--- a/etherlab/EthercatCIA402Slave.py Fri Sep 28 17:15:53 2018 +0300
+++ b/etherlab/EthercatCIA402Slave.py Fri Sep 28 17:20:11 2018 +0300
@@ -20,7 +20,7 @@
from ConfigEditor import CIA402NodeEditor
# Definition of node variables that have to be mapped in PDO
-# [(name, index, subindex, type,
+# [(name, index, subindex, type,
# direction for master ('I': input, 'Q': output)),...]
NODE_VARIABLES = [
("ControlWord", 0x6040, 0x00, "UINT", "Q"),
@@ -38,12 +38,12 @@
# 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,
+# [(section_name,
+# [{'description', (name, index, subindex, type,
# direction for master ('I': input, 'Q': output)),
-# 'retrieve', string_template_for_retrieve_variable (None: not retrieved,
+# 'retrieve', string_template_for_retrieve_variable (None: not retrieved,
# default string template if not defined),
-# 'publish', string_template_for_publish_variable (None: not published,
+# 'publish', string_template_for_publish_variable (None: not published,
# default string template if not defined),
# },...]
EXTRA_NODE_VARIABLES = [
@@ -74,16 +74,16 @@
# List of parameters name in no configuration panel for optional variable
# sections
EXTRA_NODE_VARIABLES_DICT = {
- "Enable" + name: params
+ "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",
+ {"blocktype": "GetTorqueLimit",
"inputs": [],
"outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
{"name": "TorqueLimitNeg", "type": "UINT"}]},
- {"blocktype": "SetTorqueLimit",
+ {"blocktype": "SetTorqueLimit",
"inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
{"name": "TorqueLimitNeg", "type": "UINT"}],
"outputs": []},
@@ -104,12 +104,12 @@
</xsd:schema>
""" % ("\n".join(["""\
<xsd:attribute name="Enable%s" type="xsd:boolean"
- use="optional" default="false"/>""" % category
+ use="optional" default="false"/>""" % category
for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
-
+
NODE_PROFILE = 402
EditorType = CIA402NodeEditor
-
+
ConfNodeMethods = [
{"bitmap" : "CIA402AxisRef",
"name" : _("Axis Ref"),
@@ -122,25 +122,25 @@
"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()
@@ -163,44 +163,44 @@
"location": self.GetFullIEC_Channel(),
"children": children,
}
-
+
def CTNGlobalInstances(self):
current_location = self.GetCurrentLocation()
- return [("%s_%s" % (block_infos["blocktype"],
+ return [("%s_%s" % (block_infos["blocktype"],
"_".join(map(str, current_location))),
- "EtherLab%s" % block_infos["blocktype"], "")
+ "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())),
+ ("%%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())),
+ ("%%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],
+
+ # 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 = []
@@ -210,31 +210,31 @@
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(),
+ (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,,
+ __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__) {
@@ -245,88 +245,88 @@
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,
+
+ 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,
+ 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,
+ extern_located_variables_declaration, entry_variables,
init_entry_variables])
-
+
# Write generated content to CIA402 node file
- Gen_CIA402Nodefile_path = os.path.join(buildpath,
+ 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