import os, shutil
import cPickle
from xml.dom import minidom
import wx
import csv
from xmlclass import *
from POULibrary import POULibrary
from ConfigTreeNode import ConfigTreeNode
from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
from ConfigEditor import NodeEditor, CIA402NodeEditor, MasterEditor, LibraryEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE
try:
from MotionLibrary import Headers, AxisXSD
HAS_MCL = True
except:
HAS_MCL = False
TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L",
"USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L",
"BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"}
DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64",
"USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64",
"BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"}
VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY}
#--------------------------------------------------
# Remote Exec Etherlab Commands
#--------------------------------------------------
SCAN_COMMAND = """
import commands
result = commands.getoutput("ethercat slaves")
slaves = []
for slave_line in result.splitlines():
chunks = slave_line.split()
idx, pos, state, flag = chunks[:4]
name = " ".join(chunks[4:])
alias, position = pos.split(":")
slave = {"idx": int(idx),
"alias": int(alias),
"position": int(position),
"name": name}
details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"])
for details_line in details.splitlines():
details_line = details_line.strip()
for header, param in [("Vendor Id:", "vendor_id"),
("Product code:", "product_code"),
("Revision number:", "revision_number")]:
if details_line.startswith(header):
slave[param] = details_line.split()[-1]
break
slaves.append(slave)
returnVal = slaves
"""
#--------------------------------------------------
# Etherlab Specific Blocks Library
#--------------------------------------------------
def GetLocalPath(filename):
return os.path.join(os.path.split(__file__)[0], filename)
class EtherlabLibrary(POULibrary):
def GetLibraryPath(self):
return GetLocalPath("pous.xml")
def Generate_C(self, buildpath, varlist, IECCFLAGS):
etherlab_ext_file = open(GetLocalPath("etherlab_ext.c"), 'r')
etherlab_ext_code = etherlab_ext_file.read()
etherlab_ext_file.close()
Gen_etherlabfile_path = os.path.join(buildpath, "etherlab_ext.c")
ethelabfile = open(Gen_etherlabfile_path,'w')
ethelabfile.write(etherlab_ext_code)
ethelabfile.close()
runtimefile_path = os.path.join(os.path.split(__file__)[0], "runtime_etherlab.py")
return ((["etherlab_ext"], [(Gen_etherlabfile_path, IECCFLAGS)], True), "",
("runtime_etherlab.py", file(GetLocalPath("runtime_etherlab.py"))))
#--------------------------------------------------
# Ethercat Node
#--------------------------------------------------
class _EthercatSlaveCTN:
NODE_PROFILE = None
EditorType = NodeEditor
def GetIconName(self):
return "Slave"
def ExtractHexDecValue(self, value):
return ExtractHexDecValue(value)
def GetSizeOfType(self, type):
return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)
def GetSlavePos(self):
return self.BaseParams.getIEC_Channel()
def GetParamsAttributes(self, path = None):
if path:
parts = path.split(".", 1)
if self.MandatoryParams and parts[0] == self.MandatoryParams[0]:
return self.MandatoryParams[1].getElementInfos(parts[0], parts[1])
elif self.CTNParams and parts[0] == self.CTNParams[0]:
return self.CTNParams[1].getElementInfos(parts[0], parts[1])
else:
params = []
if self.CTNParams:
params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0]))
else:
params.append({
'use': 'required',
'type': 'element',
'name': 'SlaveParams',
'value': None,
'children': []
})
slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
params[0]['children'].insert(0,
{'use': 'optional',
'type': self.CTNParent.GetSlaveTypesLibrary(self.NODE_PROFILE),
'name': 'Type',
'value': (slave_type["device_type"], slave_type)})
params[0]['children'].insert(1,
{'use': 'optional',
'type': 'unsignedLong',
'name': 'Alias',
'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())})
return params
def SetParamsAttribute(self, path, value):
position = self.BaseParams.getIEC_Channel()
if path == "SlaveParams.Type":
self.CTNParent.SetSlaveType(position, value)
slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
value = (slave_type["device_type"], slave_type)
if self._View is not None:
wx.CallAfter(self._View.RefreshSlaveInfos)
return value, True
elif path == "SlaveParams.Alias":
self.CTNParent.SetSlaveAlias(position, value)
return value, True
value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value)
# Filter IEC_Channel, Slave_Type and Alias that have specific behavior
if path == "BaseParams.IEC_Channel" and value != position:
self.CTNParent.SetSlavePosition(position, value)
return value, refresh
def GetSlaveInfos(self):
return self.CTNParent.GetSlaveInfos(self.GetSlavePos())
def GetSlaveVariables(self, limits):
return self.CTNParent.GetSlaveVariables(self.GetSlavePos(), limits)
def GetVariableLocationTree(self):
return {"name": self.BaseParams.getName(),
"type": LOCATION_CONFNODE,
"location": self.GetFullIEC_Channel(),
"children": self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), self.GetCurrentLocation(), self.BaseParams.getName())
}
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)
@param locations: List of complete variables locations \
[{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
"NAME" : name of the variable (generally "__IW0_1_2" style)
"DIR" : direction "Q","I" or "M"
"SIZE" : size "X", "B", "W", "D", "L"
"LOC" : tuple of interger for IEC location (0,1,2,...)
}, ...]
