laurent@2022: import os, shutil laurent@2022: import cPickle laurent@2022: from xml.dom import minidom laurent@2022: laurent@2022: import wx laurent@2022: laurent@2022: from xmlclass import * laurent@2023: from PLCControler import UndoBuffer, LOCATION_PLUGIN, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY laurent@2022: from ConfigEditor import ConfigEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE laurent@2022: laurent@2022: TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L", laurent@2022: "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L", laurent@2022: "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"} laurent@2022: laurent@2022: DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64", laurent@2022: "USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64", laurent@2022: "BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"} laurent@2022: laurent@2029: VARCLASSCONVERSION = {"ro": LOCATION_VAR_INPUT, "wo": LOCATION_VAR_OUTPUT, "rw": LOCATION_VAR_MEMORY} 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@2022: cls = EtherCATConfigClasses.get("Config_Slave", None) laurent@2022: if cls: laurent@2022: laurent@2022: def getType(self): laurent@2022: slave_info = self.getInfo() laurent@2022: return {"device_type": slave_info.getName(), laurent@2022: "vendor": GenerateHexDecValue(slave_info.getVendorId()), laurent@2022: "product_code": GenerateHexDecValue(slave_info.getProductCode(), 16), laurent@2022: "revision_number": GenerateHexDecValue(slave_info.getRevisionNo(), 16)} laurent@2022: setattr(cls, "getType", getType) laurent@2022: laurent@2022: def setType(self, type_infos): laurent@2022: slave_info = self.getInfo() laurent@2022: slave_info.setName(type_infos["device_type"]) laurent@2022: slave_info.setVendorId(ExtractHexDecValue(type_infos["vendor"])) laurent@2022: slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"])) laurent@2022: slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"])) laurent@2022: setattr(cls, "setType", setType) laurent@2022: laurent@2022: cls = EtherCATConfigClasses.get("Slave_Info", None) laurent@2022: if cls: laurent@2022: laurent@2022: def getSlavePosition(self): laurent@2022: return self.getPhysAddr(), self.getAutoIncAddr() laurent@2022: setattr(cls, "getSlavePosition", getSlavePosition) laurent@2022: laurent@2022: def setSlavePosition(self, alias, pos): laurent@2022: self.setPhysAddr(alias) laurent@2022: self.setAutoIncAddr(pos) laurent@2022: setattr(cls, "setSlavePosition", setSlavePosition) laurent@2022: laurent@2022: class _EthercatPlug: laurent@2022: XSD = """ laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: """ laurent@2023: EditorType = ConfigEditor laurent@2022: laurent@2022: def __init__(self): laurent@2022: filepath = self.ConfigFileName() laurent@2022: laurent@2022: self.Config = EtherCATConfigClasses["EtherCATConfig"]() laurent@2022: if os.path.isfile(filepath): laurent@2022: xmlfile = open(filepath, 'r') laurent@2022: tree = minidom.parse(xmlfile) laurent@2022: xmlfile.close() laurent@2022: laurent@2022: for child in tree.childNodes: laurent@2022: if child.nodeType == tree.ELEMENT_NODE and child.nodeName == "EtherCATConfig": laurent@2022: self.Config.loadXMLTree(child, ["xmlns:xsi", "xsi:noNamespaceSchemaLocation"]) laurent@2022: self.CreateConfigBuffer(True) laurent@2022: else: laurent@2022: self.CreateConfigBuffer(False) laurent@2022: self.OnPlugSave() laurent@2022: laurent@2022: def ExtractHexDecValue(self, value): laurent@2022: return ExtractHexDecValue(value) laurent@2022: laurent@2022: def GetSizeOfType(self, type): laurent@2022: return TYPECONVERSION.get(self.GetPlugRoot().GetBaseType(type), None) laurent@2022: laurent@2022: def ConfigFileName(self): laurent@2022: return os.path.join(self.PlugPath(), "config.xml") laurent@2022: laurent@2022: def GetSlaves(self): laurent@2022: slaves = [] laurent@2022: for slave in self.Config.getConfig().getSlave(): laurent@2022: slaves.append(slave.getInfo().getSlavePosition()) laurent@2022: slaves.sort() laurent@2022: return slaves laurent@2022: laurent@2022: def GetSlave(self, slave_pos): laurent@2022: for slave in self.Config.getConfig().getSlave(): laurent@2022: slave_info = slave.getInfo() laurent@2022: if slave_info.getSlavePosition() == slave_pos: laurent@2022: return slave laurent@2022: return None laurent@2022: laurent@2022: def AddSlave(self): laurent@2022: slaves = self.GetSlaves() laurent@2022: if len(slaves) > 0: laurent@2022: new_pos = (slaves[-1][0] + 1, 0) laurent@2022: else: laurent@2022: new_pos = (0, 0) laurent@2022: slave = EtherCATConfigClasses["Config_Slave"]() laurent@2022: slave_infos = slave.getInfo() laurent@2022: slave_infos.setName("undefined") laurent@2022: slave_infos.setSlavePosition(new_pos[0], new_pos[1]) laurent@2022: self.Config.getConfig().appendSlave(slave) laurent@2022: self.BufferConfig() laurent@2022: return new_pos laurent@2022: laurent@2022: def RemoveSlave(self, slave_pos): laurent@2022: config = self.Config.getConfig() laurent@2022: for idx, slave in enumerate(config.getSlave()): laurent@2022: slave_infos = slave.getInfo() laurent@2022: if slave_infos.getSlavePosition() == slave_pos: laurent@2022: config.removeSlave(idx) laurent@2022: self.BufferConfig() laurent@2022: return True laurent@2022: return False laurent@2022: laurent@2022: def SetSlavePos(self, slave_pos, alias=None, position=None): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: slave_info = slave.getInfo() laurent@2022: new_pos = slave_pos laurent@2022: if alias is not None: laurent@2022: new_pos = (alias, new_pos[1]) laurent@2022: if position is not None: laurent@2022: new_pos = (new_pos[0], position) laurent@2022: if self.GetSlave(new_pos) is not None: laurent@2022: return _("Slave with position \"%d:%d\" already exists!" % new_pos) laurent@2022: slave_info.setSlavePosition(*new_pos) laurent@2022: self.BufferConfig() laurent@2022: return None laurent@2022: laurent@2022: def GetSlaveType(self, slave_pos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: return slave.getType() laurent@2022: return None laurent@2022: laurent@2022: def SetSlaveType(self, slave_pos, type_infos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: slave.setType(type_infos) laurent@2022: self.BufferConfig() laurent@2022: return None laurent@2022: laurent@2022: def GetSlaveInfos(self, slave_pos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: type_infos = slave.getType() laurent@2022: device = self.GetModuleInfos(type_infos) laurent@2022: if device is not None: laurent@2022: infos = type_infos.copy() laurent@2029: entries = device.GetEntriesList() laurent@2029: entries_list = entries.items() laurent@2029: entries_list.sort() laurent@2022: infos.update({"physics": device.getPhysics(), laurent@2029: "sync_managers": device.GetSyncManagers(), laurent@2029: "entries": [entry[1] for entry in entries_list]}) laurent@2022: return infos laurent@2022: return None laurent@2022: laurent@2022: def GetModuleInfos(self, type_infos): laurent@2022: return self.PlugParent.GetModuleInfos(type_infos) laurent@2022: laurent@2022: def GetSlaveTypesLibrary(self): laurent@2022: return self.PlugParent.GetModulesLibrary() laurent@2022: laurent@2023: def GetVariableLocationTree(self): laurent@2023: '''See PlugTemplate.GetVariableLocationTree() for a description.''' laurent@2023: laurent@2023: current_location = self.GetCurrentLocation() laurent@2023: laurent@2023: groups = [] laurent@2023: for slave_pos in self.GetSlaves(): laurent@2023: laurent@2023: slave = self.GetSlave(slave_pos) laurent@2023: if slave is not None: laurent@2023: type_infos = slave.getType() laurent@2022: laurent@2023: device = self.GetModuleInfos(type_infos) laurent@2023: if device is not None: laurent@2023: vars = [] laurent@2023: laurent@2023: sync_managers = [] laurent@2023: for sync_manager in device.getSm(): laurent@2023: sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) laurent@2023: sync_manager_direction = sync_manager_control_byte & 0x0c laurent@2023: if sync_manager_direction: laurent@2023: sync_managers.append(LOCATION_VAR_OUTPUT) laurent@2023: else: laurent@2023: sync_managers.append(LOCATION_VAR_INPUT) laurent@2023: laurent@2029: entries = device.GetEntriesList().items() laurent@2029: entries.sort() laurent@2029: for (index, subindex), entry in entries: laurent@2029: var_size = self.GetSizeOfType(entry["Type"]) laurent@2029: if var_size is not None: laurent@2029: var_class = VARCLASSCONVERSION.get(entry["Access"], LOCATION_VAR_MEMORY) laurent@2023: if var_class == LOCATION_VAR_INPUT: laurent@2023: var_dir = "%I" laurent@2023: else: laurent@2023: var_dir = "%Q" laurent@2023: laurent@2029: vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]), laurent@2023: "type": var_class, laurent@2023: "size": var_size, laurent@2029: "IEC_type": entry["Type"], laurent@2029: "var_name": "%s_%4.4x_%2.2x" % (type_infos["device_type"], index, subindex), laurent@2023: "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location + laurent@2023: slave_pos + laurent@2023: (index, subindex)))), laurent@2023: "description": "", laurent@2023: "children": []}) laurent@2023: laurent@2023: groups.append({"name": "%s (%d,%d)" % ((type_infos["device_type"],) + slave_pos), laurent@2023: "type": LOCATION_GROUP, laurent@2023: "location": ".".join(map(str, current_location + slave_pos)) + ".x", laurent@2023: "children": vars}) laurent@2023: laurent@2023: return {"name": self.BaseParams.getName(), laurent@2023: "type": LOCATION_PLUGIN, laurent@2023: "location": self.GetFullIEC_Channel(), laurent@2023: "children": groups} laurent@2023: laurent@2022: PluginMethods = [ laurent@2022: {"bitmap" : os.path.join("images", "EditCfile"), laurent@2022: "name" : _("Edit Config"), laurent@2022: "tooltip" : _("Edit Config"), laurent@2022: "method" : "_OpenView"}, laurent@2022: ] laurent@2022: laurent@2022: def PlugTestModified(self): laurent@2022: return self.ChangesToSave or not self.ConfigIsSaved() laurent@2022: laurent@2022: def OnPlugSave(self): laurent@2022: filepath = self.ConfigFileName() laurent@2022: laurent@2022: text = "\n" laurent@2022: extras = {"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance", laurent@2022: "xsi:noNamespaceSchemaLocation" : "EtherCATInfo.xsd"} laurent@2022: text += self.Config.generateXMLText("EtherCATConfig", 0, extras) laurent@2022: laurent@2022: xmlfile = open(filepath,"w") laurent@2022: xmlfile.write(text.encode("utf-8")) laurent@2022: xmlfile.close() laurent@2022: laurent@2022: self.ConfigBuffer.CurrentSaved() laurent@2022: return True laurent@2022: laurent@2022: def PlugGenerate_C(self, buildpath, locations): laurent@2022: """ laurent@2022: Generate C code laurent@2022: @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5) laurent@2022: @param locations: List of complete variables locations \ laurent@2022: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) laurent@2022: "NAME" : name of the variable (generally "__IW0_1_2" style) laurent@2022: "DIR" : direction "Q","I" or "M" laurent@2022: "SIZE" : size "X", "B", "W", "D", "L" laurent@2022: "LOC" : tuple of interger for IEC location (0,1,2,...) laurent@2022: }, ...] laurent@2022: @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND laurent@2022: """ laurent@2022: current_location = self.GetCurrentLocation() laurent@2022: # define a unique name for the generated C file laurent@2022: location_str = "_".join(map(lambda x:str(x), current_location)) laurent@2022: laurent@2022: Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str) laurent@2022: laurent@2022: file_generator = _EthercatCFileGenerator(self, Gen_Ethercatfile_path) laurent@2022: laurent@2022: for location in locations: laurent@2022: loc = location["LOC"][len(current_location):] laurent@2022: file_generator.DeclareVariable(loc[:2], loc[2], loc[3], location["IEC_TYPE"], location["DIR"], location["NAME"]) laurent@2022: laurent@2022: file_generator.GenerateCFile() laurent@2022: laurent@2022: return [(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))], "-lethercat -lrtdm", True laurent@2022: laurent@2022: #------------------------------------------------------------------------------- laurent@2022: # Current Buffering Management Functions laurent@2022: #------------------------------------------------------------------------------- laurent@2022: laurent@2022: """ laurent@2022: Return a copy of the config laurent@2022: """ laurent@2022: def Copy(self, model): laurent@2022: return cPickle.loads(cPickle.dumps(model)) laurent@2022: laurent@2022: def CreateConfigBuffer(self, saved): laurent@2022: self.ConfigBuffer = UndoBuffer(cPickle.dumps(self.Config), saved) laurent@2022: laurent@2022: def BufferConfig(self): laurent@2022: self.ConfigBuffer.Buffering(cPickle.dumps(self.Config)) laurent@2022: laurent@2022: def ConfigIsSaved(self): laurent@2022: if self.ConfigBuffer is not None: laurent@2022: return self.ConfigBuffer.IsCurrentSaved() laurent@2022: else: laurent@2022: return True laurent@2022: laurent@2022: def LoadPrevious(self): laurent@2022: self.Config = cPickle.loads(self.ConfigBuffer.Previous()) laurent@2022: laurent@2022: def LoadNext(self): laurent@2022: self.Config = cPickle.loads(self.ConfigBuffer.Next()) laurent@2022: laurent@2022: def GetBufferState(self): laurent@2022: first = self.ConfigBuffer.IsFirst() laurent@2022: last = self.ConfigBuffer.IsLast() laurent@2022: return not first, not last laurent@2022: laurent@2022: laurent@2022: SLAVE_PDOS_CONFIGURATION_DECLARATION = """ laurent@2022: /* Slave %(slave)d, "%(device_type)s" laurent@2022: * Vendor ID: 0x%(vendor).8x laurent@2022: * Product code: 0x%(product_code).8x laurent@2022: * Revision number: 0x%(revision_number).8x laurent@2022: */ laurent@2022: laurent@2022: ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = { laurent@2022: %(pdos_entries_infos)s laurent@2022: }; laurent@2022: laurent@2022: ec_pdo_info_t slave_%(slave)d_pdos[] = { laurent@2022: %(pdos_infos)s laurent@2022: }; laurent@2022: laurent@2022: ec_sync_info_t slave_%(slave)d_syncs[] = { laurent@2022: %(pdos_sync_infos)s laurent@2022: {0xff} laurent@2022: }; laurent@2022: """ laurent@2022: laurent@2022: SLAVE_CONFIGURATION_TEMPLATE = """ laurent@2022: if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) { laurent@2022: fprintf(stderr, "Failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.\\n"); laurent@2022: return -1; laurent@2022: } laurent@2022: laurent@2022: if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) { laurent@2022: fprintf(stderr, "Failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.\\n"); laurent@2022: return -1; laurent@2022: } laurent@2022: """ laurent@2022: laurent@2029: def ConfigureVariable(entry_infos, str_completion): laurent@2029: data_type = DATATYPECONVERSION.get(entry_infos["var_type"], None) laurent@2029: if data_type is None: laurent@2029: raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"] laurent@2031: laurent@2029: str_completion["located_variables_declaration"].extend( laurent@2029: ["IEC_%(var_type)s beremiz%(var_name)s;" % entry_infos, laurent@2029: "IEC_%(var_type)s *%(var_name)s = &beremiz%(var_name)s;" % entry_infos]) laurent@2029: laurent@2029: if data_type == "BIT": laurent@2029: str_completion["used_pdo_entry_offset_variables_declaration"].extend( laurent@2029: ["static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos, laurent@2029: "static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos]) laurent@2029: laurent@2029: str_completion["used_pdo_entry_configuration"].append( laurent@2029: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + laurent@2029: "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2029: "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos) laurent@2029: laurent@2029: if entry_infos["dir"] == "I": laurent@2029: str_completion["retrieve_variables"].append( laurent@2029: (" beremiz%(name)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2029: "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos) laurent@2029: elif entry_infos["dir"] == "Q": laurent@2029: str_completion["publish_variables"].append( laurent@2029: (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2029: "slave%(slave)d_%(index).4x_%(subindex).2x_bit, beremiz%(var_name)s);") % entry_infos) laurent@2029: laurent@2029: else: laurent@2029: entry_infos["data_type"] = data_type laurent@2029: laurent@2029: str_completion["used_pdo_entry_offset_variables_declaration"].append( laurent@2029: "static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) laurent@2029: laurent@2029: str_completion["used_pdo_entry_configuration"].append( laurent@2029: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + laurent@2029: "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos) laurent@2029: laurent@2029: if entry_infos["dir"] == "I": laurent@2029: str_completion["retrieve_variables"].append( laurent@2031: (" beremiz%(var_name)s = EC_READ_%(data_type)s(domain1_pd + " + laurent@2029: "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos) laurent@2029: elif entry_infos["dir"] == "Q": laurent@2029: str_completion["publish_variables"].append( laurent@2031: (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2029: "beremiz%(var_name)s);") % entry_infos) laurent@2029: laurent@2029: laurent@2022: class _EthercatCFileGenerator: laurent@2022: laurent@2022: def __init__(self, controler, filepath): laurent@2022: self.Controler = controler laurent@2022: self.FilePath = filepath laurent@2022: laurent@2022: self.UsedVariables = {} laurent@2022: laurent@2022: def __del__(self): laurent@2022: self.Controler = None laurent@2022: laurent@2022: def DeclareVariable(self, slave_identifier, index, subindex, iec_type, dir, name): laurent@2022: slave_variables = self.UsedVariables.setdefault(slave_identifier, {}) laurent@2022: laurent@2022: entry_infos = slave_variables.get((index, subindex), None) laurent@2022: if entry_infos is None: laurent@2029: slave_variables[(index, subindex)] = { laurent@2029: "infos": (iec_type, dir, name), laurent@2029: "mapped": False} laurent@2029: elif entry_infos["infos"] != (iec_type, dir, name): laurent@2022: raise ValueError, _("Definition conflict for location \"%s\"") % name laurent@2029: laurent@2022: def GenerateCFile(self): laurent@2022: laurent@2022: current_location = self.Controler.GetCurrentLocation() laurent@2022: # define a unique name for the generated C file laurent@2022: location_str = "_".join(map(lambda x:str(x), current_location)) laurent@2022: laurent@2022: plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c") laurent@2022: plc_etherlab_file = open(plc_etherlab_filepath, 'r') laurent@2022: plc_etherlab_code = plc_etherlab_file.read() laurent@2022: plc_etherlab_file.close() laurent@2022: laurent@2022: str_completion = { laurent@2022: "location": location_str, laurent@2022: "configure_pdos": int(self.Controler.EtherlabNode.getConfigurePDOs()), laurent@2022: "master_number": self.Controler.EtherlabNode.getMasterNumber(), laurent@2022: "located_variables_declaration": [], laurent@2022: "used_pdo_entry_offset_variables_declaration": [], laurent@2022: "used_pdo_entry_configuration": [], laurent@2022: "pdos_configuration_declaration": "", laurent@2022: "slaves_declaration": "", laurent@2022: "slaves_configuration": "", laurent@2022: "retrieve_variables": [], laurent@2022: "publish_variables": [], laurent@2022: } laurent@2022: laurent@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@2022: for slave_idx, slave_pos in enumerate(self.Controler.GetSlaves()): laurent@2022: laurent@2022: slave = self.Controler.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: type_infos = slave.getType() laurent@2022: laurent@2022: device = self.Controler.GetModuleInfos(type_infos) laurent@2023: if device is not None: laurent@2029: slave_variables = self.UsedVariables.get(slave_pos, {}) laurent@2029: device_entries = device.GetEntriesList() laurent@2022: laurent@2029: if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0: laurent@2022: laurent@2022: for element in ["vendor", "product_code", "revision_number"]: laurent@2022: type_infos[element] = ExtractHexDecValue(type_infos[element]) laurent@2022: type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) laurent@2022: laurent@2022: str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos laurent@2022: str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos laurent@2022: laurent@2022: pdos_infos = { laurent@2022: "pdos_entries_infos": [], laurent@2022: "pdos_infos": [], laurent@2022: "pdos_sync_infos": [], laurent@2022: } laurent@2022: pdos_infos.update(type_infos) laurent@2022: laurent@2022: sync_managers = [] laurent@2022: for sync_manager_idx, sync_manager in enumerate(device.getSm()): laurent@2022: sync_manager_infos = { laurent@2022: "index": sync_manager_idx, laurent@2029: "name": sync_manager.getcontent(), laurent@2022: "slave": slave_idx, laurent@2029: "pdos": [], laurent@2022: "pdos_number": 0, laurent@2022: } laurent@2022: laurent@2022: sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) laurent@2022: sync_manager_direction = sync_manager_control_byte & 0x0c laurent@2022: sync_manager_watchdog = sync_manager_control_byte & 0x40 laurent@2022: if sync_manager_direction: laurent@2022: sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" laurent@2022: else: laurent@2022: sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" laurent@2022: if sync_manager_watchdog: laurent@2022: sync_manager_infos["watchdog"] = "EC_WD_ENABLE" laurent@2022: else: laurent@2022: sync_manager_infos["watchdog"] = "EC_WD_DISABLE" laurent@2022: laurent@2022: sync_managers.append(sync_manager_infos) laurent@2022: laurent@2029: pdos_index = [] laurent@2031: for only_mandatory in [True, False]: laurent@2031: for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + laurent@2031: [(pdo, "Outputs") for pdo in device.getRxPdo()]): laurent@2031: entries = pdo.getEntry() laurent@2031: laurent@2031: pdo_needed = pdo.getMandatory() laurent@2031: if only_mandatory != pdo_needed: laurent@2031: continue laurent@2031: laurent@2031: pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) laurent@2031: pdos_index.append(pdo_index) laurent@2031: entries_infos = [] laurent@2031: laurent@2031: for entry in entries: laurent@2031: index = ExtractHexDecValue(entry.getIndex().getcontent()) laurent@2031: subindex = ExtractHexDecValue(entry.getSubIndex()) laurent@2031: entry_infos = { laurent@2031: "index": index, laurent@2031: "subindex": subindex, laurent@2031: "name": ExtractName(entry.getName()), laurent@2031: "bitlen": entry.getBitLen(), laurent@2031: } laurent@2031: entry_infos.update(type_infos) laurent@2031: entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) laurent@2029: laurent@2031: entry_declaration = slave_variables.get((index, subindex), None) laurent@2031: if entry_declaration is not None and not entry_declaration["mapped"]: laurent@2031: pdo_needed = True laurent@2031: laurent@2031: entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"]))) laurent@2031: entry_declaration["mapped"] = True laurent@2031: laurent@2031: if entry_infos["var_type"] != entry.getDataType().getcontent(): laurent@2031: raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"] laurent@2031: laurent@2031: if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or laurent@2031: entry_infos["dir"] == "Q" and pdo_type != "Outputs"): laurent@2031: raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] laurent@2031: laurent@2031: ConfigureVariable(entry_infos, str_completion) laurent@2031: laurent@2031: if pdo_needed: laurent@2031: sm = pdo.getSm() laurent@2031: if sm is None: laurent@2031: for sm_idx, sync_manager in enumerate(sync_managers): laurent@2031: if sync_manager["name"] == pdo_type: laurent@2031: sm = sm_idx laurent@2031: if sm is None: laurent@2031: raise ValueError, _("No sync manager available for %s pdo!") % pdo_type laurent@2031: laurent@2031: sync_managers[sm]["pdos_number"] += 1 laurent@2031: sync_managers[sm]["pdos"].append( laurent@2031: {"slave": slave_idx, laurent@2031: "index": pdo_index, laurent@2031: "name": ExtractName(pdo.getName()), laurent@2031: "type": pdo_type, laurent@2031: "entries": entries_infos, laurent@2031: "entries_number": len(entries_infos), laurent@2031: "fixed": pdo.getFixed() == True}) laurent@2029: laurent@2029: dynamic_pdos = {} laurent@2029: dynamic_pdos_number = 0 laurent@2029: for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), laurent@2029: ("Outputs", 0x1a00, 0x1C00)]: laurent@2029: for sync_manager in sync_managers: laurent@2029: if sync_manager["name"] == category: laurent@2029: category_infos = dynamic_pdos.setdefault(category, {}) laurent@2029: category_infos["sync_manager"] = sync_manager laurent@2029: category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] laurent@2029: if not pdo["fixed"] and pdo["type"] == category] laurent@2029: category_infos["current_index"] = min_index laurent@2029: category_infos["max_index"] = max_index laurent@2029: break laurent@2029: laurent@2029: for (index, subindex), entry_declaration in slave_variables.iteritems(): laurent@2029: laurent@2029: if not entry_declaration["mapped"]: laurent@2029: entry = device_entries.get((index, subindex), None) laurent@2029: if entry is None: laurent@2029: raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \ laurent@2029: (index, subindex, type_infos["device_type"]) laurent@2029: laurent@2029: entry_infos = { laurent@2029: "index": index, laurent@2029: "subindex": subindex, laurent@2029: "name": entry["Name"], laurent@2029: "bitlen": entry["BitSize"], laurent@2023: } laurent@2029: entry_infos.update(type_infos) laurent@2029: laurent@2029: entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"]))) laurent@2029: entry_declaration["mapped"] = True laurent@2029: laurent@2029: if entry_infos["var_type"] != entry["Type"]: laurent@2029: raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"] laurent@2029: laurent@2029: if entry_infos["dir"] == "I" and entry["Access"] in ["ro", "rw"]: laurent@2029: pdo_type = "Inputs" laurent@2029: elif entry_infos["dir"] == "Q" and entry["Access"] in ["wo", "rw"]: laurent@2029: pdo_type = "Outputs" laurent@2029: else: laurent@2029: raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] laurent@2029: laurent@2029: if not dynamic_pdos.has_key(pdo_type): laurent@2029: raise ValueError, _("No Sync manager defined for %s!") % pdo_type laurent@2029: laurent@2029: ConfigureVariable(entry_infos, str_completion) laurent@2029: laurent@2029: if len(dynamic_pdos[pdo_type]["pdos"]) > 0: laurent@2029: pdo = dynamic_pdos[pdo_type]["pdos"][0] laurent@2029: else: laurent@2029: while dynamic_pdos[pdo_type]["current_index"] in pdos_index: laurent@2029: dynamic_pdos[pdo_type]["current_index"] += 1 laurent@2029: if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: laurent@2029: raise ValueError, _("No more free PDO index available for %s!") % pdo_type laurent@2029: pdos_index.append(dynamic_pdos[pdo_type]["current_index"]) laurent@2029: laurent@2029: dynamic_pdos_number += 1 laurent@2029: pdo = {"slave": slave_idx, laurent@2029: "index": dynamic_pdos[pdo_type]["current_index"], laurent@2029: "name": "Dynamic PDO %d" % dynamic_pdos_number, laurent@2029: "type": pdo_type, laurent@2029: "entries": [], laurent@2029: "entries_number": 0, laurent@2029: "fixed": False} laurent@2029: dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1 laurent@2029: dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo) laurent@2029: dynamic_pdos[pdo_type]["pdos"].append(pdo) laurent@2029: laurent@2029: pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) laurent@2029: pdo["entries_number"] += 1 laurent@2029: laurent@2029: if pdo["entries_number"] == 255: laurent@2029: dynamic_pdos[pdo_type]["pdos"].pop(0) laurent@2029: laurent@2029: pdo_offset = 0 laurent@2029: entry_offset = 0 laurent@2029: for sync_manager_infos in sync_managers: laurent@2029: laurent@2029: for pdo_infos in sync_manager_infos["pdos"]: laurent@2029: pdo_infos["offset"] = entry_offset laurent@2029: pdo_entries = pdo_infos["entries"] laurent@2023: pdos_infos["pdos_infos"].append( laurent@2023: (" {0x%(index).4x, %(entries_number)d, " + laurent@2023: "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) laurent@2029: entry_offset += len(pdo_entries) laurent@2029: pdos_infos["pdos_entries_infos"].extend(pdo_entries) laurent@2029: laurent@2022: sync_manager_infos["offset"] = pdo_offset laurent@2023: pdos_infos["pdos_sync_infos"].append( laurent@2023: (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + laurent@2023: "slave_%(slave)d_pdos + %(offset)d, %(watchdog)s},") % sync_manager_infos) laurent@2022: pdo_offset += sync_manager_infos["pdos_number"] laurent@2022: laurent@2022: for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: laurent@2022: pdos_infos[element] = "\n".join(pdos_infos[element]) laurent@2022: laurent@2022: str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos laurent@2022: laurent@2023: for element in ["used_pdo_entry_offset_variables_declaration", laurent@2023: "used_pdo_entry_configuration", laurent@2023: "located_variables_declaration", laurent@2023: "retrieve_variables", laurent@2023: "publish_variables"]: laurent@2022: str_completion[element] = "\n".join(str_completion[element]) laurent@2022: laurent@2022: etherlabfile = open(self.FilePath,'w') laurent@2022: etherlabfile.write(plc_etherlab_code % str_completion) laurent@2022: etherlabfile.close() laurent@2022: laurent@2022: #-------------------------------------------------- laurent@2022: # Ethercat Plugin laurent@2022: #-------------------------------------------------- laurent@2022: laurent@2022: EtherCATInfoClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd")) laurent@2022: laurent@2029: cls = EtherCATInfoClasses["EtherCATInfo.xsd"].get("DeviceType", None) laurent@2029: if cls: laurent@2029: cls.DataTypes = None laurent@2029: 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@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@2029: def GetEntriesList(self): 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@2029: laurent@2029: for object in dictionary.getObjects().getObject(): laurent@2029: entry_index = object.getIndex().getcontent() laurent@2029: index = ExtractHexDecValue(entry_index) laurent@2029: entry_type = object.getType() laurent@2029: entry_name = ExtractName(object.getName()) laurent@2029: laurent@2029: entry_type_infos = self.DataTypes.get(entry_type, None) laurent@2029: if entry_type_infos is not None: laurent@2029: content = entry_type_infos.getcontent() laurent@2029: for subitem in content["value"]: laurent@2029: entry_subidx = subitem.getSubIdx() laurent@2029: if entry_subidx is None: laurent@2029: entry_subidx = "0" laurent@2029: subidx = ExtractHexDecValue(entry_subidx) laurent@2029: subitem_access = "" laurent@2029: subitem_flags = subitem.getFlags() laurent@2029: if subitem_flags is not None: laurent@2029: access = subitem_flags.getAccess() laurent@2029: if access is not None: laurent@2029: subitem_access = access.getcontent() laurent@2029: entries[(index, subidx)] = { laurent@2029: "Index": entry_index, laurent@2029: "SubIndex": entry_subidx, laurent@2029: "Name": "%s - %s" % laurent@2029: (entry_name.decode("utf-8"), laurent@2029: ExtractName(subitem.getDisplayName(), laurent@2029: subitem.getName()).decode("utf-8")), laurent@2029: "Type": subitem.getType(), laurent@2029: "BitSize": subitem.getBitSize(), laurent@2029: "Access": subitem_access, laurent@2029: "PDO index": "", laurent@2029: "PDO name": "", laurent@2029: "PDO type": ""} laurent@2029: else: laurent@2029: entry_access = "" laurent@2029: entry_flags = object.getFlags() laurent@2029: if entry_flags is not None: laurent@2029: access = entry_flags.getAccess() laurent@2029: if access is not None: laurent@2029: entry_access = access.getcontent() laurent@2029: entries[(index, 0)] = { laurent@2029: "Index": entry_index, laurent@2029: "SubIndex": "0", laurent@2029: "Name": entry_name, laurent@2029: "Type": entry_type, laurent@2029: "BitSize": object.getBitSize(), laurent@2029: "Access": entry_access, laurent@2029: "PDO index": "", laurent@2029: "PDO name": "", laurent@2029: "PDO type": ""} laurent@2029: laurent@2029: for TxPdo in self.getTxPdo(): laurent@2029: ExtractPdoInfos(TxPdo, "Transmit", entries) laurent@2029: for RxPdo in self.getRxPdo(): laurent@2029: ExtractPdoInfos(RxPdo, "Receive", entries) 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@2029: def ExtractPdoInfos(pdo, pdo_type, entries): 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@2029: entry = entries.get((index, subindex), None) laurent@2029: if entry is not None: laurent@2029: entry["PDO index"] = pdo_index laurent@2029: entry["PDO name"] = pdo_name laurent@2029: entry["PDO type"] = pdo_type laurent@2029: else: laurent@2031: entry_type = pdo_entry.getDataType() laurent@2031: if entry_type is not None: laurent@2031: if pdo_type == "Transmit": laurent@2031: access = "ro" laurent@2031: else: laurent@2031: access = "wo" laurent@2031: entries[(index, subindex)] = { laurent@2031: "Index": entry_index, laurent@2031: "SubIndex": entry_subindex, laurent@2031: "Name": ExtractName(pdo_entry.getName()), laurent@2031: "Type": entry_type.getcontent(), laurent@2031: "Access": access, laurent@2031: "PDO index": pdo_index, laurent@2031: "PDO name": pdo_name, laurent@2031: "PDO type": pdo_type} laurent@2022: laurent@2022: class RootClass: laurent@2022: laurent@2022: PlugChildsTypes = [("EthercatNode",_EthercatPlug,"Ethercat Master")] laurent@2022: laurent@2022: def __init__(self): laurent@2022: self.LoadModulesLibrary() laurent@2022: laurent@2022: def GetModulesLibraryPath(self): laurent@2022: library_path = os.path.join(self.PlugPath(), "modules") laurent@2022: if not os.path.exists(library_path): laurent@2022: os.mkdir(library_path) laurent@2022: return library_path laurent@2022: laurent@2022: def _ImportModuleLibrary(self): laurent@2022: dialog = wx.FileDialog(self.GetPlugRoot().AppFrame, _("Choose an XML file"), os.getcwd(), "", _("XML files (*.xml)|*.xml|All files|*.*"), wx.OPEN) laurent@2022: if dialog.ShowModal() == wx.ID_OK: laurent@2022: filepath = dialog.GetPath() laurent@2022: if os.path.isfile(filepath): laurent@2022: shutil.copy(filepath, self.GetModulesLibraryPath()) laurent@2022: self.LoadModulesLibrary() laurent@2022: else: laurent@2022: self.GetPlugRoot().logger.write_error(_("No such XML file: %s\n") % filepath) laurent@2022: dialog.Destroy() laurent@2022: laurent@2022: PluginMethods = [ laurent@2022: {"bitmap" : os.path.join("images", "ImportDEF"), laurent@2022: "name" : _("Import module library"), laurent@2022: "tooltip" : _("Import module library"), laurent@2022: "method" : "_ImportModuleLibrary"}, laurent@2022: ] laurent@2022: laurent@2023: def PlugGenerate_C(self, buildpath, locations): laurent@2023: return [],"",False laurent@2023: laurent@2022: def LoadModulesLibrary(self): laurent@2022: self.ModulesLibrary = {} laurent@2022: laurent@2022: library_path = self.GetModulesLibraryPath() laurent@2022: laurent@2022: files = os.listdir(library_path) laurent@2022: for file in files: laurent@2022: filepath = os.path.join(library_path, file) laurent@2022: if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml": laurent@2022: xmlfile = open(filepath, 'r') laurent@2022: xml_tree = minidom.parse(xmlfile) laurent@2022: xmlfile.close() laurent@2022: laurent@2022: modules_infos = None laurent@2022: for child in xml_tree.childNodes: laurent@2022: if child.nodeType == xml_tree.ELEMENT_NODE and child.nodeName == "EtherCATInfo": laurent@2022: modules_infos = EtherCATInfoClasses["EtherCATInfo.xsd"]["EtherCATInfo"]() laurent@2022: modules_infos.loadXMLTree(child, ["xmlns:xsi", "xsi:noNamespaceSchemaLocation"]) laurent@2022: laurent@2022: if modules_infos is not None: laurent@2022: vendor = modules_infos.getVendor() laurent@2022: laurent@2031: vendor_category = self.ModulesLibrary.setdefault(ExtractHexDecValue(vendor.getId()), laurent@2031: {"name": ExtractName(vendor.getName(), _("Miscellaneous")), laurent@2031: "groups": {}}) laurent@2022: laurent@2022: for group in modules_infos.getDescriptions().getGroups().getGroup(): laurent@2022: group_type = group.getType() laurent@2022: laurent@2022: vendor_category["groups"].setdefault(group_type, {"name": ExtractName(group.getName(), group_type), laurent@2022: "parent": group.getParentGroup(), laurent@2022: "order": group.getSortOrder(), laurent@2022: "devices": []}) laurent@2022: laurent@2022: for device in modules_infos.getDescriptions().getDevices().getDevice(): laurent@2022: device_group = device.getGroupType() laurent@2022: if not vendor_category["groups"].has_key(device_group): laurent@2022: raise ValueError, "Not such group \"%\"" % device_group laurent@2022: vendor_category["groups"][device_group]["devices"].append((device.getType().getcontent(), device)) laurent@2022: laurent@2022: def GetModulesLibrary(self): laurent@2022: library = [] laurent@2022: children_dict = {} laurent@2022: for vendor_id, vendor in self.ModulesLibrary.iteritems(): laurent@2022: groups = [] laurent@2022: library.append({"name": vendor["name"], laurent@2022: "type": ETHERCAT_VENDOR, laurent@2022: "children": groups}) laurent@2022: for group_type, group in vendor["groups"].iteritems(): laurent@2022: group_infos = {"name": group["name"], laurent@2022: "order": group["order"], laurent@2022: "type": ETHERCAT_GROUP, laurent@2022: "children": children_dict.setdefault(group_type, [])} laurent@2022: if group["parent"] is not None: laurent@2022: parent_children = children_dict.setdefault(group["parent"], []) laurent@2022: parent_children.append(group_infos) laurent@2022: else: laurent@2022: groups.append(group_infos) laurent@2022: device_dict = {} laurent@2022: for device_type, device in group["devices"]: laurent@2022: device_infos = {"name": ExtractName(device.getName()), laurent@2022: "type": ETHERCAT_DEVICE, laurent@2022: "infos": {"device_type": device_type, laurent@2022: "vendor": vendor_id, laurent@2022: "product_code": device.getType().getProductCode(), laurent@2022: "revision_number": device.getType().getRevisionNo()}} laurent@2022: group_infos["children"].append(device_infos) laurent@2022: device_type_occurrences = device_dict.setdefault(device_type, []) laurent@2022: device_type_occurrences.append(device_infos) laurent@2022: for device_type_occurrences in device_dict.itervalues(): laurent@2022: if len(device_type_occurrences) > 1: laurent@2022: for occurrence in device_type_occurrences: laurent@2022: occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"] laurent@2031: library.sort(lambda x, y: cmp(x["name"], y["name"])) laurent@2022: return library laurent@2022: laurent@2022: def GetModuleInfos(self, type_infos): laurent@2031: vendor = self.ModulesLibrary.get(ExtractHexDecValue(type_infos["vendor"]), None) laurent@2022: if vendor is not None: laurent@2022: for group_name, group in vendor["groups"].iteritems(): laurent@2022: for device_type, device in group["devices"]: laurent@2029: product_code = ExtractHexDecValue(device.getType().getProductCode()) laurent@2029: revision_number = ExtractHexDecValue(device.getType().getRevisionNo()) laurent@2022: if (device_type == type_infos["device_type"] and laurent@2029: product_code == ExtractHexDecValue(type_infos["product_code"]) and laurent@2029: revision_number == ExtractHexDecValue(type_infos["revision_number"])): laurent@2022: return device laurent@2022: return None laurent@2022: