laurent@2022: import os, shutil laurent@2022: import cPickle laurent@2022: from xml.dom import minidom laurent@2022: laurent@2022: import wx laurent@2022: laurent@2022: from xmlclass import * laurent@2023: from PLCControler import UndoBuffer, LOCATION_PLUGIN, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY laurent@2022: from ConfigEditor import ConfigEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE laurent@2022: laurent@2022: TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L", laurent@2022: "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L", laurent@2022: "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"} laurent@2022: laurent@2022: DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64", laurent@2022: "USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64", laurent@2022: "BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"} laurent@2022: laurent@2022: #-------------------------------------------------- laurent@2022: # Ethercat MASTER laurent@2022: #-------------------------------------------------- laurent@2022: laurent@2022: EtherCATConfigClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd")) laurent@2022: laurent@2022: def ExtractHexDecValue(value): laurent@2022: try: laurent@2022: return int(value) laurent@2022: except: laurent@2022: pass laurent@2022: try: laurent@2022: return int(value.replace("#", "0"), 16) laurent@2022: except: laurent@2022: raise "Invalid value for HexDecValue \"%s\"" % value laurent@2022: laurent@2022: def GenerateHexDecValue(value, base=10): laurent@2022: if base == 10: laurent@2022: return str(value) laurent@2022: elif base == 16: laurent@2022: return "#x%.8x" % value laurent@2022: else: laurent@2022: raise "Not supported base" laurent@2022: laurent@2022: cls = EtherCATConfigClasses.get("Config_Slave", None) laurent@2022: if cls: laurent@2022: laurent@2022: def getType(self): laurent@2022: slave_info = self.getInfo() laurent@2022: return {"device_type": slave_info.getName(), laurent@2022: "vendor": GenerateHexDecValue(slave_info.getVendorId()), laurent@2022: "product_code": GenerateHexDecValue(slave_info.getProductCode(), 16), laurent@2022: "revision_number": GenerateHexDecValue(slave_info.getRevisionNo(), 16)} laurent@2022: setattr(cls, "getType", getType) laurent@2022: laurent@2022: def setType(self, type_infos): laurent@2022: slave_info = self.getInfo() laurent@2022: slave_info.setName(type_infos["device_type"]) laurent@2022: slave_info.setVendorId(ExtractHexDecValue(type_infos["vendor"])) laurent@2022: slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"])) laurent@2022: slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"])) laurent@2022: setattr(cls, "setType", setType) laurent@2022: laurent@2022: cls = EtherCATConfigClasses.get("Slave_Info", None) laurent@2022: if cls: laurent@2022: laurent@2022: def getSlavePosition(self): laurent@2022: return self.getPhysAddr(), self.getAutoIncAddr() laurent@2022: setattr(cls, "getSlavePosition", getSlavePosition) laurent@2022: laurent@2022: def setSlavePosition(self, alias, pos): laurent@2022: self.setPhysAddr(alias) laurent@2022: self.setAutoIncAddr(pos) laurent@2022: setattr(cls, "setSlavePosition", setSlavePosition) laurent@2022: laurent@2022: class _EthercatPlug: laurent@2022: XSD = """ laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: """ laurent@2023: EditorType = ConfigEditor laurent@2022: laurent@2022: def __init__(self): laurent@2022: filepath = self.ConfigFileName() laurent@2022: laurent@2022: self.Config = EtherCATConfigClasses["EtherCATConfig"]() laurent@2022: if os.path.isfile(filepath): laurent@2022: xmlfile = open(filepath, 'r') laurent@2022: tree = minidom.parse(xmlfile) laurent@2022: xmlfile.close() laurent@2022: laurent@2022: for child in tree.childNodes: laurent@2022: if child.nodeType == tree.ELEMENT_NODE and child.nodeName == "EtherCATConfig": laurent@2022: self.Config.loadXMLTree(child, ["xmlns:xsi", "xsi:noNamespaceSchemaLocation"]) laurent@2022: self.CreateConfigBuffer(True) laurent@2022: else: laurent@2022: self.CreateConfigBuffer(False) laurent@2022: self.OnPlugSave() laurent@2022: laurent@2022: def