1

#!/usr/bin/env python

     2

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

     3

     4

     5

# This file is part of Beremiz

     6

#

     7

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

     8

#

     9

# See COPYING file for copyrights details.

    10

    11

import os

    12

import wx

    13

    14

mailbox_protocols =  ["AoE", "EoE", "CoE", "FoE", "SoE", "VoE"]

    15

    16

def ExtractHexDecValue(value):

    17

    """

    18

     convert numerical value in string format into decimal or hex format.

    19

     @param value : hex or decimal data

    20

     @return integer data

    21

    """

    22

    try:

    23

        return int(value)

    24

    except:

    25

        pass

    26

    try:

    27

        return int(value.replace("#", "0"), 16)

    28

    29

    except:

    30

        raise ValueError, "Invalid value for HexDecValue \"%s\"" % value

    31

    32

def ExtractName(names, default=None):

    33

    """

    34

     Extract "name" field from XML entries.

    35

     @param names : XML entry

    36

     @default : if it fails to extract from the designated XML entry, return the default value ("None").

    37

     @return default or the name extracted

    38

    """

    39

    if len(names) == 1:

    40

        return names[0].getcontent()

    41

    else:

    42

        for name in names:

    43

            if name.getLcId() == 1033:

    44

                return name.getcontent()

    45

    return default

    46

    47

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

    48

#         Remote Exec Etherlab Commands

    49

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

    50

    51

# --------------------- for master ---------------------------

    52

MASTER_STATE = """

    53

import commands

    54

result = commands.getoutput("ethercat master")

    55

returnVal =result 

    56

"""

    57

    58

# --------------------- for slave ----------------------------

    59

# ethercat state -p (slave position) (state (INIT, PREOP, SAFEOP, OP))

    60

SLAVE_STATE = """

    61

import commands

    62

result = commands.getoutput("ethercat state -p %d %s")

    63

returnVal = result 

    64

"""

    65

    66

# ethercat slave

    67

GET_SLAVE = """

    68

import commands

    69

result = commands.getoutput("ethercat slaves")

    70

returnVal =result 

    71

"""

    72

    73

# ethercat xml -p (slave position)

    74

SLAVE_XML = """

    75

import commands

    76

result = commands.getoutput("ethercat xml -p %d")

    77

returnVal = result 

    78

"""

    79

    80

# ethercat sdos -p (slave position)

    81

SLAVE_SDO = """

    82

import commands

    83

result = commands.getoutput("ethercat sdos -p %d")

    84

returnVal =result 

    85

"""

    86

    87

# ethercat upload -p (slave position) (main index) (sub index)

    88

GET_SLOW_SDO = """

    89

import commands

    90

result = commands.getoutput("ethercat upload -p %d %s %s")

    91

returnVal =result 

    92

"""

    93

    94

# ethercat download -p (slave position) (main index) (sub index) (value)

    95

SDO_DOWNLOAD = """

    96

import commands

    97

result = commands.getoutput("ethercat download --type %s -p %d %s %s %s")

    98

returnVal =result 

    99

"""

   100

   101

# ethercat sii_read -p (slave position)

   102

SII_READ = """

   103

import commands

   104

result = commands.getoutput("ethercat sii_read -p %d")

   105

returnVal =result 

   106

"""

   107

   108

# ethercat reg_read -p (slave position) (address) (size)

   109

REG_READ = """

   110

import commands

   111

result = commands.getoutput("ethercat reg_read -p %d %s %s")

   112

returnVal =result 

   113

"""

   114

   115

# ethercat sii_write -p (slave position) - (contents)

   116

SII_WRITE = """ 

   117

import subprocess 

   118

process = subprocess.Popen(

   119

    ["ethercat", "-f", "sii_write", "-p", "%d", "-"],

   120

    stdin=subprocess.PIPE)

   121

process.communicate(sii_data)

   122

returnVal = process.returncode 

   123

"""

   124

   125

# ethercat reg_write -p (slave position) -t (uinit16) (address) (data)

   126

REG_WRITE = """ 

   127

import commands

   128

result = commands.getoutput("ethercat reg_write -p %d -t uint16 %s %s")

   129

returnVal =result 

   130

""" 

