#!/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.
from __future__ import absolute_import
import os
import wx
from PLCControler import LOCATION_CONFNODE, LOCATION_VAR_INPUT
from MotionLibrary import AxisXSD
from etherlab.EthercatSlave import _EthercatSlaveCTN, _CommonSlave
from etherlab.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):
_EthercatSlaveCTN.__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(str, current_location))
slave_pos = self.GetSlavePos()
# 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));""" % {
"output_name": output_name,
"blockname": blockname
}
for output_name in ["DONE", "BUSY", "ERROR"] + [
output["name"].upper()
for output in blocktype_infos["outputs"]]
])
loc_dict = {
"ucase_blocktype": ucase_blocktype,
"blocktype": blocktype,
"blockname": blockname,
"location_str": location_str,
"extract_inputs": extract_inputs,
"return_outputs": return_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
}""" % loc_dict)
fieldbus_interface_definition.append("""\
AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\
""" % loc_dict)
# 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
coded = [
("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;")
]
for var_exchange_dir, _str_list, default_template in coded:
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;""" % {
"param_value": param_value,
"param_name": param_name,
})
# 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)
loc_dict = {
"var_size": var_size,
"var_type": var_type,
"name:": name,
"location_str": location_str,
"index": index,
"subindex": subindex,
}
var_name = """\
__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % loc_dict
loc_dict["var_name"] = var_name
extern_located_variables_declaration.append(
"IEC_%(var_type)s *%(var_name)s;" % loc_dict)
entry_variables.append(
" IEC_%(var_type)s *%(name)s;" % loc_dict)
init_entry_variables.append(
" AxsPub.%(name)s = %(var_name)s;" % loc_dict)
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("\n".join, [
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