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

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

    21

#                    SLAVE

    22

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

    23

    24

class _SlavePlug(NodeManager):

    25

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

    26

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

    27

      <xsd:element name="CanFestivalSlaveNode">

    28

        <xsd:complexType>

    29

          <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>

    30

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>

    31

          <xsd:attribute name="NodeId" type="xsd:string" use="required"/>

    32

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

    33

        </xsd:complexType>

    34

      </xsd:element>

    35

    </xsd:schema>

    36

    """

    37

    38

    def GetSlaveODPath(self):

    39

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

    40

    41

    def __init__(self):

    42

        # TODO change netname when name change

    43

        NodeManager.__init__(self)

    44

        odfilepath = self.GetSlaveODPath()

    45

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

    46

            self.OpenFileInCurrent(odfilepath)

    47

        else:

    48

            self.FilePath = ""

    49

            dialog = CreateNodeDialog(None, wx.OK)

    50

            dialog.Type.Enable(False)

    51

            dialog.GenSYNC.Enable(False)

    52

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

    53

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

    54

                profile, filepath = dialog.GetProfile()

    55

                NMT = dialog.GetNMTManagement()

    56

                options = dialog.GetOptions()

    57

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

    58

                                   id,         # NodeID - will be changed at build time

    59

                                   "slave",    # Type

    60

                                   description,# description 

    61

                                   profile,    # profile

    62

                                   filepath,   # prfile filepath

    63

                                   NMT,        # NMT

    64

                                   options)     # options

    65

            else:

    66

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

    67

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

    68

                                   "slave",      # Type

    69

                                   "",           # description 

    70

                                   "None",       # profile

    71

                                   "", # prfile filepath

    72

                                   "heartbeat",  # NMT

    73

                                   [])           # options

    74

            dialog.Destroy()

    75

    _View = None

    76

    def _OpenView(self, logger):

    77

        if not self._View:

    78

            def _onclose():

    79

                self._View = None

    80

            def _onsave():

    81

                self.GetPlugRoot().SaveProject()

    82

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

    83

            # TODO redefine BusId when IEC channel change

    84

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

    85

            self._View._onclose = _onclose

    86

            self._View._onsave = _onsave

    87

            self._View.Show()

    88

    89

    PluginMethods = [

    90

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

    91

         "name" : "Edit slave", 

    92

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

    93

         "method" : "_OpenView"},

    94

    ]

    95

    96

    def OnPlugClose(self):

    97

        if self._View:

    98

            self._View.Close()

    99

   100

    def PlugTestModified(self):

   101

        return self.ChangesToSave or self.OneFileHasChanged()

   102

   103

    def OnPlugSave(self):

   104

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   105

   106

    def PlugGenerate_C(self, buildpath, locations, logger):

   107

        """

   108

        Generate C code

   109

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

   110

        @param locations: List of complete variables locations \

   111

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

   112

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

   113

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

   114

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

   115

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

   116

            }, ...]

   117

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

   118

        """

   119

        current_location = self.GetCurrentLocation()

   120

        # define a unique name for the generated C file

   121

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

   122

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

   123

        # Create a new copy of the model

   124

        slave = self.GetCurrentNodeCopy()

   125

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

   126

        # allow access to local OD from Slave PLC

   127

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

   128

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

   129

        if res :

   130

            raise Exception, res

   131

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

   132

        if res :

   133

            raise Exception, res

   134

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

   135

   136

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

   137

#                    MASTER

   138

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

   139

   140

class _NodeListPlug(NodeList):

   141

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

   142

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

   143

      <xsd:element name="CanFestivalNode">

   144

        <xsd:complexType>

   145

          <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>

   146

          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>

   147

          <xsd:attribute name="NodeId" type="xsd:string" use="required"/>

   148

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

   149

        </xsd:complexType>

   150

      </xsd:element>

   151

    </xsd:schema>

   152

    """

   153

   154

    def __init__(self):

   155

        manager = NodeManager()

   156

        # TODO change netname when name change

   157

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

   158

        self.LoadProject(self.PlugPath())

   159

   160

    _View = None

   161

    def _OpenView(self, logger):

   162

        if not self._View:

   163

            def _onclose():

   164

                self._View = None

   165

            def _onsave():

   166

                self.GetPlugRoot().SaveProject()

   167

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

   168

            # TODO redefine BusId when IEC channel change

   169

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

   170

            self._View._onclose = _onclose

   171

            self._View._onsave = _onsave

   172

            self._View.Show()

   173

   174

    def _ShowMasterGenerated(self, logger):

   175

        buildpath = self._getBuildPath()

   176

        # Eventually create build dir

   177

        if not os.path.exists(buildpath):

   178

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

   179

            return

   180

   181

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

   182

        if not os.path.exists(masterpath):

   183

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

   184

            return

   185

   186

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

   187

        new_dialog.Show()

   188

   189

    PluginMethods = [

   190

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

   191

         "name" : "Edit network", 

   192

         "tooltip" : "Edit CanOpen Network with NetworkEdit",

   193

         "method" : "_OpenView"},

   194

        {"name" : "Show Master", 

   195

         "tooltip" : "Show Master generated by config_utils",

   196

         "method" : "_ShowMasterGenerated"}

   197

    ]

   198

   199

    def OnPlugClose(self):

   200

        if self._View:

   201

            self._View.Close()

   202

   203

    def PlugTestModified(self):

   204

        return self.ChangesToSave or self.HasChanged()

   205

   206

    def OnPlugSave(self):

   207

        self.SetRoot(self.PlugPath())

   208

        return self.SaveProject() is not None

   209

   210

    def PlugGenerate_C(self, buildpath, locations, logger):

   211

        """

   212

        Generate C code

   213

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

   214

        @param locations: List of complete variables locations \

   215

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

   216

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

   217

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

   218

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

   219

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

   220

            }, ...]

