diff -r 015dab6a915f -r e6946c298a42 etherlab/EtherCATManagementEditor.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EtherCATManagementEditor.py Wed Apr 02 15:03:32 2014 +0200 @@ -0,0 +1,2223 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +#This file is part of Beremiz, a Integrated Development Environment for +#programming IEC 61131-3 automates supporting EtherCAT. +# +#Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab., University of Seoul +# +#See COPYING file for copyrights details. +# +#This library is free software; you can redistribute it and/or +#modify it under the terms of the GNU General Public +#License as published by the Free Software Foundation; either +#version 2.1 of the License, or (at your option) any later version. +# +#This library is distributed in the hope that it will be useful, +#but WITHOUT ANY WARRANTY; without even the implied warranty of +#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +#General Public License for more details. +# +#You should have received a copy of the GNU General Public +#License along with this library; if not, write to the Free Software +#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + +import os + +import wx +import wx.grid +import wx.gizmos +import wx.lib.buttons + +# -------------------------------------------------------------------- +from controls import CustomGrid, CustomTable +# -------------------------------------------------------------------- + +# ------------ for SDO Management -------------------- +import string +import wx.grid as gridlib +#------------------------------------------------------------- + +# ------------ for register management --------------- +from xml.dom import minidom +#------------------------------------------------------------- + +# ----------------------------- For Sync Manager Table ----------------------------------- +def GetSyncManagersTableColnames(): + """ + Returns column names of SyncManager Table in Slave state panel. + """ + _ = lambda x : x + return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")] + +#------------------------------------------------------------------------------- +# Sync Managers Table +#------------------------------------------------------------------------------- +class SyncManagersTable(CustomTable): + def GetValue(self, row, col): + if row < self.GetNumberRows(): + if col == 0: + return row + return self.data[row].get(self.GetColLabelValue(col, False), "") + +#------------------------------------------------------------------------------- +# EtherCAT Management Treebook +#------------------------------------------------------------------------------- +class EtherCATManagementTreebook(wx.Treebook): + def __init__(self, parent, controler, node_editor): + """ + Constructor + @param parent: Reference to the parent wx.ScrolledWindow object + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + @param node_editor: Reference to Beremiz frame + """ + wx.Treebook.__init__(self, parent, -1, size=wx.DefaultSize, style=wx.BK_DEFAULT) + self.parent = parent + self.Controler = controler + self.NodeEditor = node_editor + + self.EtherCATManagementClassObject = {} + + # fill EtherCAT Management Treebook + for pname, pclass, subs in [ + ("Slave State", SlaveStatePanelClass, []), + ("SDO Management", SDOPanelClass, []), + ("PDO Monitoring", PDOPanelClass, []), + ("ESC Management", EEPROMAccessPanel, [ + ("Smart View", SlaveSiiSmartView), + ("Hex View", HexView)]), + ("Register Access", RegisterAccessPanel, [])]: + self.AddPage(pclass(self, self.Controler), pname) + for spname, spclass in subs: + self.AddSubPage(spclass(self, self.Controler), spname) + + self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = event.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = event.GetSelection() + event.Skip() + +#------------------------------------------------------------------------------- +# For SlaveState Panel +#------------------------------------------------------------------------------- +class SlaveStatePanelClass(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1, (0, 0), size=wx.DefaultSize, style = wx.SUNKEN_BORDER) + self.Controler = controler + self.parent = parent + + # initialize SlaveStatePanel UI dictionaries + self.StaticBoxDic = {} + self.StaticTextDic = {} + self.TextCtrlDic = {} + self.ButtonDic = {} + + # iniitalize BoxSizer and FlexGridSizer + self.SizerDic = { + "SlaveState_main_sizer" : wx.BoxSizer(wx.VERTICAL), + "SlaveState_inner_main_sizer" : wx.FlexGridSizer(cols=1, hgap=50, rows=3, vgap=10), + "SlaveInfosDetailsInnerSizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10), + "SyncManagerInnerSizer" : wx.FlexGridSizer(cols=1, hgap=5, rows=1, vgap=5), + "SlaveState_sizer" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10), + "SlaveState_up_sizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10), + "SlaveState_down_sizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)} + + # initialize StaticBox and StaticBoxSizer + for box_name, box_label in [ + ("SlaveInfosDetailsBox", "Slave Informations"), + ("SyncManagerBox", "Sync Manager"), + ("SlaveStateBox", "Slave State Transition && Monitoring")]: + self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label)) + self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name]) + + for statictext_name, statictext_label, textctrl_name in [ + ("VendorLabel", "Vendor:", "vendor"), + ("ProductcodeLabel", "Product code:", "product_code"), + ("RevisionnumberLabel", "Slave Count:", "revision_number"), + ("PhysicsLabel", "Physics:", "physics")]: + self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label)) + self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY) + self.SizerDic["SlaveInfosDetailsInnerSizer"].AddMany([self.StaticTextDic[statictext_name], + self.TextCtrlDic[textctrl_name]]) + + self.SizerDic["SlaveInfosDetailsBox"].AddSizer(self.SizerDic["SlaveInfosDetailsInnerSizer"]) + + self.SyncManagersGrid = CustomGrid(self, size=wx.Size(605,155), style=wx.VSCROLL) + + self.SizerDic["SyncManagerInnerSizer"].Add(self.SyncManagersGrid) + self.SizerDic["SyncManagerBox"].Add(self.SizerDic["SyncManagerInnerSizer"]) + + for button_name, button_id, button_label, button_tooltipstring, event_method, sub_item in [ + ("InitButton", 0, "INIT", "State Transition to \"Init\" State", self.OnButtonClick, []), + ("PreOPButton", 1, "PREOP", "State Transition to \"PreOP\" State", self.OnButtonClick, [ + ("TargetStateLabel", "Target State:" , "TargetState")]), + ("SafeOPButton", 2, "SAFEOP", "State Transition to \"SafeOP\" State", self.OnButtonClick, []), + ("OPButton", 3, "OP", "State Transition to \"OP\" State", self.OnButtonClick, [ + ("CurrentStateLabel", "Current