA402SlaveParams.Alias":
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            path = "SlaveParams.Alias"
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        return _EthercatSlaveCTN.SetParamsAttribute(self, path, value)
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    def GetVariableLocationTree(self):
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        axis_name = self.CTNName()
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        current_location = self.GetCurrentLocation()
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        children = [
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            {
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                "name": name_frmt % (axis_name),
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                "type": LOCATION_VAR_INPUT,
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                "size": "W",
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                "IEC_type": iec_type,
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                "var_name": var_name_frmt % axis_name,
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                "location": location_frmt % (".".join(map(str, current_location))),
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                "description": "",
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                "children": []
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            }
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            for name_frmt, iec_type, var_name_frmt, location_frmt in [
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                ("%s Network Position", "UINT", "%s_pos", "%%IW%s"),
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                ("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402")
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            ]
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        ]
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        children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(),
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                                                             current_location,
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                                                             axis_name))
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        return {
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            "name": axis_name,
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            "type": LOCATION_CONFNODE,
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            "location": self.GetFullIEC_Channel(),
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            "children": children,
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        }
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    def CTNGlobalInstances(self):
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        current_location = self.GetCurrentLocation()
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        return [("%s_%s" % (block_infos["blocktype"],
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                            "_".join(map(str, current_location))),
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                 "EtherLab%s" % block_infos["blocktype"], "")
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                for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES]
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    def StartDragNDrop(self, data):
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        data_obj = wx.TextDataObject(str(data))
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        dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
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        dragSource.SetData(data_obj)
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        dragSource.DoDragDrop()
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    def _getCIA402NetworkPosition(self):
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        self.StartDragNDrop(
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            ("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())),
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             "location", "UINT", self.CTNName() + "_Pos", ""))
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    def _getCIA402AxisRef(self):
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        self.StartDragNDrop(
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            ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())),
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             "location", "AXIS_REF", self.CTNName(), ""))
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    # add jblee
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    """
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    def LoadPDOSelectData(self):
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        ReadData = []
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        files = os.listdir(self.CTNPath())
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        filepath = os.path.join(self.CTNPath(), "DataForPDO.txt")
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        if os.path.isfile(filepath):
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            PDODataRead = open(filepath, 'r')
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            ReadData = PDODataRead.readlines()
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            PDODataRead.close()
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        if len(ReadData) > 1:
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            for data in ReadData[0].split() :
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                if data == "RxPDO":
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                    continue
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                self.SelectedRxPDOIndex.append(int(data, 0))
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            for data in ReadData[1].split() :
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                if data == "TxPDO":
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                    continue
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                self.SelectedTxPDOIndex.append(int(data, 0))
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    """
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    def LoadPDOSelectData(self):
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        RxPDOData = self.BaseParams.getRxPDO()
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        RxPDOs = []
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        if RxPDOData != "None":
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            RxPDOs = RxPDOData.split()
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        if RxPDOs :
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            for RxPDO in RxPDOs :
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                self.SelectedRxPDOIndex.append(int(RxPDO, 0))
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        TxPDOData = self.BaseParams.getTxPDO()
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        TxPDOs = []
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        if TxPDOData != "None":
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            TxPDOs = TxPDOData.split()
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        if TxPDOs :
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            for TxPDO in TxPDOs :
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                self.SelectedTxPDOIndex.append(int(TxPDO, 0))
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    def LoadDefaultPDOSet(self):
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        ReturnData = []
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        rx_pdo_entries = self.CommonMethod.GetRxPDOCategory()
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        if len(rx_pdo_entries):
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            for i in range(len(rx_pdo_entries)):
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                if rx_pdo_entries[i]['sm'] is not None:
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                    ReturnData.append(rx_pdo_entries[i]['pdo_index'])
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        tx_pdo_entries = self.CommonMethod.GetTxPDOCategory()
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        if len(tx_pdo_entries):
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            for i in range(len(tx_pdo_entries)):
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                if tx_pdo_entries[i]['sm'] is not None:
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                    ReturnData.append(tx_pdo_entries[i]['pdo_index'])
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        if ReturnData :
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            return ReturnData
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        else :
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            return [5632, 6656]
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    def CTNGenerate_C(self, buildpath, locations):
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        current_location = self.GetCurrentLocation()
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        location_str = "_".join(map(str, current_location))
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        # Open CIA402 node code template file
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        plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0],
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                                               "plc_cia402node.c")
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        plc_cia402node_file = open(plc_cia402node_filepath, 'r')
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        plc_cia402node_code = plc_cia402node_file.read()
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        plc_cia402node_file.close()
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        # HSAHN 150726
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        # add "default_variables_retrieve": [], "default_variables_publish": [],
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		# As PDO mapping object, it will add auto-complete code.
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        # add "modeofop_homing_method", "modeofop_computation_mode" by jblee
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        str_completion = {
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            "slave_pos": self.GetSlavePos(),
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            "location": location_str,
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            "MCL_headers": Headers,
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            "extern_located_variables_declaration": [],
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            "fieldbus_interface_declaration": [],
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            "fieldbus_interface_definition": [],
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            "entry_variables": [],
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            "init_axis_params": [],
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            "init_entry_variables": [],
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            "default_variables_retrieve": [],
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            "default_variables_publish": [],
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            "extra_variables_retrieve": [],
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            "extra_variables_publish": [],
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            "modeofop_homing_method": [],
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            "modeofop_computation_mode": []
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        }
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        for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES:
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            texts = {
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                "blocktype": blocktype_infos["blocktype"],
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                "ucase_blocktype": blocktype_infos["blocktype"].upper(),
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                "location": "_".join(map(str, current_location))
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            }
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            texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts
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            inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())},
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                      {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\
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                     [{"input_name": input["name"].upper(), 
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                       "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()}
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                      for input in blocktype_infos["inputs"]]
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            input_texts = []
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            for input_infos in inputs:
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                input_infos.update(texts)
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                input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos)
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            texts["extract_inputs"] = "\n".join(input_texts)
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            outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \
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                      [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]]
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            output_texts = []
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            for output_infos in outputs:
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                output_infos.update(texts)
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                output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos)
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            texts["return_outputs"] = "\n".join(output_texts)
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            str_completion["fieldbus_interface_declaration"].append(
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                    BLOCK_FUNCTION_TEMPLATE % texts)
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            str_completion["fieldbus_interface_definition"].append(
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                    BLOCK_FUNTION_DEFINITION_TEMPLATE % texts)
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        variables = NODE_VARIABLES[:]
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#HSAHN
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#2015. 7. 24 PDO Variable
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        #if PDO is not selected, use 1st PDO set
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        self.LoadPDOSelectData()
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        if not self.SelectedRxPDOIndex and not self.SelectedTxPDOIndex :
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            self.SelectedPDOIndex = self.LoadDefaultPDOSet()
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        else :
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            self.SelectedPDOIndex = self.SelectedRxPDOIndex + self.SelectedTxPDOIndex
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        add_idx = []
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        for i in range(len(ADD_NODE_VARIABLES)):
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            add_idx.append(ADD_NODE_VARIABLES[i]['index'])
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   344
        self.CommonMethod.RequestPDOInfo()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   345
        pdo_info = self.CommonMethod.GetRxPDOCategory() + self.CommonMethod.GetTxPDOCategory()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   346
        pdo_entry = self.CommonMethod.GetRxPDOInfo() + self.CommonMethod.GetTxPDOInfo()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   347
        list_index = 0
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   348
        ModeOfOpFlag = False
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   349
        ModeOfOpDisplayFlag = False
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   350
        for i in range(len(pdo_info)):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   351
            #if pdo_index is in the SelectedPDOIndex: put the PDO mapping information intto the "used" object
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   352
            if pdo_info[i]['pdo_index'] in self.SelectedPDOIndex:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   353
                used = pdo_entry[list_index:list_index + pdo_info[i]['number_of_entry']]
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   354
                for used_data in used:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   355
                    # 24672 -> 0x6060, Mode of Operation
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   356
                    if used_data['entry_index'] == 24672:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   357
                        ModeOfOpFlag = True
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   358
                    # 24673 -> 0x6061, Mode of Operation Display
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   359
                    elif used_data["entry_index"] == 24673:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   360
                        ModeOfOpDisplayFlag = True
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   361
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   362
                    if used_data['entry_index'] in add_idx:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   363
                        idx = add_idx.index(used_data['entry_index'])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   364
                        adder = list([ADD_NODE_VARIABLES[idx]['name'], ADD_NODE_VARIABLES[idx]['index'], \
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   365
                                     ADD_NODE_VARIABLES[idx]['sub-index'], ADD_NODE_VARIABLES[idx]['type'], \
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   366
                                     ADD_NODE_VARIABLES[idx]['direction']])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   367
                        variables.append(adder)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   368
                        if ADD_NODE_VARIABLES[idx]['direction'] == "Q":                           
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   369
                            parsed_string = ADD_NODE_VARIABLES[idx]['name'].replace("Target", "")
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   370
                            # add jblee
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   371
                            check_q_data = "    *(AxsPub.Target%s) = AxsPub.axis->Raw%sSetPoint;" %(parsed_string, parsed_string)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   372
                            if check_q_data not in str_completion["default_variables_publish"]:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   373
                                str_completion["default_variables_publish"].append(check_q_data)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   374
                        elif ADD_NODE_VARIABLES[idx]['direction'] == "I":
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   375
                            parsed_string = ADD_NODE_VARIABLES[idx]['name'].replace("Actual", "")
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   376
                            # add jblee
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   377
                            check_i_data = "    AxsPub.axis->ActualRaw%s = *(AxsPub.Actual%s);" %(parsed_string, parsed_string)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   378
                            if check_i_data not in str_completion["default_variables_retrieve"]:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   379
                                str_completion["default_variables_retrieve"].append(check_i_data)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   380
            list_index += pdo_info[i]['number_of_entry']
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   381
#HSAHN END
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   382
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   383
        params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   384
        for param in params["children"]:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   385
            if param["name"] in EXTRA_NODE_VARIABLES_DICT:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   386
                if param["value"]:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   387
                    extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   388
                    for variable_infos in extra_variables:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   389
                        var_infos = {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   390
                            "location": location_str,
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   391
                            "name": variable_infos["description"][0]
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   392
                        }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   393
                        variables.append(variable_infos["description"])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   394
                        retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   395
                        publish_template = variable_infos.get("publish", DEFAULT_PUBLISH)
2153
91c10856adaa Rewrite CIA402 node specific code generating part
Laurent Bessard
parents: 2152
diff changeset
   396
                        
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   397
                        if retrieve_template is not None:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   398
                            str_completion["extra_variables_retrieve"].append(
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   399
                                retrieve_template % var_infos)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   400
                        if publish_template is not None:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   401
                            str_completion["extra_variables_publish"].append(
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   402
                                publish_template % var_infos)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   403
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   404
            #elif param["value"] is not None:
2155
d63541200d8e Added support for set flag for optional variables activation in axis public struct
Laurent Bessard
parents: 2154
diff changeset
   405
            if param["value"] is not None:
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   406
                param_infos = {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   407
                    "location": location_str,
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   408
                    "param_name": param["name"],
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   409
                }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   410
                if param["type"] == "boolean":
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   411
                    param_infos["param_value"] = {True: "1", False: "0"}[param["value"]]
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   412
                    param_infos["param_name"] = param["name"].replace("Enable", "") + "Enabled"
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   413
                    if param["value"] == False:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   414
                        continue
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   415
                else:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   416
                    param_infos["param_value"] = str(param["value"])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   417
                # param_name = param_name.replace("Enable", "") + "Enabled"
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   418
                str_completion["init_axis_params"].append(
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   419
                    "        __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   420
        
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   421
        check_variable = []
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   422
        for variable in variables:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   423
            # add jblee
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   424
            if variable in check_variable:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   425
                continue
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   426
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   427
            var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable))
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   428
            var_infos["location"] = location_str
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   429
            var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   430
            var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   431
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   432
            # add jblee
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   433
            if var_infos["index"] in [24672] and ModeOfOpFlag:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   434
                str_completion["modeofop_homing_method"].append(MODEOFOP_HOMING_METHOD_TEMPLATE)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   435
                str_completion["modeofop_computation_mode"].append(MODEOFOP_COMPUTATION_MODE_TEMPLATE)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   436
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   437
            # add jblee
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   438
            if var_infos["index"] in [24672, 24673] and (not ModeOfOpFlag or not ModeOfOpDisplayFlag):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   439
                continue
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   440
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   441
            str_completion["extern_located_variables_declaration"].append(
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   442
                    "IEC_%(var_type)s *%(var_name)s;" % var_infos)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   443
            str_completion["entry_variables"].append(
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   444
                    "    IEC_%(var_type)s *%(name)s;" % var_infos)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   445
            str_completion["init_entry_variables"].append(
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   446
                    "    __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos)
2111
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   447
            
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   448
            self.CTNParent.FileGenerator.DeclareVariable(
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   449
                    self.GetSlavePos(), var_infos["index"], var_infos["subindex"], 
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   450
                    var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   451
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   452
            # add jblee
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   453
            check_variable.append(variable)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   454
        
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   455
        for element in ["extern_located_variables_declaration", 
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   456
                        "fieldbus_interface_declaration",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   457
                        "fieldbus_interface_definition",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   458
                        "entry_variables", 
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   459
                        "init_axis_params", 
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   460
                        "init_entry_variables",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   461
                        "default_variables_retrieve",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   462
                        "default_variables_publish",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   463
                        "extra_variables_retrieve",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   464
                        "extra_variables_publish",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   465
                        "modeofop_homing_method",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   466
                        "modeofop_computation_mode"]:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   467
            str_completion[element] = "\n".join(str_completion[element])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   468
        
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   469
        Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str)
2111
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   470
        cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   471
        cia402nodefile.write(plc_cia402node_code % str_completion)
2111
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   472
        cia402nodefile.close()
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   473
2363
9c7da6ff6a34 cleanup etherlab: pep8, E231 missing whitespace after ','
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2362
diff changeset
   474
        return [(Gen_CIA402Nodefile_path, '"-I%s"' % os.path.abspath(self.GetCTRoot().GetIECLibPath()))], "", True