#!/usr/bin/env python
# -*- coding: utf-8 -*-
# This file is part of Beremiz, a Integrated Development Environment for
# programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
#
# Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
# Copyright (C) 2017: Andrey Skvortsov
#
# See COPYING file for copyrights details.
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
from __future__ import absolute_import
from __future__ import division
import os
import sys
import shutil
import wx
from gnosis.xml.pickle import * # pylint: disable=import-error
from gnosis.xml.pickle.util import setParanoia # pylint: disable=import-error
import util.paths as paths
from util.TranslationCatalogs import AddCatalog
from ConfigTreeNode import ConfigTreeNode
from PLCControler import \
LOCATION_CONFNODE, \
LOCATION_VAR_MEMORY
CanFestivalPath = paths.ThirdPartyPath("CanFestival-3") # noqa
sys.path.append(os.path.join(CanFestivalPath, "objdictgen")) # noqa
# pylint: disable=wrong-import-position
from nodelist import NodeList
from nodemanager import NodeManager
import gen_cfile
import eds_utils
import canfestival_config as local_canfestival_config # pylint: disable=import-error
from commondialogs import CreateNodeDialog
from subindextable import IECTypeConversion, SizeConversion
from canfestival import config_utils
from canfestival.SlaveEditor import SlaveEditor, MasterViewer
from canfestival.NetworkEditor import NetworkEditor
AddCatalog(os.path.join(CanFestivalPath, "objdictgen", "locale"))
setParanoia(0)
# --------------------------------------------------
# Location Tree Helper
# --------------------------------------------------
def GetSlaveLocationTree(slave_node, current_location, name):
entries = []
for index, subindex, size, entry_name in slave_node.GetMapVariableList():
subentry_infos = slave_node.GetSubentryInfos(index, subindex)
typeinfos = slave_node.GetEntryInfos(subentry_infos["type"])
if typeinfos:
entries.append({
"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry_name),
"type": LOCATION_VAR_MEMORY,
"size": size,
"IEC_type": IECTypeConversion.get(typeinfos["name"]),
"var_name": "%s_%4.4x_%2.2x" % ("_".join(name.split()), index, subindex),
"location": "%s%s" % (SizeConversion[size], ".".join(map(str, current_location +
(index, subindex)))),
"description": "",
"children": []})
return {"name": name,
"type": LOCATION_CONFNODE,
"location": ".".join([str(i) for i in current_location]) + ".x",
"children": entries}
# --------------------------------------------------
# SLAVE
# --------------------------------------------------
class _SlaveCTN(NodeManager):
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="CanFestivalSlaveNode">
<xsd:complexType>
<xsd:attribute name="CAN_Device" type="xsd:string" use="optional"/>
<xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional"/>
<xsd:attribute name="NodeId" type="xsd:integer" use="optional" default="2"/>
<xsd:attribute name="Sync_Align" type="xsd:integer" use="optional" default="0"/>
<xsd:attribute name="Sync_Align_Ratio" use="optional" default="50">
<xsd:simpleType>
<xsd:restriction base="xsd:integer">
<xsd:minInclusive value="1"/>
<xsd:maxInclusive value="99"/>
</xsd:restriction>
</xsd:simpleType>
</xsd:attribute>
</xsd:complexType>
</xsd:element>
</xsd:schema>
"""
EditorType = SlaveEditor
IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")
def __init__(self):
# TODO change netname when name change
NodeManager.__init__(self)
odfilepath = self.GetSlaveODPath()
if os.path.isfile(odfilepath):
self.OpenFileInCurrent(odfilepath)
else:
self.FilePath = ""
dialog = CreateNodeDialog(None, wx.OK)
dialog.Type.Enable(False)
dialog.GenSYNC.Enable(False)
if dialog.ShowModal() == wx.ID_OK:
name, id, _nodetype, description = dialog.GetValues()
profile, filepath = dialog.GetProfile()
NMT = dialog.GetNMTManagement()
options = dialog.GetOptions()
self.CreateNewNode(name, # Name - will be changed at build time
id, # NodeID - will be changed at build time
"slave", # Type
description, # description
profile, # profile
filepath, # prfile filepath
NMT, # NMT
options) # options
else:
self.CreateNewNode("SlaveNode", # Name - will be changed at build time
0x00, # NodeID - will be changed at build time
"slave", # Type
"", # description
"None", # profile
"", # prfile filepath
"heartbeat", # NMT
[]) # options
dialog.Destroy()
self.OnCTNSave()
def GetCurrentNodeName(self):
return self.CTNName()
def GetSlaveODPath(self):
return os.path.join(self.CTNPath(), 'slave.od')
def GetCanDevice(self):
return self.CanFestivalSlaveNode.getCAN_Device()
def _OpenView(self, name=None, onlyopened=False):
ConfigTreeNode._OpenView(self, name, onlyopened)
if self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
return self._View
def _ExportSlave(self):
dialog = wx.FileDialog(self.GetCTRoot().AppFrame,
_("Choose a file"),
os.path.expanduser("~"),
"%s.eds" % self.CTNName(),
_("EDS files (*.eds)|*.eds|All files|*.*"),
wx.SAVE | wx.OVERWRITE_PROMPT)
if dialog.ShowModal() == wx.ID_OK:
result = eds_utils.GenerateEDSFile(dialog.GetPath(), self.GetCurrentNodeCopy())
if result:
self.GetCTRoot().logger.write_error(_("Error: Export slave failed\n"))
dialog.Destroy()
ConfNodeMethods = [
{
"bitmap": "ExportSlave",
"name": _("Export slave"),
"tooltip": _("Export CanOpen slave to EDS file"),
"method": "_ExportSlave"
},
]
def CTNTestModified(self):
return self.ChangesToSave or self.OneFileHasChanged()
def OnCTNSave(self, from_project_path=None):
return self.SaveCurrentInFile(self.GetSlaveODPath())
def SetParamsAttribute(self, path, value):
result = ConfigTreeNode.SetParamsAttribute(self, path, value)
# Filter IEC_Channel and Name, that have specific behavior
if path == "BaseParams.IEC_Channel" and self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
return result
def GetVariableLocationTree(self):
return GetSlaveLocationTree(self.CurrentNode,
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
"""
current_location = self.GetCurrentLocation()
# define a unique name for the generated C file
prefix = "_".join(map(str, current_location))
Gen_OD_path = os.path.join(buildpath, "OD_%s.c" % prefix)
# Create a new copy of the model
slave = self.GetCurrentNodeCopy()
slave.SetNodeName("OD_%s" % prefix)
# allow access to local OD from Slave PLC
pointers = config_utils.LocalODPointers(locations, current_location, slave)
res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)
if res:
raise Exception(res)
res = eds_utils.GenerateEDSFile(os.path.join(buildpath, "Slave_%s.eds" % prefix), slave)
if res:
raise Exception(res)
return [(Gen_OD_path, local_canfestival_config.getCFLAGS(CanFestivalPath))], "", False
def LoadPrevious(self):
self.LoadCurrentPrevious()
def LoadNext(self):
self.LoadCurrentNext()
def GetBufferState(self):
return self.GetCurrentBufferState()
# --------------------------------------------------
# MASTER
# --------------------------------------------------
class MiniNodeManager(NodeManager):
def __init__(self, parent, filepath, fullname):
NodeManager.__init__(self)
self.OpenFileInCurrent(filepath)
self.Parent = parent
self.Fullname = fullname
def GetIconName(self):
return None
def OnCloseEditor(self, view):
self.Parent.OnCloseEditor(view)
def CTNFullName(self):
return self.Fullname
def CTNTestModified(self):
return False
def GetBufferState(self):
return self.GetCurrentBufferState()
ConfNodeMethods = []
class _NodeManager(NodeManager):
def __init__(self, parent, *args, **kwargs):
NodeManager.__init__(self, *args, **kwargs)
self.Parent = parent
def __del__(self):
self.Parent = None
def GetCurrentNodeName(self):
return self.Parent.CTNName()
def GetCurrentNodeID(self):
return self.Parent.CanFestivalNode.getNodeId()
class _NodeListCTN(NodeList):
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="CanFestivalNode">
<xsd:complexType>
<xsd:attribute name="CAN_Device" type="xsd:string" use="optional"/>
<xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional"/>
<xsd:attribute name="NodeId" type="xsd:integer" use="optional" default="1"/>
<xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>
</xsd:complexType>
</xsd:element>
</xsd:schema>
"""
EditorType = NetworkEditor
IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")
def __init__(self):
manager = _NodeManager(self)
NodeList.__init__(self, manager)
self.LoadProject(self.CTNPath())
self.SetNetworkName(self.BaseParams.getName())
def GetCanDevice(self):
return self.CanFestivalNode.getCAN_Device()
def SetParamsAttribute(self, path, value):
if path == "CanFestivalNode.NodeId":
nodeid = self.CanFestivalNode.getNodeId()
if value != nodeid:
slaves = self.GetSlaveIDs()
dir = (value - nodeid) // abs(value - nodeid)
while value in slaves and value >= 0:
value += dir
if value < 0:
value = nodeid
value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value)
refresh_network = False
# Filter IEC_Channel and Name, that have specific behavior
if path == "BaseParams.IEC_Channel" and self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
elif path == "BaseParams.Name":
self.SetNetworkName(value)
refresh_network = True
elif path == "CanFestivalNode.NodeId":
refresh_network = True
if refresh_network and self._View is not None:
wx.CallAfter(self._View.RefreshBufferState)
return value, refresh
def GetVariableLocationTree(self):
current_location = self.GetCurrentLocation()
nodeindexes = self.SlaveNodes.keys()
nodeindexes.sort()
children = []
children += [GetSlaveLocationTree(self.Manager.GetCurrentNodeCopy(),
current_location,
_("Local entries"))]
children += [GetSlaveLocationTree(self.SlaveNodes[nodeid]["Node"],
current_location + (nodeid,),
self.SlaveNodes[nodeid]["Name"]) for nodeid in nodeindexes]
return {
"name": self.BaseParams.getName(),
"type": LOCATION_CONFNODE,
"location": self.GetFullIEC_Channel(),
"children": children
}
_GeneratedMasterView = None
def _ShowGeneratedMaster(self):
self._OpenView("Generated master")
def _OpenView(self, name=None, onlyopened=False):
if name == "Generated master":
app_frame = self.GetCTRoot().AppFrame
if self._GeneratedMasterView is None:
buildpath = self._getBuildPath()
# Eventually create build dir
if not os.path.exists(buildpath):
self.GetCTRoot().logger.write_error(_("Error: No PLC built\n"))
return
masterpath = os.path.join(buildpath, "MasterGenerated.od")
if not os.path.exists(masterpath):
self.GetCTRoot().logger.write_error(_("Error: No Master generated\n"))
return
manager = MiniNodeManager(self, masterpath, self.CTNFullName())
self._GeneratedMasterView = MasterViewer(app_frame.TabsOpened, manager, app_frame, name)
if self._GeneratedMasterView is not None:
app_frame.EditProjectElement(self._GeneratedMasterView, self._GeneratedMasterView.GetInstancePath())
return self._GeneratedMasterView
else:
ConfigTreeNode._OpenView(self, name, onlyopened)
if self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
return self._View
ConfNodeMethods = [
{
"bitmap": "ShowMaster",
"name": _("Show Master"),
"tooltip": _("Show Master generated by config_utils"),
"method": "_ShowGeneratedMaster"
}
]
def OnCloseEditor(self, view):
ConfigTreeNode.OnCloseEditor(self, view)
if self._GeneratedMasterView == view:
self._GeneratedMasterView = None
def OnCTNClose(self):
ConfigTreeNode.OnCTNClose(self)
self._CloseView(self._GeneratedMasterView)
return True
def CTNTestModified(self):
return self.ChangesToSave or self.HasChanged()
def OnCTNSave(self, from_project_path=None):
self.SetRoot(self.CTNPath())
if from_project_path is not None:
shutil.copytree(self.GetEDSFolder(from_project_path),
self.GetEDSFolder())
return self.SaveProject() is None
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
"""
self._CloseView(self._GeneratedMasterView)
current_location = self.GetCurrentLocation()
# define a unique name for the generated C file
prefix = "_".join(map(str, current_location))
Gen_OD_path = os.path.join(buildpath, "OD_%s.c" % prefix)
# Create a new copy of the model with DCF loaded with PDO mappings for desired location
try:
master, pointers = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(), "OD_%s" % prefix)
except config_utils.PDOmappingException as e:
raise Exception(e.message)
# Do generate C file.
res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)
if res:
raise Exception(res)
file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")
# linter disabled here, undefined variable happens
# here because gnosis isn't impored while linting
dump(master, file) # pylint: disable=undefined-variable
file.close()
return [(Gen_OD_path, local_canfestival_config.getCFLAGS(CanFestivalPath))], "", False
def LoadPrevious(self):
self.Manager.LoadCurrentPrevious()
def LoadNext(self):
self.Manager.LoadCurrentNext()
def GetBufferState(self):
return self.Manager.GetCurrentBufferState()
class RootClass(object):
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="CanFestivalInstance">
<xsd:complexType>
<xsd:attribute name="CAN_Driver" type="xsd:string" use="optional"/>
</xsd:complexType>
</xsd:element>
</xsd:schema>
"""
CTNChildrenTypes = [("CanOpenNode", _NodeListCTN, "CanOpen Master"),
("CanOpenSlave", _SlaveCTN, "CanOpen Slave")]
def GetParamsAttributes(self, path=None):
infos = ConfigTreeNode.GetParamsAttributes(self, path=path)
for element in infos:
if element["name"] == "CanFestivalInstance":
for child in element["children"]:
if child["name"] == "CAN_Driver":
child["type"] = local_canfestival_config.DLL_LIST
return infos
def GetCanDriver(self):
res = self.CanFestivalInstance.getCAN_Driver()
if not res:
return ""
return res
def CTNGenerate_C(self, buildpath, locations):
can_driver = self.GetCanDriver()
if can_driver is not None:
can_drivers = local_canfestival_config.DLL_LIST
if can_driver not in can_drivers:
can_driver = can_drivers[0]
can_drv_ext = self.GetCTRoot().GetBuilder().extension
can_drv_prefix = self.GetCTRoot().GetBuilder().dlopen_prefix
can_driver_name = can_drv_prefix + "libcanfestival_" + can_driver + can_drv_ext
else:
can_driver_name = ""
format_dict = {
"locstr": "_".join(map(str, self.GetCurrentLocation())),
"candriver": can_driver_name,
"nodes_includes": "",
"board_decls": "",
"nodes_init": "",
"nodes_open": "",
"nodes_stop": "",
"nodes_close": "",
"nodes_send_sync": "",
"nodes_proceed_sync": "",
"slavebootups": "",
"slavebootup_register": "",
"post_sync": "",
"post_sync_register": "",
"pre_op": "",
"pre_op_register": "",
}
for child in self.IECSortedChildren():
childlocstr = "_".join(map(str, child.GetCurrentLocation()))
nodename = "OD_%s" % childlocstr
# Try to get Slave Node
child_data = getattr(child, "CanFestivalSlaveNode", None)
if child_data is None:
# Not a slave -> master
child_data = getattr(child, "CanFestivalNode")
# Apply sync setting
format_dict["nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n ' % (
nodename,
child_data.getNodeId())
if child_data.getSync_TPDOs():
format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n ' % (nodename)
format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n ' % (nodename)
# initialize and declare node boot status variables for post_SlaveBootup lookup
SlaveIDs = child.GetSlaveIDs()
if len(SlaveIDs) == 0:
# define post_SlaveBootup lookup functions
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){}\n" % (nodename))
else:
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n" % (nodename) +
" check_and_start_node(d, nodeId);\n" +
"}\n")
# register previously declared func as post_SlaveBootup callback for that node
format_dict["slavebootup_register"] += (
"%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n" % (nodename, nodename))
format_dict["pre_op"] += (
"static void %s_preOperational(CO_Data* d){\n " % (nodename) +
"".join([" masterSendNMTstateChange(d, %d, NMT_Reset_Comunication);\n" % NdId for NdId in SlaveIDs]) +
"}\n")
format_dict["pre_op_register"] += (
"%s_Data.preOperational = %s_preOperational;\n" % (nodename, nodename))
else:
# Slave node
align = child_data.getSync_Align()
align_ratio = child_data.getSync_Align_Ratio()
if align > 0:
format_dict["post_sync"] += (
"static int %s_CalCount = 0;\n" % (nodename) +
"static void %s_post_sync(CO_Data* d){\n" % (nodename) +
" if(%s_CalCount < %d){\n" % (nodename, align) +
" %s_CalCount++;\n" % (nodename) +
" align_tick(-1);\n" +
" }else{\n" +
" align_tick(%d);\n" % (align_ratio) +
" }\n" +
"}\n")
format_dict["post_sync_register"] += (
"%s_Data.post_sync = %s_post_sync;\n" % (nodename, nodename))
format_dict["nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n ' % (
nodename,
child_data.getNodeId())
# Include generated OD headers
format_dict["nodes_includes"] += '#include "%s.h"\n' % (nodename)
# Declare CAN channels according user filled config
format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n' % (
nodename,
child.GetCanDevice(),
child_data.getCAN_Baudrate())
format_dict["nodes_open"] += 'NODE_OPEN(%s)\n ' % (nodename)
format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n ' % (nodename)
format_dict["nodes_stop"] += 'NODE_STOP(%s)\n ' % (nodename)
filename = paths.AbsNeighbourFile(__file__, "cf_runtime.c")
cf_main = open(filename).read() % format_dict
cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c" % format_dict)
f = open(cf_main_path, 'w')
f.write(cf_main)
f.close()
res = [(cf_main_path, local_canfestival_config.getCFLAGS(CanFestivalPath))], local_canfestival_config.getLDFLAGS(CanFestivalPath), True
if can_driver is not None:
can_driver_path = os.path.join(CanFestivalPath, "drivers", can_driver, can_driver_name)
if os.path.exists(can_driver_path):
res += ((can_driver_name, open(can_driver_path, "rb")),)
return res