Added panel for managing ESI files from project and from database including module PDO alignment setting
import os, shutil
import cPickle
from xml.dom import minidom
import wx
import csv
from xmlclass import *
from POULibrary import POULibrary
from ConfigTreeNode import ConfigTreeNode
from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
from ConfigEditor import NodeEditor, CIA402NodeEditor, LibraryEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE
try:
from MotionLibrary import Headers, AxisXSD
HAS_MCL = True
except:
HAS_MCL = False
TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L",
"USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L",
"BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"}
DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64",
"USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64",
"BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"}
VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY}
#--------------------------------------------------
# Remote Exec Etherlab Commands
#--------------------------------------------------
SCAN_COMMAND = """
import commands
result = commands.getoutput("ethercat slaves")
slaves = []
for slave_line in result.splitlines():
chunks = slave_line.split()
idx, pos, state, flag = chunks[:4]
name = " ".join(chunks[4:])
alias, position = pos.split(":")
slave = {"idx": int(idx),
"alias": int(alias),
"position": int(position),
"name": name}
details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"])
for details_line in details.splitlines():
details_line = details_line.strip()
for header, param in [("Vendor Id:", "vendor_id"),
("Product code:", "product_code"),
("Revision number:", "revision_number")]:
if details_line.startswith(header):
slave[param] = details_line.split()[-1]
break
slaves.append(slave)
returnVal = slaves
"""
#--------------------------------------------------
# Etherlab Specific Blocks Library
#--------------------------------------------------
def GetLocalPath(filename):
return os.path.join(os.path.split(__file__)[0], filename)
class EtherlabLibrary(POULibrary):
def GetLibraryPath(self):
return GetLocalPath("pous.xml")
def Generate_C(self, buildpath, varlist, IECCFLAGS):
etherlab_ext_file = open(GetLocalPath("etherlab_ext.c"), 'r')
etherlab_ext_code = etherlab_ext_file.read()
etherlab_ext_file.close()
Gen_etherlabfile_path = os.path.join(buildpath, "etherlab_ext.c")
ethelabfile = open(Gen_etherlabfile_path,'w')
ethelabfile.write(etherlab_ext_code)
ethelabfile.close()
runtimefile_path = os.path.join(os.path.split(__file__)[0], "runtime_etherlab.py")
return ((["etherlab_ext"], [(Gen_etherlabfile_path, IECCFLAGS)], True), "",
("runtime_etherlab.py", file(GetLocalPath("runtime_etherlab.py"))))
#--------------------------------------------------
# Ethercat Node
#--------------------------------------------------
class _EthercatSlaveCTN:
NODE_PROFILE = None
EditorType = NodeEditor
def GetIconName(self):
return "Slave"
def ExtractHexDecValue(self, value):
return ExtractHexDecValue(value)
def GetSizeOfType(self, type):
return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)
def GetSlavePos(self):
return self.BaseParams.getIEC_Channel()
def GetParamsAttributes(self, path = None):
if path:
parts = path.split(".", 1)
if self.MandatoryParams and parts[0] == self.MandatoryParams[0]:
return self.MandatoryParams[1].getElementInfos(parts[0], parts[1])
elif self.CTNParams and parts[0] == self.CTNParams[0]:
return self.CTNParams[1].getElementInfos(parts[0], parts[1])
else:
params = []
if self.CTNParams:
params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0]))
else:
params.append({
'use': 'required',
'type': 'element',
'name': 'SlaveParams',
'value': None,
'children': []
})
slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
params[0]['children'].insert(0,
{'use': 'optional',
'type': self.CTNParent.GetSlaveTypesLibrary(self.NODE_PROFILE),
'name': 'Type',
'value': (slave_type["device_type"], slave_type)})
params[0]['children'].insert(1,
{'use': 'optional',
'type': 'unsignedLong',
'name': 'Alias',
'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())})
return params
def SetParamsAttribute(self, path, value):
position = self.BaseParams.getIEC_Channel()
if path == "SlaveParams.Type":
self.CTNParent.SetSlaveType(position, value)
slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
value = (slave_type["device_type"], slave_type)
if self._View is not None:
wx.CallAfter(self._View.RefreshSlaveInfos)
return value, True
elif path == "SlaveParams.Alias":
self.CTNParent.SetSlaveAlias(position, value)
return value, True
value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value)
# Filter IEC_Channel, Slave_Type and Alias that have specific behavior
if path == "BaseParams.IEC_Channel" and value != position:
self.CTNParent.SetSlavePosition(position, value)
return value, refresh
def GetSlaveInfos(self):
return self.CTNParent.GetSlaveInfos(self.GetSlavePos())
def GetVariableLocationTree(self):
return {"name": self.BaseParams.getName(),
"type": LOCATION_CONFNODE,
"location": self.GetFullIEC_Channel(),
"children": self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), self.GetCurrentLocation(), self.BaseParams.getName())
}
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)
@param locations: List of complete variables locations \
[{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
"NAME" : name of the variable (generally "__IW0_1_2" style)
"DIR" : direction "Q","I" or "M"
"SIZE" : size "X", "B", "W", "D", "L"
"LOC" : tuple of interger for IEC location (0,1,2,...)
}, ...]
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
"""
return [],"",False
#--------------------------------------------------
# Ethercat CIA402 Node
#--------------------------------------------------
if HAS_MCL:
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": []},
]
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):
"""
Generate C code
@param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)
@param locations: List of complete variables locations \
[{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
"NAME" : name of the variable (generally "__IW0_1_2" style)
"DIR" : direction "Q","I" or "M"
"SIZE" : size "X", "B", "W", "D", "L"
"LOC" : tuple of interger for IEC location (0,1,2,...)
}, ...]