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
"""
return [],"",False
#--------------------------------------------------
# Ethercat CIA402 Node
#--------------------------------------------------
if HAS_MCL:
NODE_VARIABLES = [
("ControlWord", 0x6040, 0x00, "UINT", "Q"),
("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
("StatusWord", 0x6041, 0x00, "UINT", "I"),
("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
("ActualPosition", 0x6064, 0x00, "DINT", "I"),
("ActualVelocity", 0x606C, 0x00, "DINT", "I"),
]
DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);"
DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;"
EXTRA_NODE_VARIABLES = [
("ErrorCode", [
{"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),
"publish": None}
]),
("DigitalInputs", [
{"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"),
"publish": None}
]),
("DigitalOutputs", [
{"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"),
"retrieve": None}
])
]
EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])
BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s->,%(input_name)s, %(input_value)s);"
BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s->%(output_name)s));"
BLOCK_FUNCTION_TEMPLATE = """
extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
void __%(blocktype)s_%(location)s(MC_%(ucase_blocktype)s *data__) {
__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
%(extract_inputs)s
ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
%(return_outputs)s
}
"""
BLOCK_FUNTION_DEFINITION_TEMPLATE = """ if (!__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s)
__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"""
GLOBAL_INSTANCES = [
{"blocktype": "GetTorqueLimit",
"inputs": [],
"outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
{"name": "TorqueLimitNeg", "type": "UINT"}]},
{"blocktype": "SetTorqueLimit",
"inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
{"name": "TorqueLimitNeg", "type": "UINT"}],
"outputs": []},
]
class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="CIA402SlaveParams">
<xsd:complexType>
%s
</xsd:complexType>
</xsd:element>
</xsd:schema>
""" % ("\n".join(['<xsd:attribute name="Enable%s" type="xsd:boolean" use="optional" default="false"/>' % category
for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
NODE_PROFILE = 402
EditorType = CIA402NodeEditor
ConfNodeMethods = [
{"bitmap" : "CIA402AxisRef",
"name" : _("Axis Ref"),
"tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
"method" : "_getCIA402AxisRef",
"push": True},
]
def GetIconName(self):
return "CIA402Slave"
def SetParamsAttribute(self, path, value):
if path == "CIA402SlaveParams.Type":
path = "SlaveParams.Type"
elif path == "CIA402SlaveParams.Alias":
path = "SlaveParams.Alias"
return _EthercatSlaveCTN.SetParamsAttribute(self, path, value)
def GetVariableLocationTree(self):
axis_name = self.CTNName()
current_location = self.GetCurrentLocation()
children = [{"name": "%s Axis Ref" % (axis_name),
"type": LOCATION_VAR_INPUT,
"size": "W",
"IEC_type": "AXIS_REF",
"var_name": axis_name,
"location": "%%IW%s.0" % (".".join(map(str, current_location))),
"description": "",
"children": []}]
children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), current_location, axis_name))
return {"name": axis_name,
"type": LOCATION_CONFNODE,
"location": self.GetFullIEC_Channel(),
"children": children,
}
def CTNGlobalInstances(self):
current_location = self.GetCurrentLocation()
return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location))),
"EtherLab%s" % block_infos["blocktype"]) for block_infos in GLOBAL_INSTANCES]
def _getCIA402AxisRef(self):
data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
"location", "AXIS_REF", self.CTNName(), "")))
dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
dragSource.SetData(data)
dragSource.DoDragDrop()
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)
@param locations: List of complete variables locations \
[{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
"NAME" : name of the variable (generally "__IW0_1_2" style)
"DIR" : direction "Q","I" or "M"
"SIZE" : size "X", "B", "W", "D", "L"
"LOC" : tuple of interger for IEC location (0,1,2,...)
}, ...]
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
"""
current_location = self.GetCurrentLocation()
location_str = "_".join(map(lambda x:str(x), current_location))
plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c")
plc_cia402node_file = open(plc_cia402node_filepath, 'r')
plc_cia402node_code = plc_cia402node_file.read()
plc_cia402node_file.close()
str_completion = {
"slave_pos": self.GetSlavePos(),
"location": location_str,
"MCL_headers": Headers,
"extern_located_variables_declaration": [],
"fieldbus_interface_declaration": [],
"fieldbus_interface_definition": [],
"entry_variables": [],
"init_axis_params": [],
"init_entry_variables": [],
"extra_variables_retrieve": [],
"extra_variables_publish": []
}
for blocktype_infos in GLOBAL_INSTANCES:
texts = {
"blocktype": blocktype_infos["blocktype"],
"ucase_blocktype": blocktype_infos["blocktype"].upper(),
"location": "_".join(map(str, current_location))
}
texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts
inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())},
{"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\
[{"input_name": input["name"].upper(),
"input_value": "__GET_VAR(data__->%s)" % input["name"].upper()}
for input in blocktype_infos["inputs"]]
input_texts = []
for input_infos in inputs:
input_infos.update(texts)
input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos)
texts["extract_inputs"] = "\n".join(input_texts)
outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \
[{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]]
output_texts = []
for output_infos in outputs:
output_infos.update(texts)
output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos)