   131

   132

# ethercat rescan -p (slave position)

   133

RESCAN = """ 

   134

import commands

   135

result = commands.getoutput("ethercat rescan -p %d")

   136

returnVal =result 

   137

"""

   138

   139

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

   140

#    Common Method For EtherCAT Management 

   141

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

   142

class _CommonSlave:

   143

   144

    # ----- Data Structure for ethercat management ----

   145

    SlaveState = ""

   146

   147

    # category of SDO data

   148

    DatatypeDescription, CommunicationObject, ManufacturerSpecific, \

   149

    ProfileSpecific, Reserved, AllSDOData = range(6)

   150

   151

    # store the execution result of "ethercat sdos" command into SaveSDOData.

   152

    SaveSDOData = []

   153

   154

    # Flags for checking "write" permission of OD entries 

   155

    CheckPREOP = False

   156

    CheckSAFEOP = False

   157

    CheckOP = False

   158

   159

    # Save PDO Data

   160

    TxPDOInfo = []

   161

    TxPDOCategory = []

   162

    RxPDOInfo = []

   163

    RxPDOCategory = []

   164

   165

    # Save EEPROM Data

   166

    SiiData = ""

   167

   168

    # Save Register Data

   169

    RegData = ""

   170

    CrtRegSpec = {"ESCType": "",

   171

                  "FMMUNumber": "",

   172

                  "SMNumber": "",

   173

                  "PDIType": ""}

   174

   175

    def __init__(self, controler):

   176

        """

   177

        Constructor

   178

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   179

        """

   180

        self.Controler = controler

   181

   182

        self.ClearSDODataSet()

   183

   184

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

   185

    #                        Used Master State

   186

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

   187

    def GetMasterState(self):

   188

        """

   189

        Execute "ethercat master" command and parse the execution result

   190

        @return MasterState 

   191

        """

   192

   193

        # exectute "ethercat master" command 

   194

        error, return_val = self.Controler.RemoteExec(MASTER_STATE, return_val = None)

   195

        master_state = {}

   196

        # parse the reslut

   197

        for each_line in return_val.splitlines():

   198

            if len(each_line) > 0 :

   199

                chunks = each_line.strip().split(':', 1)

   200

                key = chunks[0]

   201

                value = []

   202

                if len(chunks) > 1 :

   203

                    value = chunks[1].split()

   204

                if '(attached)' in value:

   205

                    value.remove('(attached)')

   206

                master_state[key] = value

   207

   208

        return master_state     

   209

   210

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

   211

    #                        Used Slave State

   212

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

   213

    def RequestSlaveState(self, command):

   214

        """

   215

        Set slave state to the specified one using "ethercat states -p %d %s" command.

   216

        Command example : "ethercat states -p 0 PREOP" (target slave position and target state are given.)

   217

        @param command : target slave state 

   218

        """

   219

        error, return_val = self.Controler.RemoteExec(SLAVE_STATE%(self.Controler.GetSlavePos(), command), return_val = None)

   220

   221

    def GetSlaveStateFromSlave(self):  

   222

        """

   223

        Get slave information using "ethercat slaves" command and store the information into internal data structure 

   224

        (self.SlaveState) for "Slave State" 

   225

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

   226

        """ 

   227

        error, return_val = self.Controler.RemoteExec(GET_SLAVE, return_val = None)

   228

        self.SlaveState = return_val

   229

        return return_val 

   230

   231

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

   232

    #                        Used SDO Management

   233

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

   234

    def GetSlaveSDOFromSlave(self):

   235

        """

   236

        Get SDO objects information of current slave using "ethercat sdos -p %d" command.

   237

        Command example : "ethercat sdos -p 0"

   238

        @return return_val : execution results of "ethercat sdos" command (need to be parsed later)

   239

        """  

   240

        error, return_val = self.Controler.RemoteExec(SLAVE_SDO%(self.Controler.GetSlavePos()), return_val = None)

   241

        return return_val   

   242

   243

    def SDODownload(self, data_type, idx, sub_idx, value):

   244

        """

   245

        Set an SDO object value to user-specified value using "ethercat download" command.