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
"""
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
#--------------------------------------------------
# Ethercat MASTER
#--------------------------------------------------
EtherCATConfigClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd"))
def ExtractHexDecValue(value):
try:
return int(value)
except:
pass
try:
return int(value.replace("#", "0"), 16)
except:
raise ValueError, "Invalid value for HexDecValue \"%s\"" % value
def GenerateHexDecValue(value, base=10):
if base == 10:
return str(value)
elif base == 16:
return "#x%.8x" % value
else:
raise ValueError, "Not supported base"
cls = EtherCATConfigClasses.get("Config_Slave", None)
if cls:
def getType(self):
slave_info = self.getInfo()
return {"device_type": slave_info.getName(),
"vendor": GenerateHexDecValue(slave_info.getVendorId()),
"product_code": GenerateHexDecValue(slave_info.getProductCode(), 16),
"revision_number": GenerateHexDecValue(slave_info.getRevisionNo(), 16)}
setattr(cls, "getType", getType)
def setType(self, type_infos):
slave_info = self.getInfo()
slave_info.setName(type_infos["device_type"])
slave_info.setVendorId(ExtractHexDecValue(type_infos["vendor"]))
slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"]))
slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"]))
setattr(cls, "setType", setType)
class _EthercatCTN:
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="EtherlabNode">
<xsd:complexType>
<xsd:attribute name="MasterNumber" type="xsd:integer" use="optional" default="0"/>
</xsd:complexType>
</xsd:element>
</xsd:schema>
"""
CTNChildrenTypes = [("EthercatSlave", _EthercatSlaveCTN, "Ethercat Slave")]
if HAS_MCL:
CTNChildrenTypes.append(("EthercatCIA402Slave", _EthercatCIA402SlaveCTN, "Ethercat CIA402 Slave"))
def __init__(self):
filepath = self.ConfigFileName()
self.Config = EtherCATConfigClasses["EtherCATConfig"]()
if os.path.isfile(filepath):
xmlfile = open(filepath, 'r')
tree = minidom.parse(xmlfile)
xmlfile.close()
for child in tree.childNodes:
if child.nodeType == tree.ELEMENT_NODE and child.nodeName == "EtherCATConfig":
self.Config.loadXMLTree(child)
self.CreateConfigBuffer(True)
else:
self.CreateConfigBuffer(False)
self.OnCTNSave()
def ExtractHexDecValue(self, value):
return ExtractHexDecValue(value)
def GetSizeOfType(self, type):
return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)
def ConfigFileName(self):
return os.path.join(self.CTNPath(), "config.xml")
def GetSlaves(self):
slaves = []
for slave in self.Config.getConfig().getSlave():
slaves.append(slave.getInfo().getPhysAddr())
slaves.sort()
return slaves
def GetSlave(self, slave_pos):
for slave in self.Config.getConfig().getSlave():
slave_info = slave.getInfo()
if slave_info.getPhysAddr() == slave_pos:
return slave
return None
def _ScanNetwork(self):
app_frame = self.GetCTRoot().AppFrame
execute = True
if len(self.Children) > 0:
dialog = wx.MessageDialog(app_frame,
_("The current network configuration will be deleted.\nDo you want to continue?"),
_("Scan Network"),
wx.YES_NO|wx.ICON_QUESTION)
execute = dialog.ShowModal() == wx.ID_YES
dialog.Destroy()
if execute:
error, returnVal = self.RemoteExec(SCAN_COMMAND, returnVal = None)
if error != 0:
dialog = wx.MessageDialog(app_frame, returnVal, "Error", wx.OK|wx.ICON_ERROR)
dialog.ShowModal()
dialog.Destroy()
elif returnVal is not None:
for child in self.IECSortedChildren():
self._doRemoveChild(child)
for slave in returnVal:
type_infos = {
"vendor": slave["vendor_id"],
"product_code": slave["product_code"],
"revision_number":slave["revision_number"],
}
device, alignment = self.GetModuleInfos(type_infos)
if device is not None:
if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():
CTNType = "EthercatCIA402Slave"
else:
CTNType = "EthercatSlave"
self.CTNAddChild("slave%s" % slave["idx"], CTNType, slave["idx"])
self.SetSlaveAlias(slave["idx"], slave["alias"])
type_infos["device_type"] = device.getType().getcontent()
self.SetSlaveType(slave["idx"], type_infos)
def CTNAddChild(self, CTNName, CTNType, IEC_Channel=0):
"""
Create the confnodes that may be added as child to this node self
@param CTNType: string desining the confnode class name (get name from CTNChildrenTypes)
@param CTNName: string for the name of the confnode instance
"""
newConfNodeOpj = ConfigTreeNode.CTNAddChild(self, CTNName, CTNType, IEC_Channel)
slave = self.GetSlave(newConfNodeOpj.BaseParams.getIEC_Channel())
if slave is None:
slave = EtherCATConfigClasses["Config_Slave"]()
slave_infos = slave.getInfo()
slave_infos.setName("undefined")
slave_infos.setPhysAddr(newConfNodeOpj.BaseParams.getIEC_Channel())
slave_infos.setAutoIncAddr(0)
self.Config.getConfig().appendSlave(slave)
self.BufferConfig()
self.OnCTNSave()
return newConfNodeOpj
def _doRemoveChild(self, CTNInstance):
slave_pos = CTNInstance.GetSlavePos()
config = self.Config.getConfig()
for idx, slave in enumerate(config.getSlave()):
slave_infos = slave.getInfo()
if slave_infos.getPhysAddr() == slave_pos:
config.removeSlave(idx)
self.BufferConfig()
self.OnCTNSave()
ConfigTreeNode._doRemoveChild(self, CTNInstance)
def SetSlavePosition(self, slave_pos, new_pos):
slave = self.GetSlave(slave_pos)
if slave is not None:
slave_info = slave.getInfo()
slave_info.setPhysAddr(new_pos)
self.BufferConfig()
def GetSlaveAlias(self, slave_pos):
slave = self.GetSlave(slave_pos)
if slave is not None:
slave_info = slave.getInfo()
return slave_info.getAutoIncAddr()
return None
def SetSlaveAlias(self, slave_pos, alias):
slave = self.GetSlave(slave_pos)
if slave is not None:
slave_info = slave.getInfo()
slave_info.setAutoIncAddr(alias)
self.BufferConfig()
def GetSlaveType(self, slave_pos):
slave = self.GetSlave(slave_pos)
if slave is not None:
return slave.getType()
return None
def SetSlaveType(self, slave_pos, type_infos):
slave = self.GetSlave(slave_pos)
if slave is not None:
slave.setType(type_infos)
self.BufferConfig()
def GetSlaveInfos(self, slave_pos):
slave = self.GetSlave(slave_pos)
if slave is not None:
type_infos = slave.getType()
device, alignement = self.GetModuleInfos(type_infos)
if device is not None:
infos = type_infos.copy()
entries = device.GetEntriesList()
entries_list = entries.items()
entries_list.sort()
entries = []
current_index = None
current_entry = None
for (index, subindex), entry in entries_list:
entry["children"] = []
if index != current_index:
current_index = index
current_entry = entry
entries.append(entry)
elif current_entry is not None:
current_entry["children"].append(entry)
else:
entries.append(entry)
infos.update({"physics": device.getPhysics(),
"sync_managers": device.GetSyncManagers(),
"entries": entries})
return infos
return None
def GetModuleInfos(self, type_infos):
return self.CTNParent.GetModuleInfos(type_infos)
def GetSlaveTypesLibrary(self, profile_filter=None):
return self.CTNParent.GetModulesLibrary(profile_filter)
def GetDeviceLocationTree(self, slave_pos, current_location, device_name):
slave = self.GetSlave(slave_pos)
vars = []
if slave is not None:
type_infos = slave.getType()
device, alignement = self.GetModuleInfos(type_infos)
if device is not None:
sync_managers = []
for sync_manager in device.getSm():
sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
sync_manager_direction = sync_manager_control_byte & 0x0c
if sync_manager_direction:
sync_managers.append(LOCATION_VAR_OUTPUT)
else:
sync_managers.append(LOCATION_VAR_INPUT)
entries = device.GetEntriesList().items()
entries.sort()
for (index, subindex), entry in entries:
var_size = self.GetSizeOfType(entry["Type"])
if var_size is not None:
var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None)
if var_class is not None:
if var_class == LOCATION_VAR_INPUT:
var_dir = "%I"
else:
var_dir = "%Q"
vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]),
"type": var_class,
"size": var_size,
"IEC_type": entry["Type"],
"var_name": "%s_%4.4x_%2.2x" % ("_".join(device_name.split()), index, subindex),
"location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location +
(index, subindex)))),
"description": "",
"children": []})
return vars
def CTNTestModified(self):
return self.ChangesToSave or not self.ConfigIsSaved()
def OnCTNSave(self):
filepath = self.ConfigFileName()
text = "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\n"
extras = {"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance",
"xsi:noNamespaceSchemaLocation" : "EtherCATInfo.xsd"}
text += self.Config.generateXMLText("EtherCATConfig", 0, extras)
xmlfile = open(filepath,"w")
xmlfile.write(text.encode("utf-8"))
xmlfile.close()
self.ConfigBuffer.CurrentSaved()
return True
def _Generate_C(self, buildpath, locations):
current_location = self.GetCurrentLocation()
# define a unique name for the generated C file
location_str = "_".join(map(lambda x:str(x), current_location))
Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str)
self.FileGenerator = _EthercatCFileGenerator(self)
LocationCFilesAndCFLAGS, LDFLAGS, extra_files = ConfigTreeNode._Generate_C(self, buildpath, locations)
self.FileGenerator.GenerateCFile(Gen_Ethercatfile_path, location_str, self.EtherlabNode)
LocationCFilesAndCFLAGS.append(
(current_location,
[(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],
True))
LDFLAGS.append("-lethercat -lrtdm")
return LocationCFilesAndCFLAGS, LDFLAGS, extra_files
ConfNodeMethods = [
{"bitmap" : "ScanNetwork",
"name" : _("Scan Network"),
"tooltip" : _("Scan Network"),
"method" : "_ScanNetwork"},
]
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)
@param locations: List of complete variables locations \
[{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
"NAME" : name of the variable (generally "__IW0_1_2" style)
"DIR" : direction "Q","I" or "M"
"SIZE" : size "X", "B", "W", "D", "L"
"LOC" : tuple of interger for IEC location (0,1,2,...)
}, ...]
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
"""
current_location = self.GetCurrentLocation()
slaves = self.GetSlaves()
for slave_pos in slaves:
slave = self.GetSlave(slave_pos)
if slave is not None:
self.FileGenerator.DeclareSlave(slave_pos, slave.getInfo().getAutoIncAddr(), slave.getType())
for location in locations:
loc = location["LOC"][len(current_location):]
slave_pos = loc[0]
if slave_pos in slaves and len(loc) == 3:
self.FileGenerator.DeclareVariable(
slave_pos, loc[1], loc[2], location["IEC_TYPE"], location["DIR"], location["NAME"])
return [],"",False
#-------------------------------------------------------------------------------
# Current Buffering Management Functions
#-------------------------------------------------------------------------------
"""
Return a copy of the config
"""
def Copy(self, model):
return cPickle.loads(cPickle.dumps(model))
def CreateConfigBuffer(self, saved):
self.ConfigBuffer = UndoBuffer(cPickle.dumps(self.Config), saved)
def BufferConfig(self):
self.ConfigBuffer.Buffering(cPickle.dumps(self.Config))
def ConfigIsSaved(self):
if self.ConfigBuffer is not None:
return self.ConfigBuffer.IsCurrentSaved()
else:
return True
def LoadPrevious(self):
self.Config = cPickle.loads(self.ConfigBuffer.Previous())
def LoadNext(self):
self.Config = cPickle.loads(self.ConfigBuffer.Next())
def GetBufferState(self):
first = self.ConfigBuffer.IsFirst()
last = self.ConfigBuffer.IsLast()
return not first, not last
SLAVE_PDOS_CONFIGURATION_DECLARATION = """
/* Slave %(slave)d, "%(device_type)s"
* Vendor ID: 0x%(vendor).8x
* Product code: 0x%(product_code).8x
* Revision number: 0x%(revision_number).8x
*/
ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = {
%(pdos_entries_infos)s
};
ec_pdo_info_t slave_%(slave)d_pdos[] = {
%(pdos_infos)s
};
ec_sync_info_t slave_%(slave)d_syncs[] = {
%(pdos_sync_infos)s
{0xff}
};
"""
SLAVE_CONFIGURATION_TEMPLATE = """
if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) {
fprintf(stderr, "Failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.\\n");
return -1;
}
if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) {
fprintf(stderr, "Failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.\\n");
return -1;
}
"""
SLAVE_INITIALIZATION_TEMPLATE = """
{
uint8_t value[%(data_size)d];
EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s);
if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) {
fprintf(stderr, "Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code);
return -1;
}
}
"""
SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """
{
uint8_t value[%(data_size)d];
if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
fprintf(stderr, "Failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code);
return -1;
}
%(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);
}
"""
def ConfigureVariable(entry_infos, str_completion):
entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)
if entry_infos["data_type"] is None:
raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]
if entry_infos.has_key("real_var"):
str_completion["located_variables_declaration"].append(
"IEC_%(var_type)s %(real_var)s;" % entry_infos)
else:
entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
str_completion["located_variables_declaration"].extend(
["IEC_%(var_type)s %(real_var)s;" % entry_infos,
"IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos])
str_completion["used_pdo_entry_offset_variables_declaration"].append(
"unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos)
if entry_infos["data_type"] == "BIT":
str_completion["used_pdo_entry_offset_variables_declaration"].append(
"unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos)
str_completion["used_pdo_entry_configuration"].append(
(" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " +
"0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " +
"&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos)
if entry_infos["dir"] == "I":
str_completion["retrieve_variables"].append(
(" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
"slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos)
elif entry_infos["dir"] == "Q":
str_completion["publish_variables"].append(
(" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
"slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos)
else:
str_completion["used_pdo_entry_configuration"].append(
(" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " +
"%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos)
if entry_infos["dir"] == "I":
str_completion["retrieve_variables"].append(
(" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " +
"slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos)
elif entry_infos["dir"] == "Q":
str_completion["publish_variables"].append(
(" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
"%(real_var)s);") % entry_infos)
def ExclusionSortFunction(x, y):
if x["matching"] == y["matching"]:
if x["assigned"] and not y["assigned"]:
return -1
elif not x["assigned"] and y["assigned"]:
return 1
return cmp(x["count"], y["count"])
return -cmp(x["matching"], y["matching"])
class _EthercatCFileGenerator:
def __init__(self, controler):
self.Controler = controler
self.Slaves = []
self.UsedVariables = {}
def __del__(self):
self.Controler = None
def DeclareSlave(self, slave_index, slave_alias, slave):
self.Slaves.append((slave_index, slave_alias, slave))
def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name):
slave_variables = self.UsedVariables.setdefault(slave_index, {})
entry_infos = slave_variables.get((index, subindex), None)
if entry_infos is None:
slave_variables[(index, subindex)] = {
"infos": (iec_type, dir, name),
"mapped": False}
elif entry_infos["infos"] != (iec_type, dir, name):
raise ValueError, _("Definition conflict for location \"%s\"") % name
def GenerateCFile(self, filepath, location_str, etherlab_node_infos):
# Extract etherlab master code template
plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")
plc_etherlab_file = open(plc_etherlab_filepath, 'r')
plc_etherlab_code = plc_etherlab_file.read()
plc_etherlab_file.close()
# Initialize strings for formatting master code template
str_completion = {
"location": location_str,
"master_number": etherlab_node_infos.getMasterNumber(),
"located_variables_declaration": [],
"used_pdo_entry_offset_variables_declaration": [],
"used_pdo_entry_configuration": [],
"pdos_configuration_declaration": "",
"slaves_declaration": "",
"slaves_configuration": "",
"slaves_output_pdos_default_values_extraction": "",
"slaves_initialization": "",
"retrieve_variables": [],
"publish_variables": [],
}
# Initialize variable storing variable mapping state
for slave_entries in self.UsedVariables.itervalues():
for entry_infos in slave_entries.itervalues():
entry_infos["mapped"] = False
# Sort slaves by position (IEC_Channel)
self.Slaves.sort()
# Initialize dictionary storing alias auto-increment position values
alias = {}
# Generating code for each slave
for (slave_idx, slave_alias, type_infos) in self.Slaves:
# Defining slave alias and auto-increment position
if alias.get(slave_alias) is not None:
alias[slave_alias] += 1
else:
alias[slave_alias] = 0
slave_pos = (slave_alias, alias[slave_alias])
# Extract slave device informations
device, alignement = self.Controler.GetModuleInfos(type_infos)
if device is not None:
# Extract slaves variables to be mapped
slave_variables = self.UsedVariables.get(slave_idx, {})
# Extract slave device object dictionary entries
device_entries = device.GetEntriesList()
# Adding code for declaring slave in master code template strings
for element in ["vendor", "product_code", "revision_number"]:
type_infos[element] = ExtractHexDecValue(type_infos[element])
type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))
# Extract slave device CoE informations
device_coe = device.getCoE()
if device_coe is not None:
# If device support CanOpen over Ethernet, adding code for calling
# init commands when initializing slave in master code template strings
for initCmd in device_coe.getInitCmd():
index = ExtractHexDecValue(initCmd.getIndex())
subindex = ExtractHexDecValue(initCmd.getSubIndex())
entry = device_entries.get((index, subindex), None)
if entry is not None:
data_size = entry["BitSize"] / 8
data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd.getData().getcontent()
init_cmd_infos = {
"index": index,
"subindex": subindex,
"data": data_str,
"data_type": DATATYPECONVERSION.get(entry["Type"]),
"data_size": data_size
}
init_cmd_infos.update(type_infos)
str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos
# Extract slave device PDO configuration capabilities
PdoAssign = device_coe.getPdoAssign()
PdoConfig = device_coe.getPdoConfig()
else:
PdoAssign = PdoConfig = False
# Test if slave has a configuration or need one
if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign:
str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos
str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos
# Initializing
pdos_infos = {
"pdos_entries_infos": [],
"pdos_infos": [],
"pdos_sync_infos": [],
}
pdos_infos.update(type_infos)
sync_managers = []
for sync_manager_idx, sync_manager in enumerate(device.getSm()):
sync_manager_infos = {
"index": sync_manager_idx,
"name": sync_manager.getcontent(),
"slave": slave_idx,
"pdos": [],
"pdos_number": 0,
}
sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
sync_manager_direction = sync_manager_control_byte & 0x0c
sync_manager_watchdog = sync_manager_control_byte & 0x40
if sync_manager_direction:
sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"
else:
sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"
if sync_manager_watchdog:
sync_manager_infos["watchdog"] = "EC_WD_ENABLE"
else:
sync_manager_infos["watchdog"] = "EC_WD_DISABLE"
sync_managers.append(sync_manager_infos)
pdos_index = []
exclusive_pdos = {}
selected_pdos = []
for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
[(pdo, "Outputs") for pdo in device.getRxPdo()]):
pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
pdos_index.append(pdo_index)
excluded_list = pdo.getExclude()
if len(excluded_list) > 0:
exclusion_list = [pdo_index]
for excluded in excluded_list:
exclusion_list.append(ExtractHexDecValue(excluded.getcontent()))
exclusion_list.sort()
exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])
entries = pdo.getEntry()
pdo_mapping_match = {
"index": pdo_index,
"matching": 0,
"count": len(entries),
"assigned": pdo.getSm() is not None
}
exclusion_scope.append(pdo_mapping_match)
for entry in entries:
index = ExtractHexDecValue(entry.getIndex().getcontent())
subindex = ExtractHexDecValue(entry.getSubIndex())
if slave_variables.get((index, subindex), None) is not None:
pdo_mapping_match["matching"] += 1
elif pdo.getMandatory():
selected_pdos.append(pdo_index)
excluded_pdos = []
for exclusion_scope in exclusive_pdos.itervalues():
exclusion_scope.sort(ExclusionSortFunction)
start_excluding_index = 0
if exclusion_scope[0]["matching"] > 0:
selected_pdos.append(exclusion_scope[0]["index"])
start_excluding_index = 1
excluded_pdos.extend([pdo["index"] for pdo in exclusion_scope[start_excluding_index:] if PdoAssign or not pdo["assigned"]])
for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
[(pdo, "Outputs") for pdo in device.getRxPdo()]):
entries = pdo.getEntry()
pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
if pdo_index in excluded_pdos:
continue
pdo_needed = pdo_index in selected_pdos
entries_infos = []
for entry in entries:
index = ExtractHexDecValue(entry.getIndex().getcontent())
subindex = ExtractHexDecValue(entry.getSubIndex())
entry_infos = {
"index": index,
"subindex": subindex,
"name": ExtractName(entry.getName()),
"bitlen": entry.getBitLen(),
}
entry_infos.update(type_infos)
entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
entry_declaration = slave_variables.get((index, subindex), None)
if entry_declaration is not None and not entry_declaration["mapped"]:
pdo_needed = True
entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"])))
entry_declaration["mapped"] = True
entry_type = entry.getDataType().getcontent()
if entry_infos["var_type"] != entry_type:
message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
self.Controler.GetSizeOfType(entry_type)):
raise ValueError, message
else:
self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or
entry_infos["dir"] == "Q" and pdo_type != "Outputs"):
raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
ConfigureVariable(entry_infos, str_completion)
elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:
data_type = entry.getDataType().getcontent()
entry_infos["dir"] = "Q"
entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
entry_infos["var_type"] = data_type
entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
ConfigureVariable(entry_infos, str_completion)
str_completion["slaves_output_pdos_default_values_extraction"] += \
SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
if pdo_needed:
for excluded in pdo.getExclude():
excluded_index = ExtractHexDecValue(excluded.getcontent())
if excluded_index not in excluded_pdos:
excluded_pdos.append(excluded_index)
sm = pdo.getSm()
if sm is None:
for sm_idx, sync_manager in enumerate(sync_managers):
if sync_manager["name"] == pdo_type:
sm = sm_idx
if sm is None:
raise ValueError, _("No sync manager available for %s pdo!") % pdo_type
sync_managers[sm]["pdos_number"] += 1
sync_managers[sm]["pdos"].append(
{"slave": slave_idx,
"index": pdo_index,
"name": ExtractName(pdo.getName()),
"type": pdo_type,
"entries": entries_infos,
"entries_number": len(entries_infos),
"fixed": pdo.getFixed() == True})
if PdoConfig and PdoAssign:
dynamic_pdos = {}
dynamic_pdos_number = 0
for category, min_index, max_index in [("Inputs", 0x1600, 0x1800),
("Outputs", 0x1a00, 0x1C00)]:
for sync_manager in sync_managers:
if sync_manager["name"] == category:
category_infos = dynamic_pdos.setdefault(category, {})
category_infos["sync_manager"] = sync_manager
category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"]
if not pdo["fixed"] and pdo["type"] == category]
category_infos["current_index"] = min_index
category_infos["max_index"] = max_index
break
for (index, subindex), entry_declaration in slave_variables.iteritems():
if not entry_declaration["mapped"]:
entry = device_entries.get((index, subindex), None)
if entry is None:
raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
(index, subindex, type_infos["device_type"])
entry_infos = {
"index": index,
"subindex": subindex,
"name": entry["Name"],
"bitlen": entry["BitSize"],
}
entry_infos.update(type_infos)
entry_infos.update(dict(zip(["var_type", "dir", "var_name", "real_var"], entry_declaration["infos"])))
entry_declaration["mapped"] = True
if entry_infos["var_type"] != entry["Type"]:
message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
self.Controler.GetSizeOfType(entry["Type"])):
raise ValueError, message
else:
self.Controler.GetCTRoot().logger.write_warning(message + "\n")
if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
pdo_type = "Inputs"
elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
pdo_type = "Outputs"
else:
raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
if not dynamic_pdos.has_key(pdo_type):
raise ValueError, _("No Sync manager defined for %s!") % pdo_type
ConfigureVariable(entry_infos, str_completion)
if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
pdo = dynamic_pdos[pdo_type]["pdos"][0]
else:
while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
dynamic_pdos[pdo_type]["current_index"] += 1
if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:
raise ValueError, _("No more free PDO index available for %s!") % pdo_type
pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
dynamic_pdos_number += 1
pdo = {"slave": slave_idx,
"index": dynamic_pdos[pdo_type]["current_index"],
"name": "Dynamic PDO %d" % dynamic_pdos_number,
"type": pdo_type,
"entries": [],
"entries_number": 0,
"fixed": False}
dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
dynamic_pdos[pdo_type]["pdos"].append(pdo)
pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
pdo["entries_number"] += 1
if pdo["entries_number"] == 255:
dynamic_pdos[pdo_type]["pdos"].pop(0)
pdo_offset = 0
entry_offset = 0
for sync_manager_infos in sync_managers:
for pdo_infos in sync_manager_infos["pdos"]:
pdo_infos["offset"] = entry_offset
pdo_entries = pdo_infos["entries"]
pdos_infos["pdos_infos"].append(
(" {0x%(index).4x, %(entries_number)d, " +
"slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos)
entry_offset += len(pdo_entries)
pdos_infos["pdos_entries_infos"].extend(pdo_entries)
sync_manager_infos["offset"] = pdo_offset
pdo_offset_shift = sync_manager_infos["pdos_number"]
pdos_infos["pdos_sync_infos"].append(
(" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " +
("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") +
", %(watchdog)s},") % sync_manager_infos)
pdo_offset += pdo_offset_shift
for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]:
pdos_infos[element] = "\n".join(pdos_infos[element])
str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos
for (index, subindex), entry_declaration in slave_variables.iteritems():
if not entry_declaration["mapped"]:
message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \
(index, subindex, type_infos["device_type"])
self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
for element in ["used_pdo_entry_offset_variables_declaration",
"used_pdo_entry_configuration",
"located_variables_declaration",
"retrieve_variables",
"publish_variables"]:
str_completion[element] = "\n".join(str_completion[element])
etherlabfile = open(filepath, 'w')
etherlabfile.write(plc_etherlab_code % str_completion)
etherlabfile.close()
#--------------------------------------------------
# Ethercat ConfNode
#--------------------------------------------------
EtherCATInfoClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd"))
cls = EtherCATInfoClasses["EtherCATBase.xsd"].get("DictionaryType", None)
if cls:
cls.loadXMLTreeArgs = None
setattr(cls, "_loadXMLTree", getattr(cls, "loadXMLTree"))
def loadXMLTree(self, *args):
self.loadXMLTreeArgs = args
setattr(cls, "loadXMLTree", loadXMLTree)
def load(self):
if self.loadXMLTreeArgs is not None:
self._loadXMLTree(*self.loadXMLTreeArgs)
self.loadXMLTreeArgs = None
setattr(cls, "load", load)
cls = EtherCATInfoClasses["EtherCATInfo.xsd"].get("DeviceType", None)
if cls:
cls.DataTypes = None
def GetProfileNumbers(self):
profiles = []
for profile in self.getProfile():
profile_content = profile.getcontent()
if profile_content is None:
continue
for content_element in profile_content["value"]:
if content_element["name"] == "ProfileNo":
profiles.append(content_element["value"])
return profiles
setattr(cls, "GetProfileNumbers", GetProfileNumbers)
def GetProfileDictionaries(self):
dictionaries = []
for profile in self.getProfile():
profile_content = profile.getcontent()
if profile_content is None:
continue
for content_element in profile_content["value"]:
if content_element["name"] == "Dictionary":
dictionaries.append(content_element["value"])
elif content_element["name"] == "DictionaryFile":
raise ValueError, "DictionaryFile for defining Device Profile is not yet supported!"
return dictionaries
setattr(cls, "GetProfileDictionaries", GetProfileDictionaries)
def ExtractDataTypes(self):
self.DataTypes = {}
for dictionary in self.GetProfileDictionaries():
datatypes = dictionary.getDataTypes()
if datatypes is not None:
for datatype in datatypes.getDataType():
content = datatype.getcontent()
if content is not None and content["name"] == "SubItem":
self.DataTypes[datatype.getName()] = datatype
setattr(cls, "ExtractDataTypes", ExtractDataTypes)
def getCoE(self):
mailbox = self.getMailbox()
if mailbox is not None:
return mailbox.getCoE()
return None
setattr(cls, "getCoE", getCoE)
def GetEntriesList(self):
if self.DataTypes is None:
self.ExtractDataTypes()
entries = {}
for dictionary in self.GetProfileDictionaries():
dictionary.load()
for object in dictionary.getObjects().getObject():
entry_index = object.getIndex().getcontent()
index = ExtractHexDecValue(entry_index)
entry_type = object.getType()
entry_name = ExtractName(object.getName())
entry_type_infos = self.DataTypes.get(entry_type, None)
if entry_type_infos is not None:
content = entry_type_infos.getcontent()
for subitem in content["value"]:
entry_subidx = subitem.getSubIdx()
if entry_subidx is None:
entry_subidx = "0"
subidx = ExtractHexDecValue(entry_subidx)
subitem_access = ""
subitem_pdomapping = ""
subitem_flags = subitem.getFlags()
if subitem_flags is not None:
access = subitem_flags.getAccess()
if access is not None:
subitem_access = access.getcontent()
pdomapping = subitem_flags.getPdoMapping()
if pdomapping is not None:
subitem_pdomapping = pdomapping.upper()
entries[(index, subidx)] = {
"Index": entry_index,
"SubIndex": entry_subidx,
"Name": "%s - %s" %
(entry_name.decode("utf-8"),
ExtractName(subitem.getDisplayName(),
subitem.getName()).decode("utf-8")),
"Type": subitem.getType(),
"BitSize": subitem.getBitSize(),
"Access": subitem_access,
"PDOMapping": subitem_pdomapping}
else:
entry_access = ""
entry_pdomapping = ""
entry_flags = object.getFlags()
if entry_flags is not None:
access = entry_flags.getAccess()
if access is not None:
entry_access = access.getcontent()
pdomapping = entry_flags.getPdoMapping()
if pdomapping is not None:
entry_pdomapping = pdomapping.upper()
entries[(index, 0)] = {
"Index": entry_index,
"SubIndex": "0",
"Name": entry_name,
"Type": entry_type,
"BitSize": object.getBitSize(),
"Access": entry_access,
"PDOMapping": entry_pdomapping}
for TxPdo in self.getTxPdo():
ExtractPdoInfos(TxPdo, "Transmit", entries)
for RxPdo in self.getRxPdo():
ExtractPdoInfos(RxPdo, "Receive", entries)
return entries
setattr(cls, "GetEntriesList", GetEntriesList)
def GetSyncManagers(self):
sync_managers = []
for sync_manager in self.getSm():
sync_manager_infos = {}
for name, value in [("Name", sync_manager.getcontent()),
("Start Address", sync_manager.getStartAddress()),
("Default Size", sync_manager.getDefaultSize()),
("Control Byte", sync_manager.getControlByte()),
("Enable", sync_manager.getEnable())]:
if value is None:
value =""
sync_manager_infos[name] = value
sync_managers.append(sync_manager_infos)
return sync_managers
setattr(cls, "GetSyncManagers", GetSyncManagers)
def GroupItemCompare(x, y):
if x["type"] == y["type"]:
if x["type"] == ETHERCAT_GROUP:
return cmp(x["order"], y["order"])
else:
return cmp(x["name"], y["name"])
elif x["type"] == ETHERCAT_GROUP:
return -1
return 1
def SortGroupItems(group):
for item in group["children"]:
if item["type"] == ETHERCAT_GROUP:
SortGroupItems(item)
group["children"].sort(GroupItemCompare)
def ExtractName(names, default=None):
if len(names) == 1:
return names[0].getcontent()
else:
for name in names:
if name.getLcId() == 1033:
return name.getcontent()
return default
def ExtractPdoInfos(pdo, pdo_type, entries):
pdo_index = pdo.getIndex().getcontent()
pdo_name = ExtractName(pdo.getName())
for pdo_entry in pdo.getEntry():
entry_index = pdo_entry.getIndex().getcontent()
entry_subindex = pdo_entry.getSubIndex()
index = ExtractHexDecValue(entry_index)
subindex = ExtractHexDecValue(entry_subindex)
entry = entries.get((index, subindex), None)
if entry is not None:
entry["PDO index"] = pdo_index
entry["PDO name"] = pdo_name
entry["PDO type"] = pdo_type
else:
entry_type = pdo_entry.getDataType()
if entry_type is not None:
if pdo_type == "Transmit":
access = "ro"
pdomapping = "T"
else:
access = "wo"
pdomapping = "R"
entries[(index, subindex)] = {
"Index": entry_index,
"SubIndex": entry_subindex,
"Name": ExtractName(pdo_entry.getName()),
"Type": entry_type.getcontent(),
"Access": access,
"PDOMapping": pdomapping}
DEFAULT_ALIGNMENT = 8
class ModulesLibrary:
def __init__(self, path, parent_library=None):
self.Path = path
if not os.path.exists(self.Path):
os.makedirs(self.Path)
self.ParentLibrary = parent_library
self.LoadModules()
self.LoadAlignments()
def GetPath(self):
return self.Path
def GetAlignmentFilePath(self):
return os.path.join(self.Path, "alignments.cfg")
def LoadModules(self):
self.Library = {}
files = os.listdir(self.Path)
for file in files:
filepath = os.path.join(self.Path, file)
if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml":
xmlfile = open(filepath, 'r')
xml_tree = minidom.parse(xmlfile)
xmlfile.close()
modules_infos = None
for child in xml_tree.childNodes:
if child.nodeType == xml_tree.ELEMENT_NODE and child.nodeName == "EtherCATInfo":
modules_infos = EtherCATInfoClasses["EtherCATInfo.xsd"]["EtherCATInfo"]()
modules_infos.loadXMLTree(child)
if modules_infos is not None:
vendor = modules_infos.getVendor()
vendor_category = self.Library.setdefault(ExtractHexDecValue(vendor.getId()),
{"name": ExtractName(vendor.getName(), _("Miscellaneous")),
"groups": {}})
for group in modules_infos.getDescriptions().getGroups().getGroup():
group_type = group.getType()
vendor_category["groups"].setdefault(group_type, {"name": ExtractName(group.getName(), group_type),
"parent": group.getParentGroup(),
"order": group.getSortOrder(),
"devices": []})
for device in modules_infos.getDescriptions().getDevices().getDevice():
device_group = device.getGroupType()
if not vendor_category["groups"].has_key(device_group):
raise ValueError, "Not such group \"%\"" % device_group
vendor_category["groups"][device_group]["devices"].append((device.getType().getcontent(), device))
def GetModulesLibrary(self, profile_filter=None):
library = []
for vendor_id, vendor in self.Library.iteritems():
groups = []
children_dict = {}
for group_type, group in vendor["groups"].iteritems():
group_infos = {"name": group["name"],
"order": group["order"],
"type": ETHERCAT_GROUP,
"infos": None,
"children": children_dict.setdefault(group_type, [])}
device_dict = {}
for device_type, device in group["devices"]:
if profile_filter is None or profile_filter in device.GetProfileNumbers():
product_code = device.getType().getProductCode()
revision_number = device.getType().getRevisionNo()
alignment = self.GetAlignment(vendor_id, product_code, revision_number)
device_infos = {"name": ExtractName(device.getName()),
"type": ETHERCAT_DEVICE,
"infos": {"device_type": device_type,
"vendor": vendor_id,
"product_code": product_code,
"revision_number": revision_number,
"alignment": alignment},
"children": []}
group_infos["children"].append(device_infos)
device_type_occurrences = device_dict.setdefault(device_type, [])
device_type_occurrences.append(device_infos)
for device_type_occurrences in device_dict.itervalues():
if len(device_type_occurrences) > 1:
for occurrence in device_type_occurrences:
occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"]
if len(group_infos["children"]) > 0:
if group["parent"] is not None:
parent_children = children_dict.setdefault(group["parent"], [])
parent_children.append(group_infos)
else:
groups.append(group_infos)
if len(groups) > 0:
library.append({"name": vendor["name"],
"type": ETHERCAT_VENDOR,
"infos": None,
"children": groups})
library.sort(lambda x, y: cmp(x["name"], y["name"]))
return library
def GetModuleInfos(self, module_infos):
vendor = ExtractHexDecValue(module_infos["vendor"])
vendor_infos = self.Library.get(vendor)
if vendor_infos is not None:
for group_name, group_infos in vendor_infos["groups"].iteritems():
for device_type, device_infos in group_infos["devices"]:
product_code = ExtractHexDecValue(device_infos.getType().getProductCode())
revision_number = ExtractHexDecValue(device_infos.getType().getRevisionNo())
if (product_code == ExtractHexDecValue(module_infos["product_code"]) and
revision_number == ExtractHexDecValue(module_infos["revision_number"])):
return device_infos, self.GetAlignment(vendor, product_code, revision_number)
return None, None
def ImportModuleLibrary(self, filepath):
if os.path.isfile(filepath):
shutil.copy(filepath, self.Path)
self.LoadModules()
return True
return False
def LoadAlignments(self):
self.Alignments = {}
csvfile_path = self.GetAlignmentFilePath()
if os.path.exists(csvfile_path):
csvfile = open(csvfile_path, "rb")
sample = csvfile.read(1024)
csvfile.seek(0)
dialect = csv.Sniffer().sniff(sample)
has_header = csv.Sniffer().has_header(sample)
reader = csv.reader(csvfile, dialect)
for row in reader:
if has_header:
has_header = False
else:
try:
self.Alignments[tuple(map(int, row[:3]))] = row[3]
except:
pass
csvfile.close()
def SaveAlignments(self):
csvfile = open(self.GetAlignmentFilePath(), "wb")
writer = csv.writer(csvfile, delimiter=';')
writer.writerow(['Vendor', 'product_code', 'revision_number', 'alignment'])
for (vendor, product_code, revision_number), alignment in self.Alignments.iteritems():
writer.writerow([vendor, product_code, revision_number, alignment])
csvfile.close()
def SetAlignment(self, vendor, product_code, revision_number, alignment):
vendor = ExtractHexDecValue(vendor)
product_code = ExtractHexDecValue(product_code)
revision_number = ExtractHexDecValue(revision_number)
self.Alignments[tuple([vendor, product_code, revision_number])] = alignment
self.SaveAlignments()
def GetAlignment(self, vendor, product_code, revision_number):
vendor = ExtractHexDecValue(vendor)
product_code = ExtractHexDecValue(product_code)
revision_number = ExtractHexDecValue(revision_number)
alignment = self.Alignments.get(tuple([vendor, product_code, revision_number]))
if alignment is not None:
return alignment
if self.ParentLibrary is not None:
return self.ParentLibrary.GetAlignment(vendor, product_code, revision_number)
return DEFAULT_ALIGNMENT
USERDATA_DIR = wx.StandardPaths.Get().GetUserDataDir()
if wx.Platform != '__WXMSW__':
USERDATA_DIR += '_files'
ModulesDatabase = ModulesLibrary(
os.path.join(USERDATA_DIR, "ethercat_modules"))
class RootClass:
CTNChildrenTypes = [("EthercatNode",_EthercatCTN,"Ethercat Master")]
EditorType = LibraryEditor
def __init__(self):
self.ModulesLibrary = None
self.LoadModulesLibrary()
def GetModulesLibraryPath(self):
return os.path.join(self.CTNPath(), "modules")
def CTNGenerate_C(self, buildpath, locations):
return [],"",False
def LoadModulesLibrary(self):
if self.ModulesLibrary is None:
self.ModulesLibrary = ModulesLibrary(self.GetModulesLibraryPath(), ModulesDatabase)
else:
self.ModulesLibrary.LoadModulesLibrary()
def GetModulesDatabaseInstance(self):
return ModulesDatabase
def GetModulesLibraryInstance(self):
return self.ModulesLibrary
def GetModulesLibrary(self, profile_filter=None):
return self.ModulesLibrary.GetModulesLibrary(profile_filter)
def GetModuleInfos(self, module_infos):
return self.ModulesLibrary.GetModuleInfos(module_infos)