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 cPickle
from lxml import etree
from copy import deepcopy
import wx
from xmlclass import *
from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
from ConfigTreeNode import ConfigTreeNode
from dialogs import BrowseValuesLibraryDialog
from IDEFrame import TITLE, FILEMENU, PROJECTTREE
from EthercatSlave import _EthercatSlaveCTN, ExtractHexDecValue, GenerateHexDecValue, TYPECONVERSION, VARCLASSCONVERSION, _CommonSlave
from EthercatCFileGenerator import _EthercatCFileGenerator
from ConfigEditor import MasterEditor
from POULibrary import POULibrary
try:
from EthercatCIA402Slave import _EthercatCIA402SlaveCTN
HAS_MCL = True
except:
HAS_MCL = False
#--------------------------------------------------
# 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 MASTER
#--------------------------------------------------
EtherCATConfigParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd"))
def sort_commands(x, y):
if x["Index"] == y["Index"]:
return cmp(x["Subindex"], y["Subindex"])
return cmp(x["Index"], y["Index"])
cls = EtherCATConfigParser.GetElementClass("Slave", "Config")
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)
def getInitCmds(self, create_default=False):
Mailbox = self.getMailbox()
if Mailbox is None:
if create_default:
self.addMailbox()
Mailbox = self.getMailbox()
else:
return None
CoE = Mailbox.getCoE()
if CoE is None:
if create_default:
Mailbox.addCoE()
CoE = Mailbox.getCoE()
else:
return None
InitCmds = CoE.getInitCmds()
if InitCmds is None and create_default:
CoE.addInitCmds()
InitCmds = CoE.getInitCmds()
return InitCmds
setattr(cls, "getInitCmds", getInitCmds)
def getStartupCommands(self):
pos = self.getInfo().getPhysAddr()
InitCmds = self.getInitCmds()
if InitCmds is None:
return []
commands = []
for idx, InitCmd in enumerate(InitCmds.getInitCmd()):
comment = InitCmd.getComment()
if comment is None:
comment = ""
commands.append({
"command_idx": idx,
"Position": pos,
"Index": InitCmd.getIndex(),
"Subindex": InitCmd.getSubIndex(),
"Value": InitCmd.getData(),
"Description": comment})
commands.sort(sort_commands)
return commands
setattr(cls, "getStartupCommands", getStartupCommands)
def appendStartupCommand(self, command_infos):
InitCmds = self.getInitCmds(True)
command = EtherCATConfigParser.CreateElement("InitCmd", "InitCmds", 1)
InitCmds.appendInitCmd(command)
command.setIndex(command_infos["Index"])
command.setSubIndex(command_infos["Subindex"])
command.setData(command_infos["Value"])
command.setComment(command_infos["Description"])
return len(InitCmds.getInitCmd()) - 1
setattr(cls, "appendStartupCommand", appendStartupCommand)
def setStartupCommand(self, command_infos):
InitCmds = self.getInitCmds()
if InitCmds is not None:
commands = InitCmds.getInitCmd()
if command_infos["command_idx"] < len(commands):
command = commands[command_infos["command_idx"]]
command.setIndex(command_infos["Index"])
command.setSubIndex(command_infos["Subindex"])
command.setData(command_infos["Value"])
command.setComment(command_infos["Description"])
setattr(cls, "setStartupCommand", setStartupCommand)
def removeStartupCommand(self, command_idx):
InitCmds = self.getInitCmds()
if InitCmds is not None:
if command_idx < len(InitCmds.getInitCmd()):
InitCmds.removeInitCmd(command_idx)
setattr(cls, "removeStartupCommand", removeStartupCommand)
ProcessVariablesXSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="ProcessVariables">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="variable" minOccurs="0" maxOccurs="unbounded">
<xsd:complexType>
<xsd:sequence>
<xsd:element name="ReadFrom" type="LocationDesc" minOccurs="0"/>
<xsd:element name="WriteTo" type="LocationDesc" minOccurs="0"/>
</xsd:sequence>
<xsd:attribute name="Name" type="xsd:string" use="required"/>
<xsd:attribute name="Comment" type="xsd:string" use="required"/>
</xsd:complexType>
</xsd:element>
</xsd:sequence>
</xsd:complexType>
</xsd:element>
<xsd:complexType name="LocationDesc">
<xsd:attribute name="Position" type="xsd:integer" use="required"/>
<xsd:attribute name="Index" type="xsd:integer" use="required"/>
<xsd:attribute name="SubIndex" type="xsd:integer" use="required"/>
</xsd:complexType>
</xsd:schema>
"""
ProcessVariablesParser = GenerateParserFromXSDstring(ProcessVariablesXSD)
class _EthercatCTN:
