1

import os, sys

     2

     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

     7

import wx

     8

     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

    25

from util.TranslationCatalogs import AddCatalog

    26

AddCatalog(os.path.join(CanFestivalPath, "objdictgen", "locale"))

    27

    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:integer" 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 GetCurrentNodeName(self):

   111

        return self.CTNName()

   112

   113

    def GetSlaveODPath(self):

   114

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

   115

   116

    def GetCanDevice(self):

   117

        return self.CanFestivalSlaveNode.getCAN_Device()

   118

   119

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

   120

        ConfigTreeNode._OpenView(self, name, onlyopened)

   121

        if self._View is not None:

   122

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

   123

        return self._View

   124

   125

    def _ExportSlave(self):

   126

        dialog = wx.FileDialog(self.GetCTRoot().AppFrame, 

   127

                               _("Choose a file"), 

   128

                               os.path.expanduser("~"), 

   129

                               "%s.eds" % self.CTNName(),  

   130

                               _("EDS files (*.eds)|*.eds|All files|*.*"),

   131

                               wx.SAVE|wx.OVERWRITE_PROMPT)

   132

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

   133

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

   134

            if result:

   135

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

   136

        dialog.Destroy()  

   137

   138

    ConfNodeMethods = [

   139

        {"bitmap" : "ExportSlave",

   140

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

   141

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

   142

         "method" : "_ExportSlave"},

   143

    ]

   144

   145

    def CTNTestModified(self):

   146

        return self.ChangesToSave or self.OneFileHasChanged()

   147

   148

    def OnCTNSave(self):

   149

        return self.SaveCurrentInFile(self.GetSlaveODPath())

   150

   151

    def SetParamsAttribute(self, path, value):

   152

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

   153

   154

        # Filter IEC_Channel and Name, that have specific behavior

   155

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

   156

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

   157

   158

        return result

   159

   160

    def CTNGenerate_C(self, buildpath, locations):

   161

        """

   162

        Generate C code

   163

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

   164

        @param locations: List of complete variables locations \

   165

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

   166

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

   167

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

   168

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

   169

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

   170

            }, ...]

   171

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

   172

        """

   173

        current_location = self.GetCurrentLocation()

   174

        # define a unique name for the generated C file

   175

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

   176

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

   177

        # Create a new copy of the model

   178

        slave = self.GetCurrentNodeCopy()

   179

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

   180

        # allow access to local OD from Slave PLC

   181

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

   182

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

   183

        if res :

   184

            raise Exception, res

   185

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

   186

        if res :

   187

            raise Exception, res

   188

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

   189

   190

    def LoadPrevious(self):

   191

        self.LoadCurrentPrevious()

   192

   193

    def LoadNext(self):

   194

        self.LoadCurrentNext()

   195

   196

    def GetBufferState(self):

   197

        return self.GetCurrentBufferState()

   198

   199

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

   200

#                    MASTER

   201

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

   202

   203

class MiniNodeManager(NodeManager):

   204

   205

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

   206

        NodeManager.__init__(self)

   207

   208

        self.OpenFileInCurrent(filepath)

   209

   210

        self.Parent = parent

   211

        self.Fullname = fullname

   212

   213

    def GetIconName(self):

   214

        return None

   215

   216

    def OnCloseEditor(self, view):

   217

        self.Parent.OnCloseEditor(view)

   218

   219

    def CTNFullName(self):

   220

        return self.Fullname

   221

   222

    def CTNTestModified(self):

   223

        return False

   224

   225

    def GetBufferState(self):

   226

        return self.GetCurrentBufferState()

   227

   228

    ConfNodeMethods = []

   229

   230

class _NodeManager(NodeManager):

   231

   232

    def __init__(self, parent, *args, **kwargs):

   233

        NodeManager.__init__(self, *args, **kwargs)

   234

        self.Parent = parent

   235

   236

    def __del__(self):

   237

        self.Parent = None

   238

   239

    def GetCurrentNodeName(self):

   240

        return self.Parent.CTNName()

   241

   242

    def GetCurrentNodeID(self):

   243

        return self.Parent.CanFestivalNode.getNodeId()

   244

   245

class _NodeListCTN(NodeList):

   246

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

   247

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

   248

      <xsd:element name="CanFestivalNode">

   249

        <xsd:complexType>

   250

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

   251

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

   252

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

   253

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

   254

        </xsd:complexType>

   255

      </xsd:element>

   256

    </xsd:schema>

   257

    """ % DEFAULT_SETTINGS

   258

   259

    EditorType = NetworkEditor

   260

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

   261

   262

    def __init__(self):

   263

        manager = _NodeManager(self)

   264

        NodeList.__init__(self, manager)

   265

        self.LoadProject(self.CTNPath())

   266

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

   267

   268

    def GetCanDevice(self):

   269

        return self.CanFestivalNode.getCAN_Device()

   270

   271

    def SetParamsAttribute(self, path, value):

   272

        if path == "CanFestivalNode.NodeId":

   273

            nodeid = self.CanFestivalNode.getNodeId()

   274

            if value != nodeid:

   275

                slaves = self.GetSlaveIDs()

   276

                dir = (value - nodeid) / abs(value - nodeid)

   277

                while value in slaves and value >= 0:

   278

                    value += dir

   279

                if value < 0:

   280

                    value = nodeid

   281

   282

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

   283

        refresh_network = False

   284

   285

        # Filter IEC_Channel and Name, that have specific behavior

   286

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

   287

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

   288

        elif path == "BaseParams.Name":

   289

            self.SetNetworkName(value)

   290

            refresh_network = True

   291

        elif path == "CanFestivalNode.NodeId":

   292

            refresh_network = True

   293

   294

        if refresh_network and self._View is not None:

   295

            wx.CallAfter(self._View.RefreshBufferState)

   296

        return value, refresh

   297

   298

    _GeneratedMasterView = None

   299

    def _ShowGeneratedMaster(self):

   300

        self._OpenView("Generated master")

   301

   302

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

   303

        if name == "Generated master":

   304

            app_frame = self.GetCTRoot().AppFrame

   305

            if self._GeneratedMasterView is None:

   306

                buildpath = self._getBuildPath()

   307

                # Eventually create build dir

   308

                if not os.path.exists(buildpath):

   309

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

   310

                    return

   311

   312

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

   313

                if not os.path.exists(masterpath):

   314

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

   315

                    return

   316

   317

                manager = MiniNodeManager(self, masterpath, self.CTNFullName())

   318

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

   319

   320

            if self._GeneratedMasterView is not None:

   321

                app_frame.EditProjectElement(self._GeneratedMasterView, self._GeneratedMasterView.GetInstancePath())

   322

   323

            return self._GeneratedMasterView

   324

        else:

   325

            ConfigTreeNode._OpenView(self, name, onlyopened)

   326

            if self._View is not None:

   327

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

   328

            return self._View

   329

   330

    ConfNodeMethods = [

   331

        {"bitmap" : "ShowMaster",

   332

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

   333

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

   334

         "method" : "_ShowGeneratedMaster"}

   335

    ]

   336

   337

    def OnCloseEditor(self, view):

   338

        ConfigTreeNode.OnCloseEditor(self, view)

   339

        if self._GeneratedMasterView == view:

   340

            self._GeneratedMasterView = None

   341

   342

    def OnCTNClose(self):

   343

        ConfigTreeNode.OnCTNClose(self)

   344

        self._CloseView(self._GeneratedMasterView)

   345

        return True

   346

   347

    def CTNTestModified(self):

   348

        return self.ChangesToSave or self.HasChanged()

   349

   350

    def OnCTNSave(self):

   351

        self.SetRoot(self.CTNPath())

   352

        return self.SaveProject() is None

   353

   354

    def CTNGenerate_C(self, buildpath, locations):

   355

        """

   356

        Generate C code

   357

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

   358

        @param locations: List of complete variables locations \

   359

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

   360

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

   361

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

   362

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

   363

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

   364

            }, ...]

   365

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

   366

        """

   367

        self._CloseView(self._GeneratedMasterView)

   368

        current_location = self.GetCurrentLocation()

   369

        # define a unique name for the generated C file

   370

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

   371

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

   372

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

   373

        try:

   374

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

   375

        except config_utils.PDOmappingException, e:

   376

            raise Exception, e.message

   377

        # Do generate C file.

   378

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

   379

        if res :

   380

            raise Exception, res

   381

   382

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

   383

        dump(master, file)

   384

        file.close()

   385

   386

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

   387

   388

    def LoadPrevious(self):

   389

        self.Manager.LoadCurrentPrevious()

   390

   391

    def LoadNext(self):

   392

        self.Manager.LoadCurrentNext()

   393

   394

    def GetBufferState(self):

   395

        return self.Manager.GetCurrentBufferState()

   396

   397

class RootClass:

   398

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

   399

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

   400

      <xsd:element name="CanFestivalInstance">

   401

        <xsd:complexType>

   402

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

   403

        </xsd:complexType>

   404

      </xsd:element>

   405

    </xsd:schema>

   406

    """ % DEFAULT_SETTINGS

   407

   408

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

   409

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

   410

    def GetParamsAttributes(self, path = None):

   411

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

   412

        for element in infos:

   413

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

   414

                for child in element["children"]:

   415

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

   416

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

   417

                        if DLL_LIST is not None:

   418

                            child["type"] = DLL_LIST  

   419

        return infos

   420

   421

    def CTNGenerate_C(self, buildpath, locations):

   422

        can_driver = self.CanFestivalInstance.getCAN_Driver()

   423

   424

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

   425

                       "candriver" : can_driver,

   426

                       "nodes_includes" : "",

   427

                       "board_decls" : "",

   428

                       "nodes_init" : "",

   429

                       "nodes_open" : "",

   430

                       "nodes_stop" : "",

   431

                       "nodes_close" : "",

   432

                       "nodes_send_sync" : "",

   433

                       "nodes_proceed_sync" : "",

   434

                       "slavebootups" : "",

   435

                       "slavebootup_register" : "",

   436

                       "post_sync" : "",

   437

                       "post_sync_register" : "",

   438

                       "pre_op" : "",

   439

                       "pre_op_register" : "",

   440

                       }

   441

        for child in self.IECSortedChildren():

   442

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

   443

            nodename = "OD_%s" % childlocstr

   444

   445

            # Try to get Slave Node

   446

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

   447

            if child_data is None:

   448

                # Not a slave -> master

   449

                child_data = getattr(child, "CanFestivalNode")

   450

                # Apply sync setting

   451

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

   452

                       nodename,

   453

                       child_data.getNodeId())

   454

                if child_data.getSync_TPDOs():

   455

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

   456

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

   457

   458

                # initialize and declare node boot status variables for post_SlaveBootup lookup

   459

                SlaveIDs = child.GetSlaveIDs()

   460

                if len(SlaveIDs) == 0:

   461

                    # define post_SlaveBootup lookup functions

   462

                    format_dict["slavebootups"] += (

   463

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

   464

                else:

   465

                    format_dict["slavebootups"] += (

   466

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

   467

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

   468

                        "}\n")

   469

                # register previously declared func as post_SlaveBootup callback for that node

   470

                format_dict["slavebootup_register"] += (

   471

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

   472

                format_dict["pre_op"] += (

   473

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

   474

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

   475

                    "}\n")

   476

                format_dict["pre_op_register"] += (

   477

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

   478

            else:

   479

                # Slave node

   480

                align = child_data.getSync_Align()

   481

                align_ratio=child_data.getSync_Align_Ratio()

   482

                if align > 0:

   483

                    format_dict["post_sync"] += (

   484

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