import os, shutil
from xml.dom import minidom
import wx
import csv
from xmlclass import *
from ConfigTreeNode import ConfigTreeNode
from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
from EthercatSlave import ExtractHexDecValue, ExtractName
from EthercatMaster import _EthercatCTN
from ConfigEditor import LibraryEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE
#--------------------------------------------------
# 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():
dictionary.load()
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, limits=None):
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)
if limits is None or limits[0] <= index <= limits[1]:
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, limits)
for RxPdo in self.getRxPdo():
ExtractPdoInfos(RxPdo, "Receive", entries, limits)
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 ExtractPdoInfos(pdo, pdo_type, entries, limits=None):
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)
if limits is None or limits[0] <= index <= limits[1]:
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}
class ModulesLibrary:
MODULES_EXTRA_PARAMS = [
("pdo_alignment", {
"column_label": _("PDO alignment"),
"column_size": 150,
"default": 8,
"description": _(
"Minimal size in bits between 2 pdo entries")}),
("max_pdo_size", {
"column_label": _("Max entries by PDO"),
"column_size": 150,
"default": 255,
"description": _(
"""Maximal number of entries mapped in a PDO
including empty entries used for PDO alignment""")}),
("add_pdo", {
"column_label": _("Creating new PDO"),
"column_size": 150,
"default": 0,
"description": _(
"""Adding a PDO not defined in default configuration
for mapping needed location variables
(1 if possible)""")})
]
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
if parent_library is not None:
self.LoadModules()
else:
self.Library = None
self.LoadModulesExtraParams()
def GetPath(self):
return self.Path
def GetModulesExtraParamsFilePath(self):
return os.path.join(self.Path, "modules_extra_params.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()
self.modules_infos = None
for child in xml_tree.childNodes:
if child.nodeType == xml_tree.ELEMENT_NODE and child.nodeName == "EtherCATInfo":
self.modules_infos = EtherCATInfoClasses["EtherCATInfo.xsd"]["EtherCATInfo"]()
self.modules_infos.loadXMLTree(child)
if self.modules_infos is not None:
vendor = self.modules_infos.getVendor()
vendor_category = self.Library.setdefault(ExtractHexDecValue(vendor.getId()),
{"name": ExtractName(vendor.getName(), _("Miscellaneous")),
"groups": {}})
for group in self.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(),
"value": group.getcontent()["value"],
"devices": []})
for device in self.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))
return self.Library
def GetModulesLibrary(self, profile_filter=None):
if self.Library is None:
self.LoadModules()
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()
module_infos = {"device_type": device_type,
"vendor": vendor_id,
"product_code": product_code,
"revision_number": revision_number}
module_infos.update(self.GetModuleExtraParams(vendor_id, product_code, revision_number))
device_infos = {"name": ExtractName(device.getName()),
"type": ETHERCAT_DEVICE,
"infos": module_infos,
"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 GetVendors(self):
return [(vendor_id, vendor["name"]) for vendor_id, vendor in self.Library.items()]
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"])):
self.cntdevice = device_infos
self.cntdeviceType = device_type
return device_infos, self.GetModuleExtraParams(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 LoadModulesExtraParams(self):
self.ModulesExtraParams = {}
csvfile_path = self.GetModulesExtraParamsFilePath()
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:
params_values = {}
for (param, param_infos), value in zip(
self.MODULES_EXTRA_PARAMS, row[3:]):
if value != "":
params_values[param] = int(value)
self.ModulesExtraParams[
tuple(map(int, row[:3]))] = params_values
csvfile.close()
def SaveModulesExtraParams(self):
csvfile = open(self.GetModulesExtraParamsFilePath(), "wb")
extra_params = [param for param, params_infos in self.MODULES_EXTRA_PARAMS]
writer = csv.writer(csvfile, delimiter=';')
writer.writerow(['Vendor', 'product_code', 'revision_number'] + extra_params)
for (vendor, product_code, revision_number), module_extra_params in self.ModulesExtraParams.iteritems():
writer.writerow([vendor, product_code, revision_number] +
[module_extra_params.get(param, '')
for param in extra_params])
csvfile.close()
def SetModuleExtraParam(self, vendor, product_code, revision_number, param, value):
vendor = ExtractHexDecValue(vendor)
product_code = ExtractHexDecValue(product_code)
revision_number = ExtractHexDecValue(revision_number)
module_infos = (vendor, product_code, revision_number)
self.ModulesExtraParams.setdefault(module_infos, {})
self.ModulesExtraParams[module_infos][param] = value
self.SaveModulesExtraParams()
def GetModuleExtraParams(self, vendor, product_code, revision_number):
vendor = ExtractHexDecValue(vendor)
product_code = ExtractHexDecValue(product_code)
revision_number = ExtractHexDecValue(revision_number)
if self.ParentLibrary is not None:
extra_params = self.ParentLibrary.GetModuleExtraParams(vendor, product_code, revision_number)
else:
extra_params = {}
extra_params.update(self.ModulesExtraParams.get((vendor, product_code, revision_number), {}))
for param, param_infos in self.MODULES_EXTRA_PARAMS:
extra_params.setdefault(param, param_infos["default"])
return extra_params
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 GetIconName(self):
return "Ethercat"
def GetModulesLibraryPath(self, project_path=None):
if project_path is None:
project_path = self.CTNPath()
return os.path.join(project_path, "modules")
def OnCTNSave(self, from_project_path=None):
if from_project_path is not None:
shutil.copytree(self.GetModulesLibraryPath(from_project_path),
self.GetModulesLibraryPath())
return True
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 GetVendors(self):
return self.ModulesLibrary.GetVendors()
def GetModuleInfos(self, module_infos):
return self.ModulesLibrary.GetModuleInfos(module_infos)