#!/usr/bin/env python
# -*- coding: utf-8 -*-
# This file is part of Beremiz
#
# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab., University of Seoul
#
# See COPYING file for copyrights details.
import os
import wx
import wx.grid
import wx.gizmos
import wx.lib.buttons
# --------------------------------------------------------------------
from controls import CustomGrid, CustomTable
# --------------------------------------------------------------------
# ------------ for SDO Management --------------------
import string
import wx.grid as gridlib
#-------------------------------------------------------------
# ------------ for register management ---------------
from xml.dom import minidom
#-------------------------------------------------------------
# ----------------------------- For Sync Manager Table -----------------------------------
def GetSyncManagersTableColnames():
"""
Returns column names of SyncManager Table in Slave state panel.
"""
_ = lambda x : x
return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")]
#-------------------------------------------------------------------------------
# Sync Managers Table
#-------------------------------------------------------------------------------
class SyncManagersTable(CustomTable):
def GetValue(self, row, col):
if row < self.GetNumberRows():
if col == 0:
return row
return self.data[row].get(self.GetColLabelValue(col, False), "")
#-------------------------------------------------------------------------------
# EtherCAT Management Treebook
#-------------------------------------------------------------------------------
class EtherCATManagementTreebook(wx.Treebook):
def __init__(self, parent, controler, node_editor):
"""
Constructor
@param parent: Reference to the parent wx.ScrolledWindow object
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
@param node_editor: Reference to Beremiz frame
"""
wx.Treebook.__init__(self, parent, -1, size=wx.DefaultSize, style=wx.BK_DEFAULT)
self.parent = parent
self.Controler = controler
self.NodeEditor = node_editor
self.EtherCATManagementClassObject = {}
# fill EtherCAT Management Treebook
for pname, pclass, subs in [
("Slave State", SlaveStatePanelClass, []),
("SDO Management", SDOPanelClass, []),
("PDO Monitoring", PDOPanelClass, []),
("ESC Management", EEPROMAccessPanel, [
("Smart View", SlaveSiiSmartView),
("Hex View", HexView)]),
("Register Access", RegisterAccessPanel, [])]:
self.AddPage(pclass(self, self.Controler), pname)
for spname, spclass in subs:
self.AddSubPage(spclass(self, self.Controler), spname)
self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGED, self.OnPageChanged)
self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGING, self.OnPageChanging)
def OnPageChanged(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = event.GetSelection()
event.Skip()
def OnPageChanging(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = event.GetSelection()
event.Skip()
#-------------------------------------------------------------------------------
# For SlaveState Panel
#-------------------------------------------------------------------------------
class SlaveStatePanelClass(wx.Panel):
def __init__(self, parent, controler):
"""
Constructor
@param parent: Reference to the parent EtherCATManagementTreebook class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Panel.__init__(self, parent, -1, (0, 0), size=wx.DefaultSize, style = wx.SUNKEN_BORDER)
self.Controler = controler
self.parent = parent
# initialize SlaveStatePanel UI dictionaries
self.StaticBoxDic = {}
self.StaticTextDic = {}
self.TextCtrlDic = {}
self.ButtonDic = {}
# iniitalize BoxSizer and FlexGridSizer
self.SizerDic = {
"SlaveState_main_sizer" : wx.BoxSizer(wx.VERTICAL),
"SlaveState_inner_main_sizer" : wx.FlexGridSizer(cols=1, hgap=50, rows=3, vgap=10),
"SlaveInfosDetailsInnerSizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),
"SyncManagerInnerSizer" : wx.FlexGridSizer(cols=1, hgap=5, rows=1, vgap=5),
"SlaveState_sizer" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10),
"SlaveState_up_sizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),
"SlaveState_down_sizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)}
# initialize StaticBox and StaticBoxSizer
for box_name, box_label in [
("SlaveInfosDetailsBox", "Slave Informations"),
("SyncManagerBox", "Sync Manager"),
("SlaveStateBox", "Slave State Transition && Monitoring")]:
self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label))
self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name])
for statictext_name, statictext_label, textctrl_name in [
("VendorLabel", "Vendor:", "vendor"),
("ProductcodeLabel", "Product code:", "product_code"),
("RevisionnumberLabel", "Slave Count:", "revision_number"),
("PhysicsLabel", "Physics:", "physics")]:
self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))
self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
self.SizerDic["SlaveInfosDetailsInnerSizer"].AddMany([self.StaticTextDic[statictext_name],
self.TextCtrlDic[textctrl_name]])
self.SizerDic["SlaveInfosDetailsBox"].AddSizer(self.SizerDic["SlaveInfosDetailsInnerSizer"])
self.SyncManagersGrid = CustomGrid(self, size=wx.Size(605,155), style=wx.VSCROLL)
self.SizerDic["SyncManagerInnerSizer"].Add(self.SyncManagersGrid)
self.SizerDic["SyncManagerBox"].Add(self.SizerDic["SyncManagerInnerSizer"])
for button_name, button_id, button_label, button_tooltipstring, event_method, sub_item in [
("InitButton", 0, "INIT", "State Transition to \"Init\" State", self.OnButtonClick, []),
("PreOPButton", 1, "PREOP", "State Transition to \"PreOP\" State", self.OnButtonClick, [
("TargetStateLabel", "Target State:" , "TargetState")]),
("SafeOPButton", 2, "SAFEOP", "State Transition to \"SafeOP\" State", self.OnButtonClick, []),
("OPButton", 3, "OP", "State Transition to \"OP\" State", self.OnButtonClick, [
("CurrentStateLabel", "Current State:", "CurrentState")])]:
self.ButtonDic[button_name] = wx.Button(self, id=button_id ,label=_(button_label))
self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)
self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)
self.SizerDic["SlaveState_up_sizer"].Add(self.ButtonDic[button_name])
for statictext_name, statictext_label, textctrl_name in sub_item :
self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))
self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.DefaultSize, style=wx.TE_READONLY)
self.SizerDic["SlaveState_up_sizer"].AddMany([self.StaticTextDic[statictext_name],
self.TextCtrlDic[textctrl_name]])
for button_name, button_label, button_tooltipstring, event_method in [
("StartTimerButton", "Start State Monitoring", "Slave State Update Restart", self.StartTimer),
("StopTimerButton", "Stop State Monitoring", "Slave State Update Stop", self.CurrentStateThreadStop)]:
self.ButtonDic[button_name] = wx.Button(self, label=_(button_label))
self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)
self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)
self.SizerDic["SlaveState_down_sizer"].Add(self.ButtonDic[button_name])
self.SizerDic["SlaveState_sizer"].AddMany([self.SizerDic["SlaveState_up_sizer"],
self.SizerDic["SlaveState_down_sizer"]])
self.SizerDic["SlaveStateBox"].Add(self.SizerDic["SlaveState_sizer"])
self.SizerDic["SlaveState_inner_main_sizer"].AddMany([
self.SizerDic["SlaveInfosDetailsBox"], self.SizerDic["SyncManagerBox"],
self.SizerDic["SlaveStateBox"]])
self.SizerDic["SlaveState_main_sizer"].Add(self.SizerDic["SlaveState_inner_main_sizer"])
self.SetSizer(self.SizerDic["SlaveState_main_sizer"])
# register a timer for periodic exectuion of slave state update (period: 1000 ms)
self.Bind(wx.EVT_TIMER, self.GetCurrentState)
self.CreateSyncManagerTable()
self.Centre()
def CreateSyncManagerTable(self):
"""
Create grid for "SyncManager"
"""
# declare Table object
self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames())
self.SyncManagersGrid.SetTable(self.SyncManagersTable)
# set grid alignment attr. (CENTER)
self.SyncManagersGridColAlignements = [wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE,
wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE]
# set grid size
self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100]
self.SyncManagersGrid.SetRowLabelSize(0)
for col in range(self.SyncManagersTable.GetNumberCols()):
attr = wx.grid.GridCellAttr()
attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTRE)
self.SyncManagersGrid.SetColAttr(col, attr)
self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col])
self.SyncManagersGrid.AutoSizeColumn(col, False)
self.RefreshSlaveInfos()
def RefreshSlaveInfos(self):
"""
Fill data in "Slave Information" and "SyncManager"
"""
slave_infos = self.Controler.GetSlaveInfos()
sync_manager_section = ["vendor", "product_code", "revision_number", "physics"]
if slave_infos is not None:
# this method is same as "TextCtrl.SetValue"
for textctrl_name in sync_manager_section:
self.TextCtrlDic[textctrl_name].SetValue(slave_infos[textctrl_name])
self.SyncManagersTable.SetData(slave_infos["sync_managers"])
self.SyncManagersTable.ResetView(self.SyncManagersGrid)
else:
for textctrl_name in sync_manager_section:
self.TextCtrlDic[textctrl_name].SetValue("")
self.SyncManagersTable.SetData([])
self.SyncManagersTable.ResetView(self.SyncManagersGrid)
def OnButtonClick(self, event):
"""
Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button)
@param event : wx.EVT_BUTTON object
"""
check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
if check_connect_flag :
state_dic = ["INIT", "PREOP", "SAFEOP", "OP"]
# If target state is one of {INIT, PREOP, SAFEOP}, request slave state transition immediately.
if event.GetId() < 3 :
self.Controler.CommonMethod.RequestSlaveState(state_dic[event.GetId()])
self.TextCtrlDic["TargetState"].SetValue(state_dic[event.GetId()])
# If target state is OP, first check "PLC status".
# (1) If current PLC status is "Started", then request slave state transition
# (2) Otherwise, show error message and return
else :
status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()
if status == "Started" :
self.Controler.CommonMethod.RequestSlaveState("OP")
self.TextCtrlDic["TargetState"].SetValue("OP")
else :
self.Controler.CommonMethod.CreateErrorDialog("PLC is Not Started")
def GetCurrentState(self, event):
"""
Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec).
