1

import os, sys

     3

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

     4

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

     5

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

     6

     9

from nodelist import NodeList

    10

from nodemanager import NodeManager

    11

import config_utils, gen_cfile, eds_utils

    12

from networkedit import networkedit

    13

from objdictedit import objdictedit

    14

import canfestival_config as local_canfestival_config

    15

from ConfigTreeNode import ConfigTreeNode

    16

from commondialogs import CreateNodeDialog

    17

    18

from SlaveEditor import SlaveEditor, MasterViewer

    19

from NetworkEditor import NetworkEditor

    20

    21

from gnosis.xml.pickle import *

    22

from gnosis.xml.pickle.util import setParanoia

    23

setParanoia(0)

    24

    28

if wx.Platform == '__WXMSW__':

    29

    DEFAULT_SETTINGS = {

    30

        "CAN_Driver": "can_tcp_win32",

    31

        "CAN_Device": "127.0.0.1",

    32

        "CAN_Baudrate": "125K",

    33

        "Slave_NodeId": 2,

    34

        "Master_NodeId": 1,

    35

    }

    36

else:

    37

    DEFAULT_SETTINGS = {

    38

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

    39

        "CAN_Device": "vcan0",

    40

        "CAN_Baudrate": "125K",

    41

        "Slave_NodeId": 2,

    42

        "Master_NodeId": 1,

    43

    }

    44

    45

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

    46

#                    SLAVE

    47

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

    48

    49

class _SlaveCTN(NodeManager):

    50

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

    51

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

    52

      <xsd:element name="CanFestivalSlaveNode">

    53

        <xsd:complexType>

    54

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

    55

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

    56

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

    57

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

    58

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

    59

            <xsd:simpleType>

    60

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

    61

                    <xsd:minInclusive value="1"/>

    62

                    <xsd:maxInclusive value="99"/>

    63

                </xsd:restriction>

    64

            </xsd:simpleType>

    65

          </xsd:attribute>

    66

        </xsd:complexType>

    67

      </xsd:element>

    68

    </xsd:schema>

    69

    """ % DEFAULT_SETTINGS

    70

    71

    EditorType = SlaveEditor

    72

    IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")

    73

    74

    def __init__(self):

    75

        # TODO change netname when name change

    76

        NodeManager.__init__(self)

    77

        odfilepath = self.GetSlaveODPath()

    78

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

    79

            self.OpenFileInCurrent(odfilepath)

    80

        else:

    81

            self.FilePath = ""

    82

            dialog = CreateNodeDialog(None, wx.OK)

    83

            dialog.Type.Enable(False)

    84

            dialog.GenSYNC.Enable(False)

    85

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

    86

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

    87

                profile, filepath = dialog.GetProfile()

    88

                NMT = dialog.GetNMTManagement()

    89

                options = dialog.GetOptions()

    90

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

    91

                                   id,         # NodeID - will be changed at build time

    92

                                   "slave",    # Type

    93

                                   description,# description 

    94

                                   profile,    # profile

    95

                                   filepath,   # prfile filepath

    96

                                   NMT,        # NMT

    97

                                   options)     # options

    98

            else:

    99

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

   100

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

   101

                                   "slave",      # Type

   102

                                   "",           # description 

   103

                                   "None",       # profile

   104

                                   "", # prfile filepath

   105

                                   "heartbeat",  # NMT

   106

                                   [])           # options

   107

            dialog.Destroy()

   108

            self.OnCTNSave()

   109

   110

    def GetSlaveODPath(self):

   111

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

   112

   113

    def GetCanDevice(self):

   114

        return self.CanFestivalSlaveNode.getCan_Device()

   115

   116

    def _OpenView(self, name=None, onlyopened=False):

   117

        ConfigTreeNode._OpenView(self, name, onlyopened)

   118

        if self._View is not None:

   119

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

   120

        return self._View

   121

   122

    def _ExportSlave(self):

   123

        dialog = wx.FileDialog(self.GetCTRoot().AppFrame, _("Choose a file"), os.getcwd(), "",  _("EDS files (*.eds)|*.eds|All files|*.*"), wx.SAVE|wx.OVERWRITE_PROMPT)

   124

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

   125

            result = eds_utils.GenerateEDSFile(dialog.GetPath(), self.GetCurrentNodeCopy())

   126

            if result:

   127

                self.GetCTRoot().logger.write_error(_("Error: Export slave failed\n"))

   128

        dialog.Destroy()  

   129

   130

    ConfNodeMethods = [

   131

        {"bitmap" : "ExportSlave",

   132

         "name" : _("Export slave"), 

   133

         "tooltip" : _("Export CanOpen slave to EDS file"),

   134

         "method" : "_ExportSlave"},

   135

    ]

   136

   137

    def CTNTestModified(self):

   138

        return self.ChangesToSave or self.OneFileHasChanged()

   139

   140

    def OnCTNSave(self):

   141

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   142

   143

    def SetParamsAttribute(self, path, value):

   144

        result = ConfigTreeNode.SetParamsAttribute(self, path, value)

   145

   146

        # Filter IEC_Channel and Name, that have specific behavior

   147

        if path == "BaseParams.IEC_Channel" and self._View is not None:

   148

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

   149

   150

        return result

   151

   152

    def CTNGenerate_C(self, buildpath, locations):

   153

        """

   154

        Generate C code

   155

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

   156

        @param locations: List of complete variables locations \

   157

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

   158

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

   159

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

   160

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

   161

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

   162

            }, ...]

   163

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

   164

        """

   165

        current_location = self.GetCurrentLocation()

   166

        # define a unique name for the generated C file

   167

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

   168

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

   169

        # Create a new copy of the model

   170

        slave = self.GetCurrentNodeCopy()

   171

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

   172

        # allow access to local OD from Slave PLC

   173

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

   174

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

   175

        if res :

   176

            raise Exception, res

   177

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

   178

        if res :

   179

            raise Exception, res

   180

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

   181

   182

    def LoadPrevious(self):

   183

        self.LoadCurrentPrevious()

   184

   185

    def LoadNext(self):

   186

        self.LoadCurrentNext()

   187

   188

    def GetBufferState(self):

   189

        return self.GetCurrentBufferState()

   190

   191

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

   192

#                    MASTER

   193

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

   194

   195

class MiniNodeManager(NodeManager):

   196

   197

    def __init__(self, parent, filepath, fullname):

   198

        NodeManager.__init__(self)

   199

   200

        self.OpenFileInCurrent(filepath)

   201

   202

        self.Parent = parent

   203

        self.Fullname = fullname

   204

   205

    def GetIconName(self):

   206

        return None

   207

   208

    def OnCloseEditor(self, view):

   209

        self.Parent.OnCloseEditor(view)

   210

   211

    def CTNFullName(self):

   212

        return self.Fullname

   213

   214

    def CTNTestModified(self):

   215

        return False

   216

   217

    def GetBufferState(self):

   218

        return self.GetCurrentBufferState()

   219

   220

    ConfNodeMethods = []

   221

   222

class _NodeListCTN(NodeList):

   223

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

   224

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

   225

      <xsd:element name="CanFestivalNode">

   226

        <xsd:complexType>

   227

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

   228

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

   229

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

   230

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

   231

        </xsd:complexType>

   232

      </xsd:element>

   233

    </xsd:schema>

   234

    """ % DEFAULT_SETTINGS

   235

   236

    EditorType = NetworkEditor

   237

    IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")

   238

   239

    def __init__(self):

   240

        manager = NodeManager()

   241

        NodeList.__init__(self, manager)

   242

        self.LoadProject(self.CTNPath())

   243

        self.SetNetworkName(self.BaseParams.getName())

   244

   245

    def GetCanDevice(self):

   246

        return self.CanFestivalNode.getCan_Device()

   247

   248

    def SetParamsAttribute(self, path, value):

   249

        result = ConfigTreeNode.SetParamsAttribute(self, path, value)

   250

   251

        # Filter IEC_Channel and Name, that have specific behavior

   252

        if path == "BaseParams.IEC_Channel" and self._View is not None:

   253

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

   254

        elif path == "BaseParams.Name":

   255

            self.SetNetworkName(value)

   256

   257

        return result

   258

   259

    _GeneratedMasterView = None

   260

    def _ShowGeneratedMaster(self):

   261

        self._OpenView("Generated master")

   262

   263

    def _OpenView(self, name=None, onlyopened=False):

   264

        if name == "Generated master":

   265

            app_frame = self.GetCTRoot().AppFrame

   266

            if self._GeneratedMasterView is None:

   267

                buildpath = self._getBuildPath()

   268

                # Eventually create build dir

   269

                if not os.path.exists(buildpath):

   270

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

   271

                    return

   272

   273

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

   274

                if not os.path.exists(masterpath):

   275

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

   276

                    return

   277

   278

                manager = MiniNodeManager(self, masterpath, self.CTNFullName() + ".generated_master")

   279

                self._GeneratedMasterView = MasterViewer(app_frame.TabsOpened, manager, app_frame)

   280

   281

            if self._GeneratedMasterView is not None:

   282

                app_frame.EditProjectElement(self._GeneratedMasterView, name)

   283

   284

            return self._GeneratedMasterView

   285

        else:

   286

            ConfigTreeNode._OpenView(self, name, onlyopened)

   287

            if self._View is not None:

   288

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

   289

            return self._View

   290

   291

    ConfNodeMethods = [

   292

        {"bitmap" : "ShowMaster",

   293

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

   294

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

   295

         "method" : "_ShowGeneratedMaster"}

   296

    ]

   297

   298

    def OnCloseEditor(self, view):

   299

        ConfigTreeNode.OnCloseEditor(self, view)

   300

        if self._GeneratedMasterView == view:

   301

            self._GeneratedMasterView = None

   302

   303

    def OnCTNClose(self):

   304

        ConfigTreeNode.OnCTNClose(self)

   305

        self._CloseView(self._GeneratedMasterView)

   306

        return True

   307

   308

    def CTNTestModified(self):

   309

        return self.ChangesToSave or self.HasChanged()

   310

   311

    def OnCTNSave(self):

   312

        self.SetRoot(self.CTNPath())

   313

        return self.SaveProject() is None

   314

   315

    def CTNGenerate_C(self, buildpath, locations):

   316

        """

   317

        Generate C code

   318

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

   319

        @param locations: List of complete variables locations \

   320

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

   321

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

   322

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

   323

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

   324

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

   325

            }, ...]

   326

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

   327

        """

   328

        self._CloseView(self._GeneratedMasterView)

   329

        current_location = self.GetCurrentLocation()

   330

        # define a unique name for the generated C file

   331

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

   332

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

   333

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

   334

        try:

   335

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

   336

        except config_utils.PDOmappingException, e:

   337

            raise Exception, e.message

   338

        # Do generate C file.

   339

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

   340

        if res :

   341

            raise Exception, res

   342

   343

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

   344

        dump(master, file)

   345

        file.close()

   346

   347

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

   348

   349

    def LoadPrevious(self):

   350

        self.Manager.LoadCurrentPrevious()

   351

   352

    def LoadNext(self):

   353

        self.Manager.LoadCurrentNext()

   354

   355

    def GetBufferState(self):

   356

        return self.Manager.GetCurrentBufferState()

   357

   358

class RootClass:

   359

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

   360

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

   361

      <xsd:element name="CanFestivalInstance">

   362

        <xsd:complexType>

   363

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

   364

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

   365

        </xsd:complexType>

   366

      </xsd:element>

   367

    </xsd:schema>

   368

    """ % DEFAULT_SETTINGS

   369

   370

    CTNChildrenTypes = [("CanOpenNode",_NodeListCTN, "CanOpen Master"),

   371

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

   372

    def GetParamsAttributes(self, path = None):

   373

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

   374

        for element in infos:

   375

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

   376

                for child in element["children"]:

   377

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

   378

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

   379

                        if DLL_LIST is not None:

   380

                            child["type"] = DLL_LIST  

   381

        return infos

   382

   383

    def GetCanDriver(self):

   384

        can_driver = self.CanFestivalInstance.getCAN_Driver()

   385

        if sys.platform == 'win32':

   386

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

   387

                can_driver += '_DEBUG.dll'

   388

            else:

   389

                can_driver += '.dll'

   390

        return can_driver

   391

   392

    def CTNGenerate_C(self, buildpath, locations):

   393

   394

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

   395

                       "candriver" : self.GetCanDriver(),

   396

                       "nodes_includes" : "",

   397

                       "board_decls" : "",

   398

                       "nodes_init" : "",

   399

                       "nodes_open" : "",

   400

                       "nodes_stop" : "",

   401

                       "nodes_close" : "",

   402

                       "nodes_send_sync" : "",

   403

                       "nodes_proceed_sync" : "",

   404

                       "slavebootups" : "",

   405

                       "slavebootup_register" : "",

   406

                       "post_sync" : "",

   407

                       "post_sync_register" : "",

   408

                       "pre_op" : "",

   409

                       "pre_op_register" : "",

   410

                       }

   411

        for child in self.IECSortedChildren():

   412

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

   413

            nodename = "OD_%s" % childlocstr

   414

   415

            # Try to get Slave Node

   416

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

   417

            if child_data is None:

   418

                # Not a slave -> master

   419

                child_data = getattr(child, "CanFestivalNode")

   420

                # Apply sync setting

   421

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

   422

                       nodename,

   423

                       child_data.getNodeId())

   424

                if child_data.getSync_TPDOs():

   425

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

   426

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

   427

   428

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   429

                SlaveIDs = child.GetSlaveIDs()

   430

                if len(SlaveIDs) == 0:

   431

                    # define post_SlaveBootup lookup functions

   432

                    format_dict["slavebootups"] += (

   433

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

   434

                else:

   435

                    format_dict["slavebootups"] += (

   436

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

   437

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

   438

                        "}\n")

   439

                # register previously declared func as post_SlaveBootup callback for that node

   440

                format_dict["slavebootup_register"] += (

   441

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

   442

                format_dict["pre_op"] += (

   443

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

   444

                    "".join(["    masterSendNMTstateChange(d, %d, NMT_Reset_Comunication);\n"%NdId for NdId in SlaveIDs])+

   445

                    "}\n")

   446

                format_dict["pre_op_register"] += (

   447

                    "%s_Data.preOperational = %s_preOperational;\n"%(nodename,nodename))

   448

            else:

   449

                # Slave node

   450

                align = child_data.getSync_Align()

   451

                align_ratio=child_data.getSync_Align_Ratio()

   452

                if align > 0:

   453

                    format_dict["post_sync"] += (

   454

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

   455

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

   456

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

   457

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

   458

                        "        align_tick(-1);\n"+

   459

                        "    }else{\n"+

   460

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

   461

                        "    }\n"+

   462

                        "}\n")

   463

                    format_dict["post_sync_register"] += (

   464

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

   465

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

   466

                       nodename,

   467

                       child_data.getNodeId())

   468

   469

            # Include generated OD headers

   470

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

   471

            # Declare CAN channels according user filled config

   472

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

   473

                   nodename,

   474

                   child.GetCanDevice(),

   475

                   child_data.getCAN_Baudrate())

   476

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

   477

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

   478

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

   479

   480

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

   481

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

   482

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

   483

        f = open(cf_main_path,'w')

   484

        f.write(cf_main)