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1 import os |
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2 |
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3 import wx |
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4 |
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5 from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY |
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6 |
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7 from MotionLibrary import Headers, AxisXSD |
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8 from EthercatSlave import _EthercatSlaveCTN |
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9 from ConfigEditor import CIA402NodeEditor |
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10 |
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11 NODE_VARIABLES = [ |
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12 ("ControlWord", 0x6040, 0x00, "UINT", "Q"), |
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13 ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), |
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14 ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"), |
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15 ("StatusWord", 0x6041, 0x00, "UINT", "I"), |
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16 ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"), |
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17 ("ActualPosition", 0x6064, 0x00, "DINT", "I"), |
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18 ("ActualVelocity", 0x606C, 0x00, "DINT", "I"), |
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19 ] |
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20 |
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21 DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);" |
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22 DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;" |
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23 |
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24 EXTRA_NODE_VARIABLES = [ |
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25 ("ErrorCode", [ |
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26 {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"), |
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27 "publish": None} |
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28 ]), |
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29 ("DigitalInputs", [ |
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30 {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"), |
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31 "publish": None} |
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32 ]), |
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33 ("DigitalOutputs", [ |
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34 {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"), |
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35 "retrieve": None} |
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36 ]) |
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37 ] |
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38 EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES]) |
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39 |
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40 BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s->,%(input_name)s, %(input_value)s);" |
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41 BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s->%(output_name)s));" |
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42 |
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43 BLOCK_FUNCTION_TEMPLATE = """ |
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44 extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__); |
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45 void __%(blocktype)s_%(location)s(MC_%(ucase_blocktype)s *data__) { |
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46 __DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s); |
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47 ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s(); |
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48 %(extract_inputs)s |
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49 ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s); |
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50 %(return_outputs)s |
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51 } |
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52 """ |
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53 |
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54 BLOCK_FUNTION_DEFINITION_TEMPLATE = """ if (!__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s) |
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55 __CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;""" |
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56 |
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57 GLOBAL_INSTANCES = [ |
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58 {"blocktype": "GetTorqueLimit", |
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59 "inputs": [], |
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60 "outputs": [{"name": "TorqueLimitPos", "type": "UINT"}, |
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61 {"name": "TorqueLimitNeg", "type": "UINT"}]}, |
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62 {"blocktype": "SetTorqueLimit", |
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63 "inputs": [{"name": "TorqueLimitPos", "type": "UINT"}, |
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64 {"name": "TorqueLimitNeg", "type": "UINT"}], |
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65 "outputs": []}, |
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66 ] |
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67 |
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68 #-------------------------------------------------- |
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69 # Ethercat CIA402 Node |
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70 #-------------------------------------------------- |
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71 |
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72 class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN): |
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73 XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?> |
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74 <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema"> |
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75 <xsd:element name="CIA402SlaveParams"> |
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76 <xsd:complexType> |
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77 %s |
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78 </xsd:complexType> |
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79 </xsd:element> |
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80 </xsd:schema> |
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81 """ % ("\n".join(['<xsd:attribute name="Enable%s" type="xsd:boolean" use="optional" default="false"/>' % category |
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82 for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD) |
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83 |
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84 NODE_PROFILE = 402 |
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85 EditorType = CIA402NodeEditor |
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86 |
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87 ConfNodeMethods = [ |
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88 {"bitmap" : "CIA402AxisRef", |
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89 "name" : _("Axis Ref"), |
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90 "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"), |
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91 "method" : "_getCIA402AxisRef", |
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92 "push": True}, |
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93 ] |
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94 |
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95 def GetIconName(self): |
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96 return "CIA402Slave" |
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97 |
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98 def SetParamsAttribute(self, path, value): |
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99 if path == "CIA402SlaveParams.Type": |
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100 path = "SlaveParams.Type" |
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101 elif path == "CIA402SlaveParams.Alias": |
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102 path = "SlaveParams.Alias" |
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103 return _EthercatSlaveCTN.SetParamsAttribute(self, path, value) |
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104 |
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105 def GetVariableLocationTree(self): |
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106 axis_name = self.CTNName() |
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107 current_location = self.GetCurrentLocation() |
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108 children = [{"name": "%s Axis Ref" % (axis_name), |
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109 "type": LOCATION_VAR_INPUT, |
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110 "size": "W", |
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111 "IEC_type": "AXIS_REF", |
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112 "var_name": axis_name, |
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113 "location": "%%IW%s.0" % (".".join(map(str, current_location))), |
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114 "description": "", |
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115 "children": []}] |
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116 children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), current_location, axis_name)) |
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117 return {"name": axis_name, |
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118 "type": LOCATION_CONFNODE, |
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119 "location": self.GetFullIEC_Channel(), |
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120 "children": children, |
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121 } |
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122 |
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123 def CTNGlobalInstances(self): |
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124 current_location = self.GetCurrentLocation() |
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125 return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location))), |
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126 "EtherLab%s" % block_infos["blocktype"]) for block_infos in GLOBAL_INSTANCES] |
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127 |
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128 def _getCIA402AxisRef(self): |
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129 data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())), |
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130 "location", "AXIS_REF", self.CTNName(), ""))) |
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131 dragSource = wx.DropSource(self.GetCTRoot().AppFrame) |
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132 dragSource.SetData(data) |
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133 dragSource.DoDragDrop() |
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134 |
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135 def CTNGenerate_C(self, buildpath, locations): |
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136 current_location = self.GetCurrentLocation() |
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137 |
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138 location_str = "_".join(map(lambda x:str(x), current_location)) |
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139 |
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140 plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c") |
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141 plc_cia402node_file = open(plc_cia402node_filepath, 'r') |
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142 plc_cia402node_code = plc_cia402node_file.read() |
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143 plc_cia402node_file.close() |
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144 |
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145 str_completion = { |
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146 "slave_pos": self.GetSlavePos(), |
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147 "location": location_str, |
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148 "MCL_headers": Headers, |
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149 "extern_located_variables_declaration": [], |
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150 "fieldbus_interface_declaration": [], |
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151 "fieldbus_interface_definition": [], |
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152 "entry_variables": [], |
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153 "init_axis_params": [], |
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154 "init_entry_variables": [], |
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155 "extra_variables_retrieve": [], |
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156 "extra_variables_publish": [] |
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157 } |
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158 |
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159 for blocktype_infos in GLOBAL_INSTANCES: |
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160 texts = { |
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161 "blocktype": blocktype_infos["blocktype"], |
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162 "ucase_blocktype": blocktype_infos["blocktype"].upper(), |
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163 "location": "_".join(map(str, current_location)) |
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164 } |
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165 texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts |
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166 |
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167 inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())}, |
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168 {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\ |
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169 [{"input_name": input["name"].upper(), |
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170 "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()} |
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171 for input in blocktype_infos["inputs"]] |
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172 input_texts = [] |
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173 for input_infos in inputs: |
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174 input_infos.update(texts) |
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175 input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos) |
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176 texts["extract_inputs"] = "\n".join(input_texts) |
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177 |
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178 outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \ |
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179 [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]] |
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180 output_texts = [] |
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181 for output_infos in outputs: |
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182 output_infos.update(texts) |
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183 output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos) |
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184 texts["return_outputs"] = "\n".join(output_texts) |
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185 |
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186 str_completion["fieldbus_interface_declaration"].append( |
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187 BLOCK_FUNCTION_TEMPLATE % texts) |
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188 |
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189 str_completion["fieldbus_interface_definition"].append( |
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190 BLOCK_FUNTION_DEFINITION_TEMPLATE % texts) |
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191 |
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192 variables = NODE_VARIABLES[:] |
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193 |
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194 params = self.CTNParams[1].getElementInfos(self.CTNParams[0]) |
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195 for param in params["children"]: |
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196 if param["name"] in EXTRA_NODE_VARIABLES_DICT: |
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197 if param["value"]: |
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198 extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"]) |
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199 for variable_infos in extra_variables: |
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200 var_infos = { |
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201 "location": location_str, |
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202 "name": variable_infos["description"][0] |
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203 } |
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204 variables.append(variable_infos["description"]) |
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205 retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE) |
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206 publish_template = variable_infos.get("publish", DEFAULT_PUBLISH) |
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207 |
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208 if retrieve_template is not None: |
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209 str_completion["extra_variables_retrieve"].append( |
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210 retrieve_template % var_infos) |
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211 if publish_template is not None: |
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212 str_completion["extra_variables_publish"].append( |
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213 publish_template % var_infos) |
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214 elif param["value"] is not None: |
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215 param_infos = { |
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216 "location": location_str, |
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217 "param_name": param["name"], |
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218 } |
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219 if param["type"] == "boolean": |
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220 param_infos["param_value"] = {True: "true", False: "false"}[param["value"]] |
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221 else: |
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222 param_infos["param_value"] = str(param["value"]) |
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223 str_completion["init_axis_params"].append( |
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224 " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos) |
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225 |
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226 for variable in variables: |
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227 var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable)) |
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228 var_infos["location"] = location_str |
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229 var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"]) |
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230 var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos |
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231 |
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232 str_completion["extern_located_variables_declaration"].append( |
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233 "IEC_%(var_type)s *%(var_name)s;" % var_infos) |
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234 str_completion["entry_variables"].append( |
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235 " IEC_%(var_type)s *%(name)s;" % var_infos) |
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236 str_completion["init_entry_variables"].append( |
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237 " __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos) |
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238 |
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239 self.CTNParent.FileGenerator.DeclareVariable( |
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240 self.GetSlavePos(), var_infos["index"], var_infos["subindex"], |
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241 var_infos["var_type"], var_infos["dir"], var_infos["var_name"]) |
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242 |
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243 for element in ["extern_located_variables_declaration", |
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244 "fieldbus_interface_declaration", |
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245 "fieldbus_interface_definition", |
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246 "entry_variables", |
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247 "init_axis_params", |
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248 "init_entry_variables", |
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249 "extra_variables_retrieve", |
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250 "extra_variables_publish"]: |
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251 str_completion[element] = "\n".join(str_completion[element]) |
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252 |
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253 Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str) |
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254 cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') |
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255 cia402nodefile.write(plc_cia402node_code % str_completion) |
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256 cia402nodefile.close() |
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257 |
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258 return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True |