@param event : wx.TIMER object
"""
check_connect_flag = self.Controler.CommonMethod.CheckConnect(True)
if check_connect_flag:
returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave()
line = returnVal.split("\n")
try :
self.SetCurrentState(line[self.Controler.GetSlavePos()])
except :
pass
def SetCurrentState(self, line):
"""
Show current slave state using the executiob result of "ethercat slaves" command.
@param line : result of "ethercat slaves" command
"""
state_array = ["INIT", "PREOP", "SAFEOP", "OP"]
try :
# parse the execution result of "ethercat slaves" command
# Result example : 0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100)
token = line.split(" ")
if token[2] in state_array:
self.TextCtrlDic["CurrentState"].SetValue(token[2])
except :
pass
def StartTimer(self, event):
"""
Event handler for "Start State Monitoring" button.
- start slave state monitoring thread
@param event : wx.EVT_BUTTON object
"""
self.SlaveStateThread = wx.Timer(self)
# set timer period (1000 ms)
self.SlaveStateThread.Start(1000)
def CurrentStateThreadStop(self, event):
"""
Event handler for "Stop State Monitoring" button.
- stop slave state monitoring thread
@param event : wx.EVT_BUTTON object
"""
try:
self.SlaveStateThread.Stop()
except:
pass
#-------------------------------------------------------------------------------
# For SDO Management Panel
#-------------------------------------------------------------------------------
class SDOPanelClass(wx.Panel):
def __init__(self, parent, controler):
"""
Constructor
@param parent: Reference to the parent EtherCATManagementTreebook class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Panel.__init__(self, parent, -1)
self.DatatypeDescription, self.CommunicationObject, self.ManufacturerSpecific, \
self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6)
self.Controler = controler
self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL)
self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
self.SDOUpdate = wx.Button(self, label=_('update'))
self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate)
self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler)
self.SDOManagementInnerMainSizer.Add(self.SDOUpdate)
self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND)
self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer)
self.SetSizer(self.SDOManagementMainSizer)
def SDOInfoUpdate(self, event):
"""
Evenet handler for SDO "update" button.
- Load SDO data from current slave
@param event : wx.EVT_BUTTON object
"""
self.Controler.CommonMethod.SaveSDOData = []
self.Controler.CommonMethod.ClearSDODataSet()
self.SDOFlag = False
# Check whether beremiz connected or not.
check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
if check_connect_flag:
self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave()
# SDOFlag is "False", user click "Cancel" button
self.SDOFlag = self.SDOParser()
if self.SDOFlag :
self.CallSDONoteBook.CreateNoteBook()
self.Refresh()
def SDOParser(self):
"""
Parse SDO data set that obtain "SDOInfoUpdate" Method
@return True or False
"""
slaveSDO_progress = wx.ProgressDialog("Slave SDO Monitoring", "Now Uploading...",
maximum = len(self.SDOs.splitlines()), parent=self,
style = wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME |
wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME |
wx.PD_AUTO_HIDE | wx.PD_SMOOTH)
# If keep_going flag is False, SDOParser method is stop and return "False".
keep_going = True
count = 0
# SDO data example
# SDO 0x1000, "Device type"
# 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474
for details_line in self.SDOs.splitlines():
count += 1
line_token = details_line.split("\"")
# len(line_token[2]) case : SDO 0x1000, "Device type"
if len(line_token[2]) == 0:
title_name = line_token[1]
# else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474
else :
# line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474']
token_head, name, token_tail = line_token
# token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', '']
token_head = token_head.split(",")
ful_idx, access, type, size, empty = token_head
# ful_idx.split(":") = ['0x1000', '00']
idx, sub_idx = ful_idx.split(":")
# token_tail = ['', '0x00020192', '131474']
token_tail = token_tail.split(",")
try :
empty, hex_val, dec_val = token_tail
# SDO data is not return "dec value"
# line example :
# 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ----
except :
empty, hex_val = token_tail
name_after_check = self.StringTest(name)
# convert hex type
sub_idx = "0x" + sub_idx
if type == "octet_string":
hex_val = ' ---- '
# SResult of SlaveSDO data parsing. (data type : dictionary)
self.Data = {'idx':idx.strip(), 'subIdx':sub_idx.strip(), 'access':access.strip(),
'type':type.strip(), 'size':size.strip(), 'name':name_after_check.strip("\""),
'value':hex_val.strip(), "category":title_name.strip("\"")}
category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]
for count in range(len(category_divide_value)) :
if int(idx, 0) < category_divide_value[count]:
self.Controler.CommonMethod.SaveSDOData[count].append(self.Data)
break
self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data)
if count >= len(self.SDOs.splitlines()) / 2:
(keep_going, skip) = slaveSDO_progress.Update(count, "Please waiting a moment!!")
else:
(keep_going, skip) = slaveSDO_progress.Update(count)
# If user click "Cancel" loop suspend immediately
if (keep_going == False):
break
slaveSDO_progress.Destroy()
return keep_going
def StringTest(self, check_string):
"""
Test value 'name' is alphanumeric
@param check_string : input data for check
@return result : output data after check
"""
# string.printable is print this result
#'0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ
#!"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c
allow_range = string.printable
result = check_string
for i in range(0, len(check_string)):
# string.isalnum() is check whether string is alphanumeric or not
if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range :
result = check_string[:len(check_string) - i]
break
return result
#-------------------------------------------------------------------------------
# For SDO Notebook (divide category)
#-------------------------------------------------------------------------------
class SDONoteBook(wx.Notebook):
def __init__(self, parent, controler):
"""
Constructor
@param parent: Reference to the parent SDOPanelClass class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Notebook.__init__(self, parent, id = -1, size=(850,500))
self.Controler = controler
self.parent = parent
self.CreateNoteBook()
self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)
self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)
def CreateNoteBook(self):
"""
Create each NoteBook page, divided SDO index
According to EtherCAT Communication(03/2011), 158p
"""
self.Data = []
count = 1
page_texts = [("all", self.parent.AllSDOData),
("0x0000 - 0x0ff", self.parent.DatatypeDescription),
("0x1000 - 0x1fff", self.parent.CommunicationObject),
("0x2000 - 0x5fff", self.parent.ManufacturerSpecific),
("0x6000 - 0x9fff", self.parent.ProfileSpecific),
("0xa000 - 0xffff", self.parent.Reserved)]
page_tooltip_string = ["SDO Index 0x0000 - 0x0fff : Data Type Description",
"SDO Index 0x1000 - 0x1fff : Communication object",
"SDO Index 0x2000 - 0x5fff : Manufacturer specific",
"SDO Index 0x6000 - 0x9fff : Profile specific",
"SDO Index 0xa000 - 0xffff : Reserved",
"All SDO Object"]
self.DeleteAllPages()
for txt, count in page_texts:
self.Data = self.Controler.CommonMethod.SaveSDOData[count]
self.Win = SlaveSDOTable(self, self.Data)
self.AddPage(self.Win, txt)
def OnPageChanged(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = self.GetSelection()
event.Skip()
def OnPageChanging(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = self.GetSelection()
event.Skip()