ExtractHexDecValue(self, value): laurent@2022: return ExtractHexDecValue(value) laurent@2022: laurent@2022: def GetSizeOfType(self, type): laurent@2022: return TYPECONVERSION.get(self.GetPlugRoot().GetBaseType(type), None) laurent@2022: laurent@2022: def ConfigFileName(self): laurent@2022: return os.path.join(self.PlugPath(), "config.xml") laurent@2022: laurent@2022: def GetFilename(self): laurent@2022: return self.MandatoryParams[1].getName() laurent@2022: laurent@2022: def GetSlaves(self): laurent@2022: slaves = [] laurent@2022: for slave in self.Config.getConfig().getSlave(): laurent@2022: slaves.append(slave.getInfo().getSlavePosition()) laurent@2022: slaves.sort() laurent@2022: return slaves laurent@2022: laurent@2022: def GetSlave(self, slave_pos): laurent@2022: for slave in self.Config.getConfig().getSlave(): laurent@2022: slave_info = slave.getInfo() laurent@2022: if slave_info.getSlavePosition() == slave_pos: laurent@2022: return slave laurent@2022: return None laurent@2022: laurent@2022: def AddSlave(self): laurent@2022: slaves = self.GetSlaves() laurent@2022: if len(slaves) > 0: laurent@2022: new_pos = (slaves[-1][0] + 1, 0) laurent@2022: else: laurent@2022: new_pos = (0, 0) laurent@2022: slave = EtherCATConfigClasses["Config_Slave"]() laurent@2022: slave_infos = slave.getInfo() laurent@2022: slave_infos.setName("undefined") laurent@2022: slave_infos.setSlavePosition(new_pos[0], new_pos[1]) laurent@2022: self.Config.getConfig().appendSlave(slave) laurent@2022: self.BufferConfig() laurent@2022: return new_pos laurent@2022: laurent@2022: def RemoveSlave(self, slave_pos): laurent@2022: config = self.Config.getConfig() laurent@2022: for idx, slave in enumerate(config.getSlave()): laurent@2022: slave_infos = slave.getInfo() laurent@2022: if slave_infos.getSlavePosition() == slave_pos: laurent@2022: config.removeSlave(idx) laurent@2022: self.BufferConfig() laurent@2022: return True laurent@2022: return False laurent@2022: laurent@2022: def SetSlavePos(self, slave_pos, alias=None, position=None): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: slave_info = slave.getInfo() laurent@2022: new_pos = slave_pos laurent@2022: if alias is not None: laurent@2022: new_pos = (alias, new_pos[1]) laurent@2022: if position is not None: laurent@2022: new_pos = (new_pos[0], position) laurent@2022: if self.GetSlave(new_pos) is not None: laurent@2022: return _("Slave with position \"%d:%d\" already exists!" % new_pos) laurent@2022: slave_info.setSlavePosition(*new_pos) laurent@2022: self.BufferConfig() laurent@2022: return None laurent@2022: laurent@2022: def GetSlaveType(self, slave_pos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: return slave.getType() laurent@2022: return None laurent@2022: laurent@2022: def SetSlaveType(self, slave_pos, type_infos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: slave.setType(type_infos) laurent@2022: self.BufferConfig() laurent@2022: return None laurent@2022: laurent@2022: def GetSlaveInfos(self, slave_pos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: type_infos = slave.getType() laurent@2022: device = self.GetModuleInfos(type_infos) laurent@2022: if device is not None: laurent@2022: infos = type_infos.copy() laurent@2022: infos.update({"physics": device.getPhysics(), laurent@2022: "variables": []}) laurent@2022: for TxPdo in device.getTxPdo(): laurent@2022: ExtractPdoInfos(TxPdo, "Transmit", infos) laurent@2022: for RxPdo in device.getRxPdo(): laurent@2022: ExtractPdoInfos(RxPdo, "Receive", infos) laurent@2022: return infos laurent@2022: return None laurent@2022: laurent@2022: def GetModuleInfos(self, type_infos): laurent@2022: return self.PlugParent.GetModuleInfos(type_infos) laurent@2022: laurent@2022: def GetSlaveTypesLibrary(self): laurent@2022: return self.PlugParent.GetModulesLibrary() laurent@2022: laurent@2023: def GetVariableLocationTree(self): laurent@2023: '''See PlugTemplate.GetVariableLocationTree() for a description.''' laurent@2023: laurent@2023: current_location = self.GetCurrentLocation() laurent@2023: laurent@2023: groups = [] laurent@2023: for slave_pos in self.GetSlaves(): laurent@2023: laurent@2023: slave = self.GetSlave(slave_pos) laurent@2023: if slave is not None: laurent@2023: type_infos = slave.getType() laurent@2022: laurent@2023: device = self.GetModuleInfos(type_infos) laurent@2023: if device is not None: laurent@2023: vars = [] laurent@2023: laurent@2023: sync_managers = [] laurent@2023: for sync_manager in device.getSm(): laurent@2023: sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) laurent@2023: sync_manager_direction = sync_manager_control_byte & 0x0c laurent@2023: if sync_manager_direction: laurent@2023: sync_managers.append(LOCATION_VAR_OUTPUT) laurent@2023: else: laurent@2023: sync_managers.append(LOCATION_VAR_INPUT) laurent@2023: laurent@2023: for pdo in device.getTxPdo() + device.getRxPdo(): laurent@2023: var_class = sync_managers[pdo.getSm()] laurent@2023: laurent@2023: for entry in pdo.getEntry(): laurent@2023: index = ExtractHexDecValue(entry.getIndex().getcontent()) laurent@2023: subindex = ExtractHexDecValue(entry.getSubIndex()) laurent@2023: var_type = entry.getDataType().getcontent() laurent@2023: var_size = self.GetSizeOfType(var_type) laurent@2023: if var_class == LOCATION_VAR_INPUT: laurent@2023: var_dir = "%I" laurent@2023: else: laurent@2023: var_dir = "%Q" laurent@2023: laurent@2026: pdo_name = ExtractName(pdo.getName()) laurent@2026: entry_name = ExtractName(entry.getName()) laurent@2026: vars.append({"name": "%s - %s" % (pdo_name, entry_name), laurent@2023: "type": var_class, laurent@2023: "size": var_size, laurent@2023: "IEC_type": var_type, laurent@2026: "var_name": "%s_%s" % (type_infos["device_type"], "_".join(pdo_name.split())), laurent@2023: "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location + laurent@2023: slave_pos + laurent@2023: (index, subindex)))), laurent@2023: "description": "", laurent@2023: "children": []}) laurent@2023: laurent@2023: groups.append({"name": "%s (%d,%d)" % ((type_infos["device_type"],) + slave_pos), laurent@2023: "type": LOCATION_GROUP, laurent@2023: "location": ".".join(map(str, current_location + slave_pos)) + ".x", laurent@2023: "children": vars}) laurent@2023: laurent@2023: return {"name": self.BaseParams.getName(), laurent@2023: "type": LOCATION_PLUGIN, laurent@2023: "location": self.GetFullIEC_Channel(), laurent@2023: "children": groups} laurent@2023: laurent@2022: PluginMethods = [ laurent@2022: {"bitmap" : os.path.join("images", "EditCfile"), laurent@2022: "name" : _("Edit Config"), laurent@2022: "tooltip" : _("Edit Config"), laurent@2022: "method" : "_OpenView"}, laurent@2022: ] laurent@2022: laurent@2022: def PlugTestModified(self): laurent@2022: return self.ChangesToSave or not self.ConfigIsSaved() laurent@2022: laurent@2022: def OnPlugSave(self): laurent@2022: filepath = self.ConfigFileName() laurent@2022: laurent@2022: text = "\n" laurent@2022: extras = {"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance", laurent@2022: "xsi:noNamespaceSchemaLocation" : "EtherCATInfo.xsd"} laurent@2022: text += self.Config.generateXMLText("EtherCATConfig", 0, extras) laurent@2022: laurent@2022: xmlfile = open(filepath,"w") laurent@2022: xmlfile.write(text.encode("utf-8")) laurent@2022: xmlfile.close() laurent@2022: laurent@2022: self.ConfigBuffer.CurrentSaved() laurent@2022: return True laurent@2022: laurent@2022: def PlugGenerate_C(self, buildpath, locations): laurent@2022: """ laurent@2022: Generate C code laurent@2022: @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5) laurent@2022: @param locations: List of complete variables locations \ laurent@2022: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) laurent@2022: "NAME" : name of the variable (generally "__IW0_1_2" style) laurent@2022: "DIR" : direction "Q","I" or "M" laurent@2022: "SIZE" : size "X", "B", "W", "D", "L" laurent@2022: "LOC" : tuple of interger for IEC location (0,1,2,...) laurent@2022: }, ...] laurent@2022: @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND laurent@2022: """ laurent@2022: current_location = self.GetCurrentLocation() laurent@2022: # define a unique name for the generated C file laurent@2022: location_str = "_".join(map(lambda x:str(x), current_location)) laurent@2022: laurent@2022: Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str) laurent@2022: laurent@2022: file_generator = _EthercatCFileGenerator(self, Gen_Ethercatfile_path) laurent@2022: laurent@2022: for location in locations: laurent@2022: loc = location["LOC"][len(current_location):] laurent@2022: file_generator.DeclareVariable(loc[:2], loc[2], loc[3], location["IEC_TYPE"], location["DIR"], location["NAME"]) laurent@2022: laurent@2022: file_generator.GenerateCFile() laurent@2022: laurent@2022: return [(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))], "-lethercat -lrtdm", True laurent@2022: laurent@2022: #------------------------------------------------------------------------------- laurent@2022: # Current Buffering Management Functions laurent@2022: #------------------------------------------------------------------------------- laurent@2022: laurent@2022: """ laurent@2022: Return a copy of the config laurent@2022: """ laurent@2022: def Copy(self, model): laurent@2022: return cPickle.loads(cPickle.dumps(model)) laurent@2022: laurent@2022: def CreateConfigBuffer(self, saved): laurent@2022: self.ConfigBuffer = UndoBuffer(cPickle.dumps(self.Config), saved) laurent@2022: laurent@2022: def BufferConfig(self): laurent@2022: self.ConfigBuffer.Buffering(cPickle.dumps(self.Config)) laurent@2022: laurent@2022: def ConfigIsSaved(self): laurent@2022: if self.ConfigBuffer is not None: laurent@2022: return self.ConfigBuffer.IsCurrentSaved() laurent@2022: else: laurent@2022: return True laurent@2022: laurent@2022: def LoadPrevious(self): laurent@2022: self.Config = cPickle.loads(self.ConfigBuffer.Previous()) laurent@2022: laurent@2022: def LoadNext(self): laurent@2022: self.Config = cPickle.loads(self.ConfigBuffer.Next()) laurent@2022: laurent@2022: def GetBufferState(self): laurent@2022: first = self.ConfigBuffer.IsFirst() laurent@2022: last = self.ConfigBuffer.IsLast() laurent@2022: return not first, not last laurent@2022: laurent@2022: laurent@2022: SLAVE_PDOS_CONFIGURATION_DECLARATION = """ laurent@2022: /* Slave %(slave)d, "%(device_type)s" laurent@2022: * Vendor ID: 0x%(vendor).8x laurent@2022: * Product code: 0x%(product_code).8x laurent@2022: * Revision number: 0x%(revision_number).8x laurent@2022: */ laurent@2022: laurent@2022: ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = { laurent@2022: %(pdos_entries_infos)s laurent@2022: }; laurent@2022: laurent@2022: ec_pdo_info_t slave_%(slave)d_pdos[] = { laurent@2022: %(pdos_infos)s laurent@2022: }; laurent@2022: laurent@2022: ec_sync_info_t slave_%(slave)d_syncs[] = { laurent@2022: %(pdos_sync_infos)s laurent@2022: {0xff} laurent@2022: }; laurent@2022: """ laurent@2022: laurent@2022: SLAVE_CONFIGURATION_TEMPLATE = """ laurent@2022: if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) { laurent@2022: fprintf(stderr, "Failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.\\n"); laurent@2022: return -1; laurent@2022: } laurent@2022: laurent@2022: if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) { laurent@2022: fprintf(stderr, "Failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.\\n"); laurent@2022: return -1; laurent@2022: } laurent@2022: """ laurent@2022: laurent@2022: class _EthercatCFileGenerator: laurent@2022: laurent@2022: def __init__(self, controler, filepath): laurent@2022: self.Controler = controler laurent@2022: self.FilePath = filepath laurent@2022: laurent@2022: self.UsedVariables = {} laurent@2022: laurent@2022: def __del__(self): laurent@2022: self.Controler = None laurent@2022: laurent@2022: def DeclareVariable(self, slave_identifier, index, subindex, iec_type, dir, name): laurent@2022: slave_variables = self.UsedVariables.setdefault(slave_identifier, {}) laurent@2022: laurent@2022: entry_infos = slave_variables.get((index, subindex), None) laurent@2022: if entry_infos is None: laurent@2022: slave_variables[(index, subindex)] = (iec_type, dir, name) laurent@2022: elif entry_infos != (iec_type, dir, name): laurent@2022: raise ValueError, _("Definition conflict for location \"%s\"") % name laurent@2022: laurent@2022: def GenerateCFile(self): laurent@2022: laurent@2022: current_location = self.Controler.GetCurrentLocation() laurent@2022: # define a unique name for the generated C file laurent@2022: location_str = "_".join(map(lambda x:str(x), current_location)) laurent@2022: laurent@2022: plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c") laurent@2022: plc_etherlab_file = open(plc_etherlab_filepath, 'r') laurent@2022: plc_etherlab_code = plc_etherlab_file.read() laurent@2022: plc_etherlab_file.close() laurent@2022: laurent@2022: str_completion = { laurent@2022: "location": location_str, laurent@2022: "configure_pdos": int(self.Controler.EtherlabNode.getConfigurePDOs()), laurent@2022: "master_number": self.Controler.EtherlabNode.getMasterNumber(), laurent@2022: "located_variables_declaration": [], laurent@2022: "used_pdo_entry_offset_variables_declaration": [], laurent@2022: "used_pdo_entry_configuration": [], laurent@2022: "pdos_configuration_declaration": "", laurent@2022: "slaves_declaration": "", laurent@2022: "slaves_configuration": "", laurent@2022: "retrieve_variables": [], laurent@2022: "publish_variables": [], laurent@2022: } laurent@2022: laurent@2022: for slave_idx, slave_pos in enumerate(self.Controler.GetSlaves()): laurent@2022: laurent@2022: slave = self.Controler.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: type_infos = slave.getType() laurent@2022: laurent@2022: device = self.Controler.GetModuleInfos(type_infos) laurent@2023: if device is not None: laurent@2022: laurent@2022: pdos = device.getTxPdo() + device.getRxPdo() laurent@2022: if len(pdos) > 0: laurent@2022: slave_variables = self.UsedVariables.get(slave_pos, {}) laurent@2022: laurent@2022: for element in ["vendor", "product_code", "revision_number"]: laurent@2022: type_infos[element] = ExtractHexDecValue(type_infos[element]) laurent@2022: type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) laurent@2022: laurent@2022: str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos laurent@2022: str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos laurent@2022: laurent@2022: pdos_infos = { laurent@2022: "pdos_entries_infos": [], laurent@2022: "pdos_infos": [], laurent@2022: "pdos_sync_infos": [], laurent@2022: } laurent@2022: pdos_infos.update(type_infos) laurent@2022: laurent@2022: sync_managers = [] laurent@2022: for sync_manager_idx, sync_manager in enumerate(device.getSm()): laurent@2022: sync_manager_infos = { laurent@2022: "index": sync_manager_idx, laurent@2022: "slave": slave_idx, laurent@2022: "pdos_number": 0, laurent@2022: } laurent@2022: laurent@2022: sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) laurent@2022: sync_manager_direction = sync_manager_control_byte & 0x0c laurent@2022: sync_manager_watchdog = sync_manager_control_byte & 0x40 laurent@2022: if sync_manager_direction: laurent@2022: sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" laurent@2022: else: laurent@2022: sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" laurent@2022: if sync_manager_watchdog: laurent@2022: sync_manager_infos["watchdog"] = "EC_WD_ENABLE" laurent@2022: else: laurent@2022: sync_manager_infos["watchdog"] = "EC_WD_DISABLE" laurent@2022: laurent@2022: sync_managers.append(sync_manager_infos) laurent@2022: laurent@2022: entry_offset = 0 laurent@2022: for pdo in pdos: laurent@2022: entries = pdo.getEntry() laurent@2022: laurent@2023: pdo_needed = pdo.getMandatory() laurent@2023: entries_infos = [] laurent@2022: laurent@2023: for entry in entries: laurent@2022: index = ExtractHexDecValue(entry.getIndex().getcontent()) laurent@2022: subindex = ExtractHexDecValue(entry.getSubIndex()) laurent@2022: entry_infos = { laurent@2022: "index": index, laurent@2022: "subindex": subindex, laurent@2022: "name": ExtractName(entry.getName()), laurent@2022: "bitlen": entry.getBitLen(), laurent@2022: } laurent@2022: entry_infos.update(type_infos) laurent@2023: entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) laurent@2022: laurent@2022: entry_declaration = slave_variables.get((index, subindex), None) laurent@2022: if entry_declaration is not None: laurent@2023: pdo_needed = True laurent@2022: entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration))) laurent@2022: laurent@2022: if entry_infos["var_type"] != entry.getDataType().getcontent(): laurent@2022: raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"] laurent@2022: laurent@2022: data_type = DATATYPECONVERSION.get(entry_infos["var_type"], None) laurent@2022: if data_type is None: laurent@2022: raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"] laurent@2022: laurent@2022: if (entry_infos["dir"] == "I" and sync_managers[pdo.getSm()]["sync_manager_type"] != "EC_DIR_INPUT" or laurent@2022: entry_infos["dir"] == "Q" and sync_managers[pdo.getSm()]["sync_manager_type"] != "EC_DIR_OUTPUT"): laurent@2022: raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] laurent@2022: laurent@2023: str_completion["located_variables_declaration"].extend( laurent@2023: ["IEC_%(var_type)s beremiz%(var_name)s;" % entry_infos, laurent@2023: "IEC_%(var_type)s *%(var_name)s = &beremiz%(var_name)s;" % entry_infos]) laurent@2023: laurent@2022: if data_type == "BIT": laurent@2023: str_completion["used_pdo_entry_offset_variables_declaration"].extend( laurent@2023: ["static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos, laurent@2023: "static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos]) laurent@2022: laurent@2023: str_completion["used_pdo_entry_configuration"].append( laurent@2023: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + laurent@2023: "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2023: "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos) laurent@2022: laurent@2022: if entry_infos["dir"] == "I": laurent@2023: str_completion["retrieve_variables"].append( laurent@2023: (" beremiz%(name)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2023: "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos) laurent@2022: elif entry_infos["dir"] == "Q": laurent@2023: str_completion["publish_variables"].append( laurent@2023: (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2023: "slave%(slave)d_%(index).4x_%(subindex).2x_bit, beremiz%(var_name)s);") % entry_infos) laurent@2022: laurent@2022: else: laurent@2022: entry_infos["data_type"] = data_type laurent@2022: laurent@2023: str_completion["used_pdo_entry_offset_variables_declaration"].append( laurent@2023: "static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) laurent@2022: laurent@2023: str_completion["used_pdo_entry_configuration"].append( laurent@2023: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + laurent@2023: "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos) laurent@2022: laurent@2022: if entry_infos["dir"] == "I": laurent@2023: str_completion["retrieve_variables"].append( laurent@2023: (" beremiz%(name)s = EC_READ_BIT(domain1_pd + " + laurent@2023: "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos) laurent@2022: elif entry_infos["dir"] == "Q": laurent@2023: str_completion["publish_variables"].append( laurent@2023: (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2023: "beremiz%(var_name)s);") % entry_infos) laurent@2023: laurent@2023: if pdo_needed: laurent@2023: sync_managers[pdo.getSm()]["pdos_number"] += 1 laurent@2023: pdo_infos = { laurent@2023: "slave": slave_idx, laurent@2023: "index": ExtractHexDecValue(pdo.getIndex().getcontent()), laurent@2023: "name": ExtractName(pdo.getName()), laurent@2023: "offset": entry_offset, laurent@2023: "entries_number": len(entries) laurent@2023: } laurent@2023: pdos_infos["pdos_infos"].append( laurent@2023: (" {0x%(index).4x, %(entries_number)d, " + laurent@2023: "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) laurent@2023: entry_offset += len(entries) laurent@2023: pdos_infos["pdos_entries_infos"].extend(entries_infos) laurent@2023: laurent@2023: laurent@2022: pdo_offset = 0 laurent@2022: for sync_manager_infos in sync_managers: laurent@2022: sync_manager_infos["offset"] = pdo_offset laurent@2023: pdos_infos["pdos_sync_infos"].append( laurent@2023: (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + laurent@2023: "slave_%(slave)d_pdos + %(offset)d, %(watchdog)s},") % sync_manager_infos) laurent@2022: pdo_offset += sync_manager_infos["pdos_number"] laurent@2022: laurent@2022: for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: laurent@2022: pdos_infos[element] = "\n".join(pdos_infos[element]) laurent@2022: laurent@2022: str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos laurent@2022: laurent@2023: for element in ["used_pdo_entry_offset_variables_declaration", laurent@2023: "used_pdo_entry_configuration", laurent@2023: "located_variables_declaration", laurent@2023: "retrieve_variables", laurent@2023: "publish_variables"]: laurent@2022: str_completion[element] = "\n".join(str_completion[element]) laurent@2022: laurent@2022: etherlabfile = open(self.FilePath,'w') laurent@2022: etherlabfile.write(plc_etherlab_code % str_completion) laurent@2022: etherlabfile.close() laurent@2022: laurent@2022: #-------------------------------------------------- laurent@2022: # Ethercat Plugin laurent@2022: #-------------------------------------------------- laurent@2022: laurent@2022: EtherCATInfoClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd")) laurent@2022: laurent@2022: def GroupItemCompare(x, y): laurent@2022: if x["type"] == y["type"]: laurent@2022: if x["type"] == ETHERCAT_GROUP: laurent@2022: return x["order"].__cmp__(y["order"]) laurent@2022: else: laurent@2022: return x["name"].__cmp__(y["name"]) laurent@2022: elif x["type"] == ETHERCAT_GROUP: laurent@2022: return -1 laurent@2022: return 1 laurent@2022: laurent@2022: def SortGroupItems(group): laurent@2022: for item in group["children"]: laurent@2022: if item["type"] == ETHERCAT_GROUP: laurent@2022: SortGroupItems(item) laurent@2022: group["children"].sort(GroupItemCompare) laurent@2022: laurent@2022: def ExtractName(names, default=None): laurent@2022: if len(names) == 1: laurent@2022: return names[0].getcontent() laurent@2022: else: laurent@2022: for name in names: laurent@2022: if name.getLcId() == 1033: laurent@2022: return name.getcontent() laurent@2022: return default laurent@2022: laurent@2022: def ExtractPdoInfos(pdo, pdo_type, infos): laurent@2022: pdo_index = pdo.getIndex().getcontent() laurent@2022: for entry in pdo.getEntry(): laurent@2022: infos["variables"].append({"Index": entry.getIndex().getcontent(), laurent@2022: "SubIndex": entry.getSubIndex(), laurent@2022: "Name": ExtractName(entry.getName()), laurent@2022: "Type": entry.getDataType().getcontent(), laurent@2023: "PDO index": pdo_index, laurent@2023: "PDO name": ExtractName(pdo.getName()), laurent@2023: "PDO type": pdo_type}) laurent@2022: laurent@2022: class RootClass: laurent@2022: laurent@2022: PlugChildsTypes = [("EthercatNode",_EthercatPlug,"Ethercat Master")] laurent@2022: laurent@2022: def __init__(self): laurent@2022: self.LoadModulesLibrary() laurent@2022: laurent@2022: def GetModulesLibraryPath(self): laurent@2022: library_path = os.path.join(self.PlugPath(), "modules") laurent@2022: if not os.path.exists(library_path): laurent@2022: os.mkdir(library_path) laurent@2022: return library_path laurent@2022: laurent@2022: def _ImportModuleLibrary(self): laurent@2022: dialog = wx.FileDialog(self.GetPlugRoot().AppFrame, _("Choose an XML file"), os.getcwd(), "", _("XML files (*.xml)|*.xml|All files|*.*"), wx.OPEN) laurent@2022: if dialog.ShowModal() == wx.ID_OK: laurent@2022: filepath = dialog.GetPath() laurent@2022: if os.path.isfile(filepath): laurent@2022: shutil.copy(filepath, self.GetModulesLibraryPath()) laurent@2022: self.LoadModulesLibrary() laurent@2022: else: laurent@2022: self.GetPlugRoot().logger.write_error(_("No such XML file: %s\n") % filepath) laurent@2022: dialog.Destroy() laurent@2022: laurent@2022: PluginMethods = [ laurent@2022: {"bitmap" : os.path.join("images", "ImportDEF"), laurent@2022: "name" : _("Import module library"), laurent@2022: "tooltip" : _("Import module library"), laurent@2022: "method" : "_ImportModuleLibrary"}, laurent@2022: ] laurent@2022: laurent@2023: def PlugGenerate_C(self, buildpath, locations): laurent@2023: return [],"",False laurent@2023: laurent@2022: def LoadModulesLibrary(self): laurent@2022: self.ModulesLibrary = {} laurent@2022: laurent@2022: library_path = self.GetModulesLibraryPath() laurent@2022: laurent@2022: files = os.listdir(library_path) laurent@2022: for file in files: laurent@2022: filepath = os.path.join(library_path, file) laurent@2022: if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml": laurent@2022: xmlfile = open(filepath, 'r') laurent@2022: xml_tree = minidom.parse(xmlfile) laurent@2022: xmlfile.close() laurent@2022: laurent@2022: modules_infos = None laurent@2022: for child in xml_tree.childNodes: laurent@2022: if child.nodeType == xml_tree.ELEMENT_NODE and child.nodeName == "EtherCATInfo": laurent@2022: modules_infos = EtherCATInfoClasses["EtherCATInfo.xsd"]["EtherCATInfo"]() laurent@2022: modules_infos.loadXMLTree(child, ["xmlns:xsi", "xsi:noNamespaceSchemaLocation"]) laurent@2022: laurent@2022: if modules_infos is not None: laurent@2022: vendor = modules_infos.getVendor() laurent@2022: laurent@2022: vendor_category = self.ModulesLibrary.setdefault(vendor.getId(), {"name": ExtractName(vendor.getName(), _("Miscellaneous")), laurent@2022: "groups": {}}) laurent@2022: laurent@2022: for group in modules_infos.getDescriptions().getGroups().getGroup(): laurent@2022: group_type = group.getType() laurent@2022: laurent@2022: vendor_category["groups"].setdefault(group_type, {"name": ExtractName(group.getName(), group_type), laurent@2022: "parent": group.getParentGroup(), laurent@2022: "order": group.getSortOrder(), laurent@2022: "devices": []}) laurent@2022: laurent@2022: for device in modules_infos.getDescriptions().getDevices().getDevice(): laurent@2022: device_group = device.getGroupType() laurent@2022: if not vendor_category["groups"].has_key(device_group): laurent@2022: raise ValueError, "Not such group \"%\"" % device_group laurent@2022: vendor_category["groups"][device_group]["devices"].append((device.getType().getcontent(), device)) laurent@2022: laurent@2022: def GetModulesLibrary(self): laurent@2022: library = [] laurent@2022: children_dict = {} laurent@2022: for vendor_id, vendor in self.ModulesLibrary.iteritems(): laurent@2022: groups = [] laurent@2022: library.append({"name": vendor["name"], laurent@2022: "type": ETHERCAT_VENDOR, laurent@2022: "children": groups}) laurent@2022: for group_type, group in vendor["groups"].iteritems(): laurent@2022: group_infos = {"name": group["name"], laurent@2022: "order": group["order"], laurent@2022: "type": ETHERCAT_GROUP, laurent@2022: "children": children_dict.setdefault(group_type, [])} laurent@2022: if group["parent"] is not None: laurent@2022: parent_children = children_dict.setdefault(group["parent"], []) laurent@2022: parent_children.append(group_infos) laurent@2022: else: laurent@2022: groups.append(group_infos) laurent@2022: device_dict = {} laurent@2022: for device_type, device in group["devices"]: laurent@2022: device_infos = {"name": ExtractName(device.getName()), laurent@2022: "type": ETHERCAT_DEVICE, laurent@2022: "infos": {"device_type": device_type, laurent@2022: "vendor": vendor_id, laurent@2022: "product_code": device.getType().getProductCode(), laurent@2022: "revision_number": device.getType().getRevisionNo()}} laurent@2022: group_infos["children"].append(device_infos) laurent@2022: device_type_occurrences = device_dict.setdefault(device_type, []) laurent@2022: device_type_occurrences.append(device_infos) laurent@2022: for device_type_occurrences in device_dict.itervalues(): laurent@2022: if len(device_type_occurrences) > 1: laurent@2022: for occurrence in device_type_occurrences: laurent@2022: occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"] laurent@2022: library.sort(lambda x, y: x["name"].__cmp__(y["name"])) laurent@2022: return library laurent@2022: laurent@2022: def GetModuleInfos(self, type_infos): laurent@2022: vendor = self.ModulesLibrary.get(type_infos["vendor"], None) laurent@2022: if vendor is not None: laurent@2022: for group_name, group in vendor["groups"].iteritems(): laurent@2022: for device_type, device in group["devices"]: laurent@2022: product_code = device.getType().getProductCode() laurent@2022: revision_number = device.getType().getRevisionNo() laurent@2022: if (device_type == type_infos["device_type"] and laurent@2022: product_code == type_infos["product_code"] and laurent@2022: revision_number == type_infos["revision_number"]): laurent@2022: return device laurent@2022: return None laurent@2022: