etisserant@163: import os, sys
etisserant@20: base_folder = os.path.split(sys.path[0])[0]
etisserant@49: CanFestivalPath = os.path.join(base_folder, "CanFestival-3")
etisserant@49: sys.path.append(os.path.join(CanFestivalPath, "objdictgen"))
etisserant@20:
lbessard@11: from nodelist import NodeList
lbessard@11: from nodemanager import NodeManager
etisserant@178: import config_utils, gen_cfile, eds_utils
etisserant@12: from networkedit import networkedit
lbessard@77: from objdictedit import objdictedit
etisserant@49: import canfestival_config
greg@95: from plugger import PlugTemplate
etisserant@169: from commondialogs import CreateNodeDialog
etisserant@169: import wx
lbessard@11:
lbessard@77: from gnosis.xml.pickle import *
lbessard@77: from gnosis.xml.pickle.util import setParanoia
lbessard@77: setParanoia(0)
lbessard@77:
etisserant@163: #--------------------------------------------------
etisserant@163: # SLAVE
etisserant@163: #--------------------------------------------------
etisserant@163:
etisserant@163: class _SlavePlug(NodeManager):
etisserant@12: XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
etisserant@12: <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
etisserant@166: <xsd:element name="CanFestivalSlaveNode">
etisserant@12: <xsd:complexType>
lbessard@86: <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>
lbessard@86: <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>
lbessard@86: <xsd:attribute name="NodeId" type="xsd:string" use="required"/>
etisserant@178: <xsd:attribute name="Sync_Align" type="xsd:integer" use="optional" default="0"/>
etisserant@203: <xsd:attribute name="Sync_Align_Ratio" use="optional" default="50">
etisserant@203: <xsd:simpleType>
etisserant@203: <xsd:restriction base="xsd:integer">
etisserant@203: <xsd:minInclusive value="1"/>
etisserant@203: <xsd:maxInclusive value="99"/>
etisserant@203: </xsd:restriction>
etisserant@203: </xsd:simpleType>
etisserant@203: </xsd:attribute>
etisserant@12: </xsd:complexType>
etisserant@12: </xsd:element>
etisserant@12: </xsd:schema>
etisserant@12: """
etisserant@12:
etisserant@163: def GetSlaveODPath(self):
etisserant@166: return os.path.join(self.PlugPath(), 'slave.od')
etisserant@163:
lbessard@17: def __init__(self):
etisserant@23: # TODO change netname when name change
etisserant@163: NodeManager.__init__(self)
etisserant@163: odfilepath = self.GetSlaveODPath()
etisserant@163: if(os.path.isfile(odfilepath)):
etisserant@163: self.OpenFileInCurrent(odfilepath)
etisserant@163: else:
etisserant@169: self.FilePath = ""
etisserant@169: dialog = CreateNodeDialog(None, wx.OK)
etisserant@169: dialog.Type.Enable(False)
etisserant@169: dialog.GenSYNC.Enable(False)
etisserant@169: if dialog.ShowModal() == wx.ID_OK:
etisserant@169: name, id, nodetype, description = dialog.GetValues()
etisserant@169: profile, filepath = dialog.GetProfile()
etisserant@169: NMT = dialog.GetNMTManagement()
etisserant@169: options = dialog.GetOptions()
etisserant@169: self.CreateNewNode(name, # Name - will be changed at build time
etisserant@169: id, # NodeID - will be changed at build time
etisserant@169: "slave", # Type
etisserant@169: description,# description
etisserant@169: profile, # profile
etisserant@169: filepath, # prfile filepath
etisserant@169: NMT, # NMT
etisserant@169: options) # options
etisserant@169: else:
etisserant@169: self.CreateNewNode("SlaveNode", # Name - will be changed at build time
etisserant@169: 0x00, # NodeID - will be changed at build time
etisserant@169: "slave", # Type
etisserant@169: "", # description
etisserant@169: "None", # profile
etisserant@169: "", # prfile filepath
etisserant@169: "heartbeat", # NMT
etisserant@169: []) # options
etisserant@169: dialog.Destroy()
etisserant@13: _View = None
etisserant@203: def _OpenView(self):
etisserant@13: if not self._View:
etisserant@13: def _onclose():
etisserant@30: self._View = None
lbessard@25: def _onsave():
lbessard@25: self.GetPlugRoot().SaveProject()
etisserant@166: self._View = objdictedit(self.GetPlugRoot().AppFrame, self)
etisserant@23: # TODO redefine BusId when IEC channel change
etisserant@23: self._View.SetBusId(self.GetCurrentLocation())
etisserant@13: self._View._onclose = _onclose
lbessard@25: self._View._onsave = _onsave
etisserant@23: self._View.Show()
etisserant@23:
lbessard@65: PluginMethods = [
lbessard@82: {"bitmap" : os.path.join("images", "NetworkEdit"),
etisserant@166: "name" : "Edit slave",
etisserant@166: "tooltip" : "Edit CanOpen slave with ObjdictEdit",
etisserant@105: "method" : "_OpenView"},
lbessard@65: ]
etisserant@13:
etisserant@13: def OnPlugClose(self):
etisserant@13: if self._View:
etisserant@13: self._View.Close()
etisserant@13:
etisserant@13: def PlugTestModified(self):
etisserant@166: return self.ChangesToSave or self.OneFileHasChanged()
etisserant@12:
lbessard@17: def OnPlugSave(self):
etisserant@166: return self.SaveCurrentInFile(self.GetSlaveODPath())
etisserant@12:
etisserant@203: def PlugGenerate_C(self, buildpath, locations):
etisserant@12: """
etisserant@15: Generate C code
etisserant@15: @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)
etisserant@15: @param locations: List of complete variables locations \
etisserant@22: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
etisserant@22: "NAME" : name of the variable (generally "__IW0_1_2" style)
etisserant@22: "DIR" : direction "Q","I" or "M"
etisserant@22: "SIZE" : size "X", "B", "W", "D", "L"
etisserant@22: "LOC" : tuple of interger for IEC location (0,1,2,...)