   221

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

   222

        """

   223

        current_location = self.GetCurrentLocation()

   224

        # define a unique name for the generated C file

   225

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

   226

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

   227

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

   228

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

   229

        # allow access to local OD from Master PLC

   230

        pointers.update(config_utils.LocalODPointers(locations, current_location, master))

   231

        # Do generate C file.

   232

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

   233

        if res :

   234

            raise Exception, res

   235

   236

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

   237

        dump(master, file)

   238

        file.close()

   239

   240

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

   241

   242

class RootClass:

   243

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

   244

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

   245

      <xsd:element name="CanFestivalInstance">

   246

        <xsd:complexType>

   247

          <xsd:attribute name="CAN_Driver" type="xsd:string" use="required"/>

   248

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

   249

        </xsd:complexType>

   250

      </xsd:element>

   251

    </xsd:schema>

   252

    """

   253

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

   254

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

   255

    def GetParamsAttributes(self, path = None):

   256

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

   257

        for element in infos:

   258

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

   259

                for child in element["children"]:

   260

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

   261

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

   262

                        if DLL_LIST is not None:

   263

                            child["type"] = DLL_LIST

   264

                        return infos    

   265

        return infos

   266

   267

    def PlugGenerate_C(self, buildpath, locations, logger):

   268

   269

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

   270

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

   271

                       "nodes_includes" : "",

   272

                       "board_decls" : "",

   273

                       "nodes_init" : "",

   274

                       "nodes_open" : "",

   275

                       "nodes_close" : "",

   276

                       "nodes_send_sync" : "",

   277

                       "nodes_proceed_sync" : "",

   278

                       "slavebootups" : "",

   279

                       "slavebootup_register" : "",

   280

                       "post_sync" : "",

   281

                       "post_sync_register" : "",

   282

                       }

   283

        for child in self.IECSortedChilds():

   284

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

   285

            nodename = "OD_%s" % childlocstr

   286

   287

            # Try to get Slave Node

   288

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

   289

            if child_data is None:

   290

                # Not a slave -> master

   291

                child_data = getattr(child, "CanFestivalNode")

   292

                # Apply sync setting

   293

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

   294

                       nodename,

   295

                       child_data.getNodeId())

   296

                if child_data.getSync_TPDOs():

   297

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

   298

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

   299

   300

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   301

                SlaveIDs = child.GetSlaveIDs()

   302

                for id in SlaveIDs:

   303

                    format_dict["slavebootups"] += (

   304

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

   305

                # define post_SlaveBootup lookup functions

   306

                format_dict["slavebootups"] += (

   307

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

   308

                    "    switch(nodeId){\n")

   309

                # one case per declared node, mark node as booted

   310

                for id in SlaveIDs:

   311

                    format_dict["slavebootups"] += (

   312

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

   313

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

   314

                    "            break;\n")

   315

                format_dict["slavebootups"] += (

   316

                    "        default:\n"+

   317

                    "            break;\n"+

   318

                    "    }\n"+

   319

                    "    if( ")

   320

                # expression to test if all declared nodes booted

   321

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

   322

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

   323

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

   324

                    "}\n")

   325

                # register previously declared func as post_SlaveBootup callback for that node

   326

                format_dict["slavebootup_register"] += (

   327

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

   328

            else:

   329

                # Slave node

   330

                align = child_data.getSync_Align()

   331

                if align > 0:

   332

                    format_dict["post_sync"] += (

   333

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

   334

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

   335

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

   336

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

   337

                        "        align_tick(1);\n"+

   338

                        "    }else{\n"+

   339

                        "        align_tick(0);\n"+

   340

                        "    }\n"+

   341

                        "}\n")

   342

                    format_dict["post_sync_register"] += (

   343

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

   344

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

   345

                       nodename,

   346

                       child_data.getNodeId())

   347

   348

            # Include generated OD headers

   349

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

   350

            # Declare CAN channels according user filled config

   351

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

   352

                   nodename,

   353

                   child_data.getCAN_Device(),

   354

                   child_data.getCAN_Baudrate())

   355

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

   356

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

   357

   358

        if sys.platform == 'win32':

   359

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

   360

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

   361

            else:

   362

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

   363

   364

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

   365

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

   366

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

   367

        f = open(cf_main_path,'w')

   368

        f.write(cf_main)

   369

        f.close()

   370

   371

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

   372

   373