edouard@2165: #!/usr/bin/env python edouard@2165: # -*- coding: utf-8 -*- edouard@2165: edouard@2165: # This file is part of Beremiz edouard@2165: # edouard@2165: # Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT edouard@2165: # RTES Lab : CRKim, JBLee, youcu edouard@2165: # Higen Motor : Donggu Kang edouard@2165: # edouard@2165: # See COPYING file for copyrights details. edouard@2165: kinsamanka@3750: Laurent@2111: import os Laurent@2111: Laurent@2111: import wx Laurent@2111: andrej@2396: from PLCControler import LOCATION_CONFNODE, LOCATION_VAR_INPUT Laurent@2111: andrej@2406: from MotionLibrary import AxisXSD andrej@2405: from etherlab.EthercatSlave import _EthercatSlaveCTN, _CommonSlave andrej@2405: from etherlab.ConfigEditor import CIA402NodeEditor Laurent@2111: Laurent@2153: # Definition of node variables that have to be mapped in PDO andrej@2355: # [(name, index, subindex, type, Laurent@2153: # direction for master ('I': input, 'Q': output)),...] Laurent@2111: NODE_VARIABLES = [ Laurent@2153: ("ControlWord", 0x6040, 0x00, "UINT", "Q"), Laurent@2153: ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), Laurent@2153: ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"), Laurent@2153: ("TargetTorque", 0x6071, 0x00, "INT", "Q"), Laurent@2153: ("ModesOfOperation", 0x6060, 0x00, "SINT", "Q"), Laurent@2153: ("StatusWord", 0x6041, 0x00, "UINT", "I"), Laurent@2153: ("ModesOfOperationDisplay", 0x6061, 0x00, "SINT", "I"), Laurent@2153: ("ActualPosition", 0x6064, 0x00, "DINT", "I"), Laurent@2153: ("ActualVelocity", 0x606c, 0x00, "DINT", "I"), Laurent@2153: ("ActualTorque", 0x6077, 0x00, "INT", "I"), Laurent@2111: ] Laurent@2111: Laurent@2153: # Definition of optional node variables that can be added to PDO mapping. Laurent@2153: # A checkbox will be displayed for each section in node configuration panel to Laurent@2153: # enable them andrej@2355: # [(section_name, andrej@2355: # [{'description', (name, index, subindex, type, Laurent@2153: # direction for master ('I': input, 'Q': output)), andrej@2355: # 'retrieve', string_template_for_retrieve_variable (None: not retrieved, Laurent@2153: # default string template if not defined), andrej@2355: # 'publish', string_template_for_publish_variable (None: not published, Laurent@2153: # default string template if not defined), Laurent@2153: # },...] 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@2146: ]), Laurent@2146: ("TouchProbe", [ Laurent@2146: {"description": ("TouchProbeFunction", 0x60B8, 0x00, "UINT", "Q"), Laurent@2146: "retrieve": None}, Laurent@2146: {"description": ("TouchProbeStatus", 0x60B9, 0x00, "UINT", "I"), Laurent@2146: "publish": None}, Laurent@2146: {"description": ("TouchProbePos1PosValue", 0x60BA, 0x00, "DINT", "I"), Laurent@2146: "publish": None}, Laurent@2146: {"description": ("TouchProbePos1NegValue", 0x60BB, 0x00, "DINT", "I"), Laurent@2146: "publish": None}, Laurent@2146: ]), Laurent@2111: ] Laurent@2153: Laurent@2153: # List of parameters name in no configuration panel for optional variable Laurent@2153: # sections Laurent@2153: EXTRA_NODE_VARIABLES_DICT = { andrej@2355: "Enable" + name: params Laurent@2153: for name, params in EXTRA_NODE_VARIABLES} Laurent@2153: Laurent@2153: # List of block to define to interface MCL to fieldbus for specific functions Laurent@2153: FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [ andrej@2355: {"blocktype": "GetTorqueLimit", Laurent@2111: "inputs": [], Laurent@2111: "outputs": [{"name": "TorqueLimitPos", "type": "UINT"}, Laurent@2111: {"name": "TorqueLimitNeg", "type": "UINT"}]}, andrej@2355: {"blocktype": "SetTorqueLimit", Laurent@2111: "inputs": [{"name": "TorqueLimitPos", "type": "UINT"}, Laurent@2111: {"name": "TorqueLimitNeg", "type": "UINT"}], Laurent@2111: "outputs": []}, Laurent@2111: ] Laurent@2111: andrej@2356: # -------------------------------------------------- Laurent@2111: # Ethercat CIA402 Node andrej@2356: # -------------------------------------------------- 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@2153: """ % ("\n".join(["""\ Laurent@2153: """ % category andrej@2381: for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD) andrej@2355: Laurent@2111: NODE_PROFILE = 402 Laurent@2111: EditorType = CIA402NodeEditor andrej@2355: Laurent@2111: ConfNodeMethods = [ andrej@2375: { andrej@2375: "bitmap": "CIA402AxisRef", andrej@2375: "name": _("Axis Ref"), andrej@2375: "tooltip": _("Initiate Drag'n drop of Axis ref located variable"), andrej@2375: "method": "_getCIA402AxisRef", andrej@2375: "push": True, andrej@2375: }, andrej@2375: { andrej@2375: "bitmap": "CIA402NetPos", andrej@2375: "name": _("Axis Pos"), andrej@2375: "tooltip": _("Initiate Drag'n drop of Network position located variable"), andrej@2375: "method": "_getCIA402NetworkPosition", andrej@2375: "push": True, andrej@2375: }, Laurent@2153: ] andrej@2355: andrej@2356: # -------------------------------------------------- Edouard@2152: # class code andrej@2356: # -------------------------------------------------- andrej@2355: Edouard@2152: def __init__(self): andrej@2393: _EthercatSlaveCTN.__init__(self) andrej@2393: Edouard@2152: # ----------- call ethercat mng. function -------------- Edouard@2152: self.CommonMethod = _CommonSlave(self) edouard@2641: Laurent@2111: def GetIconName(self): Laurent@2111: return "CIA402Slave" andrej@2355: 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) andrej@2355: Laurent@2111: def GetVariableLocationTree(self): Laurent@2111: axis_name = self.CTNName() Laurent@2111: current_location = self.GetCurrentLocation() andrej@2380: children = [ andrej@2380: { andrej@2380: "name": name_frmt % (axis_name), andrej@2380: "type": LOCATION_VAR_INPUT, andrej@2380: "size": "W", andrej@2380: "IEC_type": iec_type, andrej@2380: "var_name": var_name_frmt % axis_name, andrej@2380: "location": location_frmt % (".".join(map(str, current_location))), andrej@2380: "description": "", andrej@2380: "children": [] andrej@2380: } andrej@2380: for name_frmt, iec_type, var_name_frmt, location_frmt in [ andrej@2407: ("%s Network Position", "UINT", "%s_pos", "%%IW%s"), andrej@2407: ("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402") andrej@2380: ] andrej@2380: ] andrej@2407: children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), andrej@2407: current_location, andrej@2407: axis_name)) andrej@2362: return { andrej@2362: "name": axis_name, andrej@2362: "type": LOCATION_CONFNODE, andrej@2362: "location": self.GetFullIEC_Channel(), andrej@2362: "children": children, Laurent@2111: } andrej@2355: Laurent@2111: def CTNGlobalInstances(self): Laurent@2111: current_location = self.GetCurrentLocation() andrej@2355: return [("%s_%s" % (block_infos["blocktype"], Laurent@2153: "_".join(map(str, current_location))), andrej@2355: "EtherLab%s" % block_infos["blocktype"], "") Laurent@2153: for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES] andrej@2355: Laurent@2154: def StartDragNDrop(self, data): Laurent@2154: data_obj = wx.TextDataObject(str(data)) Laurent@2154: dragSource = wx.DropSource(self.GetCTRoot().AppFrame) Laurent@2154: dragSource.SetData(data_obj) Laurent@2154: dragSource.DoDragDrop() andrej@2355: Laurent@2154: def _getCIA402NetworkPosition(self): Laurent@2154: self.StartDragNDrop( andrej@2355: ("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())), Laurent@2154: "location", "UINT", self.CTNName() + "_Pos", "")) andrej@2355: Laurent@2111: def _getCIA402AxisRef(self): Laurent@2154: self.StartDragNDrop( andrej@2355: ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())), Laurent@2154: "location", "AXIS_REF", self.CTNName(), "")) edouard@2641: edouard@2641: # add jblee edouard@2641: """ edouard@2641: def LoadPDOSelectData(self): edouard@2641: ReadData = [] edouard@2641: files = os.listdir(self.CTNPath()) edouard@2641: filepath = os.path.join(self.CTNPath(), "DataForPDO.txt") edouard@2641: if os.path.isfile(filepath): edouard@2641: PDODataRead = open(filepath, 'r') edouard@2641: ReadData = PDODataRead.readlines() edouard@2641: PDODataRead.close() edouard@2641: edouard@2641: if len(ReadData) > 1: edouard@2641: for data in ReadData[0].split() : edouard@2641: if data == "RxPDO": edouard@2641: continue edouard@2641: self.SelectedRxPDOIndex.append(int(data, 0)) edouard@2641: edouard@2641: for data in ReadData[1].split() : edouard@2641: if data == "TxPDO": edouard@2641: continue edouard@2641: self.SelectedTxPDOIndex.append(int(data, 0)) edouard@2641: """ edouard@2641: edouard@2641: def LoadPDOSelectData(self): edouard@2641: RxPDOData = self.BaseParams.getRxPDO() edouard@2641: RxPDOs = [] edouard@2641: if RxPDOData != "None": edouard@2641: RxPDOs = RxPDOData.split() edouard@2641: if RxPDOs : edouard@2641: for RxPDO in RxPDOs : edouard@2641: self.SelectedRxPDOIndex.append(int(RxPDO, 0)) edouard@2641: edouard@2641: TxPDOData = self.BaseParams.getTxPDO() edouard@2641: TxPDOs = [] edouard@2641: if TxPDOData != "None": edouard@2641: TxPDOs = TxPDOData.split() edouard@2641: if TxPDOs : edouard@2641: for TxPDO in TxPDOs : edouard@2641: self.SelectedTxPDOIndex.append(int(TxPDO, 0)) edouard@2641: edouard@2641: def LoadDefaultPDOSet(self): edouard@2641: ReturnData = [] edouard@2641: rx_pdo_entries = self.CommonMethod.GetRxPDOCategory() edouard@2641: if len(rx_pdo_entries): edouard@2641: for i in range(len(rx_pdo_entries)): edouard@2641: if rx_pdo_entries[i]['sm'] is not None: edouard@2641: ReturnData.append(rx_pdo_entries[i]['pdo_index']) edouard@2641: edouard@2641: tx_pdo_entries = self.CommonMethod.GetTxPDOCategory() edouard@2641: if len(tx_pdo_entries): edouard@2641: for i in range(len(tx_pdo_entries)): edouard@2641: if tx_pdo_entries[i]['sm'] is not None: edouard@2641: ReturnData.append(tx_pdo_entries[i]['pdo_index']) edouard@2641: edouard@2641: if ReturnData : edouard@2641: return ReturnData edouard@2641: else : edouard@2641: return [5632, 6656] Laurent@2154: Laurent@2111: def CTNGenerate_C(self, buildpath, locations): Laurent@2111: current_location = self.GetCurrentLocation() andrej@2355: andrej@2391: location_str = "_".join(map(str, current_location)) andrej@2355: andrej@2355: # Open CIA402 node code template file andrej@2355: plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], Laurent@2153: "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() edouard@2641: # HSAHN 150726 edouard@2641: # add "default_variables_retrieve": [], "default_variables_publish": [], edouard@2641: # As PDO mapping object, it will add auto-complete code. edouard@2641: # add "modeofop_homing_method", "modeofop_computation_mode" by jblee edouard@2641: str_completion = { edouard@2641: "slave_pos": self.GetSlavePos(), edouard@2641: "location": location_str, edouard@2641: "MCL_headers": Headers, edouard@2641: "extern_located_variables_declaration": [], edouard@2641: "fieldbus_interface_declaration": [], edouard@2641: "fieldbus_interface_definition": [], edouard@2641: "entry_variables": [], edouard@2641: "init_axis_params": [], edouard@2641: "init_entry_variables": [], edouard@2641: "default_variables_retrieve": [], edouard@2641: "default_variables_publish": [], edouard@2641: "extra_variables_retrieve": [], edouard@2641: "extra_variables_publish": [], edouard@2641: "modeofop_homing_method": [], edouard@2641: "modeofop_computation_mode": [] edouard@2641: } edouard@2641: Laurent@2153: for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES: edouard@2641: texts = { edouard@2641: "blocktype": blocktype_infos["blocktype"], edouard@2641: "ucase_blocktype": blocktype_infos["blocktype"].upper(), edouard@2641: "location": "_".join(map(str, current_location)) edouard@2641: } edouard@2641: texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts Laurent@2153: edouard@2641: inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())}, edouard@2641: {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\ edouard@2641: [{"input_name": input["name"].upper(), edouard@2641: "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()} edouard@2641: for input in blocktype_infos["inputs"]] edouard@2641: input_texts = [] edouard@2641: for input_infos in inputs: edouard@2641: input_infos.update(texts) edouard@2641: input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos) edouard@2641: texts["extract_inputs"] = "\n".join(input_texts) Laurent@2153: edouard@2641: outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \ edouard@2641: [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]] edouard@2641: output_texts = [] edouard@2641: for output_infos in outputs: edouard@2641: output_infos.update(texts) edouard@2641: output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos) edouard@2641: texts["return_outputs"] = "\n".join(output_texts) Laurent@2153: edouard@2641: str_completion["fieldbus_interface_declaration"].append( edouard@2641: BLOCK_FUNCTION_TEMPLATE % texts) edouard@2641: edouard@2641: str_completion["fieldbus_interface_definition"].append( edouard@2641: BLOCK_FUNTION_DEFINITION_TEMPLATE % texts) edouard@2641: edouard@2641: variables = NODE_VARIABLES[:] edouard@2641: edouard@2641: #HSAHN edouard@2641: #2015. 7. 24 PDO Variable edouard@2641: #if PDO is not selected, use 1st PDO set edouard@2641: self.LoadPDOSelectData() edouard@2641: if not self.SelectedRxPDOIndex and not self.SelectedTxPDOIndex : edouard@2641: self.SelectedPDOIndex = self.LoadDefaultPDOSet() edouard@2641: else : edouard@2641: self.SelectedPDOIndex = self.SelectedRxPDOIndex + self.SelectedTxPDOIndex edouard@2641: edouard@2641: add_idx = [] edouard@2641: for i in range(len(ADD_NODE_VARIABLES)): edouard@2641: add_idx.append(ADD_NODE_VARIABLES[i]['index']) edouard@2641: edouard@2641: self.CommonMethod.RequestPDOInfo() edouard@2641: pdo_info = self.CommonMethod.GetRxPDOCategory() + self.CommonMethod.GetTxPDOCategory() edouard@2641: pdo_entry = self.CommonMethod.GetRxPDOInfo() + self.CommonMethod.GetTxPDOInfo() edouard@2641: list_index = 0 edouard@2641: ModeOfOpFlag = False edouard@2641: ModeOfOpDisplayFlag = False edouard@2641: for i in range(len(pdo_info)): edouard@2641: #if pdo_index is in the SelectedPDOIndex: put the PDO mapping information intto the "used" object edouard@2641: if pdo_info[i]['pdo_index'] in self.SelectedPDOIndex: edouard@2641: used = pdo_entry[list_index:list_index + pdo_info[i]['number_of_entry']] edouard@2641: for used_data in used: edouard@2641: # 24672 -> 0x6060, Mode of Operation edouard@2641: if used_data['entry_index'] == 24672: edouard@2641: ModeOfOpFlag = True edouard@2641: # 24673 -> 0x6061, Mode of Operation Display edouard@2641: elif used_data["entry_index"] == 24673: edouard@2641: ModeOfOpDisplayFlag = True edouard@2641: edouard@2641: if used_data['entry_index'] in add_idx: edouard@2641: idx = add_idx.index(used_data['entry_index']) edouard@2641: adder = list([ADD_NODE_VARIABLES[idx]['name'], ADD_NODE_VARIABLES[idx]['index'], \ edouard@2641: ADD_NODE_VARIABLES[idx]['sub-index'], ADD_NODE_VARIABLES[idx]['type'], \ edouard@2641: ADD_NODE_VARIABLES[idx]['direction']]) edouard@2641: variables.append(adder) edouard@2641: if ADD_NODE_VARIABLES[idx]['direction'] == "Q": edouard@2641: parsed_string = ADD_NODE_VARIABLES[idx]['name'].replace("Target", "") edouard@2641: # add jblee edouard@2641: check_q_data = " *(AxsPub.Target%s) = AxsPub.axis->Raw%sSetPoint;" %(parsed_string, parsed_string) edouard@2641: if check_q_data not in str_completion["default_variables_publish"]: edouard@2641: str_completion["default_variables_publish"].append(check_q_data) edouard@2641: elif ADD_NODE_VARIABLES[idx]['direction'] == "I": edouard@2641: parsed_string = ADD_NODE_VARIABLES[idx]['name'].replace("Actual", "") edouard@2641: # add jblee edouard@2641: check_i_data = " AxsPub.axis->ActualRaw%s = *(AxsPub.Actual%s);" %(parsed_string, parsed_string) edouard@2641: if check_i_data not in str_completion["default_variables_retrieve"]: edouard@2641: str_completion["default_variables_retrieve"].append(check_i_data) edouard@2641: list_index += pdo_info[i]['number_of_entry'] edouard@2641: #HSAHN END edouard@2641: edouard@2641: params = self.CTNParams[1].getElementInfos(self.CTNParams[0]) edouard@2641: for param in params["children"]: edouard@2641: if param["name"] in EXTRA_NODE_VARIABLES_DICT: edouard@2641: if param["value"]: edouard@2641: extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"]) edouard@2641: for variable_infos in extra_variables: edouard@2641: var_infos = { edouard@2641: "location": location_str, edouard@2641: "name": variable_infos["description"][0] edouard@2641: } edouard@2641: variables.append(variable_infos["description"]) edouard@2641: retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE) edouard@2641: publish_template = variable_infos.get("publish", DEFAULT_PUBLISH) Laurent@2153: edouard@2641: if retrieve_template is not None: edouard@2641: str_completion["extra_variables_retrieve"].append( edouard@2641: retrieve_template % var_infos) edouard@2641: if publish_template is not None: edouard@2641: str_completion["extra_variables_publish"].append( edouard@2641: publish_template % var_infos) edouard@2641: edouard@2641: #elif param["value"] is not None: Laurent@2155: if param["value"] is not None: edouard@2641: param_infos = { edouard@2641: "location": location_str, edouard@2641: "param_name": param["name"], edouard@2641: } edouard@2641: if param["type"] == "boolean": edouard@2641: param_infos["param_value"] = {True: "1", False: "0"}[param["value"]] edouard@2641: param_infos["param_name"] = param["name"].replace("Enable", "") + "Enabled" edouard@2641: if param["value"] == False: edouard@2641: continue edouard@2641: else: edouard@2641: param_infos["param_value"] = str(param["value"]) edouard@2641: # param_name = param_name.replace("Enable", "") + "Enabled" edouard@2641: str_completion["init_axis_params"].append( edouard@2641: " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos) edouard@2641: edouard@2641: check_variable = [] edouard@2641: for variable in variables: edouard@2641: # add jblee edouard@2641: if variable in check_variable: edouard@2641: continue edouard@2641: kinsamanka@3750: var_infos = dict(list(zip(["name", "index", "subindex", "var_type", "dir"], variable))) edouard@2641: var_infos["location"] = location_str edouard@2641: var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"]) edouard@2641: var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos edouard@2641: edouard@2641: # add jblee edouard@2641: if var_infos["index"] in [24672] and ModeOfOpFlag: edouard@2641: str_completion["modeofop_homing_method"].append(MODEOFOP_HOMING_METHOD_TEMPLATE) edouard@2641: str_completion["modeofop_computation_mode"].append(MODEOFOP_COMPUTATION_MODE_TEMPLATE) edouard@2641: edouard@2641: # add jblee edouard@2641: if var_infos["index"] in [24672, 24673] and (not ModeOfOpFlag or not ModeOfOpDisplayFlag): edouard@2641: continue edouard@2641: edouard@2641: str_completion["extern_located_variables_declaration"].append( edouard@2641: "IEC_%(var_type)s *%(var_name)s;" % var_infos) edouard@2641: str_completion["entry_variables"].append( edouard@2641: " IEC_%(var_type)s *%(name)s;" % var_infos) edouard@2641: str_completion["init_entry_variables"].append( edouard@2641: " __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos) Laurent@2111: Laurent@2111: self.CTNParent.FileGenerator.DeclareVariable( edouard@2641: self.GetSlavePos(), var_infos["index"], var_infos["subindex"], edouard@2641: var_infos["var_type"], var_infos["dir"], var_infos["var_name"]) edouard@2641: edouard@2641: # add jblee edouard@2641: check_variable.append(variable) edouard@2641: edouard@2641: for element in ["extern_located_variables_declaration", edouard@2641: "fieldbus_interface_declaration", edouard@2641: "fieldbus_interface_definition", edouard@2641: "entry_variables", edouard@2641: "init_axis_params", edouard@2641: "init_entry_variables", edouard@2641: "default_variables_retrieve", edouard@2641: "default_variables_publish", edouard@2641: "extra_variables_retrieve", edouard@2641: "extra_variables_publish", edouard@2641: "modeofop_homing_method", edouard@2641: "modeofop_computation_mode"]: edouard@2641: str_completion[element] = "\n".join(str_completion[element]) edouard@2641: edouard@2641: Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str) Laurent@2111: cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') edouard@2641: cia402nodefile.write(plc_cia402node_code % str_completion) Laurent@2111: cia402nodefile.close() andrej@2355: andrej@2363: return [(Gen_CIA402Nodefile_path, '"-I%s"' % os.path.abspath(self.GetCTRoot().GetIECLibPath()))], "", True