author | Edouard Tisserant |
Fri, 08 Oct 2021 09:11:55 +0200 | |
changeset 3334 | d7e0ddb5974b |
parent 2643 | b98d9e08231f |
child 3750 | f62625418bff |
permissions | -rw-r--r-- |
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#!/usr/bin/env python |
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# -*- coding: utf-8 -*- |
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|
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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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|
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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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139 |
# ----------- call ethercat mng. function -------------- |
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self.CommonMethod = _CommonSlave(self) |
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141 |
|
2111 | 142 |
def GetIconName(self): |
143 |
return "CIA402Slave" |
|
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144 |
|
2111 | 145 |
def SetParamsAttribute(self, path, value): |
146 |
if path == "CIA402SlaveParams.Type": |
|
147 |
path = "SlaveParams.Type" |
|
148 |
elif path == "CIA402SlaveParams.Alias": |
|
149 |
path = "SlaveParams.Alias" |
|
150 |
return _EthercatSlaveCTN.SetParamsAttribute(self, path, value) |
|
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151 |
|
2111 | 152 |
def GetVariableLocationTree(self): |
153 |
axis_name = self.CTNName() |
|
154 |
current_location = self.GetCurrentLocation() |
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155 |
children = [ |
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156 |
{ |
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157 |
"name": name_frmt % (axis_name), |
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158 |
"type": LOCATION_VAR_INPUT, |
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159 |
"size": "W", |
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160 |
"IEC_type": iec_type, |
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161 |
"var_name": var_name_frmt % axis_name, |
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162 |
"location": location_frmt % (".".join(map(str, current_location))), |
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163 |
"description": "", |
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164 |
"children": [] |
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165 |
} |
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166 |
for name_frmt, iec_type, var_name_frmt, location_frmt in [ |
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167 |
("%s Network Position", "UINT", "%s_pos", "%%IW%s"), |
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168 |
("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402") |
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169 |
] |
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170 |
] |
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171 |
children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), |
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172 |
current_location, |
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173 |
axis_name)) |
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174 |
return { |
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175 |
"name": axis_name, |
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176 |
"type": LOCATION_CONFNODE, |
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177 |
"location": self.GetFullIEC_Channel(), |
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"children": children, |
2111 | 179 |
} |
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180 |
|
2111 | 181 |
def CTNGlobalInstances(self): |
182 |
current_location = self.GetCurrentLocation() |
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183 |
return [("%s_%s" % (block_infos["blocktype"], |
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184 |
"_".join(map(str, current_location))), |
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185 |
"EtherLab%s" % block_infos["blocktype"], "") |
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for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES] |
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187 |
|
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188 |
def StartDragNDrop(self, data): |
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data_obj = wx.TextDataObject(str(data)) |
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190 |
dragSource = wx.DropSource(self.GetCTRoot().AppFrame) |
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dragSource.SetData(data_obj) |
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192 |
dragSource.DoDragDrop() |
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193 |
|
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194 |
def _getCIA402NetworkPosition(self): |
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195 |
self.StartDragNDrop( |
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("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())), |
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197 |
"location", "UINT", self.CTNName() + "_Pos", "")) |
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198 |
|
2111 | 199 |
def _getCIA402AxisRef(self): |
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200 |
self.StartDragNDrop( |
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201 |
("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())), |
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|
202 |
"location", "AXIS_REF", self.CTNName(), "")) |
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|
203 |
|
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|
204 |
# add jblee |
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205 |
""" |
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206 |
def LoadPDOSelectData(self): |
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207 |
ReadData = [] |
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|
208 |
files = os.listdir(self.CTNPath()) |
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|
209 |
filepath = os.path.join(self.CTNPath(), "DataForPDO.txt") |
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|
210 |
if os.path.isfile(filepath): |
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|
211 |
PDODataRead = open(filepath, 'r') |
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|
212 |
ReadData = PDODataRead.readlines() |
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|
213 |
PDODataRead.close() |
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|
214 |
|
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|
215 |
if len(ReadData) > 1: |
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|
216 |
for data in ReadData[0].split() : |
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|
217 |
if data == "RxPDO": |
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|
218 |
continue |
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219 |
self.SelectedRxPDOIndex.append(int(data, 0)) |
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|
220 |
|
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221 |
for data in ReadData[1].split() : |
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222 |
if data == "TxPDO": |
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223 |
continue |
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224 |
self.SelectedTxPDOIndex.append(int(data, 0)) |
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|
225 |
""" |
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226 |
|
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227 |
def LoadPDOSelectData(self): |
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228 |
RxPDOData = self.BaseParams.getRxPDO() |
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229 |
RxPDOs = [] |
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230 |
if RxPDOData != "None": |
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231 |
RxPDOs = RxPDOData.split() |
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232 |
if RxPDOs : |
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233 |
for RxPDO in RxPDOs : |
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234 |
self.SelectedRxPDOIndex.append(int(RxPDO, 0)) |
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235 |
|
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|
236 |
TxPDOData = self.BaseParams.getTxPDO() |
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237 |
TxPDOs = [] |
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|
238 |
if TxPDOData != "None": |
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|
239 |
TxPDOs = TxPDOData.split() |
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|
240 |
if TxPDOs : |
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|
241 |
for TxPDO in TxPDOs : |
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242 |
self.SelectedTxPDOIndex.append(int(TxPDO, 0)) |
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|
243 |
|
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244 |
def LoadDefaultPDOSet(self): |
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245 |
ReturnData = [] |
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246 |
rx_pdo_entries = self.CommonMethod.GetRxPDOCategory() |
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247 |
if len(rx_pdo_entries): |
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248 |
for i in range(len(rx_pdo_entries)): |
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249 |
if rx_pdo_entries[i]['sm'] is not None: |
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250 |
ReturnData.append(rx_pdo_entries[i]['pdo_index']) |
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251 |
|
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252 |
tx_pdo_entries = self.CommonMethod.GetTxPDOCategory() |
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253 |
if len(tx_pdo_entries): |
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|
254 |
for i in range(len(tx_pdo_entries)): |
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|
255 |
if tx_pdo_entries[i]['sm'] is not None: |
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256 |
ReturnData.append(tx_pdo_entries[i]['pdo_index']) |
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|
257 |
|
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|
258 |
if ReturnData : |
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259 |
return ReturnData |
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260 |
else : |
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261 |
return [5632, 6656] |
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262 |
|
2111 | 263 |
def CTNGenerate_C(self, buildpath, locations): |
264 |
current_location = self.GetCurrentLocation() |
|
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265 |
|
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266 |
location_str = "_".join(map(str, current_location)) |
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267 |
|
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268 |
# Open CIA402 node code template file |
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269 |
plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], |
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270 |
"plc_cia402node.c") |
2111 | 271 |
plc_cia402node_file = open(plc_cia402node_filepath, 'r') |
272 |
plc_cia402node_code = plc_cia402node_file.read() |
|
273 |
plc_cia402node_file.close() |
|
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|
274 |
# HSAHN 150726 |
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275 |
# add "default_variables_retrieve": [], "default_variables_publish": [], |
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276 |
# As PDO mapping object, it will add auto-complete code. |
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277 |
# add "modeofop_homing_method", "modeofop_computation_mode" by jblee |
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278 |
str_completion = { |
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279 |
"slave_pos": self.GetSlavePos(), |
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280 |
"location": location_str, |
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281 |
"MCL_headers": Headers, |
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282 |
"extern_located_variables_declaration": [], |
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|
283 |
"fieldbus_interface_declaration": [], |
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|
284 |
"fieldbus_interface_definition": [], |
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|
285 |
"entry_variables": [], |
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|
286 |
"init_axis_params": [], |
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|
287 |
"init_entry_variables": [], |
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|
288 |
"default_variables_retrieve": [], |
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|
289 |
"default_variables_publish": [], |
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|
290 |
"extra_variables_retrieve": [], |
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|
291 |
"extra_variables_publish": [], |
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|
292 |
"modeofop_homing_method": [], |
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|
293 |
"modeofop_computation_mode": [] |
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|
294 |
} |
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|
295 |
|
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|
296 |
for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES: |
2641
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|
297 |
texts = { |
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|
298 |
"blocktype": blocktype_infos["blocktype"], |
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|
299 |
"ucase_blocktype": blocktype_infos["blocktype"].upper(), |
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|
300 |
"location": "_".join(map(str, current_location)) |
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|
301 |
} |
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|
302 |
texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts |
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|
303 |
|
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|
304 |
inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())}, |
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|
305 |
{"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\ |
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|
306 |
[{"input_name": input["name"].upper(), |
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|
307 |
"input_value": "__GET_VAR(data__->%s)" % input["name"].upper()} |
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|
308 |
for input in blocktype_infos["inputs"]] |
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|
309 |
input_texts = [] |
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|
310 |
for input_infos in inputs: |
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|
311 |
input_infos.update(texts) |
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|
312 |
input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos) |
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|
313 |
texts["extract_inputs"] = "\n".join(input_texts) |
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|
314 |
|
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|
315 |
outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \ |
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|
316 |
[{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]] |
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|
317 |
output_texts = [] |
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|
318 |
for output_infos in outputs: |
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changeset
|
319 |
output_infos.update(texts) |
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|
320 |
output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos) |
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|
321 |
texts["return_outputs"] = "\n".join(output_texts) |
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|
322 |
|
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|
323 |
str_completion["fieldbus_interface_declaration"].append( |
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|
324 |
BLOCK_FUNCTION_TEMPLATE % texts) |
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|
325 |
|
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|
326 |
str_completion["fieldbus_interface_definition"].append( |
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|
327 |
BLOCK_FUNTION_DEFINITION_TEMPLATE % texts) |
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|
328 |
|
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|
329 |
variables = NODE_VARIABLES[:] |
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|
330 |
|
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|
331 |
#HSAHN |
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|
332 |
#2015. 7. 24 PDO Variable |
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|
333 |
#if PDO is not selected, use 1st PDO set |
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|
334 |
self.LoadPDOSelectData() |
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changeset
|
335 |
if not self.SelectedRxPDOIndex and not self.SelectedTxPDOIndex : |
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changeset
|
336 |
self.SelectedPDOIndex = self.LoadDefaultPDOSet() |
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|
337 |
else : |
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EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
338 |
self.SelectedPDOIndex = self.SelectedRxPDOIndex + self.SelectedTxPDOIndex |
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EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
339 |
|
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changeset
|
340 |
add_idx = [] |
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EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
341 |
for i in range(len(ADD_NODE_VARIABLES)): |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
342 |
add_idx.append(ADD_NODE_VARIABLES[i]['index']) |
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EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
343 |
|
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changeset
|
344 |
self.CommonMethod.RequestPDOInfo() |
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EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
345 |
pdo_info = self.CommonMethod.GetRxPDOCategory() + self.CommonMethod.GetTxPDOCategory() |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
346 |
pdo_entry = self.CommonMethod.GetRxPDOInfo() + self.CommonMethod.GetTxPDOInfo() |
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EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
347 |
list_index = 0 |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
348 |
ModeOfOpFlag = False |
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EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
349 |
ModeOfOpDisplayFlag = False |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
350 |
for i in range(len(pdo_info)): |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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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).
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parents:
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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).
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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:
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changeset
|
354 |
for used_data in used: |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
355 |
# 24672 -> 0x6060, Mode of Operation |
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EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
356 |
if used_data['entry_index'] == 24672: |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
357 |
ModeOfOpFlag = True |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
358 |
# 24673 -> 0x6061, Mode of Operation Display |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
359 |
elif used_data["entry_index"] == 24673: |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
360 |
ModeOfOpDisplayFlag = True |
c9deff128c37
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changeset
|
361 |
|
c9deff128c37
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changeset
|
362 |
if used_data['entry_index'] in add_idx: |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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changeset
|
363 |
idx = add_idx.index(used_data['entry_index']) |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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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).
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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).
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parents:
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changeset
|
366 |
ADD_NODE_VARIABLES[idx]['direction']]) |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
367 |
variables.append(adder) |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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changeset
|
368 |
if ADD_NODE_VARIABLES[idx]['direction'] == "Q": |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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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).
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parents:
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changeset
|
370 |
# add jblee |
c9deff128c37
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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:
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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).
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parents:
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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:
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diff
changeset
|
374 |
elif ADD_NODE_VARIABLES[idx]['direction'] == "I": |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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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:
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diff
changeset
|
376 |
# add jblee |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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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:
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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).
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parents:
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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:
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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:
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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:
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diff
changeset
|
382 |
|
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
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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:
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diff
changeset
|
384 |
for param in params["children"]: |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
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parents:
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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:
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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:
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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:
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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:
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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:
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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:
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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:
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diff
changeset
|
392 |
} |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
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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:
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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:
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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).
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parents:
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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:
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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:
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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:
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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:
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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:
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diff
changeset
|
403 |
|
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
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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:
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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:
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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:
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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:
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diff
changeset
|
409 |
} |
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
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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>
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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:
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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:
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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:
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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:
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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:
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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:
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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:
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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:
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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:
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diff
changeset
|
420 |
|
c9deff128c37
EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents:
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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:
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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:
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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:
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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 | 447 |
|
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 | 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 | 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 |