CTNChildrenTypes = [("EthercatSlave", _EthercatSlaveCTN, "Ethercat Slave")]
if HAS_MCL:
CTNChildrenTypes.append(("EthercatCIA402Slave", _EthercatCIA402SlaveCTN, "Ethercat CIA402 Slave"))
EditorType = MasterEditor
def __init__(self):
config_filepath = self.ConfigFileName()
config_is_saved = False
self.Config = None
if os.path.isfile(config_filepath):
config_xmlfile = open(config_filepath, 'r')
try:
self.Config, error = \
EtherCATConfigParser.LoadXMLString(config_xmlfile.read())
if error is None:
config_is_saved = True
except Exception, e:
error = e.message
config_xmlfile.close()
if error is not None:
self.GetCTRoot().logger.write_error(
_("Couldn't load %s network configuration file.") % CTNName)
if self.Config is None:
self.Config = EtherCATConfigParser.CreateElement("EtherCATConfig")
process_filepath = self.ProcessVariablesFileName()
process_is_saved = False
self.ProcessVariables = None
if os.path.isfile(process_filepath):
process_xmlfile = open(process_filepath, 'r')
try:
self.ProcessVariables, error = \
ProcessVariablesParser.LoadXMLString(process_xmlfile.read())
if error is None:
process_is_saved = True
except Exception, e:
error = e.message
process_xmlfile.close()
if error is not None:
self.GetCTRoot().logger.write_error(
_("Couldn't load %s network process variables file.") % CTNName)
if self.ProcessVariables is None:
self.ProcessVariables = ProcessVariablesParser.CreateElement("ProcessVariables")
if config_is_saved and process_is_saved:
self.CreateBuffer(True)
else:
self.CreateBuffer(False)
self.OnCTNSave()
# ----------- call ethercat mng. function --------------
self.CommonMethod = _CommonSlave(self)
def GetIconName(self):
return "Ethercat"
def GetContextualMenuItems(self):
return [("Add Ethercat Slave", "Add Ethercat Slave to Master", self.OnAddEthercatSlave)]
def OnAddEthercatSlave(self, event):
app_frame = self.GetCTRoot().AppFrame
dialog = BrowseValuesLibraryDialog(app_frame,
"Ethercat Slave Type", self.GetSlaveTypesLibrary())
if dialog.ShowModal() == wx.ID_OK:
type_infos = dialog.GetValueInfos()
device, module_extra_params = self.GetModuleInfos(type_infos)
if device is not None:
if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():
ConfNodeType = "EthercatCIA402Slave"
else:
ConfNodeType = "EthercatSlave"
new_child = self.CTNAddChild("%s_0" % ConfNodeType, ConfNodeType)
new_child.SetParamsAttribute("SlaveParams.Type", type_infos)
self.CTNRequestSave()
new_child._OpenView()
app_frame._Refresh(TITLE, FILEMENU, PROJECTTREE)
dialog.Destroy()
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 ProcessVariablesFileName(self):
return os.path.join(self.CTNPath(), "process_variables.xml")
def FilterSlave(self, slave, vendor=None, slave_pos=None, slave_profile=None):
if slave_pos is not None and slave.getInfo().getPhysAddr() != slave_pos:
return False
type_infos = slave.getType()
if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor:
return False
device, module_extra_params = self.GetModuleInfos(type_infos)
if slave_profile is not None and slave_profile not in device.GetProfileNumbers():
return False
return True
def GetSlaveName(self, slave_pos):
CTNChild = self.GetChildByIECLocation((slave_pos,))
if CTNChild is not None:
return CTNChild.CTNName()
return self.CTNName()
def GetSlaves(self, vendor=None, slave_pos=None, slave_profile=None):
slaves = []
for slave in self.Config.getConfig().getSlave():
if self.FilterSlave(slave, vendor, slave_pos, slave_profile):
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 GetStartupCommands(self, vendor=None, slave_pos=None, slave_profile=None):
commands = []
for slave in self.Config.getConfig().getSlave():
if self.FilterSlave(slave, vendor, slave_pos, slave_profile):
commands.append((slave.getInfo().getPhysAddr(), slave.getStartupCommands()))
commands.sort()
return reduce(lambda x, y: x + y[1], commands, [])
def AppendStartupCommand(self, command_infos):
slave = self.GetSlave(command_infos["Position"])
if slave is not None:
command_idx = slave.appendStartupCommand(command_infos)
self.BufferModel()
return command_idx
return None
def SetStartupCommandInfos(self, command_infos):
slave = self.GetSlave(command_infos["Position"])
if slave is not None:
slave.setStartupCommand(command_infos)
self.BufferModel()
def RemoveStartupCommand(self, slave_pos, command_idx, buffer=True):
