Added support for loading XML file even if not following XSD schema (but still following XML syntax), warning user of errors in XML file
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