texts["return_outputs"] = "\n".join(output_texts)
str_completion["fieldbus_interface_declaration"].append(
BLOCK_FUNCTION_TEMPLATE % texts)
str_completion["fieldbus_interface_definition"].append(
BLOCK_FUNTION_DEFINITION_TEMPLATE % texts)
variables = NODE_VARIABLES[:]
params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
for param in params["children"]:
if param["name"] in EXTRA_NODE_VARIABLES_DICT:
if param["value"]:
extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"])
for variable_infos in extra_variables:
var_infos = {
"location": location_str,
"name": variable_infos["description"][0]
}
variables.append(variable_infos["description"])
retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE)
publish_template = variable_infos.get("publish", DEFAULT_PUBLISH)
if retrieve_template is not None:
str_completion["extra_variables_retrieve"].append(
retrieve_template % var_infos)
if publish_template is not None:
str_completion["extra_variables_publish"].append(
publish_template % var_infos)
elif param["value"] is not None:
param_infos = {
"location": location_str,
"param_name": param["name"],
}
if param["type"] == "boolean":
param_infos["param_value"] = {True: "true", False: "false"}[param["value"]]
else:
param_infos["param_value"] = str(param["value"])
str_completion["init_axis_params"].append(
" __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)
for variable in variables:
var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable))
var_infos["location"] = location_str
var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"])
var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos
str_completion["extern_located_variables_declaration"].append(
"IEC_%(var_type)s *%(var_name)s;" % var_infos)
str_completion["entry_variables"].append(
" IEC_%(var_type)s *%(name)s;" % var_infos)
str_completion["init_entry_variables"].append(
" __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos)
self.CTNParent.FileGenerator.DeclareVariable(
self.GetSlavePos(), var_infos["index"], var_infos["subindex"],
var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
for element in ["extern_located_variables_declaration",
"fieldbus_interface_declaration",
"fieldbus_interface_definition",
"entry_variables",
"init_axis_params",
"init_entry_variables",
"extra_variables_retrieve",
"extra_variables_publish"]:
str_completion[element] = "\n".join(str_completion[element])
Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str)
cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
cia402nodefile.write(plc_cia402node_code % str_completion)
cia402nodefile.close()
return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True
#--------------------------------------------------
# Ethercat MASTER
#--------------------------------------------------
EtherCATConfigClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd"))
def ExtractHexDecValue(value):
try:
return int(value)
except:
pass
try:
return int(value.replace("#", "0"), 16)
except:
raise ValueError, "Invalid value for HexDecValue \"%s\"" % value
def GenerateHexDecValue(value, base=10):
if base == 10:
return str(value)
elif base == 16:
return "#x%.8x" % value
else:
raise ValueError, "Not supported base"
def sort_commands(x, y):
if x["Index"] == y["Index"]:
return cmp(x["Subindex"], y["Subindex"])
return cmp(x["Index"], y["Index"])
cls = EtherCATConfigClasses.get("Config_Slave", None)
if cls:
def getType(self):
slave_info = self.getInfo()
return {"device_type": slave_info.getName(),
"vendor": GenerateHexDecValue(slave_info.getVendorId()),
"product_code": GenerateHexDecValue(slave_info.getProductCode(), 16),
"revision_number": GenerateHexDecValue(slave_info.getRevisionNo(), 16)}
setattr(cls, "getType", getType)
def setType(self, type_infos):
slave_info = self.getInfo()
slave_info.setName(type_infos["device_type"])
slave_info.setVendorId(ExtractHexDecValue(type_infos["vendor"]))
slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"]))
slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"]))
setattr(cls, "setType", setType)
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 = EtherCATConfigClasses["InitCmds_InitCmd"]()
command.setIndex(command_infos["Index"])
command.setSubIndex(command_infos["Subindex"])
command.setData(command_infos["Value"])
command.setComment(command_infos["Description"])
InitCmds.appendInitCmd(command)
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>
"""
ProcessVariablesClasses = GenerateClassesFromXSDstring(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 = EtherCATConfigClasses["EtherCATConfig"]()
if os.path.isfile(config_filepath):
config_xmlfile = open(config_filepath, 'r')
config_tree = minidom.parse(config_xmlfile)
config_xmlfile.close()
for child in config_tree.childNodes:
if child.nodeType == config_tree.ELEMENT_NODE and child.nodeName == "EtherCATConfig":
self.Config.loadXMLTree(child)
config_is_saved = True
process_filepath = self.ProcessVariablesFileName()
process_is_saved = False
self.ProcessVariables = ProcessVariablesClasses["ProcessVariables"]()
if os.path.isfile(process_filepath):
process_xmlfile = open(process_filepath, 'r')
process_tree = minidom.parse(process_xmlfile)
process_xmlfile.close()
for child in process_tree.childNodes:
if child.nodeType == process_tree.ELEMENT_NODE and child.nodeName == "ProcessVariables":
self.ProcessVariables.loadXMLTree(child)
process_is_saved = True
if config_is_saved and process_is_saved:
self.CreateBuffer(True)
else:
self.CreateBuffer(False)
self.OnCTNSave()
def ExtractHexDecValue(self, value):
return ExtractHexDecValue(value)
def GetSizeOfType(self, type):
return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)
def ConfigFileName(self):
return os.path.join(self.CTNPath(), "config.xml")
def 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, alignment = self.GetModuleInfos(type_infos)
if slave_profile is not None and slave_profile not in device.GetProfileNumbers():
return False
return True
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 = ProcessVariablesClasses["ProcessVariables_variable"]()
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, alignment = self.GetModuleInfos(type_infos)
if device is not None:
if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():
CTNType = "EthercatCIA402Slave"
else:
CTNType = "EthercatSlave"
self.CTNAddChild("slave%s" % slave["idx"], CTNType, slave["idx"])
self.SetSlaveAlias(slave["idx"], slave["alias"])
type_infos["device_type"] = device.getType().getcontent()
self.SetSlaveType(slave["idx"], type_infos)
def CTNAddChild(self, CTNName, CTNType, IEC_Channel=0):
"""
Create the confnodes that may be added as child to this node self
@param CTNType: string desining the confnode class name (get name from CTNChildrenTypes)
@param CTNName: string for the name of the confnode instance
"""
newConfNodeOpj = ConfigTreeNode.CTNAddChild(self, CTNName, CTNType, IEC_Channel)
slave = self.GetSlave(newConfNodeOpj.BaseParams.getIEC_Channel())
if slave is None:
slave = EtherCATConfigClasses["Config_Slave"]()
slave_infos = slave.getInfo()
slave_infos.setName("undefined")
slave_infos.setPhysAddr(newConfNodeOpj.BaseParams.getIEC_Channel())
slave_infos.setAutoIncAddr(0)
self.Config.getConfig().appendSlave(slave)
self.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.OnCTNSave()
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, alignment = 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, alignment = self.GetModuleInfos(type_infos)
if device is not None:
entries = device.GetEntriesList(limits)
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, alignment = 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, alignment = 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, alignment = 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):
config_filepath = self.ConfigFileName()
config_text = "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\n"
config_extras = {"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance",
"xsi:noNamespaceSchemaLocation" : "EtherCATInfo.xsd"}
config_text += self.Config.generateXMLText("EtherCATConfig", 0, config_extras)
config_xmlfile = open(config_filepath,"w")
config_xmlfile.write(config_text.encode("utf-8"))
config_xmlfile.close()
process_filepath = self.ProcessVariablesFileName()
process_text = "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\"?>\n"
process_extras = {"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance"}
process_text += self.ProcessVariables.generateXMLText("ProcessVariables", 0, process_extras)
process_xmlfile = open(process_filepath,"w")
process_xmlfile.write(process_text.encode("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 variable in 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 + (pos, index, subindex)
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 + (pos, index, subindex)
var_type = self.GetSlaveVariableDataType(pos, index, subindex)
name = self.GetProcessVariableName(location, var_type)
self.FileGenerator.DeclareVariable(
pos, index, subindex, var_type, "Q",
name)
self.FileGenerator.GenerateCFile(Gen_Ethercatfile_path, location_str, self.BaseParams.getIEC_Channel())
LocationCFilesAndCFLAGS.append(
(current_location,
[(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],
True))
LDFLAGS.append("-lethercat -lrtdm")
return LocationCFilesAndCFLAGS, LDFLAGS, extra_files
ConfNodeMethods = [
{"bitmap" : "ScanNetwork",
"name" : _("Scan Network"),
"tooltip" : _("Scan Network"),
"method" : "_ScanNetwork"},
]
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5)
@param locations: List of complete variables locations \
[{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
"NAME" : name of the variable (generally "__IW0_1_2" style)
"DIR" : direction "Q","I" or "M"
"SIZE" : size "X", "B", "W", "D", "L"
"LOC" : tuple of interger for IEC location (0,1,2,...)
}, ...]
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
"""
current_location = self.GetCurrentLocation()
slaves = self.GetSlaves()
for slave_pos in slaves:
slave = self.GetSlave(slave_pos)
if slave is not None:
self.FileGenerator.DeclareSlave(slave_pos, slave)
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 cPickle.loads(cPickle.dumps(model))
def CreateBuffer(self, saved):
self.Buffer = UndoBuffer(cPickle.dumps((self.Config, self.ProcessVariables)), saved)
def BufferModel(self):
self.Buffer.Buffering(cPickle.dumps((self.Config, self.ProcessVariables)))
def ModelIsSaved(self):
if self.Buffer is not None:
return self.Buffer.IsCurrentSaved()
else:
return True
def LoadPrevious(self):
self.Config, self.ProcessVariables = cPickle.loads(self.Buffer.Previous())
def LoadNext(self):
self.Config, self.ProcessVariables = cPickle.loads(self.Buffer.Next())
def GetBufferState(self):
first = self.Buffer.IsFirst()
last = self.Buffer.IsLast()
return not first, not last
SLAVE_PDOS_CONFIGURATION_DECLARATION = """
/* Slave %(slave)d, "%(device_type)s"
* Vendor ID: 0x%(vendor).8x
* Product code: 0x%(product_code).8x
* Revision number: 0x%(revision_number).8x
*/
ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = {
%(pdos_entries_infos)s
};
ec_pdo_info_t slave_%(slave)d_pdos[] = {
%(pdos_infos)s
};
ec_sync_info_t slave_%(slave)d_syncs[] = {
%(pdos_sync_infos)s
{0xff}
};
"""
SLAVE_CONFIGURATION_TEMPLATE = """
if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) {
fprintf(stderr, "Failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.\\n");
return -1;
}
if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) {
fprintf(stderr, "Failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.\\n");
return -1;
}
"""
SLAVE_INITIALIZATION_TEMPLATE = """
{
uint8_t value[%(data_size)d];
EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s);
if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) {
fprintf(stderr, "Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code);
return -1;
}
}
"""
SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """
{
uint8_t value[%(data_size)d];
if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
fprintf(stderr, "Failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code);
return -1;
}
%(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);
}
"""
def ConfigureVariable(entry_infos, str_completion):
entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)
if entry_infos["data_type"] is None:
raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]
if entry_infos.has_key("real_var"):
str_completion["located_variables_declaration"].append(
"IEC_%(var_type)s %(real_var)s;" % entry_infos)
else:
entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
str_completion["located_variables_declaration"].extend(
["IEC_%(var_type)s %(real_var)s;" % entry_infos,
"IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos])
for declaration in entry_infos.get("extra_declarations", []):
entry_infos["extra_decl"] = declaration
str_completion["located_variables_declaration"].append(
"IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos)
str_completion["used_pdo_entry_offset_variables_declaration"].append(
"unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos)
if entry_infos["data_type"] == "BIT":
str_completion["used_pdo_entry_offset_variables_declaration"].append(
"unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos)
str_completion["used_pdo_entry_configuration"].append(
(" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " +
"0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " +
"&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos)
if entry_infos["dir"] == "I":
str_completion["retrieve_variables"].append(
(" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
"slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos)
elif entry_infos["dir"] == "Q":
str_completion["publish_variables"].append(
(" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
"slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos)
else:
str_completion["used_pdo_entry_configuration"].append(
(" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " +
"%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos)
if entry_infos["dir"] == "I":
str_completion["retrieve_variables"].append(
(" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " +
"slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos)
elif entry_infos["dir"] == "Q":
str_completion["publish_variables"].append(
(" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
"%(real_var)s);") % entry_infos)
def ExclusionSortFunction(x, y):
if x["matching"] == y["matching"]:
if x["assigned"] and not y["assigned"]:
return -1
elif not x["assigned"] and y["assigned"]:
return 1
return cmp(x["count"], y["count"])
return -cmp(x["matching"], y["matching"])
class _EthercatCFileGenerator:
def __init__(self, controler):
self.Controler = controler
self.Slaves = []
self.UsedVariables = {}
def __del__(self):
self.Controler = None
def DeclareSlave(self, slave_index, slave):
self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave))
def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name):
slave_variables = self.UsedVariables.setdefault(slave_index, {})
entry_infos = slave_variables.get((index, subindex), None)
if entry_infos is None:
slave_variables[(index, subindex)] = {
"infos": (iec_type, dir, name, []),
"mapped": False}
return name
elif entry_infos["infos"][:2] == (iec_type, dir):
if name != entry_infos["infos"][2]:
if dir == "I":
entry_infos["infos"][3].append(name)
return entry_infos["infos"][2]
else:
raise ValueError, _("Output variables can't be defined with different locations (%s and %s)") % (entry_infos["infos"][2], name)
else:
print entry_infos["infos"][:2], (iec_type, dir)
raise ValueError, _("Definition conflict for location \"%s\"") % name
def GenerateCFile(self, filepath, location_str, master_number):
# Extract etherlab master code template
plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")
plc_etherlab_file = open(plc_etherlab_filepath, 'r')
plc_etherlab_code = plc_etherlab_file.read()
plc_etherlab_file.close()
# Initialize strings for formatting master code template
str_completion = {
"location": location_str,
"master_number": master_number,
"located_variables_declaration": [],
"used_pdo_entry_offset_variables_declaration": [],
"used_pdo_entry_configuration": [],
"pdos_configuration_declaration": "",
"slaves_declaration": "",
"slaves_configuration": "",
"slaves_output_pdos_default_values_extraction": "",
"slaves_initialization": "",
"retrieve_variables": [],
"publish_variables": [],
}
# Initialize variable storing variable mapping state
for slave_entries in self.UsedVariables.itervalues():
for entry_infos in slave_entries.itervalues():
entry_infos["mapped"] = False
# Sort slaves by position (IEC_Channel)
self.Slaves.sort()
# Initialize dictionary storing alias auto-increment position values
alias = {}
# Generating code for each slave
for (slave_idx, slave_alias, slave) in self.Slaves:
type_infos = slave.getType()
# Defining slave alias and auto-increment position
if alias.get(slave_alias) is not None:
alias[slave_alias] += 1
else:
alias[slave_alias] = 0
slave_pos = (slave_alias, alias[slave_alias])
# Extract slave device informations
device, alignment = self.Controler.GetModuleInfos(type_infos)
if device is not None:
# Extract slaves variables to be mapped
slave_variables = self.UsedVariables.get(slave_idx, {})
# Extract slave device object dictionary entries
device_entries = device.GetEntriesList()
# Adding code for declaring slave in master code template strings
for element in ["vendor", "product_code", "revision_number"]:
type_infos[element] = ExtractHexDecValue(type_infos[element])
type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))
# Extract slave device CoE informations
device_coe = device.getCoE()
if device_coe is not None:
# If device support CanOpen over Ethernet, adding code for calling
# init commands when initializing slave in master code template strings
initCmds = []
for initCmd in device_coe.getInitCmd():
initCmds.append({
"Index": ExtractHexDecValue(initCmd.getIndex()),
"Subindex": ExtractHexDecValue(initCmd.getSubIndex()),
"Value": initCmd.getData().getcontent()})
initCmds.extend(slave.getStartupCommands())
for initCmd in initCmds:
index = initCmd["Index"]
subindex = initCmd["Subindex"]
entry = device_entries.get((index, subindex), None)
if entry is not None:
data_size = entry["BitSize"] / 8
data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"]
init_cmd_infos = {
"index": index,
"subindex": subindex,
"data": data_str,
"data_type": DATATYPECONVERSION.get(entry["Type"]),
"data_size": data_size
}
init_cmd_infos.update(type_infos)
str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos
# Extract slave device PDO configuration capabilities
PdoAssign = device_coe.getPdoAssign()
PdoConfig = device_coe.getPdoConfig()
else:
PdoAssign = PdoConfig = False
# Test if slave has a configuration or need one
if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign:
str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos
str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos
# Initializing
pdos_infos = {
"pdos_entries_infos": [],
"pdos_infos": [],
"pdos_sync_infos": [],
}
pdos_infos.update(type_infos)
sync_managers = []
for sync_manager_idx, sync_manager in enumerate(device.getSm()):
sync_manager_infos = {
"index": sync_manager_idx,
"name": sync_manager.getcontent(),
"slave": slave_idx,
"pdos": [],
"pdos_number": 0,
}
sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
sync_manager_direction = sync_manager_control_byte & 0x0c
sync_manager_watchdog = sync_manager_control_byte & 0x40
if sync_manager_direction:
sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"
else:
sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"
if sync_manager_watchdog:
sync_manager_infos["watchdog"] = "EC_WD_ENABLE"
else:
sync_manager_infos["watchdog"] = "EC_WD_DISABLE"
sync_managers.append(sync_manager_infos)
pdos_index = []
exclusive_pdos = {}
selected_pdos = []
for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
[(pdo, "Outputs") for pdo in device.getRxPdo()]):
pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
pdos_index.append(pdo_index)
excluded_list = pdo.getExclude()
if len(excluded_list) > 0:
exclusion_list = [pdo_index]
for excluded in excluded_list:
exclusion_list.append(ExtractHexDecValue(excluded.getcontent()))
exclusion_list.sort()
exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])
entries = pdo.getEntry()
pdo_mapping_match = {
"index": pdo_index,
"matching": 0,
"count": len(entries),
"assigned": pdo.getSm() is not None
}
exclusion_scope.append(pdo_mapping_match)
for entry in entries:
index = ExtractHexDecValue(entry.getIndex().getcontent())
subindex = ExtractHexDecValue(entry.getSubIndex())
if slave_variables.get((index, subindex), None) is not None:
pdo_mapping_match["matching"] += 1
elif pdo.getMandatory():
selected_pdos.append(pdo_index)
excluded_pdos = []
for exclusion_scope in exclusive_pdos.itervalues():
exclusion_scope.sort(ExclusionSortFunction)
start_excluding_index = 0
if exclusion_scope[0]["matching"] > 0:
selected_pdos.append(exclusion_scope[0]["index"])
start_excluding_index = 1
excluded_pdos.extend([pdo["index"] for pdo in exclusion_scope[start_excluding_index:] if PdoAssign or not pdo["assigned"]])
for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
[(pdo, "Outputs") for pdo in device.getRxPdo()]):
entries = pdo.getEntry()
pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
if pdo_index in excluded_pdos:
continue
pdo_needed = pdo_index in selected_pdos
entries_infos = []
for entry in entries:
index = ExtractHexDecValue(entry.getIndex().getcontent())
subindex = ExtractHexDecValue(entry.getSubIndex())
entry_infos = {
"index": index,
"subindex": subindex,
"name": ExtractName(entry.getName()),
"bitlen": entry.getBitLen(),
}
entry_infos.update(type_infos)
entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
entry_declaration = slave_variables.get((index, subindex), None)
if entry_declaration is not None and not entry_declaration["mapped"]:
pdo_needed = True
entry_infos.update(dict(zip(["var_type", "dir", "var_name", "extra_declarations"], entry_declaration["infos"])))
entry_declaration["mapped"] = True
entry_type = entry.getDataType().getcontent()
if entry_infos["var_type"] != entry_type:
message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
self.Controler.GetSizeOfType(entry_type)):
raise ValueError, message
else:
self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or
entry_infos["dir"] == "Q" and pdo_type != "Outputs"):
raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
ConfigureVariable(entry_infos, str_completion)
elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:
data_type = entry.getDataType().getcontent()
entry_infos["dir"] = "Q"
entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
entry_infos["var_type"] = data_type
entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
ConfigureVariable(entry_infos, str_completion)
str_completion["slaves_output_pdos_default_values_extraction"] += \
SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
if pdo_needed:
for excluded in pdo.getExclude():
excluded_index = ExtractHexDecValue(excluded.getcontent())
if excluded_index not in excluded_pdos:
excluded_pdos.append(excluded_index)
sm = pdo.getSm()
if sm is None:
for sm_idx, sync_manager in enumerate(sync_managers):
if sync_manager["name"] == pdo_type:
sm = sm_idx
if sm is None:
raise ValueError, _("No sync manager available for %s pdo!") % pdo_type
sync_managers[sm]["pdos_number"] += 1
sync_managers[sm]["pdos"].append(
{"slave": slave_idx,
"index": pdo_index,
"name": ExtractName(pdo.getName()),
"type": pdo_type,
"entries": entries_infos,
"entries_number": len(entries_infos),
"fixed": pdo.getFixed() == True})
if PdoConfig and PdoAssign:
dynamic_pdos = {}
dynamic_pdos_number = 0
for category, min_index, max_index in [("Inputs", 0x1600, 0x1800),
("Outputs", 0x1a00, 0x1C00)]:
for sync_manager in sync_managers:
if sync_manager["name"] == category:
category_infos = dynamic_pdos.setdefault(category, {})
category_infos["sync_manager"] = sync_manager
category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"]
if not pdo["fixed"] and pdo["type"] == category]
category_infos["current_index"] = min_index
category_infos["max_index"] = max_index
break
for (index, subindex), entry_declaration in slave_variables.iteritems():
if not entry_declaration["mapped"]:
entry = device_entries.get((index, subindex), None)
if entry is None:
raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
(index, subindex, type_infos["device_type"])
entry_infos = {
"index": index,
"subindex": subindex,
"name": entry["Name"],
"bitlen": entry["BitSize"],
}
entry_infos.update(type_infos)
entry_infos.update(dict(zip(["var_type", "dir", "var_name", "extra_declarations"], entry_declaration["infos"])))
entry_declaration["mapped"] = True
if entry_infos["var_type"] != entry["Type"]:
message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
self.Controler.GetSizeOfType(entry["Type"])):
raise ValueError, message
else:
self.Controler.GetCTRoot().logger.write_warning(message + "\n")
if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
pdo_type = "Inputs"
elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
pdo_type = "Outputs"
else:
raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
if not dynamic_pdos.has_key(pdo_type):
raise ValueError, _("No Sync manager defined for %s!") % pdo_type
ConfigureVariable(entry_infos, str_completion)
if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
pdo = dynamic_pdos[pdo_type]["pdos"][0]
else:
while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
dynamic_pdos[pdo_type]["current_index"] += 1
if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:
raise ValueError, _("No more free PDO index available for %s!") % pdo_type
pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
dynamic_pdos_number += 1
pdo = {"slave": slave_idx,
"index": dynamic_pdos[pdo_type]["current_index"],
"name": "Dynamic PDO %d" % dynamic_pdos_number,
"type": pdo_type,
"entries": [],
"entries_number": 0,
"fixed": False}
dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
dynamic_pdos[pdo_type]["pdos"].append(pdo)
pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
if entry_infos["bitlen"] < alignment:
print (alignment, entry_infos["bitlen"])
pdo["entries"].append(" {0x0000, 0x00, %d}, /* None */" % (alignment - entry_infos["bitlen"]))
pdo["entries_number"] += 1
if pdo["entries_number"] == 255:
dynamic_pdos[pdo_type]["pdos"].pop(0)
pdo_offset = 0
entry_offset = 0
for sync_manager_infos in sync_managers:
for pdo_infos in sync_manager_infos["pdos"]:
pdo_infos["offset"] = entry_offset
pdo_entries = pdo_infos["entries"]
pdos_infos["pdos_infos"].append(
(" {0x%(index).4x, %(entries_number)d, " +
"slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos)
entry_offset += len(pdo_entries)
pdos_infos["pdos_entries_infos"].extend(pdo_entries)
sync_manager_infos["offset"] = pdo_offset
pdo_offset_shift = sync_manager_infos["pdos_number"]
pdos_infos["pdos_sync_infos"].append(
(" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " +
("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") +
", %(watchdog)s},") % sync_manager_infos)
pdo_offset += pdo_offset_shift
for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]:
pdos_infos[element] = "\n".join(pdos_infos[element])
str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos
for (index, subindex), entry_declaration in slave_variables.iteritems():
if not entry_declaration["mapped"]:
message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \
(index, subindex, type_infos["device_type"])
self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
for element in ["used_pdo_entry_offset_variables_declaration",
"used_pdo_entry_configuration",
"located_variables_declaration",
"retrieve_variables",
"publish_variables"]:
str_completion[element] = "\n".join(str_completion[element])
etherlabfile = open(filepath, 'w')
etherlabfile.write(plc_etherlab_code % str_completion)
etherlabfile.close()
#--------------------------------------------------
# Ethercat ConfNode
#--------------------------------------------------
EtherCATInfoClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd"))
cls = EtherCATInfoClasses["EtherCATBase.xsd"].get("DictionaryType", None)
if cls:
cls.loadXMLTreeArgs = None
setattr(cls, "_loadXMLTree", getattr(cls, "loadXMLTree"))
def loadXMLTree(self, *args):
self.loadXMLTreeArgs = args
setattr(cls, "loadXMLTree", loadXMLTree)
def load(self):
if self.loadXMLTreeArgs is not None:
self._loadXMLTree(*self.loadXMLTreeArgs)
self.loadXMLTreeArgs = None
setattr(cls, "load", load)
cls = EtherCATInfoClasses["EtherCATInfo.xsd"].get("DeviceType", None)
if cls:
cls.DataTypes = None
def GetProfileNumbers(self):
profiles = []
for profile in self.getProfile():
profile_content = profile.getcontent()
if profile_content is None:
continue
for content_element in profile_content["value"]:
if content_element["name"] == "ProfileNo":
profiles.append(content_element["value"])
return profiles
setattr(cls, "GetProfileNumbers", GetProfileNumbers)
def GetProfileDictionaries(self):
dictionaries = []
for profile in self.getProfile():
profile_content = profile.getcontent()
if profile_content is None:
continue
for content_element in profile_content["value"]:
if content_element["name"] == "Dictionary":
dictionaries.append(content_element["value"])
elif content_element["name"] == "DictionaryFile":
raise ValueError, "DictionaryFile for defining Device Profile is not yet supported!"
return dictionaries
setattr(cls, "GetProfileDictionaries", GetProfileDictionaries)
def ExtractDataTypes(self):
self.DataTypes = {}
for dictionary in self.GetProfileDictionaries():
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 ExtractName(names, default=None):
if len(names) == 1:
return names[0].getcontent()
else:
for name in names:
if name.getLcId() == 1033:
return name.getcontent()
return default
def ExtractPdoInfos(pdo, pdo_type, entries, 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}
DEFAULT_ALIGNMENT = 8
class ModulesLibrary:
def __init__(self, path, parent_library=None):
self.Path = path
if not os.path.exists(self.Path):
os.makedirs(self.Path)
self.ParentLibrary = parent_library
if parent_library is not None:
self.LoadModules()
else:
self.Library = None
self.LoadAlignments()
def GetPath(self):
return self.Path
def GetAlignmentFilePath(self):
return os.path.join(self.Path, "alignments.cfg")
def LoadModules(self):
self.Library = {}
files = os.listdir(self.Path)
for file in files:
filepath = os.path.join(self.Path, file)
if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml":
xmlfile = open(filepath, 'r')
xml_tree = minidom.parse(xmlfile)
xmlfile.close()
modules_infos = None
for child in xml_tree.childNodes:
if child.nodeType == xml_tree.ELEMENT_NODE and child.nodeName == "EtherCATInfo":
modules_infos = EtherCATInfoClasses["EtherCATInfo.xsd"]["EtherCATInfo"]()
modules_infos.loadXMLTree(child)
if modules_infos is not None:
vendor = modules_infos.getVendor()
vendor_category = self.Library.setdefault(ExtractHexDecValue(vendor.getId()),
{"name": ExtractName(vendor.getName(), _("Miscellaneous")),
"groups": {}})
for group in modules_infos.getDescriptions().getGroups().getGroup():
group_type = group.getType()
vendor_category["groups"].setdefault(group_type, {"name": ExtractName(group.getName(), group_type),
"parent": group.getParentGroup(),
"order": group.getSortOrder(),
"devices": []})
for device in modules_infos.getDescriptions().getDevices().getDevice():
device_group = device.getGroupType()
if not vendor_category["groups"].has_key(device_group):
raise ValueError, "Not such group \"%\"" % device_group
vendor_category["groups"][device_group]["devices"].append((device.getType().getcontent(), device))
def GetModulesLibrary(self, profile_filter=None):
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()
alignment = self.GetAlignment(vendor_id, product_code, revision_number)
device_infos = {"name": ExtractName(device.getName()),
"type": ETHERCAT_DEVICE,
"infos": {"device_type": device_type,
"vendor": vendor_id,
"product_code": product_code,
"revision_number": revision_number,
"alignment": alignment},
"children": []}
group_infos["children"].append(device_infos)
device_type_occurrences = device_dict.setdefault(device_type, [])
device_type_occurrences.append(device_infos)
for device_type_occurrences in device_dict.itervalues():
if len(device_type_occurrences) > 1:
for occurrence in device_type_occurrences:
occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"]
if len(group_infos["children"]) > 0:
if group["parent"] is not None:
parent_children = children_dict.setdefault(group["parent"], [])
parent_children.append(group_infos)
else:
groups.append(group_infos)
if len(groups) > 0:
library.append({"name": vendor["name"],
"type": ETHERCAT_VENDOR,
"infos": None,
"children": groups})
library.sort(lambda x, y: cmp(x["name"], y["name"]))
return library
def 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"])):
return device_infos, self.GetAlignment(vendor, product_code, revision_number)
return None, None
def ImportModuleLibrary(self, filepath):
if os.path.isfile(filepath):
shutil.copy(filepath, self.Path)
self.LoadModules()
return True
return False
def LoadAlignments(self):
self.Alignments = {}
csvfile_path = self.GetAlignmentFilePath()
if os.path.exists(csvfile_path):
csvfile = open(csvfile_path, "rb")
sample = csvfile.read(1024)
csvfile.seek(0)
dialect = csv.Sniffer().sniff(sample)
has_header = csv.Sniffer().has_header(sample)
reader = csv.reader(csvfile, dialect)
for row in reader:
if has_header:
has_header = False
else:
try:
self.Alignments[tuple(map(int, row[:3]))] = int(row[3])
except:
pass
csvfile.close()
def SaveAlignments(self):
csvfile = open(self.GetAlignmentFilePath(), "wb")
writer = csv.writer(csvfile, delimiter=';')
writer.writerow(['Vendor', 'product_code', 'revision_number', 'alignment'])
for (vendor, product_code, revision_number), alignment in self.Alignments.iteritems():
writer.writerow([vendor, product_code, revision_number, alignment])
csvfile.close()
def SetAlignment(self, vendor, product_code, revision_number, alignment):
vendor = ExtractHexDecValue(vendor)
product_code = ExtractHexDecValue(product_code)
revision_number = ExtractHexDecValue(revision_number)
self.Alignments[tuple([vendor, product_code, revision_number])] = alignment
self.SaveAlignments()
def GetAlignment(self, vendor, product_code, revision_number):
vendor = ExtractHexDecValue(vendor)
product_code = ExtractHexDecValue(product_code)
revision_number = ExtractHexDecValue(revision_number)
alignment = self.Alignments.get(tuple([vendor, product_code, revision_number]))
if alignment is not None:
return alignment
if self.ParentLibrary is not None:
return self.ParentLibrary.GetAlignment(vendor, product_code, revision_number)
return DEFAULT_ALIGNMENT
USERDATA_DIR = wx.StandardPaths.Get().GetUserDataDir()
if wx.Platform != '__WXMSW__':
USERDATA_DIR += '_files'
ModulesDatabase = ModulesLibrary(
os.path.join(USERDATA_DIR, "ethercat_modules"))
class RootClass:
CTNChildrenTypes = [("EthercatNode",_EthercatCTN,"Ethercat Master")]
EditorType = LibraryEditor
def __init__(self):
self.ModulesLibrary = None
self.LoadModulesLibrary()
def GetModulesLibraryPath(self):
return os.path.join(self.CTNPath(), "modules")
def CTNGenerate_C(self, buildpath, locations):
return [],"",False
def LoadModulesLibrary(self):
if self.ModulesLibrary is None:
self.ModulesLibrary = ModulesLibrary(self.GetModulesLibraryPath(), ModulesDatabase)
else:
self.ModulesLibrary.LoadModulesLibrary()
def GetModulesDatabaseInstance(self):
return ModulesDatabase
def GetModulesLibraryInstance(self):
return self.ModulesLibrary
def GetModulesLibrary(self, profile_filter=None):
return self.ModulesLibrary.GetModulesLibrary(profile_filter)
def GetVendors(self):
return self.ModulesLibrary.GetVendors()
def GetModuleInfos(self, module_infos):
return self.ModulesLibrary.GetModuleInfos(module_infos)