#-------------------------------------------------------------------------------
# For SDO Grid (fill index, subindex, etc...)
#-------------------------------------------------------------------------------
class SlaveSDOTable(wx.grid.Grid):
def __init__(self, parent, data):
"""
Constructor
@param parent: Reference to the parent SDOPanelClass class
@param data: SDO data after parsing "SDOParser" method
"""
wx.grid.Grid.__init__(self, parent, -1, size=(830,490),
style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
self.Controler = parent.Controler
self.parent = parent
self.SDOFlag = True
if data is None :
self.SDOs = []
else :
self.SDOs = data
self.CreateGrid(len(self.SDOs), 8)
SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 55),
(4, 40), (5, 200), (6, 250), (7, 85)]
for (index, size) in SDOCellSize:
self.SetColSize(index, size)
self.SetRowLabelSize(0)
SDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Access"),
(3, "Type"), (4, "Size"), (5, "Category"),
(6, "Name"), (7, "Value")]
for (index, label) in SDOTableLabel:
self.SetColLabelValue(index, label)
self.SetColLabelAlignment(index, wx.ALIGN_CENTRE)
attr = wx.grid.GridCellAttr()
# for SDO download
self.Bind(gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.SDOModifyDialog)
for i in range(7):
self.SetColAttr(i,attr)
self.SetColLabelAlignment(wx.ALIGN_CENTER, wx.ALIGN_CENTER)
self.SetTableValue()
def SetTableValue(self):
"""
Cell is filled by new parsing data
"""
sdo_list = ['idx', 'subIdx', 'access', 'type', 'size', 'category', 'name', 'value']
for row_idx in range(len(self.SDOs)):
for col_idx in range(len(self.SDOs[row_idx])):
self.SetCellValue(row_idx, col_idx, self.SDOs[row_idx][sdo_list[col_idx]])
self.SetReadOnly(row_idx, col_idx, True)
if col_idx < 5 :
self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE)
def CheckSDODataAccess(self, row):
"""
CheckSDODataAccess method is checking that access data has "w"
Access field consist 6 char, if mean
rw rw rw
(preop) (safeop) (op)
Example Access field : rwrwrw, rwrw--
@param row : Selected cell by user
@return Write_flag : If data has "w", flag is true
"""
write_flag = False
check = self.SDOs[row]['access']
if check[1:2] == 'w' :
self.Controler.CommonMethod.Check_PREOP = True
write_flag = True
if check[3:4] == 'w' :
self.Controler.CommonMethod.Check_SAFEOP = True
write_flag = True
if check[5:] =='w' :
self.Controler.CommonMethod.Check_OP = True
write_flag = True
return write_flag
def DecideSDODownload(self, state):
"""
compare current state and "access" field,
result notify SDOModifyDialog method
@param state : current slave state
@return True or False
"""
# Example of 'state' parameter : "0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100)"
state = state[self.Controler.GetSlavePos()].split(" ")[2]
if state == "PREOP" and self.Controler.CommonMethod.Check_PREOP :
return True
elif state == "SAFEOP" and self.Controler.CommonMethod.Check_SAFEOP :
return True
elif state == "OP" and self.Controler.CommonMethod.Check_OP :
return True
return False
def ClearStateFlag(self):
"""
Initialize StateFlag
StateFlag is notice SDOData access each slave state
"""
self.Controler.CommonMethod.Check_PREOP = False
self.Controler.CommonMethod.Check_SAFEOP = False
self.Controler.CommonMethod.Check_OP = False
def SDOModifyDialog (self, event):
"""
Create dialog for SDO value modify
if user enter data, perform command "ethercat download"
@param event : gridlib.EVT_GRID_CELL_LEFT_DCLICK object
"""
self.ClearStateFlag()
# CheckSDODataAccess is checking that OD(Object Dictionary) has "w"
if event.GetCol() == 7 and self.CheckSDODataAccess(event.GetRow()) :
dlg = wx.TextEntryDialog (self, "Enter hex or dec value (if enter dec value, it automatically conversed hex value)",
"SDOModifyDialog", style = wx.OK | wx.CANCEL)
start_value = self.GetCellValue(event.GetRow(), event.GetCol())
dlg.SetValue(start_value)
if dlg.ShowModal() == wx.ID_OK:
try :
int(dlg.GetValue(), 0)
# check "Access" field
if self.DecideSDODownload(self.Controler.CommonMethod.SlaveState[self.Controler.GetSlavePos()]) :
# Request "SDODownload"
self.Controler.CommonMethod.SDODownload(self.SDOs[event.GetRow()]['type'], self.SDOs[event.GetRow()]['idx'],
self.SDOs[event.GetRow()]['subIdx'], dlg.GetValue())
self.SetCellValue(event.GetRow(), event.GetCol(), hex(int(dlg.GetValue(), 0)))
else :
self.Controler.CommonMethod.CreateErrorDialog('You cannot SDO download this state')
# Error occured process of "int(variable)"
# User input is not hex, dec value
except ValueError:
self.Controler.CommonMethod.CreateErrorDialog('You can input only hex, dec value')
#-------------------------------------------------------------------------------
# For PDO Monitoring Panel
# PDO Class UI : Panel -> Choicebook (RxPDO, TxPDO) ->
# Notebook (PDO Index) -> Grid (PDO entry)
#-------------------------------------------------------------------------------
class PDOPanelClass(wx.Panel):
def __init__(self, parent, controler):
"""
Constructor
@param parent: Reference to the parent EtherCATManagementTreebook class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Panel.__init__(self, parent, -1)
self.Controler = controler
self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL)
self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler)
self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL)
self.PDOMonitoringEditorMainSizer.Add(self.PDOMonitoringEditorInnerMainSizer)
self.SetSizer(self.PDOMonitoringEditorMainSizer)
def PDOInfoUpdate(self):
"""
Call RequestPDOInfo method and create Choicebook
"""
self.Controler.CommonMethod.RequestPDOInfo()
self.CallPDOChoicebook.Destroy()
self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler)
self.Refresh()
#-------------------------------------------------------------------------------
# For PDO Choicebook (divide Tx, Rx PDO)
#-------------------------------------------------------------------------------
class PDOChoicebook(wx.Choicebook):
def __init__(self, parent, controler):
"""
Constructor
@param parent: Reference to the parent PDOPanelClass class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Choicebook.__init__(self, parent, id=-1, size=(500, 500), style=wx.CHB_DEFAULT)
self.Controler = controler
RxWin = PDONoteBook(self, controler=self.Controler, name="Rx")
TxWin = PDONoteBook(self, controler=self.Controler, name="Tx")
self.AddPage(RxWin, "RxPDO")
self.AddPage(TxWin, "TxPDO")
self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)
self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)
def OnPageChanged(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = self.GetSelection()
event.Skip()
def OnPageChanging(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = self.GetSelection()
event.Skip()
#-------------------------------------------------------------------------------
# For PDO Notebook (divide PDO index)
#-------------------------------------------------------------------------------
class PDONoteBook(wx.Notebook):
def __init__(self, parent, name, controler):
"""
Constructor
@param parent: Reference to the parent PDOChoicebook class
@param name: identifier whether RxPDO or TxPDO
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Notebook.__init__(self, parent, id=-1, size=(640, 400))
self.Controler = controler
count = 0
page_texts = []
self.Controler.CommonMethod.RequestPDOInfo()
if name == "Tx" :
# obtain pdo_info and pdo_entry
# pdo_info include (PDO index, name, number of entry)
pdo_info = self.Controler.CommonMethod.GetTxPDOCategory()
pdo_entry = self.Controler.CommonMethod.GetTxPDOInfo()
for tmp in pdo_info :
title = str(hex(tmp['pdo_index']))
page_texts.append(title)
# RX PDO case
else :
pdo_info = self.Controler.CommonMethod.GetRxPDOCategory()
pdo_entry = self.Controler.CommonMethod.GetRxPDOInfo()
for tmp in pdo_info :
title = str(hex(tmp['pdo_index']))
page_texts.append(title)
# Add page depending on the number of pdo_info
for txt in page_texts:
win = PDOEntryTable(self, pdo_info, pdo_entry, count)
self.AddPage(win, txt)
count += 1
self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)
self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)
def OnPageChanged(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = self.GetSelection()
event.Skip()
def OnPageChanging(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = self.GetSelection()
event.Skip()
#-------------------------------------------------------------------------------
# For PDO Grid (fill entry index, subindex etc...)
#-------------------------------------------------------------------------------
class PDOEntryTable(wx.grid.Grid):
def __init__(self, parent, info, entry, count):
"""
Constructor
@param parent: Reference to the parent PDONoteBook class
@param info : data structure including entry index, sub index, name, length, type
@param entry : data structure including index, name, entry number
@param count : page number
"""
wx.grid.Grid.__init__(self, parent, -1, size=(500, 400), pos=wx.Point(0,0),
style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
self.Controler = parent.Controler
self.PDOInfo = info
self.PDOEntry = entry
self.Count = count
self.CreateGrid(self.PDOInfo[self.Count]['number_of_entry'], 5)
self.SetColLabelSize(25)
self.SetRowLabelSize(0)
PDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Length"),
(3, "Type"), (4, "Name")]
for (index, label) in PDOTableLabel:
self.SetColLabelValue(index, label)
PDOCellSize = [(0, 45), (1, 65), (2, 55), (3, 40), (4, 300)]
for (index, size) in PDOCellSize:
self.SetColSize(index, size)
self.SetColLabelAlignment(index, wx.ALIGN_LEFT)
attr = wx.grid.GridCellAttr()
for i in range(5):
self.SetColAttr(i, attr)
self.SetTableValue()
def SetTableValue(self):
"""
Cell is filled by new parsing data in XML
"""
list_index = 0
# number of entry
for i in range(self.Count + 1) :
list_index += self.PDOInfo[i]['number_of_entry']
start_value = list_index - self.PDOInfo[self.Count]['number_of_entry']
pdo_list = ['entry_index', 'subindex', 'bitlen', 'type', 'name']
for row_idx in range(self.PDOInfo[self.Count]['number_of_entry']):
for col_idx in range(len(self.PDOEntry[row_idx])):
# entry index is converted hex value.
if col_idx == 0 :
self.SetCellValue(row_idx, col_idx, hex(self.PDOEntry[start_value][pdo_list[col_idx]]))
else :
self.SetCellValue(row_idx, col_idx, str(self.PDOEntry[start_value][pdo_list[col_idx]]))
if col_idx != 4 :
self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE)
else :
self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_LEFT, wx.ALIGN_CENTRE)
self.SetReadOnly(row_idx, col_idx, True)
self.SetRowSize(row_idx, 25)
start_value += 1
#-------------------------------------------------------------------------------
# For EEPROM Access Main Panel
# (This class explain EEPROM Access)
#-------------------------------------------------------------------------------
class EEPROMAccessPanel(wx.Panel):
def __init__(self, parent, controler):
"""
Constructor
@param parent: Reference to the parent EtherCATManagementTreebook class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Panel.__init__(self, parent, -1)
sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20)
line = wx.StaticText(self, -1, "\n EEPROM Access is composed to SmartView and HexView. \
\n\n - SmartView shows Config Data, Device Identity, Mailbox settings, etc. \
\n\n - HexView shows EEPROM's contents.")
sizer.Add(line)
self.SetSizer(sizer)
#-------------------------------------------------------------------------------
# For Smart View Panel
#-------------------------------------------------------------------------------
class SlaveSiiSmartView(wx.Panel):
def __init__(self, parent, controler):
"""
Constructor
@param parent: Reference to the parent EtherCATManagementTreebook class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Panel.__init__(self, parent, -1)
self.parent = parent
self.Controler = controler
self.PDIType = {0 :['none', '00000000'],
4 :['Digital I/O', '00000100'],
5 :['SPI Slave', '00000101'],
7 :['EtherCAT Bridge (port3)', '00000111'],
8 :['uC async. 16bit', '00001000'],
9 :['uC async. 8bit', '00001001'],
10 :['uC sync. 16bit', '00001010'],
11 :['uC sync. 8bit', '00001011'],
16 :['32 Digtal Input and 0 Digital Output', '00010000'],
17 :['24 Digtal Input and 8 Digital Output', '00010001'],
18 :['16 Digtal Input and 16 Digital Output','00010010'],
19 :['8 Digtal Input and 24 Digital Output', '00010011'],
20 :['0 Digtal Input and 32 Digital Output', '00010100'],
128:['On-chip bus', '11111111']
}
sizer = wx.FlexGridSizer(cols=1, hgap=5, rows=2, vgap=5)
button_sizer = wx.FlexGridSizer(cols=2, hgap=5, rows=1, vgap=5)
for button, mapping_method in [("Write EEPROM", self.WriteToEEPROM),
("Read EEPROM", self.ReadFromEEPROM)]:
btn = wx.Button(self, -1, button, size=(150, 40))
button_sizer.Add(btn, border=10, flag=wx.ALL)
btn.Bind(wx.EVT_BUTTON, mapping_method)
self.TreeListCtrl = SmartViewTreeListCtrl(self, self.Controler)
sizer.Add(button_sizer, border=10, flag=wx.ALL)
sizer.Add(self.TreeListCtrl, border=10, flag=wx.ALL)
self.SetSizer(sizer)
self.Create_SmartView()
def Create_SmartView(self):
"""
SmartView shows information based on XML as initial value.
"""
self.Controler.CommonMethod.SmartViewInfosFromXML = self.Controler.CommonMethod.GetSmartViewInfos()
self.SetXMLData()
def WriteToEEPROM(self, event):
"""
Open binary file (user select) and write the selected binary data to EEPROM
@param event : wx.EVT_BUTTON object
"""
# Check whether beremiz connected or not, and whether status is "Started" or not.
check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
if check_connect_flag:
status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()
if status is not "Started":
dialog = wx.FileDialog(self, _("Choose a binary file"), os.getcwd(), "", _("bin files (*.bin)|*.bin"), wx.OPEN)
if dialog.ShowModal() == wx.ID_OK:
filepath = dialog.GetPath()
try:
binfile = open(filepath,"rb")
self.SiiBinary = binfile.read()
dialog.Destroy()
self.Controler.CommonMethod.SiiWrite(self.SiiBinary)
# refresh data structure kept by master
self.Controler.CommonMethod.Rescan()
# save binary data as inner global data of beremiz
# for fast loading when slave plugin node is reopened.
self.Controler.CommonMethod.SiiData = self.SiiBinary
self.SetEEPROMData()
except:
self.Controler.CommonMethod.CreateErrorDialog('The file does not exist!')
dialog.Destroy()
def ReadFromEEPROM(self, event):
"""
Refresh displayed data based on slave EEPROM and save binary file through dialog
@param event : wx.EVT_BUTTON object
"""
# Check whether beremiz connected or not.
check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
if check_connect_flag:
self.SiiBinary = self.Controler.CommonMethod.LoadData()
self.SetEEPROMData()
dialog = wx.FileDialog(self, _("Save as..."), os.getcwd(),
"slave0.bin", _("bin files (*.bin)|*.bin|All files|*.*"),
wx.SAVE|wx.OVERWRITE_PROMPT)
if dialog.ShowModal() == wx.ID_OK:
filepath = dialog.GetPath()
binfile = open(filepath,"wb")
binfile.write(self.SiiBinary)
binfile.close()
dialog.Destroy()
def SetXMLData(self):
"""
Set data based on XML initially
"""
# Config Data: EEPROM Size, PDI Type, Device Emulation
# Find PDI Type in pdiType dictionary
cnt_pdi_type = self.Controler.CommonMethod.SmartViewInfosFromXML["pdi_type"]
for i in self.PDIType.keys():
if cnt_pdi_type == i:
cnt_pdi_type = self.PDIType[i][0]
break
# Set Config Data
for treelist, data in [("EEPROM Size (Bytes)",
str(self.Controler.CommonMethod.SmartViewInfosFromXML["eeprom_size"])),
("PDI Type",
cnt_pdi_type),
("Device Emulation",
self.Controler.CommonMethod.SmartViewInfosFromXML["device_emulation"])]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1)
# Device Identity: Vendor ID, Product Code, Revision No., Serial No.
# Set Device Identity
for treelist, data in [("Vendor ID", self.Controler.CommonMethod.SmartViewInfosFromXML["vendor_id"]),
("Product Code", self.Controler.CommonMethod.SmartViewInfosFromXML["product_code"]),
("Revision No.", self.Controler.CommonMethod.SmartViewInfosFromXML["revision_no"]),
("Serial No.", self.Controler.CommonMethod.SmartViewInfosFromXML["serial_no"])]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.DeviceIdentity[treelist], data, 1)
# Mailbox: Supported Mailbox, Bootstrap Configuration, Standard Configuration
# Set Mailbox
for treelist, data in [("Supported Mailbox", self.Controler.CommonMethod.SmartViewInfosFromXML["supported_mailbox"]),
("Bootstrap Configuration", ""),
("Standard Configuration", "")]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1)
# Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size
for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outstart"]),
("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outlength"]),
("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_instart"]),
("Send Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_inlength"])]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1)
# Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size
for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outstart"]),
("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outlength"]),
("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_instart"]),
("Send Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_inlength"])]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.StandardConfig[treelist], data, 1)
def SetEEPROMData(self):
"""
Set data based on slave EEPROM.
"""
# sii_dict = { Parameter : (WordAddress, WordSize) }
sii_dict= { 'PDIControl' : ( '0', 1),
'PDIConfiguration' : ( '1', 1),
'PulseLengthOfSYNCSignals' : ( '2', 1),
'ExtendedPDIConfiguration' : ( '3', 1),
'ConfiguredStationAlias' : ( '4', 1),
'Checksum' : ( '7', 1),
'VendorID' : ( '8', 2),
'ProductCode' : ( 'a', 2),
'RevisionNumber' : ( 'c', 2),
'SerialNumber' : ( 'e', 2),
'Execution Delay' : ('10', 1),
'Port0Delay' : ('11', 1),
'Port1Delay' : ('12', 1),
'BootstrapReceiveMailboxOffset' : ('14', 1),
'BootstrapReceiveMailboxSize' : ('15', 1),
'BootstrapSendMailboxOffset' : ('16', 1),
'BootstrapSendMailboxSize' : ('17', 1),
'StandardReceiveMailboxOffset' : ('18', 1),
'StandardReceiveMailboxSize' : ('19', 1),
'StandardSendMailboxOffset' : ('1a', 1),
'StandardSendMailboxSize' : ('1b', 1),
'MailboxProtocol' : ('1c', 1),
'Size' : ('3e', 1),
'Version' : ('3f', 1),
'First Category Type/Vendor Specific' : ('40', 1),
'Following Category Word Size' : ('41', 1),
'Category Data' : ('42', 1),
}
# Config Data: EEPROM Size, PDI Type, Device Emulation
# EEPROM's data in address '0x003f' is Size of EEPROM in KBit-1
eeprom_size = str((int(self.GetWordAddressData( sii_dict.get('Size'),10 ))+1)/8*1024)
# Find PDI Type in pdiType dictionary
cnt_pdi_type = int(self.GetWordAddressData( sii_dict.get('PDIControl'),16 ).split('x')[1][2:4], 16)
for i in self.PDIType.keys():
if cnt_pdi_type == i:
cnt_pdi_type = self.PDIType[i][0]
break
# Get Device Emulation
device_emulation = str(bool(int("{:0>16b}".format(int(self.GetWordAddressData( sii_dict.get('PDIControl'),16 ), 16))[7])))
# Set Config Data
for treelist, data in [("EEPROM Size (Bytes)", eeprom_size),
("PDI Type", cnt_pdi_type),
("Device Emulation", device_emulation)]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1)
# Device Identity: Vendor ID, Product Code, Revision No., Serial No.
# Set Device Identity
for treelist, data in [("Vendor ID", self.GetWordAddressData( sii_dict.get('VendorID'),16 )),
("Product Code", self.GetWordAddressData( sii_dict.get('ProductCode'),16 )),
("Revision No.", self.GetWordAddressData( sii_dict.get('RevisionNumber'),16 )),
("Serial No.", self.GetWordAddressData( sii_dict.get('SerialNumber'),16 ))]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.DeviceIdentity[treelist], data, 1)