slave = self.GetSlave(slave_pos)
if slave is not None:
slave.removeStartupCommand(command_idx)
if buffer:
self.BufferModel()
def SetProcessVariables(self, variables):
vars = []
for var in variables:
variable = ProcessVariablesParser.CreateElement("variable", "ProcessVariables")
variable.setName(var["Name"])
variable.setComment(var["Description"])
if var["ReadFrom"] != "":
position, index, subindex = var["ReadFrom"]
if variable.getReadFrom() is None:
variable.addReadFrom()
read_from = variable.getReadFrom()
read_from.setPosition(position)
read_from.setIndex(index)
read_from.setSubIndex(subindex)
elif variable.getReadFrom() is not None:
variable.deleteReadFrom()
if var["WriteTo"] != "":
position, index, subindex = var["WriteTo"]
if variable.getWriteTo() is None:
variable.addWriteTo()
write_to = variable.getWriteTo()
write_to.setPosition(position)
write_to.setIndex(index)
write_to.setSubIndex(subindex)
elif variable.getWriteTo() is not None:
variable.deleteWriteTo()
vars.append(variable)
self.ProcessVariables.setvariable(vars)
self.BufferModel()
def GetProcessVariables(self):
variables = []
idx = 0
for variable in self.ProcessVariables.getvariable():
var = {"Name": variable.getName(),
"Number": idx,
"Description": variable.getComment()}
read_from = variable.getReadFrom()
if read_from is not None:
var["ReadFrom"] = (read_from.getPosition(),
read_from.getIndex(),
read_from.getSubIndex())
else:
var["ReadFrom"] = ""
write_to = variable.getWriteTo()
if write_to is not None:
var["WriteTo"] = (write_to.getPosition(),
write_to.getIndex(),
write_to.getSubIndex())
else:
var["WriteTo"] = ""
variables.append(var)
idx += 1
return variables
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, module_extra_params = 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)
if app_frame:
app_frame.RefreshProjectTree()
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 = EtherCATConfigParser.CreateElement("Slave", "Config")
self.Config.getConfig().appendSlave(slave)
slave_infos = slave.getInfo()
slave_infos.setName("undefined")
slave_infos.setPhysAddr(newConfNodeOpj.BaseParams.getIEC_Channel())
slave_infos.setAutoIncAddr(0)
self.BufferModel()
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.BufferModel()
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)
for variable in self.ProcessVariables.getvariable():
read_from = variable.getReadFrom()
if read_from is not None and read_from.getPosition() == slave_pos:
read_from.setPosition(new_pos)
write_to = variable.getWriteTo()
if write_to is not None and write_to.getPosition() == slave_pos:
write_to.setPosition(new_pos)
self.CreateBuffer(True)
self.CTNRequestSave()
if self._View is not None:
self._View.RefreshView()
self._View.RefreshBuffer()
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.BufferModel()
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.BufferModel()
def GetSlaveInfos(self, slave_pos):
slave = self.GetSlave(slave_pos)
if slave is not None:
type_infos = slave.getType()
device, module_extra_params = self.GetModuleInfos(type_infos)
if device is not None:
infos = type_infos.copy()
infos.update({"physics": device.getPhysics(),
"sync_managers": device.GetSyncManagers(),
"entries": self.GetSlaveVariables(device)})
return infos
return None
def GetSlaveVariables(self, slave_pos=None, limits=None, device=None):
if device is None and slave_pos is not None:
slave = self.GetSlave(slave_pos)
if slave is not None:
type_infos = slave.getType()
device, module_extra_params = self.GetModuleInfos(type_infos)
if device is not None:
entries = device.GetEntriesList(limits)
#print entries
entries_list = entries.items()
entries_list.sort()
entries = []
current_index = None
current_entry = None
for (index, subindex), entry in entries_list:
entry["children"] = []
if slave_pos is not None:
entry["Position"] = str(slave_pos)
entry
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)
return entries
return []
def GetSlaveVariableDataType(self, slave_pos, index, subindex):
slave = self.GetSlave(slave_pos)
if slave is not None:
device, module_extra_params = self.GetModuleInfos(slave.getType())
if device is not None:
entries = device.GetEntriesList()
entry_infos = entries.get((index, subindex))
if entry_infos is not None:
return entry_infos["Type"]
return None
def GetNodesVariables(self, vendor=None, slave_pos=None, slave_profile=None, limits=None):
entries = []
for slave_position in self.GetSlaves():
if slave_pos is not None and slave_position != slave_pos:
continue
slave = self.GetSlave(slave_position)
type_infos = slave.getType()
if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor:
continue
device, module_extra_params = self.GetModuleInfos(type_infos)
if slave_profile is not None and slave_profile not in device.GetProfileNumbers():
continue
entries.extend(self.GetSlaveVariables(slave_position, limits, device))
return entries
def GetModuleInfos(self, type_infos):
return self.CTNParent.GetModuleInfos(type_infos)
def GetSlaveTypesLibrary(self, profile_filter=None):
return self.CTNParent.GetModulesLibrary(profile_filter)
def GetLibraryVendors(self):
return self.CTNParent.GetVendors()
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, module_extra_params = 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.ModelIsSaved()
def OnCTNSave(self, from_project_path=None):
config_filepath = self.ConfigFileName()
config_xmlfile = open(config_filepath,"w")
config_xmlfile.write(etree.tostring(
self.Config,
pretty_print=True,
xml_declaration=True,
encoding='utf-8'))
config_xmlfile.close()
process_filepath = self.ProcessVariablesFileName()
process_xmlfile = open(process_filepath,"w")
process_xmlfile.write(etree.tostring(
self.ProcessVariables,
pretty_print=True,
xml_declaration=True,
encoding='utf-8'))
process_xmlfile.close()
self.Buffer.CurrentSaved()
return True
def GetProcessVariableName(self, location, var_type):
return "__M%s_%s" % (self.GetSizeOfType(var_type), "_".join(map(str, location)))
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)
for idx, variable in enumerate(self.ProcessVariables.getvariable()):
name = None
var_type = None
read_from = variable.getReadFrom()
write_to = variable.getWriteTo()
if read_from is not None:
pos = read_from.getPosition()
index = read_from.getIndex()
subindex = read_from.getSubIndex()
location = current_location + (idx, )
var_type = self.GetSlaveVariableDataType(pos, index, subindex)
name = self.FileGenerator.DeclareVariable(
pos, index, subindex, var_type, "I",
self.GetProcessVariableName(location, var_type))
if write_to is not None:
pos = write_to.getPosition()
index = write_to.getIndex()
subindex = write_to.getSubIndex()
if name is None:
location = current_location + (idx, )
var_type = self.GetSlaveVariableDataType(pos, index, subindex)
name = self.GetProcessVariableName(location, var_type)
self.FileGenerator.DeclareVariable(
pos, index, subindex, var_type, "Q", name, True)
self.FileGenerator.GenerateCFile(Gen_Ethercatfile_path, location_str, self.BaseParams.getIEC_Channel())
LocationCFilesAndCFLAGS.insert(0,
(current_location,
[(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],
True))
LDFLAGS.append("-lethercat_rtdm -lrtdm")
return LocationCFilesAndCFLAGS, LDFLAGS, extra_files
ConfNodeMethods = [
{"bitmap" : "ScanNetwork",
"name" : _("Scan Network"),
"tooltip" : _("Scan Network"),
"method" : "_ScanNetwork"},
]
def CTNGenerate_C(self, buildpath, locations):
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)
for location in locations:
loc = location["LOC"][len(current_location):]
slave_pos = loc[0]
if slave_pos in slaves and len(loc) == 3 and location["DIR"] != "M":
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 deepcopy(model)
def CreateBuffer(self, saved):
self.Buffer = UndoBuffer(
(EtherCATConfigParser.Dumps(self.Config),
ProcessVariablesParser.Dumps(self.ProcessVariables)),
saved)
def BufferModel(self):
self.Buffer.Buffering(
(EtherCATConfigParser.Dumps(self.Config),
ProcessVariablesParser.Dumps(self.ProcessVariables)))
def ModelIsSaved(self):
if self.Buffer is not None:
return self.Buffer.IsCurrentSaved()
else:
return True
def LoadPrevious(self):
config, process_variables = self.Buffer.Previous()
self.Config = EtherCATConfigParser.Loads(config)
self.ProcessVariables = ProcessVariablesParser.Loads(process_variables)
def LoadNext(self):
config, process_variables = self.Buffer.Next()
self.Config = EtherCATConfigParser.Loads(config)
self.ProcessVariables = ProcessVariablesParser.Loads(process_variables)
def GetBufferState(self):
first = self.Buffer.IsFirst()
last = self.Buffer.IsLast()
return not first, not last