1

import os, sys

     2

base_folder = os.path.split(sys.path[0])[0]

     3

CanFestivalPath = os.path.join(base_folder, "CanFestival-3")

     4

sys.path.append(os.path.join(CanFestivalPath, "objdictgen"))

     5

     6

from nodelist import NodeList

     7

from nodemanager import NodeManager

     8

import config_utils, gen_cfile, eds_utils

     9

from networkedit import networkedit

    10

from objdictedit import objdictedit

    11

import canfestival_config

    12

from plugger import PlugTemplate

    13

from commondialogs import CreateNodeDialog

    14

import wx

    15

    16

from gnosis.xml.pickle import *

    17

from gnosis.xml.pickle.util import setParanoia

    18

setParanoia(0)

    19

    20

if wx.Platform == '__WXMSW__':

    21

    DEFAULT_SETTINGS = {

    22

        "CAN_Driver": "can_tcp_win32",

    23

        "CAN_Device": "127.0.0.1",

    24

        "CAN_Baudrate": "125K",

    25

        "Slave_NodeId": 2,

    26

        "Master_NodeId": 1,

    27

    }

    28

else:

    29

    DEFAULT_SETTINGS = {

    30

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

    31

        "CAN_Device": "vcan0",

    32

        "CAN_Baudrate": "125K",

    33

        "Slave_NodeId": 2,

    34

        "Master_NodeId": 1,

    35

    }

    36

    37

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

    38

#                    SLAVE

    39

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

    40

    41

class _SlavePlug(NodeManager):

    42

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

    43

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

    44

      <xsd:element name="CanFestivalSlaveNode">

    45

        <xsd:complexType>

    46

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

    47

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

    48

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

    49

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

    50

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

    51

            <xsd:simpleType>

    52

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

    53

                    <xsd:minInclusive value="1"/>

    54

                    <xsd:maxInclusive value="99"/>

    55

                </xsd:restriction>

    56

            </xsd:simpleType>

    57

          </xsd:attribute>

    58

        </xsd:complexType>

    59

      </xsd:element>

    60

    </xsd:schema>

    61

    """ % DEFAULT_SETTINGS

    62

    63

    def GetSlaveODPath(self):

    64

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

    65

    66

    def __init__(self):

    67

        # TODO change netname when name change

    68

        NodeManager.__init__(self)

    69

        odfilepath = self.GetSlaveODPath()

    70

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

    71

            self.OpenFileInCurrent(odfilepath)

    72

        else:

    73

            self.FilePath = ""

    74

            dialog = CreateNodeDialog(None, wx.OK)

    75

            dialog.Type.Enable(False)

    76

            dialog.GenSYNC.Enable(False)

    77

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

    78

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

    79

                profile, filepath = dialog.GetProfile()

    80

                NMT = dialog.GetNMTManagement()

    81

                options = dialog.GetOptions()

    82

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

    83

                                   id,         # NodeID - will be changed at build time

    84

                                   "slave",    # Type

    85

                                   description,# description 

    86

                                   profile,    # profile

    87

                                   filepath,   # prfile filepath

    88

                                   NMT,        # NMT

    89

                                   options)     # options

    90

            else:

    91

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

    92

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

    93

                                   "slave",      # Type

    94

                                   "",           # description 

    95

                                   "None",       # profile

    96

                                   "", # prfile filepath

    97

                                   "heartbeat",  # NMT

    98

                                   [])           # options

    99

            dialog.Destroy()

   100

    _View = None

   101

    def _OpenView(self):

   102

        if not self._View:

   103

            def _onclose():

   104

                self._View = None

   105

            def _onsave():

   106

                self.GetPlugRoot().SaveProject()

   107

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

   108

            # TODO redefine BusId when IEC channel change

   109

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

   110

            self._View._onclose = _onclose

   111

            self._View._onsave = _onsave

   112

            self._View.Show()

   113

   114

    PluginMethods = [

   115

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

   116

         "name" : "Edit slave", 

   117

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

   118

         "method" : "_OpenView"},

   119

    ]

   120

   121

    def OnPlugClose(self):

   122

        if self._View:

   123

            self._View.Close()

   124

   125

    def PlugTestModified(self):

   126

        return self.ChangesToSave or self.OneFileHasChanged()

   127

   128

    def OnPlugSave(self):

   129

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   130

   131

    def PlugGenerate_C(self, buildpath, locations):

   132

        """

   133

        Generate C code

   134

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

   135

        @param locations: List of complete variables locations \

   136

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

   137

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

   138

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

   139

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

   140

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

   141

            }, ...]

   142

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

   143

        """

   144

        current_location = self.GetCurrentLocation()

   145

        # define a unique name for the generated C file

   146

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

   147

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

   148

        # Create a new copy of the model

   149

        slave = self.GetCurrentNodeCopy()

   150

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

   151

        # allow access to local OD from Slave PLC

   152

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

   153

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

   154

        if res :

   155

            raise Exception, res

   156

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

   157

        if res :

   158

            raise Exception, res

   159

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

   160

   161

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

   162

#                    MASTER

   163

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

   164

   165

class _NodeListPlug(NodeList):

   166

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

   167

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

   168

      <xsd:element name="CanFestivalNode">

   169

        <xsd:complexType>

   170

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

   171

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

   172

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

   173

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

   174

        </xsd:complexType>

   175

      </xsd:element>

   176

    </xsd:schema>

   177

    """ % DEFAULT_SETTINGS

   178

   179

    def __init__(self):

   180

        manager = NodeManager()

   181

        # TODO change netname when name change

   182

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

   183

        self.LoadProject(self.PlugPath())

   184

   185

    _View = None

   186

    def _OpenView(self):

   187

        if not self._View:

   188

            def _onclose():

   189

                self._View = None

   190

            def _onsave():

   191

                self.GetPlugRoot().SaveProject()

   192

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

   193

            # TODO redefine BusId when IEC channel change

   194

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

   195

            self._View._onclose = _onclose

   196

            self._View._onsave = _onsave

   197

            self._View.Show()

   198

   199

    def _ShowMasterGenerated(self):

   200

        buildpath = self._getBuildPath()

   201

        # Eventually create build dir

   202

        if not os.path.exists(buildpath):

   203

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

   204

            return

   205

   206

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

   207

        if not os.path.exists(masterpath):

   208

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

   209

            return

   210

   211

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

   212

        new_dialog.Show()

   213

   214

    PluginMethods = [

   215

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

   216

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

   217

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

   218

         "method" : "_OpenView"},

   219

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

   220

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

   221

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

   222

         "method" : "_ShowMasterGenerated"}

   223

    ]

   224

   225

    def OnPlugClose(self):

   226

        if self._View:

   227

            self._View.Close()

   228

   229

    def PlugTestModified(self):

   230

        return self.ChangesToSave or self.HasChanged()

   231

   232

    def OnPlugSave(self):

   233

        self.SetRoot(self.PlugPath())

   234

        return self.SaveProject() is None

   235

   236

    def PlugGenerate_C(self, buildpath, locations):

   237

        """

   238

        Generate C code

   239

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

   240

        @param locations: List of complete variables locations \

   241

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

   242

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

   243

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

   244

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

   245

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

   246

            }, ...]