   246

        Command example : "ethercat download --type int32 -p 0 0x8020 0x12 0x00000000"

   247

        @param data_type : data type of SDO entry

   248

        @param idx : index of the SDO entry

   249

        @param sub_idx : subindex of the SDO entry

   250

        @param value : value of SDO entry

   251

        """  

   252

        error, return_val = self.Controler.RemoteExec(SDO_DOWNLOAD%(data_type, self.Controler.GetSlavePos(), idx, sub_idx, value), return_val = None)

   253

   254

    def BackupSDODataSet(self):

   255

        """

   256

        Back-up current SDO entry information to restore the SDO data 

   257

         in case that the user cancels SDO update operation.

   258

    	"""  

   259

        self.BackupDatatypeDescription = self.SaveDatatypeDescription

   260

        self.BackupCommunicationObject = self.SaveCommunicationObject

   261

        self.BackupManufacturerSpecific = self.SaveManufacturerSpecific

   262

        self.BackupProfileSpecific = self.SaveProfileSpecific

   263

        self.BackupReserved = self.SaveReserved

   264

        self.BackupAllSDOData = self.SaveAllSDOData

   265

   266

    def ClearSDODataSet(self):

   267

        """

   268

        Clear the specified SDO entry information.

   269

        """ 

   270

        for count in range(6):

   271

            self.SaveSDOData.append([])

   272

   273

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

   274

    #                        Used PDO Monitoring

   275

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

   276

    def RequestPDOInfo(self):

   277

        """

   278

        Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method).

   279

        """ 

   280

        # Load slave information from ESI XML file (def EthercatMaster.py)

   281

        slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())

   282

   283

        type_infos = slave.getType()

   284

        device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)

   285

        # Initialize PDO data set

   286

        self.ClearDataSet()

   287

   288

        # if 'device' object is valid, call SavePDOData() to parse PDO data 

   289

        if device is not None :

   290

            self.SavePDOData(device)

   291

   292

    def SavePDOData(self, device):

   293

        """

   294

        Parse PDO data and store the results in TXPDOCategory and RXPDOCategory

   295

        Tx(Rx)PDOCategory : index, name, entry number

   296

        Tx(Rx)Info : entry index, sub index, name, length, type

   297

        @param device : Slave information extracted from ESI XML file

   298

        """ 

   299

        # Parsing TXPDO entries

   300

        for pdo, pdo_info in ([(pdo, "Inputs") for pdo in device.getTxPdo()]):

   301

            # Save pdo_index, entry, and name of each entry

   302

            pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())

   303

            entries = pdo.getEntry()

   304

            pdo_name = ExtractName(pdo.getName())

   305

   306

            # Initialize entry number count

   307

            count = 0

   308

   309

            # Parse entries

   310

            for entry in entries:

   311

                # Save index and subindex

   312

                index = ExtractHexDecValue(entry.getIndex().getcontent())

   313

                subindex = ExtractHexDecValue(entry.getSubIndex())

   314

                # if entry name exists, save entry data

   315

                if ExtractName(entry.getName()) is not None :

   316

                    entry_infos = {

   317

                                "entry_index" : index,

   318

                                "subindex" : subindex,

   319

                                "name" : ExtractName(entry.getName()),

   320

                                "bitlen" : entry.getBitLen(),

   321

                                "type" : entry.getDataType().getcontent()

   322

                                    }

   323

                    self.TxPDOInfo.append(entry_infos)

   324

                    count += 1

   325

   326

            categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count}  

   327

            self.TxPDOCategory.append(categorys)

   328

   329

        # Parsing RxPDO entries

   330

        for pdo, pdo_info in ([(pdo, "Outputs") for pdo in device.getRxPdo()]):

   331

            # Save pdo_index, entry, and name of each entry

   332

            pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())

   333

            entries = pdo.getEntry()

   334

            pdo_name = ExtractName(pdo.getName())

   335

   336

            # Initialize entry number count

   337

            count = 0          

   338

   339

            # Parse entries          

   340

            for entry in entries:

   341

                # Save index and subindex

   342

                index = ExtractHexDecValue(entry.getIndex().getcontent())

   343

                subindex = ExtractHexDecValue(entry.getSubIndex())

   344

                # if entry name exists, save entry data

   345

                if ExtractName(entry.getName()) is not None :

   346

                    entry_infos = {

   347

                                "entry_index" : index,

   348

                                "subindex" : subindex,

   349

                                "name" : ExtractName(entry.getName()),

   350

                                "bitlen" : str(entry.getBitLen()),

   351

                                "type" : entry.getDataType().getcontent()

   352

                                    }

   353

                    self.RxPDOInfo.append(entry_infos)

   354

                    count += 1

   355

   356

            categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count}  

   357

            self.RxPDOCategory.append(categorys) 

   358

   359

    def GetTxPDOCategory(self):

   360

        """

   361

        Get TxPDOCategory data structure (Meta informaton of TxPDO).

