Laurent@2111: import os Laurent@2111: Laurent@2111: import wx Laurent@2111: Laurent@2111: from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY Laurent@2111: Laurent@2111: from MotionLibrary import Headers, AxisXSD Laurent@2111: from EthercatSlave import _EthercatSlaveCTN Laurent@2111: from ConfigEditor import CIA402NodeEditor Laurent@2111: Laurent@2111: NODE_VARIABLES = [ Laurent@2111: ("ControlWord", 0x6040, 0x00, "UINT", "Q"), Laurent@2111: ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), Laurent@2136: ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"), Laurent@2136: ("TargetTorque", 0x6071, 0x00, "INT", "Q"), Laurent@2111: ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"), Laurent@2111: ("StatusWord", 0x6041, 0x00, "UINT", "I"), Laurent@2111: ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"), Laurent@2111: ("ActualPosition", 0x6064, 0x00, "DINT", "I"), Laurent@2136: ("ActualVelocity", 0x606c, 0x00, "DINT", "I"), Laurent@2136: ("ActualTorque", 0x6077, 0x00, "INT", "I"), Laurent@2111: ] Laurent@2111: Laurent@2111: DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);" Laurent@2111: DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;" Laurent@2111: Laurent@2111: EXTRA_NODE_VARIABLES = [ Laurent@2111: ("ErrorCode", [ Laurent@2111: {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"), Laurent@2111: "publish": None} Laurent@2111: ]), Laurent@2111: ("DigitalInputs", [ Laurent@2111: {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"), Laurent@2111: "publish": None} Laurent@2111: ]), Laurent@2111: ("DigitalOutputs", [ Laurent@2111: {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"), Laurent@2111: "retrieve": None} Laurent@2111: ]) Laurent@2111: ] Laurent@2111: EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES]) Laurent@2111: Laurent@2111: BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s->,%(input_name)s, %(input_value)s);" Laurent@2111: BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s->%(output_name)s));" Laurent@2111: Laurent@2111: BLOCK_FUNCTION_TEMPLATE = """ Laurent@2111: extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__); Laurent@2111: void __%(blocktype)s_%(location)s(MC_%(ucase_blocktype)s *data__) { Laurent@2111: __DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s); Laurent@2111: ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s(); Laurent@2111: %(extract_inputs)s Laurent@2111: ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s); Laurent@2111: %(return_outputs)s Laurent@2111: } Laurent@2111: """ Laurent@2111: Laurent@2118: BLOCK_FUNTION_DEFINITION_TEMPLATE = " __CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;" Laurent@2111: Laurent@2111: GLOBAL_INSTANCES = [ Laurent@2111: {"blocktype": "GetTorqueLimit", Laurent@2111: "inputs": [], Laurent@2111: "outputs": [{"name": "TorqueLimitPos", "type": "UINT"}, Laurent@2111: {"name": "TorqueLimitNeg", "type": "UINT"}]}, Laurent@2111: {"blocktype": "SetTorqueLimit", Laurent@2111: "inputs": [{"name": "TorqueLimitPos", "type": "UINT"}, Laurent@2111: {"name": "TorqueLimitNeg", "type": "UINT"}], Laurent@2111: "outputs": []}, Laurent@2111: ] Laurent@2111: Laurent@2111: #-------------------------------------------------- Laurent@2111: # Ethercat CIA402 Node Laurent@2111: #-------------------------------------------------- Laurent@2111: Laurent@2111: class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN): Laurent@2111: XSD = """ Laurent@2111: Laurent@2111: Laurent@2111: Laurent@2111: %s Laurent@2111: Laurent@2111: Laurent@2111: Laurent@2111: """ % ("\n".join(['' % category Laurent@2111: for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD) Laurent@2111: Laurent@2111: NODE_PROFILE = 402 Laurent@2111: EditorType = CIA402NodeEditor Laurent@2111: Laurent@2111: ConfNodeMethods = [ Laurent@2111: {"bitmap" : "CIA402AxisRef", Laurent@2111: "name" : _("Axis Ref"), Laurent@2111: "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"), Laurent@2111: "method" : "_getCIA402AxisRef", Laurent@2111: "push": True}, Laurent@2111: ] Laurent@2111: Laurent@2111: def GetIconName(self): Laurent@2111: return "CIA402Slave" Laurent@2111: Laurent@2111: def SetParamsAttribute(self, path, value): Laurent@2111: if path == "CIA402SlaveParams.Type": Laurent@2111: path = "SlaveParams.Type" Laurent@2111: elif path == "CIA402SlaveParams.Alias": Laurent@2111: path = "SlaveParams.Alias" Laurent@2111: return _EthercatSlaveCTN.SetParamsAttribute(self, path, value) Laurent@2111: Laurent@2111: def GetVariableLocationTree(self): Laurent@2111: axis_name = self.CTNName() Laurent@2111: current_location = self.GetCurrentLocation() Laurent@2111: children = [{"name": "%s Axis Ref" % (axis_name), Laurent@2111: "type": LOCATION_VAR_INPUT, Laurent@2111: "size": "W", Laurent@2111: "IEC_type": "AXIS_REF", Laurent@2111: "var_name": axis_name, Laurent@2111: "location": "%%IW%s.0" % (".".join(map(str, current_location))), Laurent@2111: "description": "", Laurent@2111: "children": []}] Laurent@2111: children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), current_location, axis_name)) Laurent@2111: return {"name": axis_name, Laurent@2111: "type": LOCATION_CONFNODE, Laurent@2111: "location": self.GetFullIEC_Channel(), Laurent@2111: "children": children, Laurent@2111: } Laurent@2111: Laurent@2111: def CTNGlobalInstances(self): Laurent@2111: current_location = self.GetCurrentLocation() Laurent@2111: return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location))), Laurent@2111: "EtherLab%s" % block_infos["blocktype"]) for block_infos in GLOBAL_INSTANCES] Laurent@2111: Laurent@2111: def _getCIA402AxisRef(self): Laurent@2111: data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())), Laurent@2111: "location", "AXIS_REF", self.CTNName(), ""))) Laurent@2111: dragSource = wx.DropSource(self.GetCTRoot().AppFrame) Laurent@2111: dragSource.SetData(data) Laurent@2111: dragSource.DoDragDrop() Laurent@2111: Laurent@2111: def CTNGenerate_C(self, buildpath, locations): Laurent@2111: current_location = self.GetCurrentLocation() Laurent@2111: Laurent@2111: location_str = "_".join(map(lambda x:str(x), current_location)) Laurent@2111: Laurent@2111: plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c") Laurent@2111: plc_cia402node_file = open(plc_cia402node_filepath, 'r') Laurent@2111: plc_cia402node_code = plc_cia402node_file.read() Laurent@2111: plc_cia402node_file.close() Laurent@2111: Laurent@2111: str_completion = { Laurent@2111: "slave_pos": self.GetSlavePos(), Laurent@2111: "location": location_str, Laurent@2111: "MCL_headers": Headers, Laurent@2111: "extern_located_variables_declaration": [], Laurent@2111: "fieldbus_interface_declaration": [], Laurent@2111: "fieldbus_interface_definition": [], Laurent@2111: "entry_variables": [], Laurent@2111: "init_axis_params": [], Laurent@2111: "init_entry_variables": [], Laurent@2111: "extra_variables_retrieve": [], Laurent@2111: "extra_variables_publish": [] Laurent@2111: } Laurent@2111: Laurent@2111: for blocktype_infos in GLOBAL_INSTANCES: Laurent@2111: texts = { Laurent@2111: "blocktype": blocktype_infos["blocktype"], Laurent@2111: "ucase_blocktype": blocktype_infos["blocktype"].upper(), Laurent@2111: "location": "_".join(map(str, current_location)) Laurent@2111: } Laurent@2111: texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts Laurent@2111: Laurent@2111: inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())}, Laurent@2111: {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\ Laurent@2111: [{"input_name": input["name"].upper(), Laurent@2111: "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()} Laurent@2111: for input in blocktype_infos["inputs"]] Laurent@2111: input_texts = [] Laurent@2111: for input_infos in inputs: Laurent@2111: input_infos.update(texts) Laurent@2111: input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos) Laurent@2111: texts["extract_inputs"] = "\n".join(input_texts) Laurent@2111: Laurent@2111: outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \ Laurent@2111: [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]] Laurent@2111: output_texts = [] Laurent@2111: for output_infos in outputs: Laurent@2111: output_infos.update(texts) Laurent@2111: output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos) Laurent@2111: texts["return_outputs"] = "\n".join(output_texts) Laurent@2111: Laurent@2111: str_completion["fieldbus_interface_declaration"].append( Laurent@2111: BLOCK_FUNCTION_TEMPLATE % texts) Laurent@2111: Laurent@2111: str_completion["fieldbus_interface_definition"].append( Laurent@2111: BLOCK_FUNTION_DEFINITION_TEMPLATE % texts) Laurent@2111: Laurent@2111: variables = NODE_VARIABLES[:] Laurent@2111: Laurent@2111: params = self.CTNParams[1].getElementInfos(self.CTNParams[0]) Laurent@2111: for param in params["children"]: Laurent@2111: if param["name"] in EXTRA_NODE_VARIABLES_DICT: Laurent@2111: if param["value"]: Laurent@2111: extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"]) Laurent@2111: for variable_infos in extra_variables: Laurent@2111: var_infos = { Laurent@2111: "location": location_str, Laurent@2111: "name": variable_infos["description"][0] Laurent@2111: } Laurent@2111: variables.append(variable_infos["description"]) Laurent@2111: retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE) Laurent@2111: publish_template = variable_infos.get("publish", DEFAULT_PUBLISH) Laurent@2111: Laurent@2111: if retrieve_template is not None: Laurent@2111: str_completion["extra_variables_retrieve"].append( Laurent@2111: retrieve_template % var_infos) Laurent@2111: if publish_template is not None: Laurent@2111: str_completion["extra_variables_publish"].append( Laurent@2111: publish_template % var_infos) Laurent@2111: elif param["value"] is not None: Laurent@2111: param_infos = { Laurent@2111: "location": location_str, Laurent@2111: "param_name": param["name"], Laurent@2111: } Laurent@2111: if param["type"] == "boolean": Laurent@2111: param_infos["param_value"] = {True: "true", False: "false"}[param["value"]] Laurent@2111: else: Laurent@2111: param_infos["param_value"] = str(param["value"]) Laurent@2111: str_completion["init_axis_params"].append( Laurent@2111: " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos) Laurent@2111: Laurent@2111: for variable in variables: Laurent@2111: var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable)) Laurent@2111: var_infos["location"] = location_str Laurent@2111: var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"]) Laurent@2111: var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos Laurent@2111: Laurent@2111: str_completion["extern_located_variables_declaration"].append( Laurent@2111: "IEC_%(var_type)s *%(var_name)s;" % var_infos) Laurent@2111: str_completion["entry_variables"].append( Laurent@2111: " IEC_%(var_type)s *%(name)s;" % var_infos) Laurent@2111: str_completion["init_entry_variables"].append( Laurent@2111: " __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos) Laurent@2111: Laurent@2111: self.CTNParent.FileGenerator.DeclareVariable( Laurent@2111: self.GetSlavePos(), var_infos["index"], var_infos["subindex"], Laurent@2111: var_infos["var_type"], var_infos["dir"], var_infos["var_name"]) Laurent@2111: Laurent@2111: for element in ["extern_located_variables_declaration", Laurent@2111: "fieldbus_interface_declaration", Laurent@2111: "fieldbus_interface_definition", Laurent@2111: "entry_variables", Laurent@2111: "init_axis_params", Laurent@2111: "init_entry_variables", Laurent@2111: "extra_variables_retrieve", Laurent@2111: "extra_variables_publish"]: Laurent@2111: str_completion[element] = "\n".join(str_completion[element]) Laurent@2111: Laurent@2111: Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str) Laurent@2111: cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') Laurent@2111: cia402nodefile.write(plc_cia402node_code % str_completion) Laurent@2111: cia402nodefile.close() Laurent@2111: Laurent@2111: return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True