laurent@2022: import os, shutil laurent@2022: import cPickle laurent@2022: from xml.dom import minidom laurent@2022: laurent@2022: import wx Laurent@2097: import csv laurent@2022: laurent@2022: from xmlclass import * Laurent@2086: from POULibrary import POULibrary Edouard@2048: from ConfigTreeNode import ConfigTreeNode Edouard@2048: from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY Laurent@2098: from ConfigEditor import NodeEditor, CIA402NodeEditor, MasterEditor, LibraryEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE Laurent@2102: from dialogs import BrowseValuesLibraryDialog Laurent@2102: from IDEFrame import TITLE, FILEMENU, PROJECTTREE laurent@2041: laurent@2041: try: Edouard@2049: from MotionLibrary import Headers, AxisXSD laurent@2041: HAS_MCL = True laurent@2041: except: laurent@2041: HAS_MCL = False laurent@2041: laurent@2041: TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L", laurent@2041: "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L", laurent@2041: "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"} laurent@2041: laurent@2041: DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64", laurent@2041: "USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64", laurent@2041: "BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"} laurent@2041: laurent@2041: VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY} laurent@2022: laurent@2032: #-------------------------------------------------- laurent@2041: # Remote Exec Etherlab Commands laurent@2032: #-------------------------------------------------- laurent@2032: laurent@2041: SCAN_COMMAND = """ laurent@2041: import commands laurent@2041: result = commands.getoutput("ethercat slaves") laurent@2041: slaves = [] laurent@2041: for slave_line in result.splitlines(): laurent@2041: chunks = slave_line.split() laurent@2041: idx, pos, state, flag = chunks[:4] laurent@2041: name = " ".join(chunks[4:]) laurent@2041: alias, position = pos.split(":") laurent@2041: slave = {"idx": int(idx), laurent@2041: "alias": int(alias), laurent@2041: "position": int(position), laurent@2041: "name": name} laurent@2041: details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"]) laurent@2041: for details_line in details.splitlines(): laurent@2041: details_line = details_line.strip() laurent@2041: for header, param in [("Vendor Id:", "vendor_id"), laurent@2041: ("Product code:", "product_code"), laurent@2041: ("Revision number:", "revision_number")]: laurent@2041: if details_line.startswith(header): laurent@2042: slave[param] = details_line.split()[-1] laurent@2041: break laurent@2041: slaves.append(slave) laurent@2041: returnVal = slaves laurent@2041: """ laurent@2041: laurent@2041: #-------------------------------------------------- Laurent@2086: # Etherlab Specific Blocks Library Laurent@2086: #-------------------------------------------------- Laurent@2086: Laurent@2086: def GetLocalPath(filename): Laurent@2086: return os.path.join(os.path.split(__file__)[0], filename) Laurent@2086: Laurent@2086: class EtherlabLibrary(POULibrary): Laurent@2086: def GetLibraryPath(self): Laurent@2086: return GetLocalPath("pous.xml") Laurent@2086: Laurent@2086: def Generate_C(self, buildpath, varlist, IECCFLAGS): Laurent@2086: etherlab_ext_file = open(GetLocalPath("etherlab_ext.c"), 'r') Laurent@2086: etherlab_ext_code = etherlab_ext_file.read() Laurent@2086: etherlab_ext_file.close() Laurent@2086: Laurent@2086: Gen_etherlabfile_path = os.path.join(buildpath, "etherlab_ext.c") Laurent@2086: ethelabfile = open(Gen_etherlabfile_path,'w') Laurent@2086: ethelabfile.write(etherlab_ext_code) Laurent@2086: ethelabfile.close() Laurent@2086: Laurent@2086: runtimefile_path = os.path.join(os.path.split(__file__)[0], "runtime_etherlab.py") Laurent@2086: return ((["etherlab_ext"], [(Gen_etherlabfile_path, IECCFLAGS)], True), "", Laurent@2086: ("runtime_etherlab.py", file(GetLocalPath("runtime_etherlab.py")))) Laurent@2086: Laurent@2086: #-------------------------------------------------- laurent@2041: # Ethercat Node laurent@2041: #-------------------------------------------------- laurent@2041: Edouard@2048: class _EthercatSlaveCTN: Laurent@2063: laurent@2041: NODE_PROFILE = None laurent@2041: EditorType = NodeEditor laurent@2034: Laurent@2068: def GetIconName(self): Laurent@2068: return "Slave" laurent@2043: laurent@2034: def ExtractHexDecValue(self, value): laurent@2034: return ExtractHexDecValue(value) laurent@2041: laurent@2034: def GetSizeOfType(self, type): Edouard@2048: return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None) laurent@2032: laurent@2041: def GetSlavePos(self): laurent@2041: return self.BaseParams.getIEC_Channel() laurent@2032: laurent@2032: def GetParamsAttributes(self, path = None): laurent@2041: if path: laurent@2041: parts = path.split(".", 1) laurent@2041: if self.MandatoryParams and parts[0] == self.MandatoryParams[0]: laurent@2041: return self.MandatoryParams[1].getElementInfos(parts[0], parts[1]) Edouard@2048: elif self.CTNParams and parts[0] == self.CTNParams[0]: Edouard@2048: return self.CTNParams[1].getElementInfos(parts[0], parts[1]) laurent@2041: else: laurent@2041: params = [] Laurent@2063: if self.CTNParams: Laurent@2063: params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0])) Laurent@2063: else: Laurent@2063: params.append({ Laurent@2063: 'use': 'required', Laurent@2063: 'type': 'element', Laurent@2063: 'name': 'SlaveParams', Laurent@2063: 'value': None, Laurent@2063: 'children': [] Laurent@2063: }) Laurent@2063: Edouard@2048: slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos()) Laurent@2063: params[0]['children'].insert(0, Laurent@2063: {'use': 'optional', Edouard@2048: 'type': self.CTNParent.GetSlaveTypesLibrary(self.NODE_PROFILE), laurent@2041: 'name': 'Type', Laurent@2063: 'value': (slave_type["device_type"], slave_type)}) Laurent@2063: params[0]['children'].insert(1, laurent@2041: {'use': 'optional', laurent@2041: 'type': 'unsignedLong', laurent@2041: 'name': 'Alias', Laurent@2063: 'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())}) laurent@2041: return params laurent@2041: laurent@2041: def SetParamsAttribute(self, path, value): Laurent@2066: position = self.BaseParams.getIEC_Channel() Laurent@2066: Laurent@2063: if path == "SlaveParams.Type": Laurent@2063: self.CTNParent.SetSlaveType(position, value) Laurent@2063: slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos()) Laurent@2063: value = (slave_type["device_type"], slave_type) Laurent@2067: if self._View is not None: Laurent@2067: wx.CallAfter(self._View.RefreshSlaveInfos) Laurent@2063: return value, True Laurent@2063: elif path == "SlaveParams.Alias": Laurent@2063: self.CTNParent.SetSlaveAlias(position, value) Laurent@2063: return value, True Laurent@2063: Laurent@2080: value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value) Laurent@2080: laurent@2041: # Filter IEC_Channel, Slave_Type and Alias that have specific behavior Laurent@2080: if path == "BaseParams.IEC_Channel" and value != position: Edouard@2048: self.CTNParent.SetSlavePosition(position, value) Laurent@2063: Laurent@2080: return value, refresh Laurent@2080: laurent@2034: def GetSlaveInfos(self): Edouard@2048: return self.CTNParent.GetSlaveInfos(self.GetSlavePos()) laurent@2041: Laurent@2098: def GetSlaveVariables(self, limits): Laurent@2098: return self.CTNParent.GetSlaveVariables(self.GetSlavePos(), limits) Laurent@2098: laurent@2032: def GetVariableLocationTree(self): laurent@2032: return {"name": self.BaseParams.getName(), Edouard@2048: "type": LOCATION_CONFNODE, laurent@2032: "location": self.GetFullIEC_Channel(), Edouard@2048: "children": self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), self.GetCurrentLocation(), self.BaseParams.getName()) laurent@2041: } laurent@2032: Edouard@2048: def CTNGenerate_C(self, buildpath, locations): laurent@2032: """ laurent@2032: Generate C code Edouard@2048: @param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5) laurent@2032: @param locations: List of complete variables locations \ laurent@2032: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) laurent@2032: "NAME" : name of the variable (generally "__IW0_1_2" style) laurent@2032: "DIR" : direction "Q","I" or "M" laurent@2032: "SIZE" : size "X", "B", "W", "D", "L" laurent@2032: "LOC" : tuple of interger for IEC location (0,1,2,...) laurent@2032: }, ...] laurent@2032: @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND laurent@2032: """ laurent@2041: return [],"",False laurent@2041: laurent@2041: #-------------------------------------------------- laurent@2043: # Ethercat CIA402 Node laurent@2041: #-------------------------------------------------- laurent@2041: laurent@2041: if HAS_MCL: laurent@2041: laurent@2041: NODE_VARIABLES = [ laurent@2041: ("ControlWord", 0x6040, 0x00, "UINT", "Q"), laurent@2041: ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), Laurent@2062: ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"), laurent@2041: ("StatusWord", 0x6041, 0x00, "UINT", "I"), laurent@2041: ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"), laurent@2041: ("ActualPosition", 0x6064, 0x00, "DINT", "I"), Laurent@2091: ("ActualVelocity", 0x606C, 0x00, "DINT", "I"), laurent@2041: ] laurent@2041: Laurent@2085: DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);" Laurent@2085: DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;" Laurent@2084: Laurent@2084: EXTRA_NODE_VARIABLES = [ Laurent@2096: ("ErrorCode", [ Laurent@2096: {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"), Laurent@2096: "publish": None} Laurent@2096: ]), Laurent@2084: ("DigitalInputs", [ Laurent@2084: {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"), Laurent@2084: "publish": None} Laurent@2096: ]), Laurent@2096: ("DigitalOutputs", [ Laurent@2096: {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"), Laurent@2096: "retrieve": None} Laurent@2084: ]) Laurent@2084: ] Laurent@2084: EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES]) Laurent@2092: Laurent@2094: BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s->,%(input_name)s, %(input_value)s);" Laurent@2094: BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s->%(output_name)s));" Laurent@2092: Laurent@2092: BLOCK_FUNCTION_TEMPLATE = """ Laurent@2093: extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__); Laurent@2093: void __%(blocktype)s_%(location)s(MC_%(ucase_blocktype)s *data__) { Laurent@2094: __DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s); Laurent@2094: ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s(); Laurent@2092: %(extract_inputs)s Laurent@2094: ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s); Laurent@2092: %(return_outputs)s Laurent@2092: } Laurent@2092: """ Laurent@2092: Laurent@2094: BLOCK_FUNTION_DEFINITION_TEMPLATE = """ if (!__CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s) Laurent@2094: __CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;""" Laurent@2092: Laurent@2092: GLOBAL_INSTANCES = [ Laurent@2092: {"blocktype": "GetTorqueLimit", Laurent@2092: "inputs": [], Laurent@2092: "outputs": [{"name": "TorqueLimitPos", "type": "UINT"}, Laurent@2092: {"name": "TorqueLimitNeg", "type": "UINT"}]}, Laurent@2092: {"blocktype": "SetTorqueLimit", Laurent@2092: "inputs": [{"name": "TorqueLimitPos", "type": "UINT"}, Laurent@2092: {"name": "TorqueLimitNeg", "type": "UINT"}], Laurent@2092: "outputs": []}, Laurent@2092: ] Laurent@2084: Edouard@2048: class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN): laurent@2041: XSD = """ laurent@2041: laurent@2043: laurent@2041: laurent@2041: %s laurent@2041: laurent@2041: laurent@2041: Laurent@2084: """ % ("\n".join(['' % category Laurent@2084: for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD) laurent@2041: laurent@2041: NODE_PROFILE = 402 laurent@2043: EditorType = CIA402NodeEditor laurent@2043: Laurent@2062: ConfNodeMethods = [ Laurent@2068: {"bitmap" : "CIA402AxisRef", Laurent@2062: "name" : _("Axis Ref"), Laurent@2062: "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"), Laurent@2063: "method" : "_getCIA402AxisRef", Laurent@2063: "push": True}, Laurent@2062: ] Laurent@2062: Laurent@2068: def GetIconName(self): Laurent@2068: return "CIA402Slave" laurent@2041: Laurent@2063: def SetParamsAttribute(self, path, value): Laurent@2063: if path == "CIA402SlaveParams.Type": Laurent@2063: path = "SlaveParams.Type" Laurent@2063: elif path == "CIA402SlaveParams.Alias": Laurent@2063: path = "SlaveParams.Alias" Laurent@2063: return _EthercatSlaveCTN.SetParamsAttribute(self, path, value) Laurent@2063: Laurent@2063: def GetVariableLocationTree(self): Laurent@2062: axis_name = self.CTNName() Laurent@2063: current_location = self.GetCurrentLocation() Laurent@2063: children = [{"name": "%s Axis Ref" % (axis_name), Laurent@2063: "type": LOCATION_VAR_INPUT, Laurent@2063: "size": "W", Laurent@2083: "IEC_type": "AXIS_REF", Laurent@2063: "var_name": axis_name, Laurent@2063: "location": "%%IW%s.0" % (".".join(map(str, current_location))), Laurent@2063: "description": "", Laurent@2063: "children": []}] Laurent@2063: children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), current_location, axis_name)) Laurent@2063: return {"name": axis_name, Laurent@2063: "type": LOCATION_CONFNODE, Laurent@2063: "location": self.GetFullIEC_Channel(), Laurent@2063: "children": children, Laurent@2063: } Laurent@2062: Laurent@2092: def CTNGlobalInstances(self): Laurent@2092: current_location = self.GetCurrentLocation() Laurent@2092: return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location))), Laurent@2092: "EtherLab%s" % block_infos["blocktype"]) for block_infos in GLOBAL_INSTANCES] Laurent@2092: Laurent@2062: def _getCIA402AxisRef(self): Laurent@2074: data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())), Laurent@2062: "location", "AXIS_REF", self.CTNName(), ""))) Laurent@2062: dragSource = wx.DropSource(self.GetCTRoot().AppFrame) Laurent@2062: dragSource.SetData(data) Laurent@2062: dragSource.DoDragDrop() Laurent@2062: Edouard@2048: def CTNGenerate_C(self, buildpath, locations): laurent@2041: """ laurent@2041: Generate C code Edouard@2048: @param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5) laurent@2041: @param locations: List of complete variables locations \ laurent@2041: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) laurent@2041: "NAME" : name of the variable (generally "__IW0_1_2" style) laurent@2041: "DIR" : direction "Q","I" or "M" laurent@2041: "SIZE" : size "X", "B", "W", "D", "L" laurent@2041: "LOC" : tuple of interger for IEC location (0,1,2,...) laurent@2041: }, ...] laurent@2041: @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND laurent@2041: """ laurent@2041: current_location = self.GetCurrentLocation() laurent@2041: laurent@2041: location_str = "_".join(map(lambda x:str(x), current_location)) laurent@2041: laurent@2045: plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c") laurent@2045: plc_cia402node_file = open(plc_cia402node_filepath, 'r') laurent@2045: plc_cia402node_code = plc_cia402node_file.read() laurent@2045: plc_cia402node_file.close() laurent@2041: laurent@2041: str_completion = { Laurent@2088: "slave_pos": self.GetSlavePos(), laurent@2041: "location": location_str, laurent@2041: "MCL_headers": Headers, laurent@2041: "extern_located_variables_declaration": [], Laurent@2092: "fieldbus_interface_declaration": [], Laurent@2092: "fieldbus_interface_definition": [], laurent@2041: "entry_variables": [], laurent@2041: "init_axis_params": [], laurent@2041: "init_entry_variables": [], Laurent@2084: "extra_variables_retrieve": [], Laurent@2084: "extra_variables_publish": [] laurent@2041: } laurent@2041: Laurent@2092: for blocktype_infos in GLOBAL_INSTANCES: Laurent@2092: texts = { Laurent@2092: "blocktype": blocktype_infos["blocktype"], Laurent@2092: "ucase_blocktype": blocktype_infos["blocktype"].upper(), Laurent@2092: "location": "_".join(map(str, current_location)) Laurent@2092: } Laurent@2092: texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts Laurent@2092: Laurent@2092: inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())}, Laurent@2092: {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\ Laurent@2092: [{"input_name": input["name"].upper(), Laurent@2092: "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()} Laurent@2092: for input in blocktype_infos["inputs"]] Laurent@2092: input_texts = [] Laurent@2092: for input_infos in inputs: Laurent@2092: input_infos.update(texts) Laurent@2092: input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos) Laurent@2092: texts["extract_inputs"] = "\n".join(input_texts) Laurent@2092: Laurent@2092: outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \ Laurent@2092: [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]] Laurent@2092: output_texts = [] Laurent@2092: for output_infos in outputs: Laurent@2092: output_infos.update(texts) Laurent@2092: output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos) Laurent@2092: texts["return_outputs"] = "\n".join(output_texts) Laurent@2092: Laurent@2092: str_completion["fieldbus_interface_declaration"].append( Laurent@2092: BLOCK_FUNCTION_TEMPLATE % texts) Laurent@2092: Laurent@2092: str_completion["fieldbus_interface_definition"].append( Laurent@2092: BLOCK_FUNTION_DEFINITION_TEMPLATE % texts) Laurent@2092: Laurent@2084: variables = NODE_VARIABLES[:] Laurent@2084: Laurent@2084: params = self.CTNParams[1].getElementInfos(self.CTNParams[0]) Laurent@2084: for param in params["children"]: Laurent@2084: if param["name"] in EXTRA_NODE_VARIABLES_DICT: Laurent@2084: if param["value"]: Laurent@2084: extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"]) Laurent@2084: for variable_infos in extra_variables: Laurent@2084: var_infos = { Laurent@2084: "location": location_str, Laurent@2084: "name": variable_infos["description"][0] Laurent@2084: } Laurent@2084: variables.append(variable_infos["description"]) Laurent@2084: retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE) Laurent@2084: publish_template = variable_infos.get("publish", DEFAULT_PUBLISH) Laurent@2084: Laurent@2084: if retrieve_template is not None: Laurent@2084: str_completion["extra_variables_retrieve"].append( Laurent@2084: retrieve_template % var_infos) Laurent@2084: if publish_template is not None: Laurent@2084: str_completion["extra_variables_publish"].append( Laurent@2084: publish_template % var_infos) Laurent@2084: elif param["value"] is not None: Laurent@2084: param_infos = { Laurent@2084: "location": location_str, Laurent@2084: "param_name": param["name"], Laurent@2084: } Laurent@2084: if param["type"] == "boolean": Laurent@2084: param_infos["param_value"] = {True: "true", False: "false"}[param["value"]] Laurent@2084: else: Laurent@2084: param_infos["param_value"] = str(param["value"]) Laurent@2084: str_completion["init_axis_params"].append( Laurent@2084: " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos) Laurent@2084: Laurent@2084: for variable in variables: laurent@2041: var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable)) laurent@2041: var_infos["location"] = location_str laurent@2041: var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"]) laurent@2041: var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos laurent@2041: laurent@2041: str_completion["extern_located_variables_declaration"].append( laurent@2041: "IEC_%(var_type)s *%(var_name)s;" % var_infos) laurent@2041: str_completion["entry_variables"].append( laurent@2041: " IEC_%(var_type)s *%(name)s;" % var_infos) laurent@2041: str_completion["init_entry_variables"].append( laurent@2043: " __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos) laurent@2041: Edouard@2048: self.CTNParent.FileGenerator.DeclareVariable( laurent@2041: self.GetSlavePos(), var_infos["index"], var_infos["subindex"], laurent@2041: var_infos["var_type"], var_infos["dir"], var_infos["var_name"]) laurent@2041: laurent@2041: for element in ["extern_located_variables_declaration", Laurent@2092: "fieldbus_interface_declaration", Laurent@2092: "fieldbus_interface_definition", laurent@2041: "entry_variables", laurent@2041: "init_axis_params", Laurent@2084: "init_entry_variables", Laurent@2084: "extra_variables_retrieve", Laurent@2084: "extra_variables_publish"]: laurent@2041: str_completion[element] = "\n".join(str_completion[element]) laurent@2041: laurent@2045: Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str) laurent@2045: cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') laurent@2045: cia402nodefile.write(plc_cia402node_code % str_completion) laurent@2045: cia402nodefile.close() laurent@2041: Edouard@2048: return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True laurent@2029: 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@2029: raise ValueError, "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@2029: raise ValueError, "Not supported base" laurent@2022: Laurent@2098: def sort_commands(x, y): Laurent@2098: if x["Index"] == y["Index"]: Laurent@2098: return cmp(x["Subindex"], y["Subindex"]) Laurent@2098: return cmp(x["Index"], y["Index"]) Laurent@2098: 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@2098: Laurent@2098: def getInitCmds(self, create_default=False): Laurent@2098: Mailbox = self.getMailbox() Laurent@2098: if Mailbox is None: Laurent@2098: if create_default: Laurent@2098: self.addMailbox() Laurent@2098: Mailbox = self.getMailbox() Laurent@2098: else: Laurent@2098: return None Laurent@2098: CoE = Mailbox.getCoE() Laurent@2098: if CoE is None: Laurent@2098: if create_default: Laurent@2098: Mailbox.addCoE() Laurent@2098: CoE = Mailbox.getCoE() Laurent@2098: else: Laurent@2098: return None Laurent@2098: InitCmds = CoE.getInitCmds() Laurent@2098: if InitCmds is None and create_default: Laurent@2098: CoE.addInitCmds() Laurent@2098: InitCmds = CoE.getInitCmds() Laurent@2098: return InitCmds Laurent@2098: setattr(cls, "getInitCmds", getInitCmds) Laurent@2098: Laurent@2098: def getStartupCommands(self): Laurent@2098: pos = self.getInfo().getPhysAddr() Laurent@2098: InitCmds = self.getInitCmds() Laurent@2098: if InitCmds is None: Laurent@2098: return [] Laurent@2098: commands = [] Laurent@2098: for idx, InitCmd in enumerate(InitCmds.getInitCmd()): Laurent@2098: comment = InitCmd.getComment() Laurent@2098: if comment is None: Laurent@2098: comment = "" Laurent@2098: commands.append({ Laurent@2098: "command_idx": idx, Laurent@2098: "Position": pos, Laurent@2098: "Index": InitCmd.getIndex(), Laurent@2098: "Subindex": InitCmd.getSubIndex(), Laurent@2098: "Value": InitCmd.getData(), Laurent@2098: "Description": comment}) Laurent@2098: commands.sort(sort_commands) Laurent@2098: return commands Laurent@2098: setattr(cls, "getStartupCommands", getStartupCommands) Laurent@2098: Laurent@2098: def appendStartupCommand(self, command_infos): Laurent@2098: InitCmds = self.getInitCmds(True) Laurent@2098: command = EtherCATConfigClasses["InitCmds_InitCmd"]() Laurent@2098: command.setIndex(command_infos["Index"]) Laurent@2098: command.setSubIndex(command_infos["Subindex"]) Laurent@2098: command.setData(command_infos["Value"]) Laurent@2098: command.setComment(command_infos["Description"]) Laurent@2098: InitCmds.appendInitCmd(command) Laurent@2098: return len(InitCmds.getInitCmd()) - 1 Laurent@2098: setattr(cls, "appendStartupCommand", appendStartupCommand) Laurent@2098: Laurent@2098: def setStartupCommand(self, command_infos): Laurent@2098: InitCmds = self.getInitCmds() Laurent@2098: if InitCmds is not None: Laurent@2098: commands = InitCmds.getInitCmd() Laurent@2098: if command_infos["command_idx"] < len(commands): Laurent@2098: command = commands[command_infos["command_idx"]] Laurent@2098: command.setIndex(command_infos["Index"]) Laurent@2098: command.setSubIndex(command_infos["Subindex"]) Laurent@2098: command.setData(command_infos["Value"]) Laurent@2098: command.setComment(command_infos["Description"]) Laurent@2098: setattr(cls, "setStartupCommand", setStartupCommand) Laurent@2098: Laurent@2098: def removeStartupCommand(self, command_idx): Laurent@2098: InitCmds = self.getInitCmds() Laurent@2098: if InitCmds is not None: Laurent@2098: if command_idx < len(InitCmds.getInitCmd()): Laurent@2098: InitCmds.removeInitCmd(command_idx) Laurent@2098: setattr(cls, "removeStartupCommand", removeStartupCommand) Laurent@2098: Laurent@2098: ProcessVariablesXSD = """ laurent@2022: Laurent@2098: laurent@2022: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: laurent@2022: laurent@2022: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: Laurent@2098: laurent@2022: Laurent@2098: """ Laurent@2098: Laurent@2098: ProcessVariablesClasses = GenerateClassesFromXSDstring(ProcessVariablesXSD) Laurent@2098: Laurent@2098: class _EthercatCTN: laurent@2041: Edouard@2048: CTNChildrenTypes = [("EthercatSlave", _EthercatSlaveCTN, "Ethercat Slave")] laurent@2041: if HAS_MCL: Edouard@2048: CTNChildrenTypes.append(("EthercatCIA402Slave", _EthercatCIA402SlaveCTN, "Ethercat CIA402 Slave")) Laurent@2098: EditorType = MasterEditor laurent@2032: laurent@2022: def __init__(self): Laurent@2098: config_filepath = self.ConfigFileName() Laurent@2098: config_is_saved = False laurent@2022: self.Config = EtherCATConfigClasses["EtherCATConfig"]() Laurent@2098: if os.path.isfile(config_filepath): Laurent@2098: config_xmlfile = open(config_filepath, 'r') Laurent@2098: config_tree = minidom.parse(config_xmlfile) Laurent@2098: config_xmlfile.close() laurent@2022: Laurent@2098: for child in config_tree.childNodes: Laurent@2098: if child.nodeType == config_tree.ELEMENT_NODE and child.nodeName == "EtherCATConfig": laurent@2051: self.Config.loadXMLTree(child) Laurent@2098: config_is_saved = True Laurent@2098: Laurent@2098: process_filepath = self.ProcessVariablesFileName() Laurent@2098: process_is_saved = False Laurent@2098: self.ProcessVariables = ProcessVariablesClasses["ProcessVariables"]() Laurent@2098: if os.path.isfile(process_filepath): Laurent@2098: process_xmlfile = open(process_filepath, 'r') Laurent@2098: process_tree = minidom.parse(process_xmlfile) Laurent@2098: process_xmlfile.close() Laurent@2098: Laurent@2098: for child in process_tree.childNodes: Laurent@2098: if child.nodeType == process_tree.ELEMENT_NODE and child.nodeName == "ProcessVariables": Laurent@2098: self.ProcessVariables.loadXMLTree(child) Laurent@2098: process_is_saved = True Laurent@2098: Laurent@2098: if config_is_saved and process_is_saved: Laurent@2098: self.CreateBuffer(True) laurent@2022: else: Laurent@2098: self.CreateBuffer(False) Edouard@2048: self.OnCTNSave() Laurent@2102: Laurent@2102: def GetContextualMenuItems(self): Laurent@2102: return [("Add Ethercat Slave", "Add Ethercat Slave to Master", self.OnAddEthercatSlave)] Laurent@2102: Laurent@2102: def OnAddEthercatSlave(self, event): Laurent@2102: app_frame = self.GetCTRoot().AppFrame Laurent@2102: dialog = BrowseValuesLibraryDialog(app_frame, Laurent@2102: "Ethercat Slave Type", self.GetSlaveTypesLibrary()) Laurent@2102: if dialog.ShowModal() == wx.ID_OK: Laurent@2102: type_infos = dialog.GetValueInfos() Laurent@2102: device, alignment = self.GetModuleInfos(type_infos) Laurent@2102: if device is not None: Laurent@2102: if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers(): Laurent@2102: ConfNodeType = "EthercatCIA402Slave" Laurent@2102: else: Laurent@2102: ConfNodeType = "EthercatSlave" Laurent@2102: new_child = self.CTNAddChild("%s_0" % ConfNodeType, ConfNodeType) Laurent@2102: new_child.SetParamsAttribute("SlaveParams.Type", type_infos) Laurent@2102: self.CTNRequestSave() Laurent@2102: app_frame._Refresh(TITLE, FILEMENU, PROJECTTREE) Laurent@2102: dialog.Destroy() Laurent@2102: laurent@2022: def ExtractHexDecValue(self, value): laurent@2022: return ExtractHexDecValue(value) laurent@2022: laurent@2022: def GetSizeOfType(self, type): Edouard@2048: return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None) laurent@2022: laurent@2022: def ConfigFileName(self): Edouard@2048: return os.path.join(self.CTNPath(), "config.xml") Laurent@2098: Laurent@2098: def ProcessVariablesFileName(self): Laurent@2098: return os.path.join(self.CTNPath(), "process_variables.xml") Laurent@2098: Laurent@2098: def FilterSlave(self, slave, vendor=None, slave_pos=None, slave_profile=None): Laurent@2098: if slave_pos is not None and slave.getInfo().getPhysAddr() != slave_pos: Laurent@2098: return False Laurent@2098: type_infos = slave.getType() Laurent@2098: if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor: Laurent@2098: return False Laurent@2098: device, alignment = self.GetModuleInfos(type_infos) Laurent@2098: if slave_profile is not None and slave_profile not in device.GetProfileNumbers(): Laurent@2098: return False Laurent@2098: return True Laurent@2098: Laurent@2099: def GetSlaves(self, vendor=None, slave_pos=None, slave_profile=None): Laurent@2099: slaves = [] Laurent@2099: for slave in self.Config.getConfig().getSlave(): Laurent@2099: if self.FilterSlave(slave, vendor, slave_pos, slave_profile): Laurent@2099: slaves.append(slave.getInfo().getPhysAddr()) Laurent@2099: slaves.sort() Laurent@2099: return slaves Laurent@2099: Laurent@2099: def GetSlave(self, slave_pos): Laurent@2099: for slave in self.Config.getConfig().getSlave(): Laurent@2099: slave_info = slave.getInfo() Laurent@2099: if slave_info.getPhysAddr() == slave_pos: Laurent@2099: return slave Laurent@2099: return None Laurent@2099: Laurent@2098: def GetStartupCommands(self, vendor=None, slave_pos=None, slave_profile=None): Laurent@2098: commands = [] Laurent@2098: for slave in self.Config.getConfig().getSlave(): Laurent@2098: if self.FilterSlave(slave, vendor, slave_pos, slave_profile): Laurent@2098: commands.append((slave.getInfo().getPhysAddr(), slave.getStartupCommands())) Laurent@2098: commands.sort() Laurent@2098: return reduce(lambda x, y: x + y[1], commands, []) Laurent@2098: Laurent@2098: def AppendStartupCommand(self, command_infos): Laurent@2098: slave = self.GetSlave(command_infos["Position"]) Laurent@2098: if slave is not None: Laurent@2098: command_idx = slave.appendStartupCommand(command_infos) Laurent@2098: self.BufferModel() Laurent@2098: return command_idx Laurent@2098: return None Laurent@2098: Laurent@2098: def SetStartupCommandInfos(self, command_infos): Laurent@2098: slave = self.GetSlave(command_infos["Position"]) Laurent@2098: if slave is not None: Laurent@2098: slave.setStartupCommand(command_infos) Laurent@2098: self.BufferModel() Laurent@2098: Laurent@2101: def RemoveStartupCommand(self, slave_pos, command_idx, buffer=True): Laurent@2098: slave = self.GetSlave(slave_pos) Laurent@2098: if slave is not None: Laurent@2098: slave.removeStartupCommand(command_idx) Laurent@2101: if buffer: Laurent@2101: self.BufferModel() Laurent@2098: Laurent@2098: def SetProcessVariables(self, variables): Laurent@2098: vars = [] Laurent@2098: for var in variables: Laurent@2098: variable = ProcessVariablesClasses["ProcessVariables_variable"]() Laurent@2098: variable.setName(var["Name"]) Laurent@2098: variable.setComment(var["Description"]) Laurent@2098: if var["ReadFrom"] != "": Laurent@2098: position, index, subindex = var["ReadFrom"] Laurent@2098: if variable.getReadFrom() is None: Laurent@2098: variable.addReadFrom() Laurent@2098: read_from = variable.getReadFrom() Laurent@2098: read_from.setPosition(position) Laurent@2098: read_from.setIndex(index) Laurent@2098: read_from.setSubIndex(subindex) Laurent@2098: elif variable.getReadFrom() is not None: Laurent@2098: variable.deleteReadFrom() Laurent@2098: if var["WriteTo"] != "": Laurent@2098: position, index, subindex = var["WriteTo"] Laurent@2098: if variable.getWriteTo() is None: Laurent@2098: variable.addWriteTo() Laurent@2098: write_to = variable.getWriteTo() Laurent@2098: write_to.setPosition(position) Laurent@2098: write_to.setIndex(index) Laurent@2098: write_to.setSubIndex(subindex) Laurent@2098: elif variable.getWriteTo() is not None: Laurent@2098: variable.deleteWriteTo() Laurent@2098: vars.append(variable) Laurent@2098: self.ProcessVariables.setvariable(vars) Laurent@2098: self.BufferModel() Laurent@2098: Laurent@2098: def GetProcessVariables(self): Laurent@2098: variables = [] Laurent@2099: idx = 0 Laurent@2098: for variable in self.ProcessVariables.getvariable(): Laurent@2098: var = {"Name": variable.getName(), Laurent@2099: "Number": idx, Laurent@2098: "Description": variable.getComment()} Laurent@2098: read_from = variable.getReadFrom() Laurent@2098: if read_from is not None: Laurent@2098: var["ReadFrom"] = (read_from.getPosition(), Laurent@2098: read_from.getIndex(), Laurent@2098: read_from.getSubIndex()) Laurent@2098: else: Laurent@2098: var["ReadFrom"] = "" Laurent@2098: write_to = variable.getWriteTo() Laurent@2098: if write_to is not None: Laurent@2098: var["WriteTo"] = (write_to.getPosition(), Laurent@2098: write_to.getIndex(), Laurent@2098: write_to.getSubIndex()) Laurent@2098: else: Laurent@2098: var["WriteTo"] = "" Laurent@2098: variables.append(var) Laurent@2099: idx += 1 Laurent@2098: return variables Laurent@2098: laurent@2042: def _ScanNetwork(self): Edouard@2048: app_frame = self.GetCTRoot().AppFrame laurent@2042: laurent@2042: execute = True Edouard@2048: if len(self.Children) > 0: laurent@2042: dialog = wx.MessageDialog(app_frame, laurent@2042: _("The current network configuration will be deleted.