1

#!/usr/bin/env python

     2

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

     3

     4

# This file is part of Beremiz

     5

#

     6

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

     7

#

     8

# See COPYING file for copyrights details.

     9

    10

from __future__ import absolute_import

    11

import os

    12

import string

    13

from xml.dom import minidom

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    15

import wx

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import wx.grid

    17

import wx.gizmos

    18

import wx.lib.buttons

    19

    20

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

    21

from controls import CustomGrid, CustomTable

    22

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

    23

    24

# ------------ for register management ---------------

    25

    26

from util.TranslationCatalogs import NoTranslate

    27

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

    28

    29

    30

# ----------------------------- For Sync Manager Table -----------------------------------

    31

def GetSyncManagersTableColnames():

    32

    """

    33

    Returns column names of SyncManager Table in Slave state panel.

    34

    """

    35

    _ = NoTranslate

    36

    return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")]

    37

    38

    39

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

    40

#                    Sync Managers Table

    41

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

    42

class SyncManagersTable(CustomTable):

    43

    def GetValue(self, row, col):

    44

        if row < self.GetNumberRows():

    45

            if col == 0:

    46

                return row

    47

            return self.data[row].get(self.GetColLabelValue(col, False), "")

    48

    49

    50

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

    51

#                    EtherCAT Management Treebook

    52

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

    53

class EtherCATManagementTreebook(wx.Treebook):

    54

    def __init__(self, parent, controler, node_editor):

    55

        """

    56

        Constructor

    57

        @param parent: Reference to the parent wx.ScrolledWindow object

    58

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

    59

        @param node_editor: Reference to Beremiz frame

    60

        """

    61

        wx.Treebook.__init__(self, parent, -1, size=wx.DefaultSize, style=wx.BK_DEFAULT)

    62

        self.parent = parent

    63

        self.Controler = controler

    64

        self.NodeEditor = node_editor

    65

    66

        self.EtherCATManagementClassObject = {}

    67

    68

        # fill EtherCAT Management Treebook

    69

        panels = [

    70

            ("Slave State",        SlaveStatePanelClass, []),

    71

            ("SDO Management",     SDOPanelClass, []),

    72

            ("PDO Monitoring",     PDOPanelClass, []),

    73

            ("ESC Management",     EEPROMAccessPanel, [

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                ("Smart View", SlaveSiiSmartView),

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                ("Hex View", HexView)]),

    76

            ("Register Access",     RegisterAccessPanel, [])

    77

        ]

    78

        for pname, pclass, subs in panels:

    79

            self.AddPage(pclass(self, self.Controler), pname)

    80

            for spname, spclass in subs:

    81

                self.AddSubPage(spclass(self, self.Controler), spname)

    82

    83

    84

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

    85

#                    For SlaveState Panel

    86

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

    87

class SlaveStatePanelClass(wx.Panel):

    88

    def __init__(self, parent, controler):

    89

        """

    90

        Constructor

    91

        @param parent: Reference to the parent EtherCATManagementTreebook class

    92

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

    93

        """

    94

        wx.Panel.__init__(self, parent, -1, (0, 0), size=wx.DefaultSize, style=wx.SUNKEN_BORDER)

    95

        self.Controler = controler

    96

        self.parent = parent

    97

    98

        # initialize SlaveStatePanel UI dictionaries

    99

        self.StaticBoxDic = {}

   100

        self.StaticTextDic = {}

   101

        self.TextCtrlDic = {}

   102

        self.ButtonDic = {}

   103

   104

        # iniitalize BoxSizer and FlexGridSizer

   105

        self.SizerDic = {

   106

            "SlaveState_main_sizer": wx.BoxSizer(wx.VERTICAL),

   107

            "SlaveState_inner_main_sizer": wx.FlexGridSizer(cols=1, hgap=50, rows=3, vgap=10),

   108

            "SlaveInfosDetailsInnerSizer": wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

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            "SyncManagerInnerSizer": wx.FlexGridSizer(cols=1, hgap=5, rows=1, vgap=5),

   110

            "SlaveState_sizer": wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10),

   111

            "SlaveState_up_sizer": wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

   112

            "SlaveState_down_sizer": wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)}

   113

   114

        # initialize StaticBox and StaticBoxSizer

   115

        for box_name, box_label in [

   116

                ("SlaveInfosDetailsBox", "Slave Informations"),

   117

                ("SyncManagerBox", "Sync Manager"),

   118

                ("SlaveStateBox", "Slave State Transition && Monitoring")]:

   119

            self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label))

   120

            self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name])

   121

   122

        for statictext_name, statictext_label, textctrl_name in [

   123

                ("VendorLabel", "Vendor:", "vendor"),

   124

                ("ProductcodeLabel", "Product code:", "product_code"),

   125

                ("RevisionnumberLabel", "Slave Count:", "revision_number"),

   126

                ("PhysicsLabel", "Physics:", "physics")]:

   127

            self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

   128

            self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)

   129

            self.SizerDic["SlaveInfosDetailsInnerSizer"].AddMany([self.StaticTextDic[statictext_name],

   130

                                                                  self.TextCtrlDic[textctrl_name]])

   131

   132

        self.SizerDic["SlaveInfosDetailsBox"].AddSizer(self.SizerDic["SlaveInfosDetailsInnerSizer"])

   133

   134

        self.SyncManagersGrid = CustomGrid(self, size=wx.Size(605, 155), style=wx.VSCROLL)

   135

   136

        self.SizerDic["SyncManagerInnerSizer"].Add(self.SyncManagersGrid)

   137

        self.SizerDic["SyncManagerBox"].Add(self.SizerDic["SyncManagerInnerSizer"])

   138

   139

        buttons = [

   140

            ("InitButton",   0, "INIT", "State Transition to \"Init\" State",     self.OnButtonClick, []),

   141

            ("PreOPButton",  1, "PREOP", "State Transition to \"PreOP\" State",   self.OnButtonClick, [

   142

                ("TargetStateLabel", "Target State:", "TargetState")]),

   143

            ("SafeOPButton", 2, "SAFEOP", "State Transition to \"SafeOP\" State", self.OnButtonClick, []),

   144

            ("OPButton",     3, "OP",  "State Transition to \"OP\" State",        self.OnButtonClick, [

   145

                ("CurrentStateLabel", "Current State:", "CurrentState")])

   146

        ]

   147

        for button_name, button_id, button_label, button_tooltipstring, event_method, sub_item in buttons:

   148

            self.ButtonDic[button_name] = wx.Button(self, id=button_id, label=_(button_label))

   149

            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

   150

            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

   151

            self.SizerDic["SlaveState_up_sizer"].Add(self.ButtonDic[button_name])

   152

            for statictext_name, statictext_label, textctrl_name in sub_item:

   153

                self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

   154

                self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.DefaultSize, style=wx.TE_READONLY)

   155

                self.SizerDic["SlaveState_up_sizer"].AddMany([self.StaticTextDic[statictext_name],

   156

                                                              self.TextCtrlDic[textctrl_name]])

   157

   158

        for button_name, button_label, button_tooltipstring, event_method in [

   159

                ("StartTimerButton", "Start State Monitoring", "Slave State Update Restart", self.StartTimer),

   160

                ("StopTimerButton", "Stop State Monitoring", "Slave State Update Stop", self.CurrentStateThreadStop)]:

   161

            self.ButtonDic[button_name] = wx.Button(self, label=_(button_label))

   162

            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

   163

            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

   164

            self.SizerDic["SlaveState_down_sizer"].Add(self.ButtonDic[button_name])

   165

   166

        self.SizerDic["SlaveState_sizer"].AddMany([self.SizerDic["SlaveState_up_sizer"],

   167

                                                   self.SizerDic["SlaveState_down_sizer"]])

   168

   169

        self.SizerDic["SlaveStateBox"].Add(self.SizerDic["SlaveState_sizer"])

   170

   171

        self.SizerDic["SlaveState_inner_main_sizer"].AddMany([

   172

            self.SizerDic["SlaveInfosDetailsBox"], self.SizerDic["SyncManagerBox"],

   173

            self.SizerDic["SlaveStateBox"]])

   174

   175

        self.SizerDic["SlaveState_main_sizer"].Add(self.SizerDic["SlaveState_inner_main_sizer"])

   176

   177

        self.SetSizer(self.SizerDic["SlaveState_main_sizer"])

   178

   179

        # register a timer for periodic exectuion of slave state update (period: 1000 ms)

   180

        self.Bind(wx.EVT_TIMER, self.GetCurrentState)

   181

   182

        self.CreateSyncManagerTable()

   183

   184

        self.Centre()

   185

   186

    def CreateSyncManagerTable(self):

   187

        """

   188

        Create grid for "SyncManager"

   189

        """

   190

        # declare Table object

   191

        self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames())

   192

        self.SyncManagersGrid.SetTable(self.SyncManagersTable)

   193

        # set grid alignment attr. (CENTER)

   194

        self.SyncManagersGridColAlignements = [wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE,

   195

                                               wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE]

   196

        # set grid size

   197

        self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100]

   198

        self.SyncManagersGrid.SetRowLabelSize(0)

   199

        for col in range(self.SyncManagersTable.GetNumberCols()):

   200

            attr = wx.grid.GridCellAttr()

   201

            attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTRE)

   202

            self.SyncManagersGrid.SetColAttr(col, attr)

   203

            self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col])

   204

            self.SyncManagersGrid.AutoSizeColumn(col, False)

   205

   206

        self.RefreshSlaveInfos()

   207

   208

    def RefreshSlaveInfos(self):

   209

        """

   210

        Fill data in "Slave Information" and "SyncManager"

   211

        """

   212

        slave_infos = self.Controler.GetSlaveInfos()

   213

        sync_manager_section = ["vendor", "product_code", "revision_number", "physics"]

   214

        if slave_infos is not None:

   215

            # this method is same as "TextCtrl.SetValue"

   216

            for textctrl_name in sync_manager_section:

   217

                self.TextCtrlDic[textctrl_name].SetValue(slave_infos[textctrl_name])

   218

            self.SyncManagersTable.SetData(slave_infos["sync_managers"])

   219

            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

   220

        else:

   221

            for textctrl_name in sync_manager_section:

   222

                self.TextCtrlDic[textctrl_name].SetValue("")

   223

            self.SyncManagersTable.SetData([])

   224

            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

   225

   226

    def OnButtonClick(self, event):

   227

        """

   228

        Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button)

   229

        @param event : wx.EVT_BUTTON object

   230

        """

   231

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)

   232

        if check_connect_flag:

   233

            state_dic = ["INIT", "PREOP", "SAFEOP", "OP"]

   234

   235

            # If target state is one of {INIT, PREOP, SAFEOP}, request slave state transition immediately.

   236

            if event.GetId() < 3:

   237

                self.Controler.CommonMethod.RequestSlaveState(state_dic[event.GetId()])

   238

                self.TextCtrlDic["TargetState"].SetValue(state_dic[event.GetId()])

   239

   240

            # If target state is OP, first check "PLC status".

   241

            #  (1) If current PLC status is "Started", then request slave state transition

   242

            #  (2) Otherwise, show error message and return

   243

            else:

   245

                if status == "Started":

   246

                    self.Controler.CommonMethod.RequestSlaveState("OP")

   247

                    self.TextCtrlDic["TargetState"].SetValue("OP")

   248

                else:

   249

                    self.Controler.CommonMethod.CreateErrorDialog("PLC is Not Started")

   250

   251

    def GetCurrentState(self, event):

   252

        """

   253

        Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec).

   254

        @param event : wx.TIMER object

   255

        """

   256

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(True)

   257

        if check_connect_flag:

   258

            returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave()

   259

            line = returnVal.split("\n")

   260

            try:

   261

                self.SetCurrentState(line[self.Controler.GetSlavePos()])

   262

            except Exception:

   263

                pass

   264

   265

    def SetCurrentState(self, line):

   266

        """

   267

        Show current slave state using the executiob result of "ethercat slaves" command.

   268

        @param line : result of "ethercat slaves" command

   269

        """

   270

        state_array = ["INIT", "PREOP", "SAFEOP", "OP"]

   271

        try:

   272

            # parse the execution result of  "ethercat slaves" command

   273

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

   274

            token = line.split("  ")

   275

            if token[2] in state_array:

   276

                self.TextCtrlDic["CurrentState"].SetValue(token[2])

   277

        except Exception:

   278

            pass

   279

   280

    def StartTimer(self, event):

   281

        """

   282

        Event handler for "Start State Monitoring" button.

   283

          - start slave state monitoring thread

   284

        @param event : wx.EVT_BUTTON object

   285

        """

   286

        self.SlaveStateThread = wx.Timer(self)

   287

        # set timer period (1000 ms)

   288

        self.SlaveStateThread.Start(1000)

   289

   290

    def CurrentStateThreadStop(self, event):

   291

        """

   292

        Event handler for "Stop State Monitoring" button.

   293

          - stop slave state monitoring thread

   294

        @param event : wx.EVT_BUTTON object

   295

        """

   296

        try:

   297

            self.SlaveStateThread.Stop()

   298

        except Exception:

   299

            pass

   300

   301

   302

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

   303

#                    For SDO Management Panel

   304

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

   305

class SDOPanelClass(wx.Panel):

   306

    def __init__(self, parent, controler):

   307

        """

   308

        Constructor

   309

        @param parent: Reference to the parent EtherCATManagementTreebook class

   310

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   311

        """

   312

        wx.Panel.__init__(self, parent, -1)

   313

   314

        self.DatatypeDescription, self.CommunicationObject, self.ManufacturerSpecific, \

   315

            self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6)

   316

   317

        self.Controler = controler

   318

   319

        self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL)

   320

        self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)

   321

   322

        self.SDOUpdate = wx.Button(self, label=_('update'))

   323

        self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate)

   324

   325

        self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler)

   326

        self.SDOManagementInnerMainSizer.Add(self.SDOUpdate)

   327

        self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND)

   328

   329

        self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer)

   330

   331

        self.SetSizer(self.SDOManagementMainSizer)

   332

   333

    def SDOInfoUpdate(self, event):

   334

        """

   335

        Evenet handler for SDO "update" button.

   336

          - Load SDO data from current slave

   337

        @param event : wx.EVT_BUTTON object

   338

        """

   339

        self.Controler.CommonMethod.SaveSDOData = []

   340

        self.Controler.CommonMethod.ClearSDODataSet()

   341

        self.SDOFlag = False

   342

   343

        # Check whether beremiz connected or not.

   344

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)

   345

        if check_connect_flag:

   346

            self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave()

   347

            # SDOFlag is "False", user click "Cancel" button

   348

            self.SDOFlag = self.SDOParser()

   349

   350

            if self.SDOFlag:

   351

                self.CallSDONoteBook.CreateNoteBook()

   352

                self.Refresh()

   353

   354

    def SDOParser(self):

   355

        """

   356

        Parse SDO data set that obtain "SDOInfoUpdate" Method

   357

        @return True or False

   358

        """

   359

   360

        slaveSDO_progress = wx.ProgressDialog("Slave SDO Monitoring", "Now Uploading...",

   361

                                              maximum=len(self.SDOs.splitlines()),

   362

                                              parent=self,

   363

                                              style=wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME |

   364

                                              wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME |

   365

                                              wx.PD_AUTO_HIDE | wx.PD_SMOOTH)

   366

   367

        # If keep_going flag is False, SDOParser method is stop and return "False".

   368

        keep_going = True

   369

        count = 0

   370

   371

        # SDO data example

   372

        # SDO 0x1000, "Device type"

   373

        # 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474

   374

        for details_line in self.SDOs.splitlines():

   375

            count += 1

   376

            line_token = details_line.split("\"")

   377

            # len(line_token[2]) case : SDO 0x1000, "Device type"

   378

            if len(line_token[2]) == 0:

   379

                title_name = line_token[1]

   380

            # else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474

   381

            else:

   382

                # line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474']

   383

                token_head, name, token_tail = line_token

   384

   385

                # token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', '']

   386

                token_head = token_head.split(",")

   388

                # ful_idx.split(":") = ['0x1000', '00']

   389

                idx, sub_idx = ful_idx.split(":")

   390

   391

                # token_tail = ['', '0x00020192', '131474']

   392

                token_tail = token_tail.split(",")

   393

                try:

   395

   396

                # SDO data is not return "dec value"

   397

                # line example :

   398

                # 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ----

   399

                except Exception:

   401

   402

                name_after_check = self.StringTest(name)

   403

   404

                # convert hex type

   405

                sub_idx = "0x" + sub_idx

   406

   407

                if type == "octet_string":

   408

                    hex_val = ' ---- '

   409

   410

                # SResult of SlaveSDO data parsing. (data type : dictionary)

   411

                self.Data = {'idx': idx.strip(), 'subIdx': sub_idx.strip(), 'access': access.strip(),

   412

                             'type': type.strip(), 'size': size.strip(),  'name': name_after_check.strip("\""),

   413

                             'value': hex_val.strip(), "category": title_name.strip("\"")}

   414

   415

                category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]

   416

   417

                for count in range(len(category_divide_value)):

   418

                    if int(idx, 0) < category_divide_value[count]:

   419

                        self.Controler.CommonMethod.SaveSDOData[count].append(self.Data)

   420

                        break

   421

   422

                self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data)

   423

   424

            if count >= len(self.SDOs.splitlines()) / 2:

   426

            else:

   428

   429

            # If user click "Cancel" loop suspend immediately

   430

            if not keep_going:

   431

                break

   432

   433

        slaveSDO_progress.Destroy()

   434

        return keep_going

   435

   436

    def StringTest(self, check_string):

   437

        """

   438

        Test value 'name' is alphanumeric

   439

        @param check_string : input data for check

   440

        @return result : output data after check

   441

        """

   442

        # string.printable is print this result

   443

        # '0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ

   444

        # !"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c

   445

        allow_range = string.printable

   446

        result = check_string

   447

        for i in range(0, len(check_string)):

   448

            # string.isalnum() is check whether string is alphanumeric or not

   449

            if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range:

   450

                result = check_string[:len(check_string) - i]

   451

                break

   452

        return result

   453

   454

   455

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

   456

#                    For SDO Notebook (divide category)

   457

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

   458

class SDONoteBook(wx.Notebook):

   459

    def __init__(self, parent, controler):

   460

        """

   461

        Constructor

   462

        @param parent: Reference to the parent SDOPanelClass class

   463

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   464

        """

   465

        wx.Notebook.__init__(self, parent, id=-1, size=(850, 500))

   466

        self.Controler = controler

   467

        self.parent = parent

   468

   469

        self.CreateNoteBook()

   470

   471

    def CreateNoteBook(self):

   472

        """

   473

        Create each NoteBook page, divided SDO index

   474

        According to EtherCAT Communication(03/2011), 158p

   475

        """

   476

        self.Data = []

   477

        count = 1

   478

   479

        page_texts = [("all", self.parent.AllSDOData),

   480

                      ("0x0000 - 0x0ff", self.parent.DatatypeDescription),

   481

                      ("0x1000 - 0x1fff", self.parent.CommunicationObject),

   482

                      ("0x2000 - 0x5fff", self.parent.ManufacturerSpecific),