etisserant@22: }, ...]
etisserant@22: @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
etisserant@12: """
etisserant@24: current_location = self.GetCurrentLocation()
etisserant@22: # define a unique name for the generated C file
etisserant@166: prefix = "_".join(map(str, current_location))
etisserant@49: Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
etisserant@166: # Create a new copy of the model
etisserant@166: slave = self.GetCurrentNodeCopy()
etisserant@166: slave.SetNodeName("OD_%s"%prefix)
etisserant@166: # allow access to local OD from Slave PLC
etisserant@166: pointers = config_utils.LocalODPointers(locations, current_location, slave)
etisserant@166: res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)
etisserant@15: if res :
etisserant@15: raise Exception, res
lbessard@172: res = eds_utils.GenerateEDSFile(os.path.join(buildpath, "Slave_%s.eds"%prefix), slave)
lbessard@172: if res :
lbessard@172: raise Exception, res
etisserant@52: return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False
etisserant@163:
etisserant@163: #--------------------------------------------------
etisserant@163: # MASTER
etisserant@163: #--------------------------------------------------
etisserant@163:
etisserant@163: class _NodeListPlug(NodeList):
etisserant@163: XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
etisserant@163: <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
etisserant@163: <xsd:element name="CanFestivalNode">
etisserant@163: <xsd:complexType>
etisserant@163: <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>
etisserant@163: <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>
etisserant@163: <xsd:attribute name="NodeId" type="xsd:string" use="required"/>
etisserant@163: <xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>
etisserant@163: </xsd:complexType>
etisserant@163: </xsd:element>
etisserant@163: </xsd:schema>
etisserant@163: """
etisserant@163:
etisserant@163: def __init__(self):
etisserant@163: manager = NodeManager()
etisserant@163: # TODO change netname when name change
etisserant@163: NodeList.__init__(self, manager, self.BaseParams.getName())
etisserant@163: self.LoadProject(self.PlugPath())
etisserant@163:
etisserant@163: _View = None
etisserant@203: def _OpenView(self):
etisserant@163: if not self._View:
etisserant@163: def _onclose():
etisserant@163: self._View = None
etisserant@163: def _onsave():
etisserant@163: self.GetPlugRoot().SaveProject()
etisserant@166: self._View = networkedit(self.GetPlugRoot().AppFrame, self)
etisserant@163: # TODO redefine BusId when IEC channel change
etisserant@163: self._View.SetBusId(self.GetCurrentLocation())
etisserant@163: self._View._onclose = _onclose
etisserant@163: self._View._onsave = _onsave
etisserant@163: self._View.Show()
etisserant@163:
etisserant@203: def _ShowMasterGenerated(self):
etisserant@163: buildpath = self._getBuildPath()
etisserant@163: # Eventually create build dir
etisserant@163: if not os.path.exists(buildpath):
etisserant@203: self.logger.write_error("Error: No PLC built\n")
etisserant@163: return
etisserant@163:
etisserant@163: masterpath = os.path.join(buildpath, "MasterGenerated.od")
etisserant@163: if not os.path.exists(masterpath):
etisserant@203: self.logger.write_error("Error: No Master generated\n")
etisserant@163: return
etisserant@163:
etisserant@169: new_dialog = objdictedit(None, filesOpen=[masterpath])
etisserant@163: new_dialog.Show()
etisserant@163:
etisserant@163: PluginMethods = [
etisserant@163: {"bitmap" : os.path.join("images", "NetworkEdit"),
etisserant@163: "name" : "Edit network",
etisserant@163: "tooltip" : "Edit CanOpen Network with NetworkEdit",
etisserant@163: "method" : "_OpenView"},
etisserant@163: {"name" : "Show Master",
etisserant@163: "tooltip" : "Show Master generated by config_utils",
etisserant@163: "method" : "_ShowMasterGenerated"}
etisserant@163: ]
etisserant@163:
etisserant@163: def OnPlugClose(self):
etisserant@163: if self._View:
etisserant@163: self._View.Close()
etisserant@163:
etisserant@163: def PlugTestModified(self):
etisserant@163: return self.ChangesToSave or self.HasChanged()
etisserant@163:
etisserant@163: def OnPlugSave(self):
etisserant@163: self.SetRoot(self.PlugPath())