   362

        TxPDOCategorys : index, name, number of entries

   363

        @return TxPDOCategorys

   364

        """ 

   365

        return self.TxPDOCategory

   366

   367

    def GetRxPDOCategory(self):

   368

        """

   369

        Get RxPDOCategory data structure (Meta information of RxPDO).

   370

        RxPDOCategorys : index, name, number of entries

   371

        @return RxPDOCategorys

   372

        """ 

   373

        return self.RxPDOCategory

   374

   375

    def GetTxPDOInfo(self):

   376

        """

   377

        Get TxPDOInfo data structure (Detailed information on TxPDO entries). 

   378

        TxPDOInfos : entry index, sub index, name, length, type

   379

        @return TxPDOInfos

   380

        """ 

   381

        return self.TxPDOInfo

   382

   383

    def GetRxPDOInfo(self):

   384

        """

   385

        Get RxPDOInfo data structure (Detailed information on RxPDO entries). 

   386

        RxPDOInfos : entry index, sub index, name, length, type

   387

        @return RxPDOInfos

   388

        """ 

   389

        return self.RxPDOInfo

   390

   391

    def ClearDataSet(self):

   392

        """

   393

        Initialize PDO management data structure.

   394

        """ 

   395

        self.TxPDOInfos = []

   396

        self.TxPDOCategorys = []

   397

        self.RxPDOInfos = []

   398

        self.RxPDOCategorys = []

   399

   400

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

   401

    #                        Used EEPROM Management

   402

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

   403

    # Base data types in ETG2000; format = {"Name": "BitSize"}

   404

    BaseDataTypeDict = {"BOOL": "01",

   405

                        "SINT": "02",

   406

                        "INT": "03",

   407

                        "DINT": "04",

   408

                        "USINT": "05",

   409

                        "UINT": "06",

   410

                        "UDINT": "07",

   411

                        "REAL": "08",

   412

                        "INT24": "10",

   413

                        "LREAL": "11",

   414

                        "INT40": "12",

   415

                        "INT48": "13",

   416

                        "INT56": "14",

   417

                        "LINT": "15",

   418

                        "UINT24": "16",

   419

                        "UINT40": "18",

   420

                        "UINT48": "19",

   421

                        "UINT56": "1a",

   422

                        "ULINT": "1b",

   423

                        "USINT": "1e",

   424

                        "BITARR8": "2d",

   425

                        "BITARR16": "2e",

   426

                        "BITARR32": "2f",

   427

                        "BIT1": "30",

   428

                        "BIT2": "31",

   429

                        "BIT3": "32",

   430

                        "BIT4": "33",

   431

                        "BIT5": "34",

   432

                        "BIT6": "35",

   433

                        "BIT7": "36",

   434

                        "BIT8": "37"}        

   435

   436

    def GetSmartViewInfos(self):

   437

        """

   438

        Parse XML data for "Smart View" of EEPROM contents.

   439

        @return smartview_infos : EEPROM contents dictionary

   440

        """ 

   441

   442

        smartview_infos = {"eeprom_size": 128,

   443

                           "pdi_type": 0,

   444

                           "device_emulation": "False",

   445

                           "vendor_id": '0x00000000',

   446

                           "product_code": '0x00000000',

   447

                           "revision_no": '0x00000000',

   448

                           "serial_no": '0x00000000',

   449

                           "supported_mailbox": "",

   450

                           "mailbox_bootstrapconf_outstart": '0',

   451

                           "mailbox_bootstrapconf_outlength": '0',

   452

                           "mailbox_bootstrapconf_instart": '0',

   453

                           "mailbox_bootstrapconf_inlength": '0',

   454

                           "mailbox_standardconf_outstart": '0',

   455

                           "mailbox_standardconf_outlength": '0',

   456

                           "mailbox_standardconf_instart": '0',

   457

                           "mailbox_standardconf_inlength": '0'}

   458

   459

        slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())