   247

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

   248

        """

   249

        current_location = self.GetCurrentLocation()

   250

        # define a unique name for the generated C file

   251

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

   252

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

   253

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

   254

        try:

   255

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

   256

        except config_utils.PDOmappingException, e:

   257

            raise Exception, e.message

   258

        # Do generate C file.

   259

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

   260

        if res :

   261

            raise Exception, res

   262

   263

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

   264

        dump(master, file)

   265

        file.close()

   266

   267

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

   268

   269

class RootClass:

   270

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

   271

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

   272

      <xsd:element name="CanFestivalInstance">

   273

        <xsd:complexType>

   274

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

   275

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

   276

        </xsd:complexType>

   277

      </xsd:element>

   278

    </xsd:schema>

   279

    """ % DEFAULT_SETTINGS

   280

   281

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

   282

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

   283

    def GetParamsAttributes(self, path = None):

   284

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

   285

        for element in infos:

   286

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

   287

                for child in element["children"]:

   288

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

   289

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

   290

                        if DLL_LIST is not None:

   291

                            child["type"] = DLL_LIST

   292

                        return infos    

   293

        return infos

   294

   295

    def PlugGenerate_C(self, buildpath, locations):

   296

   297

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

   298

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

   299

                       "nodes_includes" : "",

   300

                       "board_decls" : "",

   301

                       "nodes_init" : "",

   302

                       "nodes_open" : "",

   303

                       "nodes_stop" : "",

   304

                       "nodes_close" : "",

   305

                       "nodes_send_sync" : "",

   306

                       "nodes_proceed_sync" : "",

   307

                       "slavebootups" : "",

   308

                       "slavebootup_register" : "",

   309

                       "post_sync" : "",

   310

                       "post_sync_register" : "",

   311

                       }

   312

        for child in self.IECSortedChilds():

   313

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

   314

            nodename = "OD_%s" % childlocstr

   315

   316

            # Try to get Slave Node

   317

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

   318

            if child_data is None:

   319

                # Not a slave -> master

   320

                child_data = getattr(child, "CanFestivalNode")

   321

                # Apply sync setting

   322

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

   323

                       nodename,

   324

                       child_data.getNodeId())

   325

                if child_data.getSync_TPDOs():

   326

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

   327

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

   328

   329

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   330

                SlaveIDs = child.GetSlaveIDs()

   331

                for id in SlaveIDs:

   332

                    format_dict["slavebootups"] += (

   333

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

   334

                # define post_SlaveBootup lookup functions

   335

                format_dict["slavebootups"] += (

   336

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

   337

                    "    switch(nodeId){\n")

   338

                # one case per declared node, mark node as booted

   339

                for id in SlaveIDs:

   340

                    format_dict["slavebootups"] += (

   341

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

   342

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

   343

                    "            break;\n")

   344

                format_dict["slavebootups"] += (

   345

                    "        default:\n"+

   346

                    "            break;\n"+

   347

                    "    }\n"+

   348

                    "    if( ")

   349

                # expression to test if all declared nodes booted

   350

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

   351

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

   352

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

   353

                    "}\n")

   354

                # register previously declared func as post_SlaveBootup callback for that node

   355

                format_dict["slavebootup_register"] += (

   356

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

   357

            else:

   358

                # Slave node

   359

                align = child_data.getSync_Align()

   360

                align_ratio=child_data.getSync_Align_Ratio()

   361

                if align > 0:

   362

                    format_dict["post_sync"] += (

   363

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

   364

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

   365

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

   366

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

   367

                        "        align_tick(-1);\n"+

   368

                        "    }else{\n"+

   369

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

   370

                        "    }\n"+

   371

                        "}\n")

   372

                    format_dict["post_sync_register"] += (

   373

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

   374

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

   375

                       nodename,

   376

                       child_data.getNodeId())

   377

   378

            # Include generated OD headers

   379

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

   380

            # Declare CAN channels according user filled config

   381

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

   382

                   nodename,

   383

                   child_data.getCAN_Device(),

   384

                   child_data.getCAN_Baudrate())

   385

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

   386

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

   387

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

   388

        if sys.platform == 'win32':

   389

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

   390

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

   391

            else:

   392

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

   393

   394

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

   395

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

   396

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

   397

        f = open(cf_main_path,'w')

   398

        f.write(cf_main)

   399

        f.close()

   400

   401

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

   402

   403