lbessard@250: return self.SaveProject() is None
etisserant@163:
etisserant@203: def PlugGenerate_C(self, buildpath, locations):
etisserant@163: """
etisserant@163: Generate C code
etisserant@163: @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)
etisserant@163: @param locations: List of complete variables locations \
etisserant@163: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
etisserant@163: "NAME" : name of the variable (generally "__IW0_1_2" style)
etisserant@163: "DIR" : direction "Q","I" or "M"
etisserant@163: "SIZE" : size "X", "B", "W", "D", "L"
etisserant@163: "LOC" : tuple of interger for IEC location (0,1,2,...)
etisserant@163: }, ...]
etisserant@163: @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
etisserant@163: """
etisserant@163: current_location = self.GetCurrentLocation()
etisserant@163: # define a unique name for the generated C file
etisserant@166: prefix = "_".join(map(str, current_location))
etisserant@163: Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
etisserant@163: # Create a new copy of the model with DCF loaded with PDO mappings for desired location
greg@341: try:
greg@341: master, pointers = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(),"OD_%s"%prefix)
greg@341: except config_utils.PDOmappingException, e:
greg@341: raise Exception, e.message
etisserant@166: # Do generate C file.
etisserant@163: res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)
etisserant@163: if res :
etisserant@163: raise Exception, res
etisserant@163:
etisserant@163: file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")
etisserant@163: dump(master, file)
etisserant@163: file.close()
etisserant@163:
etisserant@163: return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False
etisserant@12:
etisserant@13: class RootClass:
etisserant@12: XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
etisserant@12: <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
etisserant@12: <xsd:element name="CanFestivalInstance">
etisserant@12: <xsd:complexType>
lbessard@86: <xsd:attribute name="CAN_Driver" type="xsd:string" use="required"/>
greg@157: <xsd:attribute name="Debug_mode" type="xsd:boolean" use="optional" default="false"/>
etisserant@12: </xsd:complexType>
etisserant@12: </xsd:element>
etisserant@12: </xsd:schema>
etisserant@12: """
etisserant@169: PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"),
etisserant@169: ("CanOpenSlave",_SlavePlug, "CanOpen Slave")]
greg@95: def GetParamsAttributes(self, path = None):
greg@95: infos = PlugTemplate.GetParamsAttributes(self, path = None)
greg@95: for element in infos:
etisserant@163: if element["name"] == "CanFestivalInstance":
greg@95: for child in element["children"]:
greg@95: if child["name"] == "CAN_Driver":
greg@95: DLL_LIST= getattr(canfestival_config,"DLL_LIST",None)
greg@95: if DLL_LIST is not None:
greg@95: child["type"] = DLL_LIST
greg@95: return infos
greg@95: return infos
lbessard@11:
etisserant@203: def PlugGenerate_C(self, buildpath, locations):
etisserant@52:
etisserant@52: format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())),
etisserant@52: "candriver" : self.CanFestivalInstance.getCAN_Driver(),
etisserant@52: "nodes_includes" : "",
etisserant@52: "board_decls" : "",
etisserant@52: "nodes_init" : "",
etisserant@52: "nodes_open" : "",
greg@336: "nodes_stop" : "",
etisserant@57: "nodes_close" : "",
etisserant@57: "nodes_send_sync" : "",
etisserant@169: "nodes_proceed_sync" : "",
etisserant@174: "slavebootups" : "",
etisserant@178: "slavebootup_register" : "",
etisserant@178: "post_sync" : "",
etisserant@178: "post_sync_register" : "",
etisserant@178: }
etisserant@52: for child in self.IECSortedChilds():
etisserant@52: childlocstr = "_".join(map(str,child.GetCurrentLocation()))
etisserant@52: nodename = "OD_%s" % childlocstr
etisserant@166:
etisserant@166: # Try to get Slave Node
etisserant@166: child_data = getattr(child, "CanFestivalSlaveNode", None)
etisserant@166: if child_data is None:
etisserant@166: # Not a slave -> master
etisserant@166: child_data = getattr(child, "CanFestivalNode")
etisserant@169: # Apply sync setting
etisserant@178: format_dict["nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n '%(