\nDo you want to continue?"), laurent@2042: _("Scan Network"), laurent@2042: wx.YES_NO|wx.ICON_QUESTION) laurent@2042: execute = dialog.ShowModal() == wx.ID_YES laurent@2042: dialog.Destroy() laurent@2042: laurent@2042: if execute: laurent@2042: error, returnVal = self.RemoteExec(SCAN_COMMAND, returnVal = None) laurent@2042: if error != 0: laurent@2042: dialog = wx.MessageDialog(app_frame, returnVal, "Error", wx.OK|wx.ICON_ERROR) laurent@2042: dialog.ShowModal() laurent@2042: dialog.Destroy() laurent@2042: elif returnVal is not None: Edouard@2048: for child in self.IECSortedChildren(): laurent@2042: self._doRemoveChild(child) laurent@2042: laurent@2042: for slave in returnVal: laurent@2042: type_infos = { laurent@2042: "vendor": slave["vendor_id"], laurent@2042: "product_code": slave["product_code"], laurent@2042: "revision_number":slave["revision_number"], laurent@2042: } Laurent@2097: device, alignment = self.GetModuleInfos(type_infos) laurent@2042: if device is not None: Edouard@2048: if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers(): Edouard@2048: CTNType = "EthercatCIA402Slave" laurent@2042: else: Edouard@2048: CTNType = "EthercatSlave" Edouard@2048: self.CTNAddChild("slave%s" % slave["idx"], CTNType, slave["idx"]) laurent@2042: self.SetSlaveAlias(slave["idx"], slave["alias"]) laurent@2042: type_infos["device_type"] = device.getType().getcontent() laurent@2042: self.SetSlaveType(slave["idx"], type_infos) laurent@2042: Edouard@2048: def CTNAddChild(self, CTNName, CTNType, IEC_Channel=0): laurent@2041: """ Edouard@2048: Create the confnodes that may be added as child to this node self Edouard@2048: @param CTNType: string desining the confnode class name (get name from CTNChildrenTypes) Edouard@2048: @param CTNName: string for the name of the confnode instance laurent@2041: """ Edouard@2048: newConfNodeOpj = ConfigTreeNode.CTNAddChild(self, CTNName, CTNType, IEC_Channel) Edouard@2048: Edouard@2048: slave = self.GetSlave(newConfNodeOpj.BaseParams.getIEC_Channel()) laurent@2041: if slave is None: laurent@2041: slave = EtherCATConfigClasses["Config_Slave"]() laurent@2041: slave_infos = slave.getInfo() laurent@2041: slave_infos.setName("undefined") Edouard@2048: slave_infos.setPhysAddr(newConfNodeOpj.BaseParams.getIEC_Channel()) laurent@2041: slave_infos.setAutoIncAddr(0) laurent@2041: self.Config.getConfig().appendSlave(slave) Laurent@2098: self.BufferModel() Edouard@2048: self.OnCTNSave() Edouard@2048: Edouard@2048: return newConfNodeOpj Edouard@2048: Edouard@2048: def _doRemoveChild(self, CTNInstance): Edouard@2048: slave_pos = CTNInstance.GetSlavePos() laurent@2022: config = self.Config.getConfig() laurent@2022: for idx, slave in enumerate(config.getSlave()): laurent@2022: slave_infos = slave.getInfo() laurent@2041: if slave_infos.getPhysAddr() == slave_pos: laurent@2022: config.removeSlave(idx) Laurent@2098: self.BufferModel() Edouard@2048: self.OnCTNSave() Edouard@2048: ConfigTreeNode._doRemoveChild(self, CTNInstance) laurent@2041: laurent@2041: def SetSlavePosition(self, slave_pos, new_pos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: slave_info = slave.getInfo() laurent@2041: slave_info.setPhysAddr(new_pos) Laurent@2099: for variable in self.ProcessVariables.getvariable(): Laurent@2099: read_from = variable.getReadFrom() Laurent@2099: if read_from is not None and read_from.getPosition() == slave_pos: Laurent@2099: read_from.setPosition(new_pos) Laurent@2099: write_to = variable.getWriteTo() Laurent@2099: if write_to is not None and write_to.getPosition() == slave_pos: Laurent@2099: write_to.setPosition(new_pos) Laurent@2099: self.CreateBuffer(True) Laurent@2099: self.OnCTNSave() Laurent@2099: if self._View is not None: Laurent@2099: self._View.RefreshView() Laurent@2099: self._View.RefreshBuffer() laurent@2041: laurent@2041: def GetSlaveAlias(self, slave_pos): laurent@2041: slave = self.GetSlave(slave_pos) laurent@2041: if slave is not None: laurent@2041: slave_info = slave.getInfo() laurent@2041: return slave_info.getAutoIncAddr() laurent@2022: return None laurent@2022: laurent@2041: def SetSlaveAlias(self, slave_pos, alias): laurent@2041: slave = self.GetSlave(slave_pos) laurent@2041: if slave is not None: laurent@2041: slave_info = slave.getInfo() laurent@2041: slave_info.setAutoIncAddr(alias) Laurent@2098: self.BufferModel() laurent@2041: 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@2098: self.BufferModel() 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@2098: device, alignment = 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@2029: "sync_managers": device.GetSyncManagers(), Laurent@2098: "entries": self.GetSlaveVariables(device)}) laurent@2022: return infos laurent@2022: return None laurent@2022: Laurent@2098: def GetSlaveVariables(self, slave_pos=None, limits=None, device=None): Laurent@2098: if device is None and slave_pos is not None: Laurent@2098: slave = self.GetSlave(slave_pos) Laurent@2098: if slave is not None: Laurent@2098: type_infos = slave.getType() Laurent@2098: device, alignment = self.GetModuleInfos(type_infos) Laurent@2098: if device is not None: Laurent@2098: entries = device.GetEntriesList(limits) Laurent@2098: entries_list = entries.items() Laurent@2098: entries_list.sort() Laurent@2098: entries = [] Laurent@2098: current_index = None Laurent@2098: current_entry = None Laurent@2098: for (index, subindex), entry in entries_list: Laurent@2098: entry["children"] = [] Laurent@2098: if slave_pos is not None: Laurent@2098: entry["Position"] = str(slave_pos) Laurent@2098: entry Laurent@2098: if index != current_index: Laurent@2098: current_index = index Laurent@2098: current_entry = entry Laurent@2098: entries.append(entry) Laurent@2098: elif current_entry is not None: Laurent@2098: current_entry["children"].append(entry) Laurent@2098: else: Laurent@2098: entries.append(entry) Laurent@2098: return entries Laurent@2098: return [] Laurent@2098: Laurent@2099: def GetSlaveVariableDataType(self, slave_pos, index, subindex): Laurent@2099: slave = self.GetSlave(slave_pos) Laurent@2099: if slave is not None: Laurent@2099: device, alignment = self.GetModuleInfos(slave.getType()) Laurent@2099: if device is not None: Laurent@2099: entries = device.GetEntriesList() Laurent@2099: entry_infos = entries.get((index, subindex)) Laurent@2099: if entry_infos is not None: Laurent@2099: return entry_infos["Type"] Laurent@2099: return None Laurent@2099: Laurent@2098: def GetNodesVariables(self, vendor=None, slave_pos=None, slave_profile=None, limits=None): Laurent@2098: entries = [] Laurent@2098: for slave_position in self.GetSlaves(): Laurent@2098: if slave_pos is not None and slave_position != slave_pos: Laurent@2098: continue Laurent@2098: slave = self.GetSlave(slave_position) Laurent@2098: type_infos = slave.getType() Laurent@2098: if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor: Laurent@2098: continue Laurent@2098: device, alignment = self.GetModuleInfos(type_infos) Laurent@2098: if slave_profile is not None and slave_profile not in device.GetProfileNumbers(): Laurent@2098: continue Laurent@2098: entries.extend(self.GetSlaveVariables(slave_position, limits, device)) Laurent@2098: return entries Laurent@2098: laurent@2022: def GetModuleInfos(self, type_infos): Edouard@2048: return self.CTNParent.GetModuleInfos(type_infos) laurent@2022: laurent@2041: def GetSlaveTypesLibrary(self, profile_filter=None): Edouard@2048: return self.CTNParent.GetModulesLibrary(profile_filter) laurent@2041: Laurent@2098: def GetLibraryVendors(self): Laurent@2098: return self.CTNParent.GetVendors() Laurent@2098: laurent@2041: def GetDeviceLocationTree(self, slave_pos, current_location, device_name): laurent@2041: slave = self.GetSlave(slave_pos) Laurent@2062: vars = [] laurent@2041: if slave is not None: laurent@2041: type_infos = slave.getType() laurent@2041: Laurent@2098: device, alignment = self.GetModuleInfos(type_infos) laurent@2041: if device is not None: laurent@2041: sync_managers = [] laurent@2041: for sync_manager in device.getSm(): laurent@2041: sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) laurent@2041: sync_manager_direction = sync_manager_control_byte & 0x0c laurent@2041: if sync_manager_direction: laurent@2041: sync_managers.append(LOCATION_VAR_OUTPUT) laurent@2041: else: laurent@2041: sync_managers.append(LOCATION_VAR_INPUT) laurent@2041: laurent@2041: entries = device.GetEntriesList().items() laurent@2041: entries.sort() laurent@2041: for (index, subindex), entry in entries: laurent@2041: var_size = self.GetSizeOfType(entry["Type"]) laurent@2041: if var_size is not None: laurent@2041: var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None) laurent@2041: if var_class is not None: laurent@2041: if var_class == LOCATION_VAR_INPUT: laurent@2041: var_dir = "%I" laurent@2041: else: laurent@2041: var_dir = "%Q" laurent@2041: laurent@2041: vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]), laurent@2041: "type": var_class, laurent@2041: "size": var_size, laurent@2041: "IEC_type": entry["Type"], laurent@2041: "var_name": "%s_%4.4x_%2.2x" % ("_".join(device_name.split()), index, subindex), laurent@2041: "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location + laurent@2041: (index, subindex)))), laurent@2041: "description": "", laurent@2041: "children": []}) laurent@2032: laurent@2032: return vars laurent@2032: Edouard@2048: def CTNTestModified(self): Laurent@2098: return self.ChangesToSave or not self.ModelIsSaved() laurent@2022: Edouard@2048: def OnCTNSave(self): Laurent@2098: config_filepath = self.ConfigFileName() Laurent@2098: Laurent@2098: config_text = "\n" Laurent@2098: config_extras = {"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance", laurent@2022: "xsi:noNamespaceSchemaLocation" : "EtherCATInfo.xsd"} Laurent@2098: config_text += self.Config.generateXMLText("EtherCATConfig", 0, config_extras) Laurent@2098: Laurent@2098: config_xmlfile = open(config_filepath,"w") Laurent@2098: config_xmlfile.write(config_text.encode("utf-8")) Laurent@2098: config_xmlfile.close() Laurent@2098: Laurent@2098: process_filepath = self.ProcessVariablesFileName() Laurent@2098: Laurent@2098: process_text = "\n" Laurent@2098: process_extras = {"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance"} Laurent@2098: process_text += self.ProcessVariables.generateXMLText("ProcessVariables", 0, process_extras) Laurent@2098: Laurent@2098: process_xmlfile = open(process_filepath,"w") Laurent@2098: process_xmlfile.write(process_text.encode("utf-8")) Laurent@2098: process_xmlfile.close() Laurent@2098: Laurent@2098: self.Buffer.CurrentSaved() laurent@2022: return True laurent@2022: Laurent@2101: def GetProcessVariableName(self, location, var_type): Laurent@2101: return "__M%s_%s" % (self.GetSizeOfType(var_type), "_".join(map(str, location))) Laurent@2101: laurent@2032: def _Generate_C(self, buildpath, locations): laurent@2032: current_location = self.GetCurrentLocation() laurent@2032: # define a unique name for the generated C file laurent@2032: location_str = "_".join(map(lambda x:str(x), current_location)) laurent@2032: laurent@2032: Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str) laurent@2032: laurent@2032: self.FileGenerator = _EthercatCFileGenerator(self) laurent@2032: Edouard@2048: LocationCFilesAndCFLAGS, LDFLAGS, extra_files = ConfigTreeNode._Generate_C(self, buildpath, locations) laurent@2032: Laurent@2103: for idx, variable in enumerate(self.ProcessVariables.getvariable()): Laurent@2101: name = None Laurent@2101: var_type = None Laurent@2101: read_from = variable.getReadFrom() Laurent@2101: write_to = variable.getWriteTo() Laurent@2101: if read_from is not None: Laurent@2101: pos = read_from.getPosition() Laurent@2101: index = read_from.getIndex() Laurent@2101: subindex = read_from.getSubIndex() Laurent@2103: location = current_location + (idx, ) Laurent@2101: var_type = self.GetSlaveVariableDataType(pos, index, subindex) Laurent@2101: name = self.FileGenerator.DeclareVariable( Laurent@2101: pos, index, subindex, var_type, "I", Laurent@2101: self.GetProcessVariableName(location, var_type)) Laurent@2101: if write_to is not None: Laurent@2101: pos = write_to.getPosition() Laurent@2101: index = write_to.getIndex() Laurent@2101: subindex = write_to.getSubIndex() Laurent@2101: if name is None: Laurent@2103: location = current_location + (idx, ) Laurent@2101: var_type = self.GetSlaveVariableDataType(pos, index, subindex) Laurent@2101: name = self.GetProcessVariableName(location, var_type) Laurent@2101: self.FileGenerator.DeclareVariable( Laurent@2103: pos, index, subindex, var_type, "Q", name, True) Laurent@2101: Laurent@2099: self.FileGenerator.GenerateCFile(Gen_Ethercatfile_path, location_str, self.BaseParams.getIEC_Channel()) laurent@2032: laurent@2032: LocationCFilesAndCFLAGS.append( laurent@2032: (current_location, Edouard@2048: [(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))], laurent@2032: True)) laurent@2032: LDFLAGS.append("-lethercat -lrtdm") laurent@2032: laurent@2032: return LocationCFilesAndCFLAGS, LDFLAGS, extra_files laurent@2032: Edouard@2048: ConfNodeMethods = [ Laurent@2068: {"bitmap" : "ScanNetwork", laurent@2042: "name" : _("Scan Network"), laurent@2042: "tooltip" : _("Scan Network"), laurent@2042: "method" : "_ScanNetwork"}, laurent@2042: ] laurent@2042: Edouard@2048: def CTNGenerate_C(self, buildpath, locations): laurent@2022: """ laurent@2022: Generate C code Edouard@2048: @param current_location: Tupple containing confnode 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@2032: laurent@2032: slaves = self.GetSlaves() laurent@2032: for slave_pos in slaves: laurent@2032: slave = self.GetSlave(slave_pos) laurent@2032: if slave is not None: Laurent@2099: self.FileGenerator.DeclareSlave(slave_pos, slave) laurent@2022: laurent@2022: for location in locations: laurent@2022: loc = location["LOC"][len(current_location):] laurent@2041: slave_pos = loc[0] Laurent@2101: if slave_pos in slaves and len(loc) == 3 and location["DIR"] != "M": laurent@2032: self.FileGenerator.DeclareVariable( laurent@2041: slave_pos, loc[1], loc[2], location["IEC_TYPE"], location["DIR"], location["NAME"]) laurent@2032: laurent@2032: return [],"",False laurent@2032: 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@2098: def CreateBuffer(self, saved): Laurent@2098: self.Buffer = UndoBuffer(cPickle.dumps((self.Config, self.ProcessVariables)), saved) Laurent@2098: Laurent@2098: def BufferModel(self): Laurent@2098: self.Buffer.Buffering(cPickle.dumps((self.Config, self.ProcessVariables))) Laurent@2098: Laurent@2098: def ModelIsSaved(self): Laurent@2098: if self.Buffer is not None: Laurent@2098: return self.Buffer.IsCurrentSaved() laurent@2022: else: laurent@2022: return True laurent@2022: laurent@2022: def LoadPrevious(self): Laurent@2098: self.Config, self.ProcessVariables = cPickle.loads(self.Buffer.Previous()) laurent@2022: laurent@2022: def LoadNext(self): Laurent@2098: self.Config, self.ProcessVariables = cPickle.loads(self.Buffer.Next()) laurent@2022: laurent@2022: def GetBufferState(self): Laurent@2098: first = self.Buffer.IsFirst() Laurent@2098: last = self.Buffer.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@2032: SLAVE_INITIALIZATION_TEMPLATE = """ laurent@2032: { Laurent@2081: uint8_t value[%(data_size)d]; Laurent@2081: EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s); laurent@2032: if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) { laurent@2032: fprintf(stderr, "Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code); laurent@2032: return -1; laurent@2032: } laurent@2032: } laurent@2032: """ laurent@2032: laurent@2039: SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """ laurent@2039: { laurent@2039: uint8_t value[%(data_size)d]; laurent@2039: if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) { laurent@2039: 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); laurent@2039: return -1; laurent@2039: } Laurent@2081: %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value); laurent@2039: } laurent@2039: """ laurent@2039: laurent@2029: def ConfigureVariable(entry_infos, str_completion): laurent@2032: entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None) laurent@2032: if entry_infos["data_type"] is None: laurent@2029: raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"] laurent@2039: Laurent@2103: if not entry_infos.get("no_decl", False): Laurent@2103: if entry_infos.has_key("real_var"): Laurent@2103: str_completion["located_variables_declaration"].append( Laurent@2103: "IEC_%(var_type)s %(real_var)s;" % entry_infos) Laurent@2103: else: Laurent@2103: entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] Laurent@2103: str_completion["located_variables_declaration"].extend( Laurent@2103: ["IEC_%(var_type)s %(real_var)s;" % entry_infos, Laurent@2103: "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos]) Laurent@2103: for declaration in entry_infos.get("extra_declarations", []): Laurent@2103: entry_infos["extra_decl"] = declaration Laurent@2103: str_completion["located_variables_declaration"].append( Laurent@2103: "IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos) Laurent@2103: elif not entry_infos.has_key("real_var"): laurent@2039: entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] laurent@2034: laurent@2034: str_completion["used_pdo_entry_offset_variables_declaration"].append( laurent@2034: "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) laurent@2032: laurent@2032: if entry_infos["data_type"] == "BIT": laurent@2034: str_completion["used_pdo_entry_offset_variables_declaration"].append( laurent@2034: "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos) laurent@2034: laurent@2034: str_completion["used_pdo_entry_configuration"].append( laurent@2034: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + laurent@2034: "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2034: "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos) laurent@2034: laurent@2032: if entry_infos["dir"] == "I": laurent@2032: str_completion["retrieve_variables"].append( laurent@2032: (" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2032: "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos) laurent@2032: elif entry_infos["dir"] == "Q": laurent@2032: str_completion["publish_variables"].append( laurent@2032: (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2032: "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos) laurent@2032: laurent@2032: else: laurent@2034: str_completion["used_pdo_entry_configuration"].append( laurent@2034: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + laurent@2034: "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos) laurent@2034: laurent@2032: if entry_infos["dir"] == "I": laurent@2032: str_completion["retrieve_variables"].append( laurent@2032: (" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + laurent@2032: "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos) laurent@2032: elif entry_infos["dir"] == "Q": laurent@2032: str_completion["publish_variables"].append( laurent@2032: (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2032: "%(real_var)s);") % entry_infos) laurent@2032: Laurent@2082: def ExclusionSortFunction(x, y): Laurent@2082: if x["matching"] == y["matching"]: Laurent@2082: if x["assigned"] and not y["assigned"]: Laurent@2082: return -1 Laurent@2082: elif not x["assigned"] and y["assigned"]: Laurent@2082: return 1 Laurent@2082: return cmp(x["count"], y["count"]) Laurent@2082: return -cmp(x["matching"], y["matching"]) Laurent@2082: laurent@2022: class _EthercatCFileGenerator: laurent@2022: laurent@2032: def __init__(self, controler): laurent@2022: self.Controler = controler laurent@2032: laurent@2032: self.Slaves = [] laurent@2022: self.UsedVariables = {} laurent@2032: laurent@2022: def __del__(self): laurent@2032: self.Controler = None Laurent@2079: Laurent@2099: def DeclareSlave(self, slave_index, slave): Laurent@2099: self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave)) laurent@2041: Laurent@2103: def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False): laurent@2041: slave_variables = self.UsedVariables.setdefault(slave_index, {}) laurent@2022: laurent@2022: entry_infos = slave_variables.get((index, subindex), None) laurent@2022: if entry_infos is None: laurent@2029: slave_variables[(index, subindex)] = { Laurent@2103: "infos": (iec_type, dir, name, no_decl, []), laurent@2029: "mapped": False} Laurent@2101: return name Laurent@2101: elif entry_infos["infos"][:2] == (iec_type, dir): Laurent@2101: if name != entry_infos["infos"][2]: Laurent@2101: if dir == "I": Laurent@2101: entry_infos["infos"][3].append(name) Laurent@2101: return entry_infos["infos"][2] Laurent@2101: else: Laurent@2101: raise ValueError, _("Output variables can't be defined with different locations (%s and %s)") % (entry_infos["infos"][2], name) Laurent@2101: else: laurent@2022: raise ValueError, _("Definition conflict for location \"%s\"") % name laurent@2029: Laurent@2099: def GenerateCFile(self, filepath, location_str, master_number): laurent@2022: Laurent@2079: # Extract etherlab master code template 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@2079: # Initialize strings for formatting master code template laurent@2022: str_completion = { laurent@2022: "location": location_str, Laurent@2099: "master_number": master_number, 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@2039: "slaves_output_pdos_default_values_extraction": "", laurent@2032: "slaves_initialization": "", laurent@2022: "retrieve_variables": [], laurent@2022: "publish_variables": [], laurent@2022: } laurent@2022: Laurent@2079: # Initialize variable storing variable mapping state laurent@2029: for slave_entries in self.UsedVariables.itervalues(): laurent@2029: for entry_infos in slave_entries.itervalues(): laurent@2029: entry_infos["mapped"] = False laurent@2029: Laurent@2079: # Sort slaves by position (IEC_Channel) laurent@2041: self.Slaves.sort() Laurent@2079: # Initialize dictionary storing alias auto-increment position values laurent@2041: alias = {} Laurent@2079: Laurent@2079: # Generating code for each slave Laurent@2099: for (slave_idx, slave_alias, slave) in self.Slaves: Laurent@2099: type_infos = slave.getType() Laurent@2079: Laurent@2079: # Defining slave alias and auto-increment position laurent@2041: if alias.get(slave_alias) is not None: laurent@2041: alias[slave_alias] += 1 laurent@2041: else: laurent@2041: alias[slave_alias] = 0 laurent@2041: slave_pos = (slave_alias, alias[slave_alias]) laurent@2032: Laurent@2079: # Extract slave device informations Laurent@2098: device, alignment = self.Controler.GetModuleInfos(type_infos) laurent@2032: if device is not None: Laurent@2079: Laurent@2079: # Extract slaves variables to be mapped laurent@2041: slave_variables = self.UsedVariables.get(slave_idx, {}) Laurent@2079: Laurent@2079: # Extract slave device object dictionary entries laurent@2032: device_entries = device.GetEntriesList() laurent@2022: Laurent@2079: # Adding code for declaring slave in master code template strings Laurent@2079: for element in ["vendor", "product_code", "revision_number"]: Laurent@2079: type_infos[element] = ExtractHexDecValue(type_infos[element]) Laurent@2079: type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) Laurent@2079: Laurent@2079: # Extract slave device CoE informations Laurent@2079: device_coe = device.getCoE() Laurent@2079: if device_coe is not None: laurent@2022: Laurent@2079: # If device support CanOpen over Ethernet, adding code for calling Laurent@2079: # init commands when initializing slave in master code template strings Laurent@2099: initCmds = [] Laurent@2079: for initCmd in device_coe.getInitCmd(): Laurent@2099: initCmds.append({ Laurent@2099: "Index": ExtractHexDecValue(initCmd.getIndex()), Laurent@2099: "Subindex": ExtractHexDecValue(initCmd.getSubIndex()), Laurent@2099: "Value": initCmd.getData().getcontent()}) Laurent@2099: initCmds.extend(slave.getStartupCommands()) Laurent@2099: for initCmd in initCmds: Laurent@2099: index = initCmd["Index"] Laurent@2099: subindex = initCmd["Subindex"] laurent@2032: entry = device_entries.get((index, subindex), None) laurent@2032: if entry is not None: laurent@2032: data_size = entry["BitSize"] / 8 Laurent@2099: data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"] laurent@2032: init_cmd_infos = { laurent@2032: "index": index, laurent@2032: "subindex": subindex, laurent@2032: "data": data_str, Laurent@2081: "data_type": DATATYPECONVERSION.get(entry["Type"]), laurent@2032: "data_size": data_size laurent@2032: } laurent@2032: init_cmd_infos.update(type_infos) laurent@2032: str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos Laurent@2079: Laurent@2079: # Extract slave device PDO configuration capabilities Laurent@2079: PdoAssign = device_coe.getPdoAssign() Laurent@2079: PdoConfig = device_coe.getPdoConfig() Laurent@2079: else: Laurent@2079: PdoAssign = PdoConfig = False Laurent@2079: Laurent@2079: # Test if slave has a configuration or need one Laurent@2079: if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign: Laurent@2079: Laurent@2079: str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos Laurent@2079: str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos Laurent@2079: Laurent@2079: # Initializing laurent@2032: pdos_infos = { laurent@2032: "pdos_entries_infos": [], laurent@2032: "pdos_infos": [], laurent@2032: "pdos_sync_infos": [], laurent@2032: } laurent@2032: pdos_infos.update(type_infos) laurent@2032: laurent@2032: sync_managers = [] laurent@2032: for sync_manager_idx, sync_manager in enumerate(device.getSm()): laurent@2032: sync_manager_infos = { laurent@2032: "index": sync_manager_idx, laurent@2032: "name": sync_manager.getcontent(), laurent@2032: "slave": slave_idx, laurent@2032: "pdos": [], laurent@2032: "pdos_number": 0, laurent@2032: } laurent@2022: laurent@2032: sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) laurent@2032: sync_manager_direction = sync_manager_control_byte & 0x0c laurent@2032: sync_manager_watchdog = sync_manager_control_byte & 0x40 laurent@2032: if sync_manager_direction: laurent@2032: sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" laurent@2032: else: laurent@2032: sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" laurent@2032: if sync_manager_watchdog: laurent@2032: sync_manager_infos["watchdog"] = "EC_WD_ENABLE" laurent@2032: else: laurent@2032: sync_manager_infos["watchdog"] = "EC_WD_DISABLE" laurent@2032: laurent@2032: sync_managers.append(sync_manager_infos) laurent@2022: laurent@2032: pdos_index = [] Laurent@2082: exclusive_pdos = {} Laurent@2082: selected_pdos = [] Laurent@2082: for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + Laurent@2082: [(pdo, "Outputs") for pdo in device.getRxPdo()]): Laurent@2082: Laurent@2082: pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) Laurent@2082: pdos_index.append(pdo_index) Laurent@2082: Laurent@2082: excluded_list = pdo.getExclude() Laurent@2082: if len(excluded_list) > 0: Laurent@2082: exclusion_list = [pdo_index] Laurent@2082: for excluded in excluded_list: Laurent@2082: exclusion_list.append(ExtractHexDecValue(excluded.getcontent())) Laurent@2082: exclusion_list.sort() Laurent@2082: Laurent@2082: exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), []) Laurent@2082: laurent@2032: entries = pdo.getEntry() Laurent@2082: pdo_mapping_match = { Laurent@2082: "index": pdo_index, Laurent@2082: "matching": 0, Laurent@2082: "count": len(entries), Laurent@2082: "assigned": pdo.getSm() is not None Laurent@2082: } Laurent@2082: exclusion_scope.append(pdo_mapping_match) laurent@2032: laurent@2032: for entry in entries: laurent@2032: index = ExtractHexDecValue(entry.getIndex().getcontent()) laurent@2032: subindex = ExtractHexDecValue(entry.getSubIndex()) Laurent@2082: if slave_variables.get((index, subindex), None) is not None: Laurent@2082: pdo_mapping_match["matching"] += 1 Laurent@2082: Laurent@2082: elif pdo.getMandatory(): Laurent@2082: selected_pdos.append(pdo_index) laurent@2032: Laurent@2082: excluded_pdos = [] Laurent@2082: for exclusion_scope in exclusive_pdos.itervalues(): Laurent@2082: exclusion_scope.sort(ExclusionSortFunction) Laurent@2082: start_excluding_index = 0 Laurent@2082: if exclusion_scope[0]["matching"] > 0: Laurent@2082: selected_pdos.append(exclusion_scope[0]["index"]) Laurent@2082: start_excluding_index = 1 Laurent@2082: excluded_pdos.extend([pdo["index"] for pdo in exclusion_scope[start_excluding_index:] if PdoAssign or not pdo["assigned"]]) Laurent@2082: Laurent@2082: for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + Laurent@2082: [(pdo, "Outputs") for pdo in device.getRxPdo()]): Laurent@2082: entries = pdo.getEntry() Laurent@2082: Laurent@2082: pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) Laurent@2082: if pdo_index in excluded_pdos: Laurent@2082: continue Laurent@2082: Laurent@2082: pdo_needed = pdo_index in selected_pdos Laurent@2082: Laurent@2082: entries_infos = [] Laurent@2082: Laurent@2082: for entry in entries: Laurent@2082: index = ExtractHexDecValue(entry.getIndex().getcontent()) Laurent@2082: subindex = ExtractHexDecValue(entry.getSubIndex()) Laurent@2082: entry_infos = { Laurent@2082: "index": index, Laurent@2082: "subindex": subindex, Laurent@2082: "name": ExtractName(entry.getName()), Laurent@2082: "bitlen": entry.getBitLen(), Laurent@2082: } Laurent@2082: entry_infos.update(type_infos) Laurent@2082: entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) Laurent@2082: Laurent@2082: entry_declaration = slave_variables.get((index, subindex), None) Laurent@2082: if entry_declaration is not None and not entry_declaration["mapped"]: Laurent@2082: pdo_needed = True Laurent@2082: Laurent@2103: entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], Laurent@2103: entry_declaration["infos"]))) Laurent@2082: entry_declaration["mapped"] = True Laurent@2082: Laurent@2082: entry_type = entry.getDataType().getcontent() Laurent@2082: if entry_infos["var_type"] != entry_type: Laurent@2082: message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] Laurent@2082: if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != Laurent@2082: self.Controler.GetSizeOfType(entry_type)): Laurent@2082: raise ValueError, message Laurent@2082: else: Laurent@2082: self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") Laurent@2082: Laurent@2082: if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or Laurent@2082: entry_infos["dir"] == "Q" and pdo_type != "Outputs"): Laurent@2082: raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] Laurent@2082: Laurent@2082: ConfigureVariable(entry_infos, str_completion) Laurent@2082: Laurent@2082: elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None: Laurent@2082: data_type = entry.getDataType().getcontent() Laurent@2082: entry_infos["dir"] = "Q" Laurent@2082: entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8) Laurent@2082: entry_infos["data_type"] = DATATYPECONVERSION.get(data_type) Laurent@2082: entry_infos["var_type"] = data_type Laurent@2082: entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos Laurent@2082: Laurent@2082: ConfigureVariable(entry_infos, str_completion) Laurent@2082: Laurent@2082: str_completion["slaves_output_pdos_default_values_extraction"] += \ Laurent@2082: SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos Laurent@2082: Laurent@2082: if pdo_needed: Laurent@2082: for excluded in pdo.getExclude(): Laurent@2082: excluded_index = ExtractHexDecValue(excluded.getcontent()) Laurent@2082: if excluded_index not in excluded_pdos: Laurent@2082: excluded_pdos.append(excluded_index) Laurent@2082: Laurent@2082: sm = pdo.getSm() Laurent@2082: if sm is None: Laurent@2082: for sm_idx, sync_manager in enumerate(sync_managers): Laurent@2082: if sync_manager["name"] == pdo_type: Laurent@2082: sm = sm_idx Laurent@2082: if sm is None: Laurent@2082: raise ValueError, _("No sync manager available for %s pdo!") % pdo_type Laurent@2082: Laurent@2082: sync_managers[sm]["pdos_number"] += 1 Laurent@2082: sync_managers[sm]["pdos"].append( Laurent@2082: {"slave": slave_idx, Laurent@2082: "index": pdo_index, Laurent@2082: "name": ExtractName(pdo.getName()), Laurent@2082: "type": pdo_type, Laurent@2082: "entries": entries_infos, Laurent@2082: "entries_number": len(entries_infos), Laurent@2082: "fixed": pdo.getFixed() == True}) Laurent@2082: Laurent@2079: if PdoConfig and PdoAssign: Laurent@2062: dynamic_pdos = {} Laurent@2062: dynamic_pdos_number = 0 Laurent@2062: for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), Laurent@2062: ("Outputs", 0x1a00, 0x1C00)]: Laurent@2062: for sync_manager in sync_managers: Laurent@2062: if sync_manager["name"] == category: Laurent@2062: category_infos = dynamic_pdos.setdefault(category, {}) Laurent@2062: category_infos["sync_manager"] = sync_manager Laurent@2062: category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] Laurent@2062: if not pdo["fixed"] and pdo["type"] == category] Laurent@2062: category_infos["current_index"] = min_index Laurent@2062: category_infos["max_index"] = max_index Laurent@2062: break laurent@2032: Laurent@2062: for (index, subindex), entry_declaration in slave_variables.iteritems(): laurent@2032: Laurent@2062: if not entry_declaration["mapped"]: Laurent@2062: entry = device_entries.get((index, subindex), None) Laurent@2062: if entry is None: Laurent@2062: raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \ Laurent@2062: (index, subindex, type_infos["device_type"]) Laurent@2062: Laurent@2062: entry_infos = { Laurent@2062: "index": index, Laurent@2062: "subindex": subindex, Laurent@2062: "name": entry["Name"], Laurent@2062: "bitlen": entry["BitSize"], Laurent@2062: } Laurent@2062: entry_infos.update(type_infos) Laurent@2062: Laurent@2103: entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], Laurent@2103: entry_declaration["infos"]))) Laurent@2062: entry_declaration["mapped"] = True Laurent@2062: Laurent@2062: if entry_infos["var_type"] != entry["Type"]: Laurent@2062: message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] Laurent@2062: if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != Laurent@2062: self.Controler.GetSizeOfType(entry["Type"])): Laurent@2062: raise ValueError, message Laurent@2062: else: Laurent@2062: self.Controler.GetCTRoot().logger.write_warning(message + "\n") Laurent@2062: Laurent@2062: if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: Laurent@2062: pdo_type = "Inputs" Laurent@2062: elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]: Laurent@2062: pdo_type = "Outputs" laurent@2045: else: Laurent@2062: raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] laurent@2029: Laurent@2062: if not dynamic_pdos.has_key(pdo_type): Laurent@2062: raise ValueError, _("No Sync manager defined for %s!") % pdo_type Laurent@2062: Laurent@2062: ConfigureVariable(entry_infos, str_completion) Laurent@2062: Laurent@2062: if len(dynamic_pdos[pdo_type]["pdos"]) > 0: Laurent@2062: pdo = dynamic_pdos[pdo_type]["pdos"][0] Laurent@2062: else: Laurent@2062: while dynamic_pdos[pdo_type]["current_index"] in pdos_index: Laurent@2062: dynamic_pdos[pdo_type]["current_index"] += 1 Laurent@2062: if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: Laurent@2062: raise ValueError, _("No more free PDO index available for %s!") % pdo_type Laurent@2062: pdos_index.append(dynamic_pdos[pdo_type]["current_index"]) Laurent@2062: Laurent@2062: dynamic_pdos_number += 1 Laurent@2062: pdo = {"slave": slave_idx, Laurent@2062: "index": dynamic_pdos[pdo_type]["current_index"], Laurent@2062: "name": "Dynamic PDO %d" % dynamic_pdos_number, Laurent@2062: "type": pdo_type, Laurent@2062: "entries": [], Laurent@2062: "entries_number": 0, Laurent@2062: "fixed": False} Laurent@2062: dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1 Laurent@2062: dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo) Laurent@2062: dynamic_pdos[pdo_type]["pdos"].append(pdo) Laurent@2062: Laurent@2062: pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) Laurent@2099: if entry_infos["bitlen"] < alignment: Laurent@2101: print (alignment, entry_infos["bitlen"]) Laurent@2099: pdo["entries"].append(" {0x0000, 0x00, %d}, /* None */" % (alignment - entry_infos["bitlen"])) Laurent@2062: pdo["entries_number"] += 1 Laurent@2062: Laurent@2062: if pdo["entries_number"] == 255: Laurent@2062: dynamic_pdos[pdo_type]["pdos"].pop(0) Laurent@2079: laurent@2032: pdo_offset = 0 laurent@2032: entry_offset = 0 laurent@2032: for sync_manager_infos in sync_managers: Laurent@2079: laurent@2032: for pdo_infos in sync_manager_infos["pdos"]: laurent@2032: pdo_infos["offset"] = entry_offset laurent@2032: pdo_entries = pdo_infos["entries"] laurent@2032: pdos_infos["pdos_infos"].append( laurent@2032: (" {0x%(index).4x, %(entries_number)d, " + laurent@2032: "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) laurent@2032: entry_offset += len(pdo_entries) laurent@2032: pdos_infos["pdos_entries_infos"].extend(pdo_entries) laurent@2022: laurent@2032: sync_manager_infos["offset"] = pdo_offset edouard_and_laurent@2047: pdo_offset_shift = sync_manager_infos["pdos_number"] laurent@2032: pdos_infos["pdos_sync_infos"].append( laurent@2032: (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + edouard_and_laurent@2047: ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") + edouard_and_laurent@2047: ", %(watchdog)s},") % sync_manager_infos) edouard_and_laurent@2047: pdo_offset += pdo_offset_shift laurent@2032: laurent@2032: for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: laurent@2032: pdos_infos[element] = "\n".join(pdos_infos[element]) laurent@2032: laurent@2032: str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos Laurent@2079: Laurent@2079: for (index, subindex), entry_declaration in slave_variables.iteritems(): Laurent@2079: if not entry_declaration["mapped"]: Laurent@2079: message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \ Laurent@2079: (index, subindex, type_infos["device_type"]) Laurent@2079: self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") Laurent@2079: 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@2032: etherlabfile = open(filepath, 'w') laurent@2022: etherlabfile.write(plc_etherlab_code % str_completion) laurent@2022: etherlabfile.close() laurent@2022: laurent@2022: #-------------------------------------------------- Edouard@2048: # Ethercat ConfNode laurent@2022: #-------------------------------------------------- laurent@2022: laurent@2022: EtherCATInfoClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd")) laurent@2022: Laurent@2074: cls = EtherCATInfoClasses["EtherCATBase.xsd"].get("DictionaryType", None) Laurent@2074: if cls: Laurent@2074: cls.loadXMLTreeArgs = None Laurent@2074: Laurent@2074: setattr(cls, "_loadXMLTree", getattr(cls, "loadXMLTree")) Laurent@2074: Laurent@2074: def loadXMLTree(self, *args): Laurent@2074: self.loadXMLTreeArgs = args Laurent@2074: setattr(cls, "loadXMLTree", loadXMLTree) Laurent@2074: Laurent@2074: def load(self): Laurent@2074: if self.loadXMLTreeArgs is not None: Laurent@2074: self._loadXMLTree(*self.loadXMLTreeArgs) Laurent@2074: self.loadXMLTreeArgs = None Laurent@2074: setattr(cls, "load", load) Laurent@2074: laurent@2029: cls = EtherCATInfoClasses["EtherCATInfo.xsd"].get("DeviceType", None) laurent@2029: if cls: laurent@2029: cls.DataTypes = None laurent@2029: laurent@2032: def GetProfileNumbers(self): laurent@2032: profiles = [] laurent@2032: laurent@2032: for profile in self.getProfile(): laurent@2032: profile_content = profile.getcontent() laurent@2032: if profile_content is None: laurent@2032: continue laurent@2032: laurent@2032: for content_element in profile_content["value"]: laurent@2032: if content_element["name"] == "ProfileNo": laurent@2032: profiles.append(content_element["value"]) laurent@2032: laurent@2032: return profiles laurent@2032: setattr(cls, "GetProfileNumbers", GetProfileNumbers) laurent@2032: laurent@2029: def GetProfileDictionaries(self): laurent@2029: dictionaries = [] laurent@2029: laurent@2029: for profile in self.getProfile(): laurent@2029: laurent@2029: profile_content = profile.getcontent() laurent@2029: if profile_content is None: laurent@2031: continue laurent@2029: laurent@2029: for content_element in profile_content["value"]: laurent@2029: if content_element["name"] == "Dictionary": laurent@2029: dictionaries.append(content_element["value"]) laurent@2029: elif content_element["name"] == "DictionaryFile": laurent@2029: raise ValueError, "DictionaryFile for defining Device Profile is not yet supported!" laurent@2029: laurent@2029: return dictionaries laurent@2029: setattr(cls, "GetProfileDictionaries", GetProfileDictionaries) laurent@2029: laurent@2029: def ExtractDataTypes(self): laurent@2029: self.DataTypes = {} laurent@2029: laurent@2029: for dictionary in self.GetProfileDictionaries(): Laurent@2098: dictionary.load() laurent@2029: laurent@2029: datatypes = dictionary.getDataTypes() laurent@2029: if datatypes is not None: laurent@2029: laurent@2029: for datatype in datatypes.getDataType(): laurent@2029: content = datatype.getcontent() laurent@2029: if content is not None and content["name"] == "SubItem": laurent@2029: self.DataTypes[datatype.getName()] = datatype laurent@2029: laurent@2029: setattr(cls, "ExtractDataTypes", ExtractDataTypes) laurent@2029: Laurent@2079: def getCoE(self): laurent@2032: mailbox = self.getMailbox() Laurent@2079: if mailbox is not None: Laurent@2079: return mailbox.getCoE() Laurent@2079: return None Laurent@2079: setattr(cls, "getCoE", getCoE) laurent@2032: Laurent@2098: def GetEntriesList(self, limits=None): laurent@2029: if self.DataTypes is None: laurent@2029: self.ExtractDataTypes() laurent@2029: laurent@2029: entries = {} laurent@2029: laurent@2029: for dictionary in self.GetProfileDictionaries(): Laurent@2074: dictionary.load() laurent@2029: laurent@2029: for object in dictionary.getObjects().getObject(): laurent@2029: entry_index = object.getIndex().getcontent() laurent@2029: index = ExtractHexDecValue(entry_index) Laurent@2098: if limits is None or limits[0] <= index <= limits[1]: Laurent@2098: entry_type = object.getType() Laurent@2098: entry_name = ExtractName(object.getName()) Laurent@2098: Laurent@2098: entry_type_infos = self.DataTypes.get(entry_type, None) Laurent@2098: if entry_type_infos is not None: Laurent@2098: content = entry_type_infos.getcontent() Laurent@2098: for subitem in content["value"]: Laurent@2098: entry_subidx = subitem.getSubIdx() Laurent@2098: if entry_subidx is None: Laurent@2098: entry_subidx = "0" Laurent@2098: subidx = ExtractHexDecValue(entry_subidx) Laurent@2098: subitem_access = "" Laurent@2098: subitem_pdomapping = "" Laurent@2098: subitem_flags = subitem.getFlags() Laurent@2098: if subitem_flags is not None: Laurent@2098: access = subitem_flags.getAccess() Laurent@2098: if access is not None: Laurent@2098: subitem_access = access.getcontent() Laurent@2098: pdomapping = subitem_flags.getPdoMapping() Laurent@2098: if pdomapping is not None: Laurent@2098: subitem_pdomapping = pdomapping.upper() Laurent@2098: entries[(index, subidx)] = { Laurent@2098: "Index": entry_index, Laurent@2098: "SubIndex": entry_subidx, Laurent@2098: "Name": "%s - %s" % Laurent@2098: (entry_name.decode("utf-8"), Laurent@2098: ExtractName(subitem.getDisplayName(), Laurent@2098: subitem.getName()).decode("utf-8")), Laurent@2098: "Type": subitem.getType(), Laurent@2098: "BitSize": subitem.getBitSize(), Laurent@2098: "Access": subitem_access, Laurent@2098: "PDOMapping": subitem_pdomapping} Laurent@2098: else: Laurent@2098: entry_access = "" Laurent@2098: entry_pdomapping = "" Laurent@2098: entry_flags = object.getFlags() Laurent@2098: if entry_flags is not None: Laurent@2098: access = entry_flags.getAccess() laurent@2029: if access is not None: Laurent@2098: entry_access = access.getcontent() Laurent@2098: pdomapping = entry_flags.getPdoMapping() laurent@2032: if pdomapping is not None: Laurent@2098: entry_pdomapping = pdomapping.upper() Laurent@2098: entries[(index, 0)] = { Laurent@2098: "Index": entry_index, Laurent@2098: "SubIndex": "0", Laurent@2098: "Name": entry_name, Laurent@2098: "Type": entry_type, Laurent@2098: "BitSize": object.getBitSize(), Laurent@2098: "Access": entry_access, Laurent@2098: "PDOMapping": entry_pdomapping} laurent@2029: laurent@2029: for TxPdo in self.getTxPdo(): Laurent@2098: ExtractPdoInfos(TxPdo, "Transmit", entries, limits) laurent@2029: for RxPdo in self.getRxPdo(): Laurent@2098: ExtractPdoInfos(RxPdo, "Receive", entries, limits) laurent@2029: laurent@2029: return entries laurent@2029: setattr(cls, "GetEntriesList", GetEntriesList) laurent@2029: laurent@2029: def GetSyncManagers(self): laurent@2029: sync_managers = [] laurent@2029: for sync_manager in self.getSm(): laurent@2029: sync_manager_infos = {} laurent@2029: for name, value in [("Name", sync_manager.getcontent()), laurent@2029: ("Start Address", sync_manager.getStartAddress()), laurent@2029: ("Default Size", sync_manager.getDefaultSize()), laurent@2029: ("Control Byte", sync_manager.getControlByte()), laurent@2029: ("Enable", sync_manager.getEnable())]: laurent@2029: if value is None: laurent@2029: value ="" laurent@2029: sync_manager_infos[name] = value laurent@2029: sync_managers.append(sync_manager_infos) laurent@2029: return sync_managers laurent@2029: setattr(cls, "GetSyncManagers", GetSyncManagers) laurent@2029: laurent@2022: def GroupItemCompare(x, y): laurent@2022: if x["type"] == y["type"]: laurent@2022: if x["type"] == ETHERCAT_GROUP: laurent@2031: return cmp(x["order"], y["order"]) laurent@2022: else: laurent@2031: return cmp(x["name"], 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@2098: def ExtractPdoInfos(pdo, pdo_type, entries, limits=None): laurent@2022: pdo_index = pdo.getIndex().getcontent() laurent@2029: pdo_name = ExtractName(pdo.getName()) laurent@2029: for pdo_entry in pdo.getEntry(): laurent@2029: entry_index = pdo_entry.getIndex().getcontent() laurent@2029: entry_subindex = pdo_entry.getSubIndex() laurent@2029: index = ExtractHexDecValue(entry_index) laurent@2029: subindex = ExtractHexDecValue(entry_subindex) laurent@2029: Laurent@2098: if limits is None or limits[0] <= index <= limits[1]: Laurent@2098: entry = entries.get((index, subindex), None) Laurent@2098: if entry is not None: Laurent@2098: entry["PDO index"] = pdo_index Laurent@2098: entry["PDO name"] = pdo_name Laurent@2098: entry["PDO type"] = pdo_type Laurent@2098: else: Laurent@2098: entry_type = pdo_entry.getDataType() Laurent@2098: if entry_type is not None: Laurent@2098: if pdo_type == "Transmit": Laurent@2098: access = "ro" Laurent@2098: pdomapping = "T" Laurent@2098: else: Laurent@2098: access = "wo" Laurent@2098: pdomapping = "R" Laurent@2098: entries[(index, subindex)] = { Laurent@2098: "Index": entry_index, Laurent@2098: "SubIndex": entry_subindex, Laurent@2098: "Name": ExtractName(pdo_entry.getName()), Laurent@2098: "Type": entry_type.getcontent(), Laurent@2098: "Access": access, Laurent@2098: "PDOMapping": pdomapping} Laurent@2097: Laurent@2097: DEFAULT_ALIGNMENT = 8 Laurent@2097: Laurent@2097: class ModulesLibrary: Laurent@2097: Laurent@2097: def __init__(self, path, parent_library=None): Laurent@2097: self.Path = path Laurent@2097: if not os.path.exists(self.Path): Laurent@2097: os.makedirs(self.Path) Laurent@2097: self.ParentLibrary = parent_library Laurent@2097: Laurent@2098: if parent_library is not None: Laurent@2098: self.LoadModules() Laurent@2098: else: Laurent@2098: self.Library = None Laurent@2097: self.LoadAlignments() Laurent@2097: Laurent@2097: def GetPath(self): Laurent@2097: return self.Path Laurent@2097: Laurent@2097: def GetAlignmentFilePath(self): Laurent@2097: return os.path.join(self.Path, "alignments.cfg") Laurent@2097: Laurent@2097: def LoadModules(self): Laurent@2097: self.Library = {} Laurent@2097: Laurent@2097: files = os.listdir(self.Path) laurent@2022: for file in files: Laurent@2097: filepath = os.path.join(self.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@2051: modules_infos.loadXMLTree(child) laurent@2022: laurent@2022: if modules_infos is not None: laurent@2022: vendor = modules_infos.getVendor() laurent@2022: Laurent@2097: vendor_category = self.Library.setdefault(ExtractHexDecValue(vendor.getId()), Laurent@2097: {"name": ExtractName(vendor.getName(), _("Miscellaneous")), Laurent@2097: "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@2097: laurent@2041: def GetModulesLibrary(self, profile_filter=None): Laurent@2098: if self.Library is None: Laurent@2098: self.LoadModules() laurent@2022: library = [] Laurent@2097: for vendor_id, vendor in self.Library.iteritems(): laurent@2022: groups = [] Laurent@2073: children_dict = {} 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@2041: "infos": None, laurent@2022: "children": children_dict.setdefault(group_type, [])} laurent@2022: device_dict = {} laurent@2022: for device_type, device in group["devices"]: laurent@2041: if profile_filter is None or profile_filter in device.GetProfileNumbers(): Laurent@2097: product_code = device.getType().getProductCode() Laurent@2097: revision_number = device.getType().getRevisionNo() Laurent@2097: alignment = self.GetAlignment(vendor_id, product_code, revision_number) laurent@2041: device_infos = {"name": ExtractName(device.getName()), laurent@2041: "type": ETHERCAT_DEVICE, laurent@2041: "infos": {"device_type": device_type, laurent@2041: "vendor": vendor_id, Laurent@2097: "product_code": product_code, Laurent@2097: "revision_number": revision_number, Laurent@2097: "alignment": alignment}, laurent@2041: "children": []} laurent@2041: group_infos["children"].append(device_infos) laurent@2041: device_type_occurrences = device_dict.setdefault(device_type, []) laurent@2041: 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@2041: if len(group_infos["children"]) > 0: laurent@2041: if group["parent"] is not None: laurent@2041: parent_children = children_dict.setdefault(group["parent"], []) laurent@2041: parent_children.append(group_infos) laurent@2041: else: laurent@2041: groups.append(group_infos) laurent@2041: if len(groups) > 0: laurent@2041: library.append({"name": vendor["name"], laurent@2041: "type": ETHERCAT_VENDOR, laurent@2041: "infos": None, laurent@2041: "children": groups}) laurent@2031: library.sort(lambda x, y: cmp(x["name"], y["name"])) laurent@2022: return library Laurent@2097: Laurent@2098: def GetVendors(self): Laurent@2098: return [(vendor_id, vendor["name"]) for vendor_id, vendor in self.Library.items()] Laurent@2098: Laurent@2097: def GetModuleInfos(self, module_infos): Laurent@2097: vendor = ExtractHexDecValue(module_infos["vendor"]) Laurent@2097: vendor_infos = self.Library.get(vendor) Laurent@2097: if vendor_infos is not None: Laurent@2097: for group_name, group_infos in vendor_infos["groups"].iteritems(): Laurent@2097: for device_type, device_infos in group_infos["devices"]: Laurent@2097: product_code = ExtractHexDecValue(device_infos.getType().getProductCode()) Laurent@2097: revision_number = ExtractHexDecValue(device_infos.getType().getRevisionNo()) Laurent@2097: if (product_code == ExtractHexDecValue(module_infos["product_code"]) and Laurent@2097: revision_number == ExtractHexDecValue(module_infos["revision_number"])): Laurent@2097: return device_infos, self.GetAlignment(vendor, product_code, revision_number) Laurent@2097: return None, None Laurent@2097: Laurent@2097: def ImportModuleLibrary(self, filepath): Laurent@2097: if os.path.isfile(filepath): Laurent@2097: shutil.copy(filepath, self.Path) Laurent@2097: self.LoadModules() Laurent@2097: return True Laurent@2097: return False Laurent@2097: Laurent@2097: def LoadAlignments(self): Laurent@2097: self.Alignments = {} Laurent@2097: Laurent@2097: csvfile_path = self.GetAlignmentFilePath() Laurent@2097: if os.path.exists(csvfile_path): Laurent@2097: csvfile = open(csvfile_path, "rb") Laurent@2097: sample = csvfile.read(1024) Laurent@2097: csvfile.seek(0) Laurent@2097: dialect = csv.Sniffer().sniff(sample) Laurent@2097: has_header = csv.Sniffer().has_header(sample) Laurent@2097: reader = csv.reader(csvfile, dialect) Laurent@2097: for row in reader: Laurent@2097: if has_header: Laurent@2097: has_header = False Laurent@2097: else: Laurent@2097: try: Laurent@2101: self.Alignments[tuple(map(int, row[:3]))] = int(row[3]) Laurent@2097: except: Laurent@2097: pass Laurent@2097: csvfile.close() Laurent@2097: Laurent@2097: def SaveAlignments(self): Laurent@2097: csvfile = open(self.GetAlignmentFilePath(), "wb") Laurent@2097: writer = csv.writer(csvfile, delimiter=';') Laurent@2097: writer.writerow(['Vendor', 'product_code', 'revision_number', 'alignment']) Laurent@2097: for (vendor, product_code, revision_number), alignment in self.Alignments.iteritems(): Laurent@2097: writer.writerow([vendor, product_code, revision_number, alignment]) Laurent@2097: csvfile.close() Laurent@2097: Laurent@2097: def SetAlignment(self, vendor, product_code, revision_number, alignment): Laurent@2097: vendor = ExtractHexDecValue(vendor) Laurent@2097: product_code = ExtractHexDecValue(product_code) Laurent@2097: revision_number = ExtractHexDecValue(revision_number) Laurent@2097: Laurent@2097: self.Alignments[tuple([vendor, product_code, revision_number])] = alignment Laurent@2097: self.SaveAlignments() Laurent@2097: Laurent@2097: def GetAlignment(self, vendor, product_code, revision_number): Laurent@2097: vendor = ExtractHexDecValue(vendor) Laurent@2097: product_code = ExtractHexDecValue(product_code) Laurent@2097: revision_number = ExtractHexDecValue(revision_number) Laurent@2097: Laurent@2097: alignment = self.Alignments.get(tuple([vendor, product_code, revision_number])) Laurent@2097: if alignment is not None: Laurent@2097: return alignment Laurent@2097: Laurent@2097: if self.ParentLibrary is not None: Laurent@2097: return self.ParentLibrary.GetAlignment(vendor, product_code, revision_number) Laurent@2097: return DEFAULT_ALIGNMENT Laurent@2097: Laurent@2097: USERDATA_DIR = wx.StandardPaths.Get().GetUserDataDir() Laurent@2097: if wx.Platform != '__WXMSW__': Laurent@2097: USERDATA_DIR += '_files' Laurent@2097: Laurent@2097: ModulesDatabase = ModulesLibrary( Laurent@2097: os.path.join(USERDATA_DIR, "ethercat_modules")) Laurent@2097: Laurent@2097: class RootClass: Laurent@2097: Laurent@2097: CTNChildrenTypes = [("EthercatNode",_EthercatCTN,"Ethercat Master")] Laurent@2097: EditorType = LibraryEditor Laurent@2097: Laurent@2097: def __init__(self): Laurent@2097: self.ModulesLibrary = None Laurent@2097: self.LoadModulesLibrary() Laurent@2097: Laurent@2097: def GetModulesLibraryPath(self): Laurent@2097: return os.path.join(self.CTNPath(), "modules") Laurent@2097: Laurent@2097: def CTNGenerate_C(self, buildpath, locations): Laurent@2097: return [],"",False Laurent@2097: Laurent@2097: def LoadModulesLibrary(self): Laurent@2097: if self.ModulesLibrary is None: Laurent@2097: self.ModulesLibrary = ModulesLibrary(self.GetModulesLibraryPath(), ModulesDatabase) Laurent@2097: else: Laurent@2097: self.ModulesLibrary.LoadModulesLibrary() Laurent@2097: Laurent@2097: def GetModulesDatabaseInstance(self): Laurent@2097: return ModulesDatabase Laurent@2097: Laurent@2097: def GetModulesLibraryInstance(self): Laurent@2097: return self.ModulesLibrary Laurent@2097: Laurent@2097: def GetModulesLibrary(self, profile_filter=None): Laurent@2097: return self.ModulesLibrary.GetModulesLibrary(profile_filter) Laurent@2097: Laurent@2098: def GetVendors(self): Laurent@2098: return self.ModulesLibrary.GetVendors() Laurent@2098: Laurent@2097: def GetModuleInfos(self, module_infos): Laurent@2097: return self.ModulesLibrary.GetModuleInfos(module_infos) laurent@2041: laurent@2041: