--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EthercatCIA402Slave.py Fri Mar 29 01:15:01 2013 +0100
@@ -0,0 +1,258 @@
+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
+from ConfigEditor import CIA402NodeEditor
+
+NODE_VARIABLES = [
+ ("ControlWord", 0x6040, 0x00, "UINT", "Q"),
+ ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
+ ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
+ ("StatusWord", 0x6041, 0x00, "UINT", "I"),
+ ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
+ ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
+ ("ActualVelocity", 0x606C, 0x00, "DINT", "I"),
+]
+
+DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);"
+DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;"
+
+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}
+ ])
+]
+EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])
+
+BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s->,%(input_name)s, %(input_value)s);"
+BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s->%(output_name)s));"
+
+BLOCK_FUNCTION_TEMPLATE = """
+extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
+void __%(blocktype)s_%(location)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();
+%(extract_inputs)s
+ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
+%(return_outputs)s
+}
+"""
+
+BLOCK_FUNTION_DEFINITION_TEMPLATE = """ if (!__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s)
+__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"""
+
+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},
+ ]
+
+ 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": "%s Axis Ref" % (axis_name),
+ "type": LOCATION_VAR_INPUT,
+ "size": "W",
+ "IEC_type": "AXIS_REF",
+ "var_name": axis_name,
+ "location": "%%IW%s.0" % (".".join(map(str, current_location))),
+ "description": "",
+ "children": []}]
+ 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 GLOBAL_INSTANCES]
+
+ def _getCIA402AxisRef(self):
+ data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
+ "location", "AXIS_REF", self.CTNName(), "")))
+ dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
+ dragSource.SetData(data)
+ dragSource.DoDragDrop()
+
+ def CTNGenerate_C(self, buildpath, locations):
+ current_location = self.GetCurrentLocation()
+
+ location_str = "_".join(map(lambda x:str(x), current_location))
+
+ 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()
+
+ str_completion = {
+ "slave_pos": self.GetSlavePos(),
+ "location": location_str,
+ "MCL_headers": Headers,
+ "extern_located_variables_declaration": [],
+ "fieldbus_interface_declaration": [],
+ "fieldbus_interface_definition": [],
+ "entry_variables": [],
+ "init_axis_params": [],
+ "init_entry_variables": [],
+ "extra_variables_retrieve": [],
+ "extra_variables_publish": []
+ }
+
+ for blocktype_infos in GLOBAL_INSTANCES:
+ texts = {
+ "blocktype": blocktype_infos["blocktype"],
+ "ucase_blocktype": blocktype_infos["blocktype"].upper(),
+ "location": "_".join(map(str, current_location))
+ }
+ texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts
+
+ inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())},
+ {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\
+ [{"input_name": input["name"].upper(),
+ "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()}
+ for input in blocktype_infos["inputs"]]
+ input_texts = []
+ for input_infos in inputs:
+ input_infos.update(texts)
+ input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos)
+ texts["extract_inputs"] = "\n".join(input_texts)
+
+ outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \
+ [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]]
+ output_texts = []
+ for output_infos in outputs:
+ output_infos.update(texts)
+ output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos)
+ texts["return_outputs"] = "\n".join(output_texts)
+
+ str_completion["fieldbus_interface_declaration"].append(
+ BLOCK_FUNCTION_TEMPLATE % texts)
+
+ str_completion["fieldbus_interface_definition"].append(
+ BLOCK_FUNTION_DEFINITION_TEMPLATE % texts)
+
+ variables = NODE_VARIABLES[:]
+
+ params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
+ for param in params["children"]:
+ if param["name"] in EXTRA_NODE_VARIABLES_DICT:
+ if param["value"]:
+ extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"])
+ for variable_infos in extra_variables:
+ var_infos = {
+ "location": location_str,
+ "name": variable_infos["description"][0]
+ }
+ variables.append(variable_infos["description"])
+ retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE)
+ publish_template = variable_infos.get("publish", DEFAULT_PUBLISH)
+
+ if retrieve_template is not None:
+ str_completion["extra_variables_retrieve"].append(
+ retrieve_template % var_infos)
+ if publish_template is not None:
+ str_completion["extra_variables_publish"].append(
+ publish_template % var_infos)
+ elif param["value"] is not None:
+ param_infos = {
+ "location": location_str,
+ "param_name": param["name"],
+ }
+ if param["type"] == "boolean":
+ param_infos["param_value"] = {True: "true", False: "false"}[param["value"]]
+ else:
+ param_infos["param_value"] = str(param["value"])
+ str_completion["init_axis_params"].append(
+ " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)
+
+ for variable in variables:
+ var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable))
+ var_infos["location"] = location_str
+ var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"])
+ var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos
+
+ str_completion["extern_located_variables_declaration"].append(
+ "IEC_%(var_type)s *%(var_name)s;" % var_infos)
+ str_completion["entry_variables"].append(
+ " IEC_%(var_type)s *%(name)s;" % var_infos)
+ str_completion["init_entry_variables"].append(
+ " __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos)
+
+ self.CTNParent.FileGenerator.DeclareVariable(
+ self.GetSlavePos(), var_infos["index"], var_infos["subindex"],
+ var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
+
+ for element in ["extern_located_variables_declaration",
+ "fieldbus_interface_declaration",
+ "fieldbus_interface_definition",
+ "entry_variables",
+ "init_axis_params",
+ "init_entry_variables",
+ "extra_variables_retrieve",
+ "extra_variables_publish"]:
+ str_completion[element] = "\n".join(str_completion[element])
+
+ Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str)
+ cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
+ cia402nodefile.write(plc_cia402node_code % str_completion)
+ cia402nodefile.close()
+
+ return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True