etisserant@178: nodename,
etisserant@178: child_data.getNodeId())
etisserant@166: if child_data.getSync_TPDOs():
etisserant@166: format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n '%(nodename)
etisserant@166: format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n '%(nodename)
etisserant@178:
etisserant@178: # initialize and declare node boot status variables for post_SlaveBootup lookup
etisserant@169: SlaveIDs = child.GetSlaveIDs()
etisserant@169: for id in SlaveIDs:
etisserant@178: format_dict["slavebootups"] += (
etisserant@178: "int %s_slave_%d_booted = 0;\n"%(nodename, id))
etisserant@178: # define post_SlaveBootup lookup functions
etisserant@178: format_dict["slavebootups"] += (
etisserant@178: "static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"%(nodename)+
etisserant@178: " switch(nodeId){\n")
etisserant@178: # one case per declared node, mark node as booted
etisserant@169: for id in SlaveIDs:
etisserant@178: format_dict["slavebootups"] += (
etisserant@178: " case %d:\n"%(id)+
etisserant@178: " %s_slave_%d_booted = 1;\n"%(nodename, id)+
etisserant@178: " break;\n")
etisserant@178: format_dict["slavebootups"] += (
etisserant@178: " default:\n"+
etisserant@178: " break;\n"+
etisserant@178: " }\n"+
etisserant@178: " if( ")
etisserant@178: # expression to test if all declared nodes booted
etisserant@169: format_dict["slavebootups"] += " && ".join(["%s_slave_%d_booted"%(nodename, id) for id in SlaveIDs])
etisserant@178: format_dict["slavebootups"] += " )\n" + (
etisserant@178: " Master_post_SlaveBootup(d,nodeId);\n"+
etisserant@178: "}\n")
etisserant@178: # register previously declared func as post_SlaveBootup callback for that node
etisserant@178: format_dict["slavebootup_register"] += (
etisserant@178: "%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n"%(nodename,nodename))
etisserant@178: else:
etisserant@178: # Slave node
etisserant@178: align = child_data.getSync_Align()
etisserant@203: align_ratio=child_data.getSync_Align_Ratio()
etisserant@178: if align > 0:
etisserant@178: format_dict["post_sync"] += (
etisserant@178: "static int %s_CalCount = 0;\n"%(nodename)+
etisserant@178: "static void %s_post_sync(CO_Data* d){\n"%(nodename)+
etisserant@178: " if(%s_CalCount < %d){\n"%(nodename, align)+
etisserant@178: " %s_CalCount++;\n"%(nodename)+
etisserant@203: " align_tick(-1);\n"+
etisserant@178: " }else{\n"+
etisserant@203: " align_tick(%d);\n"%(align_ratio)+
etisserant@178: " }\n"+
etisserant@178: "}\n")
etisserant@178: format_dict["post_sync_register"] += (
etisserant@178: "%s_Data.post_sync = %s_post_sync;\n"%(nodename,nodename))
etisserant@178: format_dict["nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n '%(
etisserant@178: nodename,
etisserant@178: child_data.getNodeId())
etisserant@178:
etisserant@178: # Include generated OD headers
etisserant@52: format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)
etisserant@178: # Declare CAN channels according user filled config
etisserant@52: format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(
etisserant@52: nodename,
etisserant@166: child_data.getCAN_Device(),
etisserant@166: child_data.getCAN_Baudrate())
etisserant@57: format_dict["nodes_open"] += 'NODE_OPEN(%s)\n '%(nodename)
etisserant@57: format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n '%(nodename)
greg@336: format_dict["nodes_stop"] += 'NODE_STOP(%s)\n '%(nodename)
etisserant@163: if sys.platform == 'win32':
greg@157: if self.CanFestivalInstance.getDebug_mode() and os.path.isfile(os.path.join("%s"%(format_dict["candriver"] + '_DEBUG.dll'))):
greg@157: format_dict["candriver"] += '_DEBUG.dll'
greg@157: else:
greg@157: format_dict["candriver"] += '.dll'
greg@157:
etisserant@52: filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")
etisserant@52: cf_main = open(filename).read() % format_dict
etisserant@52: cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)
etisserant@52: f = open(cf_main_path,'w')
etisserant@52: f.write(cf_main)
etisserant@52: f.close()
etisserant@52:
etisserant@52: return [(cf_main_path, canfestival_config.getCFLAGS(CanFestivalPath))],canfestival_config.getLDFLAGS(CanFestivalPath), True
lbessard@11:
etisserant@15: