beremiz: comparison etherlab/EthercatCIA402Slave.py

equal deleted inserted replaced

-:9460872f1440
+:fec77f2b9e07
 from MotionLibrary import Headers, AxisXSD
 from EthercatSlave import _EthercatSlaveCTN, _CommonSlave
 from ConfigEditor import CIA402NodeEditor
 # Definition of node variables that have to be mapped in PDO
 # [(name, index, subindex, type,
 #   direction for master ('I': input, 'Q': output)),...]
 NODE_VARIABLES = [
 ("ControlWord",             0x6040, 0x00, "UINT", "Q"),
 ("TargetPosition",          0x607a, 0x00, "DINT", "Q"),
 ("TargetVelocity",          0x60ff, 0x00, "DINT", "Q"),
 ]
 # Definition of optional node variables that can be added to PDO mapping.
 # A checkbox will be displayed for each section in node configuration panel to
 # enable them
 # [(section_name,
 #   [{'description', (name, index, subindex, type,
 #                     direction for master ('I': input, 'Q': output)),
 #     'retrieve', string_template_for_retrieve_variable (None: not retrieved,
 #                                 default string template if not defined),
 #     'publish', string_template_for_publish_variable (None: not published,
 #                                 default string template if not defined),
 #    },...]
 EXTRA_NODE_VARIABLES = [
 ("ErrorCode", [
 {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),
 ]
 # List of parameters name in no configuration panel for optional variable
 # sections
 EXTRA_NODE_VARIABLES_DICT = {
 "Enable" + name: params
 for name, params in EXTRA_NODE_VARIABLES}
 # List of block to define to interface MCL to fieldbus for specific functions
 FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [
 {"blocktype": "GetTorqueLimit",
 "inputs": [],
 "outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
 {"name": "TorqueLimitNeg", "type": "UINT"}]},
 {"blocktype": "SetTorqueLimit",
 "inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
 {"name": "TorqueLimitNeg", "type": "UINT"}],
 "outputs": []},
 ]
 </xsd:complexType>
 </xsd:element>
 </xsd:schema>
 """ % ("\n".join(["""\
 <xsd:attribute name="Enable%s" type="xsd:boolean"
 use="optional" default="false"/>""" % category
 for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
 NODE_PROFILE = 402
 EditorType = CIA402NodeEditor
 ConfNodeMethods = [
 {"bitmap" : "CIA402AxisRef",
 "name" : _("Axis Ref"),
 "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
 "method" : "_getCIA402AxisRef",
 "name" : _("Axis Pos"),
 "tooltip" : _("Initiate Drag'n drop of Network position located variable"),
 "method" : "_getCIA402NetworkPosition",
 "push": True},
 ]
 #--------------------------------------------------
 #    class code
 #--------------------------------------------------
 def __init__(self):
 # ----------- call ethercat mng. function --------------
 self.CommonMethod = _CommonSlave(self)
 def GetIconName(self):
 return "CIA402Slave"
 def SetParamsAttribute(self, path, value):
 if path == "CIA402SlaveParams.Type":
 path = "SlaveParams.Type"
 elif path == "CIA402SlaveParams.Alias":
 path = "SlaveParams.Alias"
 return _EthercatSlaveCTN.SetParamsAttribute(self, path, value)
 def GetVariableLocationTree(self):
 axis_name = self.CTNName()
 current_location = self.GetCurrentLocation()
 children = [{"name": name_frmt % (axis_name),
 "type": LOCATION_VAR_INPUT,
 return  {"name": axis_name,
 "type": LOCATION_CONFNODE,
 "location": self.GetFullIEC_Channel(),
 "children": children,
 }
 def CTNGlobalInstances(self):
 current_location = self.GetCurrentLocation()
 return [("%s_%s" % (block_infos["blocktype"],
 "_".join(map(str, current_location))),
 "EtherLab%s" % block_infos["blocktype"], "")
 for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES]
 def StartDragNDrop(self, data):
 data_obj = wx.TextDataObject(str(data))
 dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
 dragSource.SetData(data_obj)
 dragSource.DoDragDrop()
 def _getCIA402NetworkPosition(self):
 self.StartDragNDrop(
 ("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())),
 "location", "UINT", self.CTNName() + "_Pos", ""))
 def _getCIA402AxisRef(self):
 self.StartDragNDrop(
 ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())),
 "location", "AXIS_REF", self.CTNName(), ""))
 def CTNGenerate_C(self, buildpath, locations):
 current_location = self.GetCurrentLocation()
 location_str = "_".join(map(lambda x:str(x), current_location))
 slave_pos = self.GetSlavePos()
 MCL_headers = Headers
 # Open CIA402 node code template file
 plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0],
 "plc_cia402node.c")
 plc_cia402node_file = open(plc_cia402node_filepath, 'r')
 plc_cia402node_code = plc_cia402node_file.read()
 plc_cia402node_file.close()
 # Init list of generated strings for each code template file section
 fieldbus_interface_declaration = []
 fieldbus_interface_definition = []
 init_axis_params = []
 extra_variables_retrieve = []
 extra_variables_publish = []
 extern_located_variables_declaration = []
 entry_variables = []
 init_entry_variables = []
 # Fieldbus interface code sections
 for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES:
 blocktype = blocktype_infos["blocktype"]
 ucase_blocktype = blocktype.upper()
 blockname = "_".join([ucase_blocktype, location_str])
 extract_inputs = "\n".join(["""\
 __SET_VAR(%s->, %s,, %s);""" % (blockname, input_name, input_value)
 for (input_name, input_value) in [
 ("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [
 (input["name"].upper(),
 "__GET_VAR(data__->%s)" % input["name"].upper())
 for input in blocktype_infos["inputs"]]
 ])
 return_outputs = "\n".join(["""\
 __SET_VAR(data__->,%(output_name)s,,
 __GET_VAR(%(blockname)s->%(output_name)s));""" % locals()
 for output_name in ["DONE", "BUSY", "ERROR"] + [
 output["name"].upper()
 for output in blocktype_infos["outputs"]]
 ])
 fieldbus_interface_declaration.append("""
 extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
 void __%(blocktype)s_%(location_str)s(MC_%(ucase_blocktype)s *data__) {
 __DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
 ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
 __SET_VAR(%(blockname)s->, POS,, AxsPub.axis->NetworkPosition);
 %(extract_inputs)s
 ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
 %(return_outputs)s
 }""" % locals())
 fieldbus_interface_definition.append("""\
 AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\
 """ % locals())
 # Get a copy list of default variables to map
 variables = NODE_VARIABLES[:]
 # Set AxisRef public struct members value
 node_params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
 for param in node_params["children"]:
 param_name = param["name"]
 # Param is optional variables section enable flag
 extra_node_variable_infos = EXTRA_NODE_VARIABLES_DICT.get(param_name)
 if extra_node_variable_infos is not None:
 param_name = param_name.replace("Enable", "") + "Enabled"
 if not param["value"]:
 continue
 # Optional variables section is enabled
 for variable_infos in extra_node_variable_infos:
 var_name = variable_infos["description"][0]
 # Add each variables defined in section description to the
 # list of variables to map
 variables.append(variable_infos["description"])
 # Add code to publish or retrive variable
 for var_exchange_dir, str_list, default_template in [
 ("retrieve", extra_variables_retrieve,
 "    AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"),
 ("publish", extra_variables_publish,
 "    *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")]:
 template = variable_infos.get(var_exchange_dir,
 default_template)
 if template is not None:
 extra_variables_publish.append(template % locals())
 # Set AxisRef public struct member value if defined
 if param["value"] is not None:
 param_value = ({True: "1", False: "0"}[param["value"]]
 if param["type"] == "boolean"
 else str(param["value"]))
 init_axis_params.append("""\
 AxsPub.axis->%(param_name)s = %(param_value)s;""" % locals())
 # Add each variable in list of variables to map to master list of
 # variables to add to network configuration
 for name, index, subindex, var_type, dir in variables:
 var_size = self.GetSizeOfType(var_type)
 var_name = """\
 __%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % locals()
 extern_located_variables_declaration.append(
 "IEC_%(var_type)s *%(var_name)s;" % locals())
 entry_variables.append(
 "    IEC_%(var_type)s *%(name)s;" % locals())
 init_entry_variables.append(
 "    AxsPub.%(name)s = %(var_name)s;" % locals())
 self.CTNParent.FileGenerator.DeclareVariable(
 slave_pos, index, subindex, var_type, dir, var_name)
 # Add newline between string in list of generated strings for sections
 [fieldbus_interface_declaration, fieldbus_interface_definition,
 init_axis_params, extra_variables_retrieve, extra_variables_publish,
 extern_located_variables_declaration, entry_variables,
 init_entry_variables] = map(lambda l: "\n".join(l), [
 fieldbus_interface_declaration, fieldbus_interface_definition,
 init_axis_params, extra_variables_retrieve, extra_variables_publish,
 extern_located_variables_declaration, entry_variables,
 init_entry_variables])
 # Write generated content to CIA402 node file
 Gen_CIA402Nodefile_path = os.path.join(buildpath,
 "cia402node_%s.c"%location_str)
 cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
 cia402nodefile.write(plc_cia402node_code % locals())
 cia402nodefile.close()
 return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True

changeset 2355	fec77f2b9e07
parent 2165	02a2b5dee5e3
child 2356	c26e0c66d8d5