Cherry-pick and re-commit to legitimate ancestor of commit 'Ethercat Management Function Refactoring Source by RTES Lab.' from youcu <youcu1022@gmail.com>
import os
import wx
from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
from MotionLibrary import Headers, AxisXSD
from EthercatSlave import _EthercatSlaveCTN, _CommonSlave
from ConfigEditor import CIA402NodeEditor
#------------------------------------------
#from CommonSlave import _CommonSlave
#------------------------------------------
NODE_VARIABLES = [
("ControlWord", 0x6040, 0x00, "UINT", "Q"),
("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"),
("TargetTorque", 0x6071, 0x00, "INT", "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"),
("ActualTorque", 0x6077, 0x00, "INT", "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}
]),
("TouchProbe", [
{"description": ("TouchProbeFunction", 0x60B8, 0x00, "UINT", "Q"),
"retrieve": None},
{"description": ("TouchProbeStatus", 0x60B9, 0x00, "UINT", "I"),
"publish": None},
{"description": ("TouchProbePos1PosValue", 0x60BA, 0x00, "DINT", "I"),
"publish": None},
{"description": ("TouchProbePos1NegValue", 0x60BB, 0x00, "DINT", "I"),
"publish": 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 = " __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": []},
]
#--------------------------------------------------
# Ethercat CIA402 Node
#--------------------------------------------------
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},
]
#--------------------------------------------------
# class code
#--------------------------------------------------
def __init__(self):
# ----------- call ethercat mng. function --------------
self.CommonMethod = _CommonSlave(self)
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):
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: "1", False: "0"}[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