--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EthercatCIA402Slave.py Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,332 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# This file is part of Beremiz
+#
+# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+# RTES Lab : CRKim, JBLee, youcu
+# Higen Motor : Donggu Kang
+#
+# See COPYING file for copyrights details.
+
+import os
+
+import wx
+
+from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
+
+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"),
+ ("TargetTorque", 0x6071, 0x00, "INT", "Q"),
+ ("ModesOfOperation", 0x6060, 0x00, "SINT", "Q"),
+ ("StatusWord", 0x6041, 0x00, "UINT", "I"),
+ ("ModesOfOperationDisplay", 0x6061, 0x00, "SINT", "I"),
+ ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
+ ("ActualVelocity", 0x606c, 0x00, "DINT", "I"),
+ ("ActualTorque", 0x6077, 0x00, "INT", "I"),
+]
+
+# 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"),
+ "publish": None}
+ ]),
+ ("DigitalInputs", [
+ {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"),
+ "publish": None}
+ ]),
+ ("DigitalOutputs", [
+ {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"),
+ "retrieve": None}
+ ]),
+ ("TouchProbe", [
+ {"description": ("TouchProbeFunction", 0x60B8, 0x00, "UINT", "Q"),
+ "retrieve": None},
+ {"description": ("TouchProbeStatus", 0x60B9, 0x00, "UINT", "I"),
+ "publish": None},
+ {"description": ("TouchProbePos1PosValue", 0x60BA, 0x00, "DINT", "I"),
+ "publish": None},
+ {"description": ("TouchProbePos1NegValue", 0x60BB, 0x00, "DINT", "I"),
+ "publish": None},
+ ]),
+]
+
+# 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": []},
+]
+
+#--------------------------------------------------
+# Ethercat CIA402 Node
+#--------------------------------------------------
+
+class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
+ XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
+ <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
+ <xsd:element name="CIA402SlaveParams">
+ <xsd:complexType>
+ %s
+ </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",
+ "push": True},
+ {"bitmap" : "CIA402NetPos",
+ "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,
+ "size": "W",
+ "IEC_type": iec_type,
+ "var_name": var_name_frmt % axis_name,
+ "location": location_frmt % (
+ ".".join(map(str, current_location))),
+ "description": "",
+ "children": []}
+ for name_frmt, iec_type, var_name_frmt, location_frmt in
+ [("%s Network Position", "UINT", "%s_pos", "%%IW%s"),
+ ("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402")]]
+ children.extend(self.CTNParent.GetDeviceLocationTree(
+ self.GetSlavePos(), current_location, axis_name))
+ 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