# Mailbox
# EEORPOM's word address '1c' indicates supported mailbox protocol.
# each value of mailbox protocol :
# VoE(0x0020), SoE(0x0010), FoE(0x0008), CoE(0x0004), EoE(0x0002), AoE(0x0001)
supported_mailbox = ""
mailbox_protocol=["VoE, ", "SoE, ", "FoE, ", "CoE, ", "EoE, ", "AoE, "]
mailbox_data = "{:0>8b}".format(int(self.GetWordAddressData( sii_dict.get('MailboxProtocol'),16 ), 16))
for protocol in range(6):
if mailbox_data[protocol+2] == '1':
supported_mailbox += mailbox_protocol[protocol]
supported_mailbox = supported_mailbox.strip(", ")
# Set Mailbox
for treelist, data in [("Supported Mailbox", supported_mailbox),
("Bootstrap Configuration", ""),
("Standard Configuration", "")]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1)
# Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size
for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxOffset'),10 )),
("Receive Size", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxSize'),10 )),
("Send Offset", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxOffset'),10 )),
("Send Size", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxSize'),10 ))]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1)
# Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size
for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxOffset'),10 )),
("Receive Size", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxSize'),10 )),
("Send Offset", self.GetWordAddressData( sii_dict.get('StandardSendMailboxOffset'),10 )),
("Send Size", self.GetWordAddressData( sii_dict.get('StandardSendMailboxSize'),10 ))]:
self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.StandardConfig[treelist], data, 1)
def MakeStaticBoxSizer(self, boxlabel):
"""
Make StaticBoxSizer
@param boxlabel : label of box sizer
@return sizer : the StaticBoxSizer labeled 'boxlabel'
"""
box = wx.StaticBox(self, -1, boxlabel)
sizer = wx.StaticBoxSizer(box, wx.VERTICAL)
return sizer
def GetWordAddressData(self, dict_tuple, format):
"""
This method converts word address data from EEPROM binary.
@param dict_tuple : element of 'sii_dict' dictionary in SetEEPROMData()
@param format : format of data. It can be 16(hex), 10(decimal) and 2(binary).
@return formatted value
"""
offset = int(str(dict_tuple[0]), 16) * 2
length = int(str(dict_tuple[1]), 16) * 2
list = []
data = ''
for index in range(length):
hexdata = hex(ord(self.SiiBinary[offset + index]))[2:]
list.append(hexdata.zfill(2))
list.reverse()
data = list[0:length]
if format == 16:
return '0x' + ''.join(data)
elif format == 10:
return str(int(str(''.join(data)), 16))
elif format == 2:
''.join(data)
#-------------------------------------------------------------------------------
# For Smart View TreeListCtrl
#-------------------------------------------------------------------------------
class SmartViewTreeListCtrl(wx.Panel):
def __init__(self, parent, Controler):
"""
Constructor
@param parent: Reference to the parent SlaveSiiSmartView class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Panel.__init__(self, parent, -1, size=(350, 500))
self.Tree = wx.gizmos.TreeListCtrl(self, -1, size=(350, 500),
style=wx.TR_DEFAULT_STYLE
|wx.TR_FULL_ROW_HIGHLIGHT
|wx.TR_HIDE_ROOT
|wx.TR_COLUMN_LINES
|wx.TR_ROW_LINES)
self.Tree.AddColumn("Description", width=200)
self.Tree.AddColumn("Value", width=140)
self.Tree.SetMainColumn(0)
self.Root = self.Tree.AddRoot("")
# Add item
# Level 1 nodes
self.Level1Nodes = {}
for lv1 in ["Config Data", "Device Identity", "Mailbox"]:
self.Level1Nodes[lv1] = self.Tree.AppendItem(self.Root, lv1)
# Level 2 nodes
# Config Data
self.ConfigData = {}
for lv2 in ["EEPROM Size (Bytes)", "PDI Type", "Device Emulation"]:
self.ConfigData[lv2] = self.Tree.AppendItem(self.Level1Nodes["Config Data"], lv2)
# Device Identity
self.DeviceIdentity = {}
for lv2 in ["Vendor ID", "Product Code", "Revision No.", "Serial No."]:
self.DeviceIdentity[lv2] = self.Tree.AppendItem(self.Level1Nodes["Device Identity"], lv2)
# Mailbox
self.Mailbox = {}
for lv2 in ["Supported Mailbox", "Bootstrap Configuration", "Standard Configuration"]:
self.Mailbox[lv2] = self.Tree.AppendItem(self.Level1Nodes["Mailbox"], lv2)
# Level 3 nodes
# Children of Bootstrap Configuration
self.BootstrapConfig = {}
for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]:
self.BootstrapConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Bootstrap Configuration"], lv3)
# Children of Standard Configuration
self.StandardConfig = {}
for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]:
self.StandardConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Standard Configuration"], lv3)
# Expand Tree
for tree in [self.Root,
self.Level1Nodes["Config Data"],
self.Level1Nodes["Device Identity"],
self.Level1Nodes["Mailbox"],
self.Mailbox["Bootstrap Configuration"],
self.Mailbox["Standard Configuration"]]:
self.Tree.Expand(tree)
#-------------------------------------------------------------------------------
# For Hex View Panel
# shows EEPROM binary as hex data and characters.
#-------------------------------------------------------------------------------
class HexView(wx.Panel):
def __init__(self, parent, controler):
"""
Constructor
@param parent: Reference to the parent EtherCATManagementTreebook class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Panel.__init__(self, parent, -1)
self.parent = parent
self.Controler = controler
self.HexRow = 8
self.HexCol = 17
self.HexViewSizer = {"view" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10),
"siiButton" : wx.BoxSizer()}
self.HexViewButton = {}
for key, evt_handler in [("Sii Upload", self.OnButtonSiiUpload),
("Sii Download", self.OnButtonSiiDownload),
("Write to File", self.OnButtonWriteToBinFile),
("Read from File", self.OnButtonReadFromBinFile),
("XML to EEPROM Image", self.OnButtonXmlToEEPROMImg)]:
self.HexViewButton[key] = wx.Button(self, -1, key)
self.HexViewButton[key].Bind(wx.EVT_BUTTON, evt_handler)
self.HexViewSizer["siiButton"].Add(self.HexViewButton[key])
self.SiiBinary = self.Controler.CommonMethod.XmlToEeprom()
self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary)
self.SiiGrid = SiiGridTable(self, self.Controler, self.HexRow, self.HexCol)
self.HexViewSizer["view"].AddMany([self.HexViewSizer["siiButton"], self.SiiGrid])
self.SiiGrid.CreateGrid(self.HexRow, self.HexCol)
self.SetSizer(self.HexViewSizer["view"])
self.HexViewSizer["view"].FitInside(self.parent.parent)
self.parent.parent.FitInside()
self.SiiGrid.SetValue(self.HexCode)
self.SiiGrid.Update()
def UpdateSiiGridTable(self, row, col):
"""
Destroy existing grid and recreate
@param row, col : Hex View grid size
"""
self.HexViewSizer["view"].Detach(self.SiiGrid)
self.SiiGrid.Destroy()
self.SiiGrid = SiiGridTable(self, self.Controler, row, col)
self.HexViewSizer["view"].Add(self.SiiGrid)
self.SiiGrid.CreateGrid(row, col)
self.SetSizer(self.HexViewSizer["view"])
self.HexViewSizer["view"].FitInside(self.parent.parent)
self.parent.parent.FitInside()
def OnButtonSiiUpload(self, event):
"""
Load EEPROM data from slave and refresh Hex View grid
Binded to 'Sii Upload' button.
@param event : wx.EVT_BUTTON object
"""
# Check whether beremiz connected or not.
check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
if check_connect_flag:
# load from EEPROM data and parsing
self.SiiBinary = self.Controler.CommonMethod.LoadData()
self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary)
self.UpdateSiiGridTable(self.HexRow, self.HexCol)
self.SiiGrid.SetValue(self.HexCode)
self.SiiGrid.Update()
def OnButtonSiiDownload(self, event):
"""
Write current EEPROM data to slave and refresh data structure kept by master
Binded to 'Sii Download' button.
@param event : wx.EVT_BUTTON object
"""
# Check whether beremiz connected or not,
# and whether status is "Started" or not.
check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
if check_connect_flag:
status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()
if status is not "Started":
self.Controler.CommonMethod.SiiWrite(self.SiiBinary)
self.Controler.CommonMethod.Rescan()
def OnButtonWriteToBinFile(self, event):
"""
Save current EEPROM data to binary file through FileDialog
Binded to 'Write to File' button.
@param event : wx.EVT_BUTTON object
"""
dialog = wx.FileDialog(self, _("Save as..."), os.getcwd(), "slave0.bin",
_("bin files (*.bin)|*.bin|All files|*.*"), wx.SAVE|wx.OVERWRITE_PROMPT)
if dialog.ShowModal() == wx.ID_OK:
filepath = dialog.GetPath()
binfile = open(filepath,"wb")
binfile.write(self.SiiBinary)
binfile.close()
dialog.Destroy()
def OnButtonReadFromBinFile(self, event):
"""
Load binary file through FileDialog
Binded to 'Read from File' button.
@param event : wx.EVT_BUTTON object
"""
dialog = wx.FileDialog(self, _("Choose a binary file"), os.getcwd(), "",
_("bin files (*.bin)|*.bin"), wx.OPEN)
if dialog.ShowModal() == wx.ID_OK:
filepath = dialog.GetPath()
try:
binfile = open(filepath, "rb")
self.SiiBinary = binfile.read()
self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary)
self.UpdateSiiGridTable(self.HexRow, self.HexCol)
self.SiiGrid.SetValue(self.HexCode)
self.SiiGrid.Update()
except:
self.Controler.CommonMethod.CreateErrorDialog('The file does not exist!')
dialog.Destroy()
def OnButtonXmlToEEPROMImg(self, event):
"""
Create EEPROM data based XML data that current imported
Binded to 'XML to EEPROM' button.
@param event : wx.EVT_BUTTON object
"""
self.SiiBinary = self.Controler.CommonMethod.XmlToEeprom()
self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary)
self.UpdateSiiGridTable(self.HexRow, self.HexCol)
self.SiiGrid.SetValue(self.HexCode)
self.SiiGrid.Update()
#-------------------------------------------------------------------------------
# For Hex View grid (fill hex data)
#-------------------------------------------------------------------------------
class SiiGridTable(wx.grid.Grid):
def __init__(self, parent, controler, row, col):
"""
Constructor
@param parent: Reference to the parent HexView class
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
@param row, col: Hex View grid size
"""
self.parent = parent
self.Controler = controler
self.Row = row
self.Col = col
wx.grid.Grid.__init__(self, parent, -1, size=(830,450),
style=wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
def SetValue(self, value):
"""
Set data in the table
@param value: EEPROM data list of which element is 1 Byte hex data
"""
# set label name and size
self.SetRowLabelSize(100)
for col in range(self.Col):
if col == 16:
self.SetColLabelValue(16, "Text View")
self.SetColSize(16, (self.GetSize().x-120)*4/20)
else:
self.SetColLabelValue(col, '%s'%col)
self.SetColSize(col, (self.GetSize().x-120)/20)
# set data into table
row = col = 0
for row_idx in value:
col = 0
self.SetRowLabelValue(row, "0x"+"{:0>4x}".format(row*(self.Col-1)))
for hex in row_idx:
self.SetCellValue(row, col, hex)
if col == 16:
self.SetCellAlignment(row, col, wx.ALIGN_LEFT, wx.ALIGN_CENTER)
else:
self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER)
self.SetReadOnly(row, col, True)
col = col + 1
row = row + 1
#-------------------------------------------------------------------------------
# For Register Access Panel
#-------------------------------------------------------------------------------
class RegisterAccessPanel(wx.Panel):
def __init__(self, parent, controler):
"""
Constructor
@param parent: EEPROMAccessPanel object
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
self.parent = parent
self.Controler = controler
self.__init_data()
wx.Panel.__init__(self, parent, -1)
sizer = wx.FlexGridSizer(cols=1, hgap=20, rows=2, vgap=5)
button_sizer = wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)
self.ReloadButton = wx.Button(self, -1, "Reload")
self.CompactViewCheckbox = wx.CheckBox(self, -1, "Compact View")
self.RegisterNotebook = RegisterNotebook(self, self.Controler)
button_sizer.AddMany([self.ReloadButton, self.CompactViewCheckbox])
sizer.AddMany([button_sizer, self.RegisterNotebook])
self.SetSizer(sizer)
self.ReloadButton.Bind(wx.EVT_BUTTON, self.OnReloadButton)
self.CompactViewCheckbox.Bind(wx.EVT_CHECKBOX, self.ToggleCompactViewCheckbox)
for index in range(4):
self.RegisterNotebook.RegPage[index].MainTable.CreateGrid(self.MainRow[index], self.MainCol)
self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, 0, index*512, (index+1)*512)
# data default setting
if self.Controler.CommonMethod.RegData == "":
self.CompactViewCheckbox.Disable()
for index in range(4):
self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, 0, index*512, (index+1)*512)
else: # If data was saved,
self.BasicSetData()
self.ParseData()
for index in range(4):
self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, self.RegMonitorData, index*512, (index+1)*512)
def __init_data(self):
"""
Declare initial data.
"""
# flag for compact view
self.CompactFlag = False
# main grid의 rows and cols
self.MainRow = [512, 512, 512, 512]
self.MainCol = 4
# main grids' data range
self.PageRange = []
for index in range(4):
self.PageRange.append([512*index, 512*(index+1)])
# Previous value of register data for register description configuration
self.PreRegSpec = {"ESCType": "",
"FMMUNumber": "",
"SMNumber": "",
"PDIType": ""}
def LoadData(self):
"""
Get data from the register.
"""
self.Controler.CommonMethod.RegData = ""
#ethercat reg_read
#ex : ethercat reg_read -p 0 0x0000 0x0001
#return value : 0x11
for index in range(4):
self.Controler.CommonMethod.RegData = self.Controler.CommonMethod.RegData + " " + self.Controler.CommonMethod.RegRead("0x"+"{:0>4x}".format(index*1024), "0x0400")
# store previous value
# (ESC type, port number of FMMU, port number of SM, and PDI type))
for reg_spec in ["ESCType","FMMUNumber","SMNumber", "PDIType"]:
self.PreRegSpec[reg_spec] = self.Controler.CommonMethod.CrtRegSpec[reg_spec]
# update registers' description
# (ESC type, port number of FMMU, port number of SM, and PDI type)
for reg_spec, address in [("ESCType", "0x0000"),
("FMMUNumber", "0x0004"),
("SMNumber", "0x0005"),
("PDIType", "0x0140")]:
self.Controler.CommonMethod.CrtRegSpec[reg_spec] = self.Controler.CommonMethod.RegRead(address, "0x0001")
# Enable compactView checkbox
self.CompactViewCheckbox.Enable()
def BasicSetData(self):
"""
Get and save the description of registers.
It's done by parsing register_information.xml.
"""
# parse the above register's value
# If the value is 0x12, the result is 12
self.ESCType = self.Controler.CommonMethod.CrtRegSpec["ESCType"].split('x')[1]
self.PDIType = self.Controler.CommonMethod.CrtRegSpec["PDIType"].split('x')[1]
# If the value is 0x12, the result is 18 (It's converted to decimal value)
self.FMMUNumber = int(self.Controler.CommonMethod.CrtRegSpec["FMMUNumber"], 16)
self.SMNumber = int(self.Controler.CommonMethod.CrtRegSpec["SMNumber"], 16)
# initialize description dictionary of register main table and register sub table.
self.RegisterDescriptionDict = {}
self.RegisterSubGridDict = {}
# ./EthercatMaster/register_information.xml contains register description.
if wx.Platform == '__WXMSW__':
reg_info_file = open("../../EthercatMaster/register_information.xml", 'r')
else:
reg_info_file = open("./EthercatMaster/register_information.xml", 'r')
reg_info_tree = minidom.parse(reg_info_file)
reg_info_file.close()
# parse register description
for register_info in reg_info_tree.childNodes:
for register in register_info.childNodes:
if register.nodeType == reg_info_tree.ELEMENT_NODE and register.nodeName == "Register":
# If it depends on the property(ESC type, PDI type, FMMU number, SM number)
for property, type, value in [("esc", "type", self.ESCType),
("pdi", "type", self.PDIType),
("fmmu", "number", self.FMMUNumber),
("sm", "number", self.SMNumber)]:
if property in register.attributes.keys():
if type == "type":
if register.attributes[property].value == value:
self.GetRegisterInfo(reg_info_tree, register)
break
else: # type == "number"
if register.attributes[property].value < value:
self.GetRegisterInfo(reg_info_tree, register)
break
else:
self.GetRegisterInfo(reg_info_tree, register)
break
def GetRegisterInfo(self, reg_info_tree, register):
"""
Save the register's description into the dictionary.
reg_info_tree is based on the register_information.xml.
@param reg_info_tree: XML tree
@param register: register which you want to get the description
"""
# temporary variables for register main table idescription dictionary
reg_index = ""
reg_main_description = ""
for data in register.childNodes:
if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Index":
for index in data.childNodes:
reg_index = index.nodeValue
if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Description":
for description in data.childNodes:
reg_main_description = description.nodeValue
# Add description for register main table
if reg_index is not "" and reg_main_description is not "":
self.RegisterDescriptionDict[reg_index] = reg_main_description
if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Details":
# declare register sub table description dictionary about this index
self.RegisterSubGridDict[reg_index] = []
for detail in data.childNodes:
if detail.nodeType == reg_info_tree.ELEMENT_NODE and detail.nodeName == "Detail":
# If it depends on the property(ESC type, PDI type, FMMU number, SM number)
for property, type, value in [("esc", "type", self.ESCType),
("pdi", "type", self.PDIType),
("fmmu", "number", self.FMMUNumber),
("sm", "number", self.SMNumber)]:
if property in detail.attributes.keys():
if type == "type":
if detail.attributes[property].value == value:
self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail)
break
else: # type == "number"
if detail.attributes[property].value < value:
self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail)
break
else:
self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail)
break
def GetRegisterDetailInfo(self, reg_info_tree, reg_index, detail):
"""
Get the resgister's detailed description(for sub table) from the reg_info_tree.
@param reg_info_tree: XML tree (register_information.xml)
@param reg_index: index of the register
@param detail: description of the register
"""
# temporary variables for register sub table description dictionary
# - It is initialized in every sub description
reg_bit_range = ""
reg_sub_description = ""
reg_enum_dictionary = {}
for detail_data in detail.childNodes:
if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Range":
for range in detail_data.childNodes:
reg_bit_range = range.nodeValue
if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Description":
for description in detail_data.childNodes:
reg_sub_description = description.nodeValue
if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Enum":
for enum in detail_data.childNodes:
if enum.nodeType == reg_info_tree.ELEMENT_NODE and enum.nodeName == "item":
# temporary variables for a description of each value
# For example, if the bit is 1, it is 'enabled'('On', 'True', etc.),
# otherwise 'disabled'('Off', 'False', etc.).
reg_sub_value = ""
reg_sub_value_description = ""
for item in enum.childNodes:
if item.nodeType == reg_info_tree.ELEMENT_NODE and item.nodeName == "value":
for value in item.childNodes:
reg_sub_value = value.nodeValue
if item.nodeType == reg_info_tree.ELEMENT_NODE and item.nodeName == "Description":
for description in item.childNodes:
reg_sub_value_description = description.nodeValue
# Add a description of each value to register enum dictionary
if reg_sub_value is not "" and reg_sub_value_description is not "":
reg_enum_dictionary[reg_sub_value] = reg_sub_value_description
# add a description to register sub table description dictionary
if reg_bit_range is not "" and reg_sub_description is not "":
self.RegisterSubGridDict[reg_index].append([reg_bit_range,
reg_sub_description, reg_enum_dictionary])
def ParseData(self):
"""
Transform the data into dec, hex, string, and description
"""
row_data = []
self.RegMonitorData = []
reg_word = ""
reg_data = self.Controler.CommonMethod.RegData.split()
# loop for register(0x0000:0x0fff)
for address in range(0x1000):
# arrange 2 Bytes of register data
reg_word = reg_data[address].split('x')[1] + reg_word
if (address%2) == 1:
# append address
hex_address = "{:0>4x}".format(address-1)
row_data.append(hex_address)
# append description
if self.RegisterDescriptionDict.has_key(hex_address):
row_data.append(self.RegisterDescriptionDict[hex_address])
else:
row_data.append("")
# append Decimal value
row_data.append(str(int(reg_word, 16)))
# append Hex value
row_data.append('0x'+reg_word)
# append ASCII value
char_data = ""
for iter in range(2):
if int(reg_word[iter*2:iter*2+2], 16)>=32 and int(reg_word[iter*2:iter*2+2], 16)<=126:
char_data = char_data + chr(int(reg_word[iter*2:iter*2+2], 16))
else:
char_data = char_data + "."
row_data.append(char_data)
self.RegMonitorData.append(row_data)
reg_word = "" # initialize regWord
row_data = []
def OnReloadButton(self, event):
"""
Handle the click event of the 'Reload' button.
Get the data from registers again, and update the table.
@param event: wx.EVT_BUTTON object
"""
# Check whether beremiz connected or not.
check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
if check_connect_flag:
self.LoadData()
self.BasicSetData()
self.ParseData()
# set data into UI
if self.CompactFlag:
self.ToggleCompactViewCheckbox(True)
else :
for index in range(4):
self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol,
self.PageRange[index][0], self.PageRange[index][1],
self.RegMonitorData)
def ToggleCompactViewCheckbox(self, event):
"""
Handles the event of the 'Compact view' check box.
If it's checked, show only the registers that have a description.
If not, show all the registers.
@param event: wx.EVT_CHECKBOX object
"""
# If "Compact View" Checkbox is True
## 'event' is argument of this method or event of checkbox.
if event==True or event.GetEventObject().GetValue():
self.CompactFlag = True
reg_compact_data = []
page_row = [0, 0, 0, 0]
for index in range(4):
self.PageRange[index] = [0, 0]
for reg_row_data in self.RegMonitorData:
if reg_row_data[1] is not "":
# data structure for "compact view"
reg_compact_data.append(reg_row_data)
# count for each register notebooks' row
# It compare with register's address.
for index in range(4):
if int('0x'+reg_row_data[0], 16) < (index+1)*1024:
page_row[index] += 1
break
# Setting tables' rows and cols, range for compact view
for index in range(4):
self.MainRow[index] = page_row[index]
self.PageRange[index][1] = page_row[index]
for iter in range(index):
self.PageRange[index][0] += page_row[iter]
self.PageRange[index][1] += page_row[iter]
# Update table
for index in range(4):
self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol,
self.PageRange[index][0], self.PageRange[index][1],
reg_compact_data)
# Compact View Checkbox is False
else:
self.CompactFlag = False
# Setting original rows, cols and range
self.MainRow = [512, 512, 512, 512]
self.PageRange = []
for index in range(4):
self.PageRange.append([512*index, 512*(index+1)])
# Update table
for index in range(4):
self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol,
self.PageRange[index][0], self.PageRange[index][1],
self.RegMonitorData)
#-------------------------------------------------------------------------------
# For Register Access Notebook (divide index range)
#-------------------------------------------------------------------------------
class RegisterNotebook(wx.Notebook):
def __init__(self, parent, controler):
"""
Constructor
@param parent: RegisterAccessPanel object
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Notebook.__init__(self, parent, id = -1)
self.parent = parent
self.Controler = controler
# Initialize pages
self.RegPage = []
for iter in range(4):
self.RegPage.append(None)
for index in range(4):
self.RegPage[index] = RegisterNotebookPanel(self, self.Controler,
parent.MainRow[index], parent.MainCol)
self.AddPage(self.RegPage[index],
"0x"+"{:0>4x}".format(index*1024)+" - 0x"+"{:0>4x}".format((index+1)*1024-1))
self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGED, self.OnPageChanged)
self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGING, self.OnPageChanging)
def OnPageChanged(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = self.GetSelection()
event.Skip()
def OnPageChanging(self, event):
old = event.GetOldSelection()
new = event.GetSelection()
sel = self.GetSelection()
event.Skip()
#-------------------------------------------------------------------------------
# For Register Access Notebook Panel
# (Main UI : including main, sub table)
#-------------------------------------------------------------------------------
class RegisterNotebookPanel(wx.Panel):
def __init__(self, parent, controler, row, col):
"""
Constructor
@param parent: RegisterAccessPanel object
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
@param row, col: size of the table
"""
wx.Panel.__init__(self, parent, -1)
self.parent = parent
self.Controler = controler
self.Row = row
self.Col = col
sub_row = 0
sub_col = 4
self.Sizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=30)
self.MainTable = RegisterMainTable(self, self.Row, self.Col, self.Controler)
self.SubTable = RegisterSubTable(self, sub_row, sub_col)
self.SubTable.CreateGrid(sub_row, sub_col)
self.SubTable.SetValue(self, [])
self.Sizer.AddMany([self.MainTable, self.SubTable])
self.SetSizer(self.Sizer)
def UpdateMainTable(self, row, col, low_index, high_index, data):
"""
Updates main table.
It's done by deleting the main table and creating it again.
@param row, col: size of the table
@param low_index: the lowest index of the page
@param high_index: the highest index of the page
@param data: data
"""
self.MainTable.Destroy()
self.MainTable = RegisterMainTable(self, row, col, self.Controler)
self.Sizer.Detach(self.SubTable)
self.Sizer.AddMany([self.MainTable, self.SubTable])
self.SetSizer(self.Sizer)
self.MainTable.CreateGrid(row, col)
self.MainTable.SetValue(self, data, low_index, high_index)
self.MainTable.Update()
def UpdateSubTable(self, row, col, data):
"""
Updates sub table.
It's done by deleting the sub table and creating it again.
@param row, col: size of the table
@param data: data
"""
self.SubTable.Destroy()
self.SubTable = RegisterSubTable(self, row, col)
self.Sizer.Detach(self.MainTable)
self.Sizer.AddMany([self.MainTable, self.SubTable])
self.Sizer.Layout()
self.SetSizer(self.Sizer)
self.SubTable.CreateGrid(row, col)
self.SubTable.SetValue(self, data)
self.SubTable.Update()
#-------------------------------------------------------------------------------
# For Register Access Notebook Panel (Main Table)
#-------------------------------------------------------------------------------
class RegisterMainTable(wx.grid.Grid):
def __init__(self, parent, row, col, controler):
"""
Constructor
@param parent: RegisterNotebook object
@param row, col: size of the table
@param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
self.parent = parent
self.Data = {}
self.Row = row
self.Col = col
self.Controler = controler
self.RegisterAccessPanel = self.parent.parent.parent
wx.grid.Grid.__init__(self, parent, -1, size=(820,300),
style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
for evt, mapping_method in [(gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell),
(gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell),
(gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.OnRegModifyDialog)]:
self.Bind(evt, mapping_method)
def SetValue(self, parent, reg_monitor_data, low_index, high_index):
"""
Set the RegMonitorData into the main table.
@param parent: RegisterNotebook object
@param reg_monitor_data: data
@param low_index: the lowest index of the page
@param high_index: the highest index of the page
"""
self.RegMonitorData = reg_monitor_data
# set label name and size
register_maintable_label = [(0, "Description"), (1, "Dec"),
(2, "Hex"), (3, "Char")]
for (index, label) in register_maintable_label:
self.SetColLabelValue(index, label)
self.SetColSize(0, 200)
# if reg_monitor_data is 0, it is initialization of register access.
if reg_monitor_data == 0:
return 0
# set data into UI
row = col = 0
for row_index in reg_monitor_data[low_index:high_index]:
col = 0
self.SetRowLabelValue(row, row_index[0])
for data_index in range(4):
self.SetCellValue(row, col, row_index[data_index+1])
self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER)
self.SetReadOnly(row, col, True)
col = col + 1
row = row + 1
def OnSelectCell(self, event):
"""
Handles the event of the cell of the main table.
@param event: gridlib object (left click)
"""
# if reg_monitor_data is 0, it is initialization of register access.
if self.RegMonitorData == 0:
event.Skip()
return 0
sub_row = 0
sub_col = 4
address = self.GetRowLabelValue(event.GetRow())
reg_sub_grid_data = []
BIT_RANGE, NAME, DESCRIPTIONS = range(3)
# Check if this register's detail description is exist or not,
# and create data structure for the detail description table ; sub grid
if address in self.RegisterAccessPanel.RegisterSubGridDict:
for element in self.RegisterAccessPanel.RegisterSubGridDict[address]:
row_data =[]
row_data.append(element[BIT_RANGE])
row_data.append(element[NAME])
bin_data = "{:0>16b}".format(int(self.GetCellValue(event.GetRow(), 1)))
value_range = element[BIT_RANGE].split('-')
value = (bin_data[8:16][::-1]+bin_data[0:8][::-1])[int(value_range[0]):(int(value_range[-1])+1)][::-1]
row_data.append(str(int(('0b'+str(value)), 2)))
if value in element[DESCRIPTIONS]:
row_data.append(element[DESCRIPTIONS][value])
else:
row_data.append('')
reg_sub_grid_data.append(row_data)
sub_row = sub_row + 1
self.parent.UpdateSubTable(sub_row, sub_col, reg_sub_grid_data)
# event.Skip() updates UI of selecting cell
event.Skip()
def OnRegModifyDialog(self, event):
"""
Handle the event of the cell of the main table.
Display the window where the user modifies the value of the cell.
@param event: gridlib object (double click)
"""
# user can enter a value in case that user double-clicked 'Dec' or 'Hex' value.
if event.GetCol() == 1 or event.GetCol() == 2:
dlg = wx.TextEntryDialog(self, "Enter hex(0xnnnn) or dec(n) value",
"Register Modify Dialog", style = wx.OK|wx.CANCEL)
# Setting value in initial dialog value
start_value = self.GetCellValue(event.GetRow(), event.GetCol())
dlg.SetValue(start_value)
if dlg.ShowModal() == wx.ID_OK:
try:
# It int(input) success, this input is dev or hex value.
# Otherwise, it's error, so it goes except.
int(dlg.GetValue(), 0)
# reg_write
# ex) ethercat reg_write -p 0 -t uint16 0x0000 0x0000
return_val = self.Controler.CommonMethod.RegWrite('0x'+self.GetRowLabelValue(event.GetRow()), dlg.GetValue())
if len(return_val)==0:
# set dec
self.SetCellValue(event.GetRow(), 1, str(int(dlg.GetValue(), 0)))
# set hex
hex_data = '0x'+"{:0>4x}".format(int(dlg.GetValue(), 0))
self.SetCellValue(event.GetRow(), 2, hex_data)
# set char
char_data = ""
# If hex_data is been able to convert to ascii code, append ascii code.
for iter in range(2):
if int(hex_data[(iter+1)*2:(iter+2)*2], 16)>=32 and int(hex_data[(iter+1)*2:(iter+2)*2], 16)<=126:
char_data = char_data + chr(int(hex_data[(iter+1)*2:(iter+2)*2], 16))
else:
char_data = char_data + "."
self.SetCellValue(event.GetRow(), 3, char_data)
else:
self.Controler.CommonMethod.CreateErrorDialog('You can\'t modify it. This register is read-only or it\'s not connected.')
except ValueError:
self.Controler.CommonMethod.CreateErrorDialog('You entered wrong value. You can enter dec or hex value only.')
#-------------------------------------------------------------------------------
# For Register Access Notebook Panel (Sub Table)
#-------------------------------------------------------------------------------
class RegisterSubTable(wx.grid.Grid):
def __init__(self, parent, row, col):
"""
Constructor
@param parent: RegisterNotebook object
@param row, col: size of the table
"""
self.parent = parent
self.Data = {}
self.Row = row
self.Col = col
wx.grid.Grid.__init__(self, parent, -1, size=(820,150),
style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
def SetValue(self, parent, data):
"""
Set the data into the subtable.
@param parent: RegisterNotebook object
@param data: data
"""
# lset label name and size
Register_SubTable_Label = [(0, "Bits"), (1, "Name"),
(2, "Value"), (3, "Enum")]
for (index, label) in Register_SubTable_Label:
self.SetColLabelValue(index, label)
self.SetColSize(1, 200)
self.SetColSize(3, 200)
# set data into table
row = col = 0
for rowData in data:
col = 0
for element in rowData:
self.SetCellValue(row, col, element)
self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER)
self.SetReadOnly(row, col, True)
col = col + 1
row = row + 1
#-------------------------------------------------------------------------------
# For Master State Panel
#-------------------------------------------------------------------------------
class MasterStatePanelClass(wx.Panel):
def __init__(self, parent, controler):
"""
Constructor
@param parent: wx.ScrollWindow object
@Param controler: _EthercatSlaveCTN class in EthercatSlave.py
"""
wx.Panel.__init__(self, parent, -1, (0, 0),
size=wx.DefaultSize, style = wx.SUNKEN_BORDER)
self.Controler = controler
self.parent = parent
self.StaticBox = {}
self.StaticText = {}
self.TextCtrl = {}
# ----------------------- Main Sizer and Update Button --------------------------------------------
self.MasterStateSizer = {"main" : wx.BoxSizer(wx.VERTICAL)}
for key, attr in [
("innerMain", [1, 10, 2, 10]),
("innerTopHalf", [2, 10, 1, 10]),
("innerBottomHalf", [2, 10, 1, 10]),
("innerMasterState", [2, 10, 3, 10]),
("innerDeviceInfo", [4, 10, 3, 10]),
("innerFrameInfo", [4, 10, 5, 10])]:
self.MasterStateSizer[key] = wx.FlexGridSizer(cols=attr[0], hgap=attr[1], rows=attr[2], vgap=attr[3])
self.UpdateButton = wx.Button(self, label=_('Update'))
self.UpdateButton.Bind(wx.EVT_BUTTON, self.OnButtonClick)
for key, label in [
('masterState', 'EtherCAT Master State'),
('deviceInfo', 'Ethernet Network Card Information'),
('frameInfo', 'Network Frame Information')]:
self.StaticBox[key] = wx.StaticBox(self, label=_(label))
self.MasterStateSizer[key] = wx.StaticBoxSizer(self.StaticBox[key])
# ----------------------- Master State -----------------------------------------------------------
for key, label in [
('Phase', 'Phase:'),
('Active', 'Active:'),
('Slaves', 'Slave Count:')]:
self.StaticText[key] = wx.StaticText(self, label=_(label))
self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
self.MasterStateSizer['innerMasterState'].AddMany([self.StaticText[key], self.TextCtrl[key]])
self.MasterStateSizer['masterState'].AddSizer(self.MasterStateSizer['innerMasterState'])
# ----------------------- Ethernet Network Card Information ---------------------------------------
for key, label in [
('Main', 'MAC Address:'),
('Link', 'Link State:'),
('Tx frames', 'Tx Frames:'),
('Rx frames', 'Rx Frames:'),
('Lost frames', 'Lost Frames:')]:
self.StaticText[key] = wx.StaticText(self, label=_(label))
self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
self.MasterStateSizer['innerDeviceInfo'].AddMany([self.StaticText[key], self.TextCtrl[key]])
self.MasterStateSizer['deviceInfo'].AddSizer(self.MasterStateSizer['innerDeviceInfo'])
# ----------------------- Network Frame Information -----------------------------------------------
for key, label in [
('Tx frame rate [1/s]', 'Tx Frame Rate [1/s]:'),
('Rx frame rate [1/s]', 'Tx Rate [kByte/s]:'),
('Loss rate [1/s]', 'Loss Rate [1/s]:'),
('Frame loss [%]', 'Frame Loss [%]:')]:
self.StaticText[key] = wx.StaticText(self, label=_(label))
self.MasterStateSizer['innerFrameInfo'].Add(self.StaticText[key])
self.TextCtrl[key] = {}
for index in ['0', '1', '2']:
self.TextCtrl[key][index] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
self.MasterStateSizer['innerFrameInfo'].Add(self.TextCtrl[key][index])
self.MasterStateSizer['frameInfo'].AddSizer(self.MasterStateSizer['innerFrameInfo'])
# --------------------------------- Main Sizer ----------------------------------------------------
for key, sub, in [
('innerTopHalf', [
'masterState', 'deviceInfo']),
('innerBottomHalf', [
'frameInfo']),
('innerMain', [
'innerTopHalf', 'innerBottomHalf'])]:
for key2 in sub:
self.MasterStateSizer[key].AddSizer(self.MasterStateSizer[key2])
self.MasterStateSizer['main'].AddSizer(self.UpdateButton)
self.MasterStateSizer['main'].AddSizer(self.MasterStateSizer['innerMain'])
self.SetSizer(self.MasterStateSizer['main'])
def OnButtonClick(self, event):
"""
Handle the event of the 'Update' button.
Update the data of the master state.
@param event: wx.EVT_BUTTON object
"""
if self.Controler.GetCTRoot()._connector is not None:
self.MasterState = self.Controler.CommonMethod.GetMasterState()
# Update each TextCtrl
if self.MasterState:
for key in self.TextCtrl:
if isinstance(self.TextCtrl[key], dict):
for index in self.TextCtrl[key]:
self.TextCtrl[key][index].SetValue(self.MasterState[key][int(index)])
else:
self.TextCtrl[key].SetValue(self.MasterState[key][0])
else :
self.Controler.CommonMethod.CreateErrorDialog('PLC not connected!')