   460

        type_infos = slave.getType()

   461

        device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)

   462

   463

        # 'device' represents current slave device selected by user

   464

        if device is not None:

   465

            for eeprom_element in device.getEeprom().getcontent():

   466

                # get EEPROM size; <Device>-<Eeprom>-<ByteSize>

   467

                if eeprom_element["name"] == "ByteSize":

   468

                    smartview_infos["eeprom_size"] = eeprom_element

   469

   470

                elif eeprom_element["name"] == "ConfigData":

   471

                    configData_data = self.DecimalToHex(eeprom_element)

   472

                    # get PDI type; <Device>-<Eeprom>-<ConfigData> address 0x00

   473

                    smartview_infos["pdi_type"] = int(configData_data[0:2], 16)

   474

                    # get state of device emulation; <Device>-<Eeprom>-<ConfigData> address 0x01

   475

                    if "{:0>8b}".format(int(configData_data[2:4], 16))[7] == '1':

   476

                        smartview_infos["device_emulation"] = "True"

   477

   478

                elif eeprom_element["name"] == "BootStrap":

   479

                    bootstrap_data = "{:0>16x}".format(eeprom_element)

   480

                    # get bootstrap configuration; <Device>-<Eeprom>-<BootStrap>

   481

                    for cfg, iter in [("mailbox_bootstrapconf_outstart", 0), 

   482

                                      ("mailbox_bootstrapconf_outlength", 1),

   483

                                      ("mailbox_bootstrapconf_instart", 2),

   484

                                      ("mailbox_bootstrapconf_inlength", 3)]:

   485

                        smartview_infos[cfg] = str(int(bootstrap_data[4*iter+2:4*(iter+1)]+bootstrap_data[4*iter:4*iter+2], 16))

   486

   487

            # get protocol (profile) types supported by mailbox; <Device>-<Mailbox>

   488

            mb = device.getMailbox()

   489

            if mb is not None:

   490

                for mailbox_protocol in mailbox_protocols:

   491

                    if getattr(mb,"get%s"%mailbox_protocol)() is not None:

   492

                        smartview_infos["supported_mailbox"] += "%s,  "%mailbox_protocol

   493

            smartview_infos["supported_mailbox"] = smartview_infos["supported_mailbox"].strip(",  ")

   494

   495

            # get standard configuration of mailbox; <Device>-<Sm>

   496

            for sm_element in device.getSm():

   497

                if sm_element.getcontent() == "MBoxOut":

   498

                    smartview_infos["mailbox_standardconf_outstart"] = str(ExtractHexDecValue(sm_element.getStartAddress()))

   499

                    smartview_infos["mailbox_standardconf_outlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize()))

   500

                elif sm_element.getcontent() == "MBoxIn":

   501

                    smartview_infos["mailbox_standardconf_instart"] = str(ExtractHexDecValue(sm_element.getStartAddress()))

   502

                    smartview_infos["mailbox_standardconf_inlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize()))

   503

                else:

   504

                    pass

   505

   506

            # get device identity from <Device>-<Type>

   507

            #  vendor ID; by default, pre-defined value in self.ModulesLibrary

   508

            #             if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID.

   509

            for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():

   510

                for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]:

   511

                    if available_device[0] == type_infos["device_type"]:

   512

                        smartview_infos["vendor_id"] = "0x" + "{:0>8x}".format(vendor_id)

   513

   514

            #  product code; 

   515

            if device.getType().getProductCode() is not None:

   516

                product_code = device.getType().getProductCode()

   517

                smartview_infos["product_code"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(product_code))

   518

   519

            #  revision number; 

   520

            if device.getType().getRevisionNo() is not None:

   521

                revision_no = device.getType().getRevisionNo()

   522

                smartview_infos["revision_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(revision_no))

   523

   524

            #  serial number;

   525

            if device.getType().getSerialNo() is not None:

   526

                serial_no = device.getType().getSerialNo()

   527