State:", "CurrentState")])]: + self.ButtonDic[button_name] = wx.Button(self, id=button_id ,label=_(button_label)) + self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method) + self.ButtonDic[button_name].SetToolTipString(button_tooltipstring) + self.SizerDic["SlaveState_up_sizer"].Add(self.ButtonDic[button_name]) + for statictext_name, statictext_label, textctrl_name in sub_item : + self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label)) + self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.DefaultSize, style=wx.TE_READONLY) + self.SizerDic["SlaveState_up_sizer"].AddMany([self.StaticTextDic[statictext_name], + self.TextCtrlDic[textctrl_name]]) + + for button_name, button_label, button_tooltipstring, event_method in [ + ("StartTimerButton", "Start State Monitoring", "Slave State Update Restart", self.StartTimer), + ("StopTimerButton", "Stop State Monitoring", "Slave State Update Stop", self.CurrentStateThreadStop)]: + self.ButtonDic[button_name] = wx.Button(self, label=_(button_label)) + self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method) + self.ButtonDic[button_name].SetToolTipString(button_tooltipstring) + self.SizerDic["SlaveState_down_sizer"].Add(self.ButtonDic[button_name]) + + self.SizerDic["SlaveState_sizer"].AddMany([self.SizerDic["SlaveState_up_sizer"], + self.SizerDic["SlaveState_down_sizer"]]) + + self.SizerDic["SlaveStateBox"].Add(self.SizerDic["SlaveState_sizer"]) + + self.SizerDic["SlaveState_inner_main_sizer"].AddMany([ + self.SizerDic["SlaveInfosDetailsBox"], self.SizerDic["SyncManagerBox"], + self.SizerDic["SlaveStateBox"]]) + + self.SizerDic["SlaveState_main_sizer"].Add(self.SizerDic["SlaveState_inner_main_sizer"]) + + self.SetSizer(self.SizerDic["SlaveState_main_sizer"]) + + # register a timer for periodic exectuion of slave state update (period: 1000 ms) + self.Bind(wx.EVT_TIMER, self.GetCurrentState) + + self.CreateSyncManagerTable() + + self.Centre() + + def CreateSyncManagerTable(self): + """ + Create grid for "SyncManager" + """ + # declare Table object + self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames()) + self.SyncManagersGrid.SetTable(self.SyncManagersTable) + # set grid alignment attr. (CENTER) + self.SyncManagersGridColAlignements = [wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, + wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE] + # set grid size + self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100] + self.SyncManagersGrid.SetRowLabelSize(0) + for col in range(self.SyncManagersTable.GetNumberCols()): + attr = wx.grid.GridCellAttr() + attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTRE) + self.SyncManagersGrid.SetColAttr(col, attr) + self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col]) + self.SyncManagersGrid.AutoSizeColumn(col, False) + + self.RefreshSlaveInfos() + + def RefreshSlaveInfos(self): + """ + Fill data in "Slave Information" and "SyncManager" + """ + slave_infos = self.Controler.GetSlaveInfos() + sync_manager_section = ["vendor", "product_code", "revision_number", "physics"] + if slave_infos is not None: + # this method is same as "TextCtrl.SetValue" + for textctrl_name in sync_manager_section: + self.TextCtrlDic[textctrl_name].SetValue(slave_infos[textctrl_name]) + self.SyncManagersTable.SetData(slave_infos["sync_managers"]) + self.SyncManagersTable.ResetView(self.SyncManagersGrid) + else: + for textctrl_name in sync_manager_section: + self.TextCtrlDic[textctrl_name].SetValue("") + self.SyncManagersTable.SetData([]) + self.SyncManagersTable.ResetView(self.SyncManagersGrid) + + def OnButtonClick(self, event): + """ + Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button) + @param event : wx.EVT_BUTTON object + """ + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag : + state_dic = ["INIT", "PREOP", "SAFEOP", "OP"] + + # If target state is one of {INIT, PREOP, SAFEOP}, request slave state transition immediately. + if event.GetId() < 3 : + self.Controler.CommonMethod.RequestSlaveState(state_dic[event.GetId()]) + self.TextCtrlDic["TargetState"].SetValue(state_dic[event.GetId()]) + + # If target state is OP, first check "PLC status". + # (1) If current PLC status is "Started", then request slave state transition + # (2) Otherwise, show error message and return + else : + status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus() + if status == "Started" : + self.Controler.CommonMethod.RequestSlaveState("OP") + self.TextCtrlDic["TargetState"].SetValue("OP") + else : + self.Controler.CommonMethod.CreateErrorDialog("PLC is Not Started") + + def GetCurrentState(self, event): + """ + Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec). + @param event : wx.TIMER object + """ + check_connect_flag = self.Controler.CommonMethod.CheckConnect(True) + if check_connect_flag: + returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave() + line = returnVal.split("\n") + try : + self.SetCurrentState(line[self.Controler.GetSlavePos()]) + except : + pass + + def SetCurrentState(self, line): + """ + Show current slave state using the executiob result of "ethercat slaves" command. + @param line : result of "ethercat slaves" command + """ + state_array = ["INIT", "PREOP", "SAFEOP", "OP"] + try : + # parse the execution result of "ethercat slaves" command + # Result example : 0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100) + token = line.split(" ") + if token[2] in state_array: + self.TextCtrlDic["CurrentState"].SetValue(token[2]) + except : + pass + + def StartTimer(self, event): + """ + Event handler for "Start State Monitoring" button. + - start slave state monitoring thread + @param event : wx.EVT_BUTTON object + """ + self.SlaveStateThread = wx.Timer(self) + # set timer period (1000 ms) + self.SlaveStateThread.Start(1000) + + def CurrentStateThreadStop(self, event): + """ + Event handler for "Stop State Monitoring" button. + - stop slave state monitoring thread + @param event : wx.EVT_BUTTON object + """ + try: + self.SlaveStateThread.Stop() + except: + pass + +#------------------------------------------------------------------------------- +# For SDO Management Panel +#------------------------------------------------------------------------------- +class SDOPanelClass(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + + self.DatatypeDescription, self.CommunicationObject, self.ManufacturerSpecific, \ + self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6) + + self.Controler = controler + + self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL) + self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10) + + self.SDOUpdate = wx.Button(self, label=_('update')) + self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate) + + self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler) + self.SDOManagementInnerMainSizer.Add(self.SDOUpdate) + self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND) + + self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer) + + self.SetSizer(self.SDOManagementMainSizer) + + def SDOInfoUpdate(self, event): + """ + Evenet handler for SDO "update" button. + - Load SDO data from current slave + @param event : wx.EVT_BUTTON object + """ + self.Controler.CommonMethod.SaveSDOData = [] + self.Controler.CommonMethod.ClearSDODataSet() + self.SDOFlag = False + + # Check whether beremiz connected or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave() + # SDOFlag is "False", user click "Cancel" button + self.SDOFlag = self.SDOParser() + + if self.SDOFlag : + self.CallSDONoteBook.CreateNoteBook() + self.Refresh() + + def SDOParser(self): + """ + Parse SDO data set that obtain "SDOInfoUpdate" Method + @return True or False + """ + + slaveSDO_progress = wx.ProgressDialog("Slave SDO Monitoring", "Now Uploading...", + maximum = len(self.SDOs.splitlines()), parent=self, + style = wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME | + wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME | + wx.PD_AUTO_HIDE | wx.PD_SMOOTH) + + # If keep_going flag is False, SDOParser method is stop and return "False". + keep_going = True + count = 0 + + # SDO data example + # SDO 0x1000, "Device type" + # 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474 + for details_line in self.SDOs.splitlines(): + count += 1 + line_token = details_line.split("\"") + # len(line_token[2]) case : SDO 0x1000, "Device type" + if len(line_token[2]) == 0: + title_name = line_token[1] + # else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474 + else : + # line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474'] + token_head, name, token_tail = line_token + + # token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', ''] + token_head = token_head.split(",") + ful_idx, access, type, size, empty = token_head + # ful_idx.split(":") = ['0x1000', '00'] + idx, sub_idx = ful_idx.split(":") + + # token_tail = ['', '0x00020192', '131474'] + token_tail = token_tail.split(",") + try : + empty, hex_val, dec_val = token_tail + + # SDO data is not return "dec value" + # line example : + # 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ---- + except : + empty, hex_val = token_tail + + name_after_check = self.StringTest(name) + + # convert hex type + sub_idx = "0x" + sub_idx + + if type == "octet_string": + hex_val = ' ---- ' + + # SResult of SlaveSDO data parsing. (data type : dictionary) + self.Data = {'idx':idx.strip(), 'subIdx':sub_idx.strip(), 'access':access.strip(), + 'type':type.strip(), 'size':size.strip(), 'name':name_after_check.strip("\""), + 'value':hex_val.strip(), "category":title_name.strip("\"")} + + category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff] + + for count in range(len(category_divide_value)) : + if int(idx, 0) < category_divide_value[count]: + self.Controler.CommonMethod.SaveSDOData[count].append(self.Data) + break + + self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data) + + if count >= len(self.SDOs.splitlines()) / 2: + (keep_going, skip) = slaveSDO_progress.Update(count, "Please waiting a moment!!") + else: + (keep_going, skip) = slaveSDO_progress.Update(count) + + # If user click "Cancel" loop suspend immediately + if (keep_going == False): + break + + slaveSDO_progress.Destroy() + return keep_going + + def StringTest(self, check_string): + """ + Test value 'name' is alphanumeric + @param check_string : input data for check + @return result : output data after check + """ + # string.printable is print this result + #'0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ + #!"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c + allow_range = string.printable + result = check_string + for i in range(0, len(check_string)): + # string.isalnum() is check whether string is alphanumeric or not + if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range : + result = check_string[:len(check_string) - i] + break + return result + + +#------------------------------------------------------------------------------- +# For SDO Notebook (divide category) +#------------------------------------------------------------------------------- +class SDONoteBook(wx.Notebook): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent SDOPanelClass class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Notebook.__init__(self, parent, id = -1, size=(850,500)) + self.Controler = controler + self.parent = parent + + self.CreateNoteBook() + + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def CreateNoteBook(self): + """ + Create each NoteBook page, divided SDO index + According to EtherCAT Communication(03/2011), 158p + """ + self.Data = [] + count = 1 + + page_texts = [("all", self.parent.AllSDOData), + ("0x0000 - 0x0ff", self.parent.DatatypeDescription), + ("0x1000 - 0x1fff", self.parent.CommunicationObject), + ("0x2000 - 0x5fff", self.parent.ManufacturerSpecific), + ("0x6000 - 0x9fff", self.parent.ProfileSpecific), + ("0xa000 - 0xffff", self.parent.Reserved)] + + page_tooltip_string = ["SDO Index 0x0000 - 0x0fff : Data Type Description", + "SDO Index 0x1000 - 0x1fff : Communication object", + "SDO Index 0x2000 - 0x5fff : Manufacturer specific", + "SDO Index 0x6000 - 0x9fff : Profile specific", + "SDO Index 0xa000 - 0xffff : Reserved", + "All SDO Object"] + + self.DeleteAllPages() + + for txt, count in page_texts: + self.Data = self.Controler.CommonMethod.SaveSDOData[count] + self.Win = SlaveSDOTable(self, self.Data) + self.AddPage(self.Win, txt) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + +#------------------------------------------------------------------------------- +# For SDO Grid (fill index, subindex, etc...) +#------------------------------------------------------------------------------- +class SlaveSDOTable(wx.grid.Grid): + def __init__(self, parent, data): + """ + Constructor + @param parent: Reference to the parent SDOPanelClass class + @param data: SDO data after parsing "SDOParser" method + """ + wx.grid.Grid.__init__(self, parent, -1, size=(830,490), + style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + self.Controler = parent.Controler + self.parent = parent + self.SDOFlag = True + if data is None : + self.SDOs = [] + else : + self.SDOs = data + + self.CreateGrid(len(self.SDOs), 8) + SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 55), + (4, 40), (5, 200), (6, 250), (7, 85)] + + for (index, size) in SDOCellSize: + self.SetColSize(index, size) + + self.SetRowLabelSize(0) + + SDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Access"), + (3, "Type"), (4, "Size"), (5, "Category"), + (6, "Name"), (7, "Value")] + + for (index, label) in SDOTableLabel: + self.SetColLabelValue(index, label) + self.SetColLabelAlignment(index, wx.ALIGN_CENTRE) + + attr = wx.grid.GridCellAttr() + + # for SDO download + self.Bind(gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.SDOModifyDialog) + + for i in range(7): + self.SetColAttr(i,attr) + + self.SetColLabelAlignment(wx.ALIGN_CENTER, wx.ALIGN_CENTER) + + self.SetTableValue() + + def SetTableValue(self): + """ + Cell is filled by new parsing data + """ + sdo_list = ['idx', 'subIdx', 'access', 'type', 'size', 'category', 'name', 'value'] + for row_idx in range(len(self.SDOs)): + for col_idx in range(len(self.SDOs[row_idx])): + self.SetCellValue(row_idx, col_idx, self.SDOs[row_idx][sdo_list[col_idx]]) + self.SetReadOnly(row_idx, col_idx, True) + if col_idx < 5 : + self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE) + + def CheckSDODataAccess(self, row): + """ + CheckSDODataAccess method is checking that access data has "w" + Access field consist 6 char, if mean + rw rw rw + (preop) (safeop) (op) + Example Access field : rwrwrw, rwrw-- + @param row : Selected cell by user + @return Write_flag : If data has "w", flag is true + """ + write_flag = False + check = self.SDOs[row]['access'] + if check[1:2] == 'w' : + self.Controler.CommonMethod.Check_PREOP = True + write_flag = True + if check[3:4] == 'w' : + self.Controler.CommonMethod.Check_SAFEOP = True + write_flag = True + if check[5:] =='w' : + self.Controler.CommonMethod.Check_OP = True + write_flag = True + + return write_flag + + def DecideSDODownload(self, state): + """ + compare current state and "access" field, + result notify SDOModifyDialog method + @param state : current slave state + @return True or False + """ + # Example of 'state' parameter : "0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100)" + state = state[self.Controler.GetSlavePos()].split(" ")[2] + if state == "PREOP" and self.Controler.CommonMethod.Check_PREOP : + return True + elif state == "SAFEOP" and self.Controler.CommonMethod.Check_SAFEOP : + return True + elif state == "OP" and self.Controler.CommonMethod.Check_OP : + return True + + return False + + def ClearStateFlag(self): + """ + Initialize StateFlag + StateFlag is notice SDOData access each slave state + """ + self.Controler.CommonMethod.Check_PREOP = False + self.Controler.CommonMethod.Check_SAFEOP = False + self.Controler.CommonMethod.Check_OP = False + + def SDOModifyDialog (self, event): + """ + Create dialog for SDO value modify + if user enter data, perform command "ethercat download" + @param event : gridlib.EVT_GRID_CELL_LEFT_DCLICK object + """ + self.ClearStateFlag() + + # CheckSDODataAccess is checking that OD(Object Dictionary) has "w" + if event.GetCol() == 7 and self.CheckSDODataAccess(event.GetRow()) : + dlg = wx.TextEntryDialog (self, "Enter hex or dec value (if enter dec value, it automatically conversed hex value)", + "SDOModifyDialog", style = wx.OK | wx.CANCEL) + + start_value = self.GetCellValue(event.GetRow(), event.GetCol()) + dlg.SetValue(start_value) + + if dlg.ShowModal() == wx.ID_OK: + try : + int(dlg.GetValue(), 0) + # check "Access" field + if self.DecideSDODownload(self.Controler.CommonMethod.SlaveState[self.Controler.GetSlavePos()]) : + # Request "SDODownload" + self.Controler.CommonMethod.SDODownload(self.SDOs[event.GetRow()]['type'], self.SDOs[event.GetRow()]['idx'], + self.SDOs[event.GetRow()]['subIdx'], dlg.GetValue()) + self.SetCellValue(event.GetRow(), event.GetCol(), hex(int(dlg.GetValue(), 0))) + else : + self.Controler.CommonMethod.CreateErrorDialog('You cannot SDO download this state') + # Error occured process of "int(variable)" + # User input is not hex, dec value + except ValueError: + self.Controler.CommonMethod.CreateErrorDialog('You can input only hex, dec value') + + +#------------------------------------------------------------------------------- +# For PDO Monitoring Panel +# PDO Class UI : Panel -> Choicebook (RxPDO, TxPDO) -> +# Notebook (PDO Index) -> Grid (PDO entry) +#------------------------------------------------------------------------------- +class PDOPanelClass(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + self.Controler = controler + + self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL) + self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10) + + self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler) + self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL) + + self.PDOMonitoringEditorMainSizer.Add(self.PDOMonitoringEditorInnerMainSizer) + + self.SetSizer(self.PDOMonitoringEditorMainSizer) + + def PDOInfoUpdate(self): + """ + Call RequestPDOInfo method and create Choicebook + """ + self.Controler.CommonMethod.RequestPDOInfo() + self.CallPDOChoicebook.Destroy() + self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler) + self.Refresh() + + +#------------------------------------------------------------------------------- +# For PDO Choicebook (divide Tx, Rx PDO) +#------------------------------------------------------------------------------- +class PDOChoicebook(wx.Choicebook): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent PDOPanelClass class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Choicebook.__init__(self, parent, id=-1, size=(500, 500), style=wx.CHB_DEFAULT) + self.Controler = controler + + RxWin = PDONoteBook(self, controler=self.Controler, name="Rx") + TxWin = PDONoteBook(self, controler=self.Controler, name="Tx") + self.AddPage(RxWin, "RxPDO") + self.AddPage(TxWin, "TxPDO") + + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + +#------------------------------------------------------------------------------- +# For PDO Notebook (divide PDO index) +#------------------------------------------------------------------------------- +class PDONoteBook(wx.Notebook): + def __init__(self, parent, name, controler): + """ + Constructor + @param parent: Reference to the parent PDOChoicebook class + @param name: identifier whether RxPDO or TxPDO + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Notebook.__init__(self, parent, id=-1, size=(640, 400)) + self.Controler = controler + + count = 0 + page_texts = [] + + self.Controler.CommonMethod.RequestPDOInfo() + + if name == "Tx" : + # obtain pdo_info and pdo_entry + # pdo_info include (PDO index, name, number of entry) + pdo_info = self.Controler.CommonMethod.GetTxPDOCategory() + pdo_entry = self.Controler.CommonMethod.GetTxPDOInfo() + for tmp in pdo_info : + title = str(hex(tmp['pdo_index'])) + page_texts.append(title) + # RX PDO case + else : + pdo_info = self.Controler.CommonMethod.GetRxPDOCategory() + pdo_entry = self.Controler.CommonMethod.GetRxPDOInfo() + for tmp in pdo_info : + title = str(hex(tmp['pdo_index'])) + page_texts.append(title) + + # Add page depending on the number of pdo_info + for txt in page_texts: + win = PDOEntryTable(self, pdo_info, pdo_entry, count) + self.AddPage(win, txt) + count += 1 + + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + +#------------------------------------------------------------------------------- +# For PDO Grid (fill entry index, subindex etc...) +#------------------------------------------------------------------------------- +class PDOEntryTable(wx.grid.Grid): + def __init__(self, parent, info, entry, count): + """ + Constructor + @param parent: Reference to the parent PDONoteBook class + @param info : data structure including entry index, sub index, name, length, type + @param entry : data structure including index, name, entry number + @param count : page number + """ + wx.grid.Grid.__init__(self, parent, -1, size=(500, 400), pos=wx.Point(0,0), + style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + self.Controler = parent.Controler + + self.PDOInfo = info + self.PDOEntry = entry + self.Count = count + + self.CreateGrid(self.PDOInfo[self.Count]['number_of_entry'], 5) + self.SetColLabelSize(25) + self.SetRowLabelSize(0) + + PDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Length"), + (3, "Type"), (4, "Name")] + + for (index, label) in PDOTableLabel: + self.SetColLabelValue(index, label) + + PDOCellSize = [(0, 45), (1, 65), (2, 55), (3, 40), (4, 300)] + + for (index, size) in PDOCellSize: + self.SetColSize(index, size) + self.SetColLabelAlignment(index, wx.ALIGN_LEFT) + + attr = wx.grid.GridCellAttr() + + for i in range(5): + self.SetColAttr(i, attr) + + self.SetTableValue() + + def SetTableValue(self): + """ + Cell is filled by new parsing data in XML + """ + list_index = 0 + # number of entry + for i in range(self.Count + 1) : + list_index += self.PDOInfo[i]['number_of_entry'] + + start_value = list_index - self.PDOInfo[self.Count]['number_of_entry'] + + pdo_list = ['entry_index', 'subindex', 'bitlen', 'type', 'name'] + for row_idx in range(self.PDOInfo[self.Count]['number_of_entry']): + for col_idx in range(len(self.PDOEntry[row_idx])): + # entry index is converted hex value. + if col_idx == 0 : + self.SetCellValue(row_idx, col_idx, hex(self.PDOEntry[start_value][pdo_list[col_idx]])) + else : + self.SetCellValue(row_idx, col_idx, str(self.PDOEntry[start_value][pdo_list[col_idx]])) + if col_idx != 4 : + self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE) + else : + self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_LEFT, wx.ALIGN_CENTRE) + self.SetReadOnly(row_idx, col_idx, True) + self.SetRowSize(row_idx, 25) + start_value += 1 + + +#------------------------------------------------------------------------------- +# For EEPROM Access Main Panel +# (This class explain EEPROM Access) +#------------------------------------------------------------------------------- +class EEPROMAccessPanel(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20) + + line = wx.StaticText(self, -1, "\n EEPROM Access is composed to SmartView and HexView. \ + \n\n - SmartView shows Config Data, Device Identity, Mailbox settings, etc. \ + \n\n - HexView shows EEPROM's contents.") + + sizer.Add(line) + + self.SetSizer(sizer) + + +#------------------------------------------------------------------------------- +# For Smart View Panel +#------------------------------------------------------------------------------- +class SlaveSiiSmartView(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + self.parent = parent + self.Controler = controler + + self.PDIType = {0 :['none', '00000000'], + 4 :['Digital I/O', '00000100'], + 5 :['SPI Slave', '00000101'], + 7 :['EtherCAT Bridge (port3)', '00000111'], + 8 :['uC async. 16bit', '00001000'], + 9 :['uC async. 8bit', '00001001'], + 10 :['uC sync. 16bit', '00001010'], + 11 :['uC sync. 8bit', '00001011'], + 16 :['32 Digtal Input and 0 Digital Output', '00010000'], + 17 :['24 Digtal Input and 8 Digital Output', '00010001'], + 18 :['16 Digtal Input and 16 Digital Output','00010010'], + 19 :['8 Digtal Input and 24 Digital Output', '00010011'], + 20 :['0 Digtal Input and 32 Digital Output', '00010100'], + 128:['On-chip bus', '11111111'] + } + + sizer = wx.FlexGridSizer(cols=1, hgap=5, rows=2, vgap=5) + button_sizer = wx.FlexGridSizer(cols=2, hgap=5, rows=1, vgap=5) + + for button, mapping_method in [("Write EEPROM", self.WriteToEEPROM), + ("Read EEPROM", self.ReadFromEEPROM)]: + btn = wx.Button(self, -1, button, size=(150, 40)) + button_sizer.Add(btn, border=10, flag=wx.ALL) + btn.Bind(wx.EVT_BUTTON, mapping_method) + + self.TreeListCtrl = SmartViewTreeListCtrl(self, self.Controler) + + sizer.Add(button_sizer, border=10, flag=wx.ALL) + sizer.Add(self.TreeListCtrl, border=10, flag=wx.ALL) + self.SetSizer(sizer) + + self.Create_SmartView() + + def Create_SmartView(self): + """ + SmartView shows information based on XML as initial value. + """ + self.Controler.CommonMethod.SmartViewInfosFromXML = self.Controler.CommonMethod.GetSmartViewInfos() + self.SetXMLData() + + def WriteToEEPROM(self, event): + """ + Open binary file (user select) and write the selected binary data to EEPROM + @param event : wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not, and whether status is "Started" or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus() + if status is not "Started": + dialog = wx.FileDialog(self, _("Choose a binary file"), os.getcwd(), "", _("bin files (*.bin)|*.bin"), wx.OPEN) + + if dialog.ShowModal() == wx.ID_OK: + filepath = dialog.GetPath() + try: + binfile = open(filepath,"rb") + self.SiiBinary = binfile.read() + dialog.Destroy() + + self.Controler.CommonMethod.SiiWrite(self.SiiBinary) + # refresh data structure kept by master + self.Controler.CommonMethod.Rescan() + # save binary data as inner global data of beremiz + # for fast loading when slave plugin node is reopened. + self.Controler.CommonMethod.SiiData = self.SiiBinary + self.SetEEPROMData() + except: + self.Controler.CommonMethod.CreateErrorDialog('The file does not exist!') + dialog.Destroy() + + def ReadFromEEPROM(self, event): + """ + Refresh displayed data based on slave EEPROM and save binary file through dialog + @param event : wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + self.SiiBinary = self.Controler.CommonMethod.LoadData() + self.SetEEPROMData() + dialog = wx.FileDialog(self, _("Save as..."), os.getcwd(), + "slave0.bin", _("bin files (*.bin)|*.bin|All files|*.*"), + wx.SAVE|wx.OVERWRITE_PROMPT) + + if dialog.ShowModal() == wx.ID_OK: + filepath = dialog.GetPath() + binfile = open(filepath,"wb") + binfile.write(self.SiiBinary) + binfile.close() + + dialog.Destroy() + + def SetXMLData(self): + """ + Set data based on XML initially + """ + # Config Data: EEPROM Size, PDI Type, Device Emulation + # Find PDI Type in pdiType dictionary + cnt_pdi_type = self.Controler.CommonMethod.SmartViewInfosFromXML["pdi_type"] + for i in self.PDIType.keys(): + if cnt_pdi_type == i: + cnt_pdi_type = self.PDIType[i][0] + break + # Set Config Data + for treelist, data in [("EEPROM Size (Bytes)", + str(self.Controler.CommonMethod.SmartViewInfosFromXML["eeprom_size"])), + ("PDI Type", + cnt_pdi_type), + ("Device Emulation", + self.Controler.CommonMethod.SmartViewInfosFromXML["device_emulation"])]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1) + + # Device Identity: Vendor ID, Product Code, Revision No., Serial No. + # Set Device Identity + for treelist, data in [("Vendor ID", self.Controler.CommonMethod.SmartViewInfosFromXML["vendor_id"]), + ("Product Code", self.Controler.CommonMethod.SmartViewInfosFromXML["product_code"]), + ("Revision No.", self.Controler.CommonMethod.SmartViewInfosFromXML["revision_no"]), + ("Serial No.", self.Controler.CommonMethod.SmartViewInfosFromXML["serial_no"])]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.DeviceIdentity[treelist], data, 1) + + # Mailbox: Supported Mailbox, Bootstrap Configuration, Standard Configuration + # Set Mailbox + for treelist, data in [("Supported Mailbox", self.Controler.CommonMethod.SmartViewInfosFromXML["supported_mailbox"]), + ("Bootstrap Configuration", ""), + ("Standard Configuration", "")]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1) + # Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size + for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outstart"]), + ("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outlength"]), + ("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_instart"]), + ("Send Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_inlength"])]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1) + # Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size + for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outstart"]), + ("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outlength"]), + ("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_instart"]), + ("Send Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_inlength"])]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.StandardConfig[treelist], data, 1) + + def SetEEPROMData(self): + """ + Set data based on slave EEPROM. + """ + # sii_dict = { Parameter : (WordAddress, WordSize) } + sii_dict= { 'PDIControl' : ( '0', 1), + 'PDIConfiguration' : ( '1', 1), + 'PulseLengthOfSYNCSignals' : ( '2', 1), + 'ExtendedPDIConfiguration' : ( '3', 1), + 'ConfiguredStationAlias' : ( '4', 1), + 'Checksum' : ( '7', 1), + 'VendorID' : ( '8', 2), + 'ProductCode' : ( 'a', 2), + 'RevisionNumber' : ( 'c', 2), + 'SerialNumber' : ( 'e', 2), + 'Execution Delay' : ('10', 1), + 'Port0Delay' : ('11', 1), + 'Port1Delay' : ('12', 1), + 'BootstrapReceiveMailboxOffset' : ('14', 1), + 'BootstrapReceiveMailboxSize' : ('15', 1), + 'BootstrapSendMailboxOffset' : ('16', 1), + 'BootstrapSendMailboxSize' : ('17', 1), + 'StandardReceiveMailboxOffset' : ('18', 1), + 'StandardReceiveMailboxSize' : ('19', 1), + 'StandardSendMailboxOffset' : ('1a', 1), + 'StandardSendMailboxSize' : ('1b', 1), + 'MailboxProtocol' : ('1c', 1), + 'Size' : ('3e', 1), + 'Version' : ('3f', 1), + 'First Category Type/Vendor Specific' : ('40', 1), + 'Following Category Word Size' : ('41', 1), + 'Category Data' : ('42', 1), + } + + # Config Data: EEPROM Size, PDI Type, Device Emulation + # EEPROM's data in address '0x003f' is Size of EEPROM in KBit-1 + eeprom_size = str((int(self.GetWordAddressData( sii_dict.get('Size'),10 ))+1)/8*1024) + # Find PDI Type in pdiType dictionary + cnt_pdi_type = int(self.GetWordAddressData( sii_dict.get('PDIControl'),16 ).split('x')[1][2:4], 16) + for i in self.PDIType.keys(): + if cnt_pdi_type == i: + cnt_pdi_type = self.PDIType[i][0] + break + # Get Device Emulation + device_emulation = str(bool(int("{:0>16b}".format(int(self.GetWordAddressData( sii_dict.get('PDIControl'),16 ), 16))[7]))) + # Set Config Data + for treelist, data in [("EEPROM Size (Bytes)", eeprom_size), + ("PDI Type", cnt_pdi_type), + ("Device Emulation", device_emulation)]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1) + + # Device Identity: Vendor ID, Product Code, Revision No., Serial No. + # Set Device Identity + for treelist, data in [("Vendor ID", self.GetWordAddressData( sii_dict.get('VendorID'),16 )), + ("Product Code", self.GetWordAddressData( sii_dict.get('ProductCode'),16 )), + ("Revision No.", self.GetWordAddressData( sii_dict.get('RevisionNumber'),16 )), + ("Serial No.", self.GetWordAddressData( sii_dict.get('SerialNumber'),16 ))]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.DeviceIdentity[treelist], data, 1) + + # Mailbox + # EEORPOM's word address '1c' indicates supported mailbox protocol. + # each value of mailbox protocol : + # VoE(0x0020), SoE(0x0010), FoE(0x0008), CoE(0x0004), EoE(0x0002), AoE(0x0001) + supported_mailbox = "" + mailbox_protocol=["VoE, ", "SoE, ", "FoE, ", "CoE, ", "EoE, ", "AoE, "] + mailbox_data = "{:0>8b}".format(int(self.GetWordAddressData( sii_dict.get('MailboxProtocol'),16 ), 16)) + for protocol in range(6): + if mailbox_data[protocol+2] == '1': + supported_mailbox += mailbox_protocol[protocol] + supported_mailbox = supported_mailbox.strip(", ") + # Set Mailbox + for treelist, data in [("Supported Mailbox", supported_mailbox), + ("Bootstrap Configuration", ""), + ("Standard Configuration", "")]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1) + # Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size + for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxOffset'),10 )), + ("Receive Size", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxSize'),10 )), + ("Send Offset", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxOffset'),10 )), + ("Send Size", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxSize'),10 ))]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1) + # Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size + for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxOffset'),10 )), + ("Receive Size", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxSize'),10 )), + ("Send Offset", self.GetWordAddressData( sii_dict.get('StandardSendMailboxOffset'),10 )), + ("Send Size", self.GetWordAddressData( sii_dict.get('StandardSendMailboxSize'),10 ))]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.StandardConfig[treelist], data, 1) + + def MakeStaticBoxSizer(self, boxlabel): + """ + Make StaticBoxSizer + @param boxlabel : label of box sizer + @return sizer : the StaticBoxSizer labeled 'boxlabel' + """ + box = wx.StaticBox(self, -1, boxlabel) + sizer = wx.StaticBoxSizer(box, wx.VERTICAL) + + return sizer + + def GetWordAddressData(self, dict_tuple, format): + """ + This method converts word address data from EEPROM binary. + @param dict_tuple : element of 'sii_dict' dictionary in SetEEPROMData() + @param format : format of data. It can be 16(hex), 10(decimal) and 2(binary). + @return formatted value + """ + offset = int(str(dict_tuple[0]), 16) * 2 + length = int(str(dict_tuple[1]), 16) * 2 + list = [] + data = '' + for index in range(length): + hexdata = hex(ord(self.SiiBinary[offset + index]))[2:] + list.append(hexdata.zfill(2)) + + list.reverse() + data = list[0:length] + + if format == 16: + return '0x' + ''.join(data) + elif format == 10: + return str(int(str(''.join(data)), 16)) + elif format == 2: + ''.join(data) + + +#------------------------------------------------------------------------------- +# For Smart View TreeListCtrl +#------------------------------------------------------------------------------- +class SmartViewTreeListCtrl(wx.Panel): + def __init__(self, parent, Controler): + """ + Constructor + @param parent: Reference to the parent SlaveSiiSmartView class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + + wx.Panel.__init__(self, parent, -1, size=(350, 500)) + + self.Tree = wx.gizmos.TreeListCtrl(self, -1, size=(350, 500), + style=wx.TR_DEFAULT_STYLE + |wx.TR_FULL_ROW_HIGHLIGHT + |wx.TR_HIDE_ROOT + |wx.TR_COLUMN_LINES + |wx.TR_ROW_LINES) + + self.Tree.AddColumn("Description", width=200) + self.Tree.AddColumn("Value", width=140) + self.Tree.SetMainColumn(0) + + self.Root = self.Tree.AddRoot("") + + # Add item + # Level 1 nodes + self.Level1Nodes = {} + for lv1 in ["Config Data", "Device Identity", "Mailbox"]: + self.Level1Nodes[lv1] = self.Tree.AppendItem(self.Root, lv1) + + # Level 2 nodes + # Config Data + self.ConfigData = {} + for lv2 in ["EEPROM Size (Bytes)", "PDI Type", "Device Emulation"]: + self.ConfigData[lv2] = self.Tree.AppendItem(self.Level1Nodes["Config Data"], lv2) + # Device Identity + self.DeviceIdentity = {} + for lv2 in ["Vendor ID", "Product Code", "Revision No.", "Serial No."]: + self.DeviceIdentity[lv2] = self.Tree.AppendItem(self.Level1Nodes["Device Identity"], lv2) + # Mailbox + self.Mailbox = {} + for lv2 in ["Supported Mailbox", "Bootstrap Configuration", "Standard Configuration"]: + self.Mailbox[lv2] = self.Tree.AppendItem(self.Level1Nodes["Mailbox"], lv2) + + # Level 3 nodes + # Children of Bootstrap Configuration + self.BootstrapConfig = {} + for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]: + self.BootstrapConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Bootstrap Configuration"], lv3) + # Children of Standard Configuration + self.StandardConfig = {} + for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]: + self.StandardConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Standard Configuration"], lv3) + + # Expand Tree + for tree in [self.Root, + self.Level1Nodes["Config Data"], + self.Level1Nodes["Device Identity"], + self.Level1Nodes["Mailbox"], + self.Mailbox["Bootstrap Configuration"], + self.Mailbox["Standard Configuration"]]: + self.Tree.Expand(tree) + + +#------------------------------------------------------------------------------- +# For Hex View Panel +# shows EEPROM binary as hex data and characters. +#------------------------------------------------------------------------------- +class HexView(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + self.parent = parent + self.Controler = controler + + self.HexRow = 8 + self.HexCol = 17 + + self.HexViewSizer = {"view" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10), + "siiButton" : wx.BoxSizer()} + self.HexViewButton = {} + + for key, evt_handler in [("Sii Upload", self.OnButtonSiiUpload), + ("Sii Download", self.OnButtonSiiDownload), + ("Write to File", self.OnButtonWriteToBinFile), + ("Read from File", self.OnButtonReadFromBinFile), + ("XML to EEPROM Image", self.OnButtonXmlToEEPROMImg)]: + self.HexViewButton[key] = wx.Button(self, -1, key) + self.HexViewButton[key].Bind(wx.EVT_BUTTON, evt_handler) + self.HexViewSizer["siiButton"].Add(self.HexViewButton[key]) + + self.SiiBinary = self.Controler.CommonMethod.XmlToEeprom() + self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary) + self.SiiGrid = SiiGridTable(self, self.Controler, self.HexRow, self.HexCol) + self.HexViewSizer["view"].AddMany([self.HexViewSizer["siiButton"], self.SiiGrid]) + self.SiiGrid.CreateGrid(self.HexRow, self.HexCol) + self.SetSizer(self.HexViewSizer["view"]) + self.HexViewSizer["view"].FitInside(self.parent.parent) + self.parent.parent.FitInside() + self.SiiGrid.SetValue(self.HexCode) + self.SiiGrid.Update() + + def UpdateSiiGridTable(self, row, col): + """ + Destroy existing grid and recreate + @param row, col : Hex View grid size + """ + self.HexViewSizer["view"].Detach(self.SiiGrid) + self.SiiGrid.Destroy() + self.SiiGrid = SiiGridTable(self, self.Controler, row, col) + self.HexViewSizer["view"].Add(self.SiiGrid) + self.SiiGrid.CreateGrid(row, col) + self.SetSizer(self.HexViewSizer["view"]) + self.HexViewSizer["view"].FitInside(self.parent.parent) + self.parent.parent.FitInside() + + def OnButtonSiiUpload(self, event): + """ + Load EEPROM data from slave and refresh Hex View grid + Binded to 'Sii Upload' button. + @param event : wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + # load from EEPROM data and parsing + self.SiiBinary = self.Controler.CommonMethod.LoadData() + self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary) + self.UpdateSiiGridTable(self.HexRow, self.HexCol) + self.SiiGrid.SetValue(self.HexCode) + self.SiiGrid.Update() + + def OnButtonSiiDownload(self, event): + """ + Write current EEPROM data to slave and refresh data structure kept by master + Binded to 'Sii Download' button. + @param event : wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not, + # and whether status is "Started" or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus() + if status is not "Started": + self.Controler.CommonMethod.SiiWrite(self.SiiBinary) + self.Controler.CommonMethod.Rescan() + + def OnButtonWriteToBinFile(self, event): + """ + Save current EEPROM data to binary file through FileDialog + Binded to 'Write to File' button. + @param event : wx.EVT_BUTTON object + """ + dialog = wx.FileDialog(self, _("Save as..."), os.getcwd(), "slave0.bin", + _("bin files (*.bin)|*.bin|All files|*.*"), wx.SAVE|wx.OVERWRITE_PROMPT) + + if dialog.ShowModal() == wx.ID_OK: + filepath = dialog.GetPath() + binfile = open(filepath,"wb") + binfile.write(self.SiiBinary) + binfile.close() + + dialog.Destroy() + + def OnButtonReadFromBinFile(self, event): + """ + Load binary file through FileDialog + Binded to 'Read from File' button. + @param event : wx.EVT_BUTTON object + """ + dialog = wx.FileDialog(self, _("Choose a binary file"), os.getcwd(), "", + _("bin files (*.bin)|*.bin"), wx.OPEN) + + if dialog.ShowModal() == wx.ID_OK: + filepath = dialog.GetPath() + + try: + binfile = open(filepath, "rb") + self.SiiBinary = binfile.read() + self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary) + self.UpdateSiiGridTable(self.HexRow, self.HexCol) + self.SiiGrid.SetValue(self.HexCode) + self.SiiGrid.Update() + except: + self.Controler.CommonMethod.CreateErrorDialog('The file does not exist!') + + dialog.Destroy() + + def OnButtonXmlToEEPROMImg(self, event): + """ + Create EEPROM data based XML data that current imported + Binded to 'XML to EEPROM' button. + @param event : wx.EVT_BUTTON object + """ + self.SiiBinary = self.Controler.CommonMethod.XmlToEeprom() + self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary) + self.UpdateSiiGridTable(self.HexRow, self.HexCol) + self.SiiGrid.SetValue(self.HexCode) + self.SiiGrid.Update() + + +#------------------------------------------------------------------------------- +# For Hex View grid (fill hex data) +#------------------------------------------------------------------------------- +class SiiGridTable(wx.grid.Grid): + def __init__(self, parent, controler, row, col): + """ + Constructor + @param parent: Reference to the parent HexView class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + @param row, col: Hex View grid size + """ + self.parent = parent + self.Controler = controler + self.Row = row + self.Col = col + + wx.grid.Grid.__init__(self, parent, -1, size=(830,450), + style=wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + def SetValue(self, value): + """ + Set data in the table + @param value: EEPROM data list of which element is 1 Byte hex data + """ + # set label name and size + self.SetRowLabelSize(100) + for col in range(self.Col): + if col == 16: + self.SetColLabelValue(16, "Text View") + self.SetColSize(16, (self.GetSize().x-120)*4/20) + else: + self.SetColLabelValue(col, '%s'%col) + self.SetColSize(col, (self.GetSize().x-120)/20) + + # set data into table + row = col = 0 + for row_idx in value: + col = 0 + self.SetRowLabelValue(row, "0x"+"{:0>4x}".format(row*(self.Col-1))) + for hex in row_idx: + self.SetCellValue(row, col, hex) + + if col == 16: + self.SetCellAlignment(row, col, wx.ALIGN_LEFT, wx.ALIGN_CENTER) + else: + self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER) + + self.SetReadOnly(row, col, True) + col = col + 1 + row = row + 1 + + +#------------------------------------------------------------------------------- +# For Register Access Panel +#------------------------------------------------------------------------------- +class RegisterAccessPanel(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: EEPROMAccessPanel object + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + self.parent = parent + self.Controler = controler + self.__init_data() + + wx.Panel.__init__(self, parent, -1) + + sizer = wx.FlexGridSizer(cols=1, hgap=20, rows=2, vgap=5) + button_sizer = wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10) + + self.ReloadButton = wx.Button(self, -1, "Reload") + self.CompactViewCheckbox = wx.CheckBox(self, -1, "Compact View") + self.RegisterNotebook = RegisterNotebook(self, self.Controler) + + button_sizer.AddMany([self.ReloadButton, self.CompactViewCheckbox]) + sizer.AddMany([button_sizer, self.RegisterNotebook]) + self.SetSizer(sizer) + + self.ReloadButton.Bind(wx.EVT_BUTTON, self.OnReloadButton) + self.CompactViewCheckbox.Bind(wx.EVT_CHECKBOX, self.ToggleCompactViewCheckbox) + + for index in range(4): + self.RegisterNotebook.RegPage[index].MainTable.CreateGrid(self.MainRow[index], self.MainCol) + self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, 0, index*512, (index+1)*512) + + # data default setting + if self.Controler.CommonMethod.RegData == "": + self.CompactViewCheckbox.Disable() + for index in range(4): + self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, 0, index*512, (index+1)*512) + else: # If data was saved, + self.BasicSetData() + self.ParseData() + for index in range(4): + self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, self.RegMonitorData, index*512, (index+1)*512) + + def __init_data(self): + """ + Declare initial data. + """ + # flag for compact view + self.CompactFlag = False + + # main grid의 rows and cols + self.MainRow = [512, 512, 512, 512] + self.MainCol = 4 + + # main grids' data range + self.PageRange = [] + for index in range(4): + self.PageRange.append([512*index, 512*(index+1)]) + + # Previous value of register data for register description configuration + self.PreRegSpec = {"ESCType": "", + "FMMUNumber": "", + "SMNumber": "", + "PDIType": ""} + + def LoadData(self): + """ + Get data from the register. + """ + self.Controler.CommonMethod.RegData = "" + #ethercat reg_read + #ex : ethercat reg_read -p 0 0x0000 0x0001 + #return value : 0x11 + for index in range(4): + self.Controler.CommonMethod.RegData = self.Controler.CommonMethod.RegData + " " + self.Controler.CommonMethod.RegRead("0x"+"{:0>4x}".format(index*1024), "0x0400") + + # store previous value + # (ESC type, port number of FMMU, port number of SM, and PDI type)) + for reg_spec in ["ESCType","FMMUNumber","SMNumber", "PDIType"]: + self.PreRegSpec[reg_spec] = self.Controler.CommonMethod.CrtRegSpec[reg_spec] + + # update registers' description + # (ESC type, port number of FMMU, port number of SM, and PDI type) + for reg_spec, address in [("ESCType", "0x0000"), + ("FMMUNumber", "0x0004"), + ("SMNumber", "0x0005"), + ("PDIType", "0x0140")]: + self.Controler.CommonMethod.CrtRegSpec[reg_spec] = self.Controler.CommonMethod.RegRead(address, "0x0001") + + # Enable compactView checkbox + self.CompactViewCheckbox.Enable() + + def BasicSetData(self): + """ + Get and save the description of registers. + It's done by parsing register_information.xml. + """ + # parse the above register's value + # If the value is 0x12, the result is 12 + self.ESCType = self.Controler.CommonMethod.CrtRegSpec["ESCType"].split('x')[1] + self.PDIType = self.Controler.CommonMethod.CrtRegSpec["PDIType"].split('x')[1] + # If the value is 0x12, the result is 18 (It's converted to decimal value) + self.FMMUNumber = int(self.Controler.CommonMethod.CrtRegSpec["FMMUNumber"], 16) + self.SMNumber = int(self.Controler.CommonMethod.CrtRegSpec["SMNumber"], 16) + + # initialize description dictionary of register main table and register sub table. + self.RegisterDescriptionDict = {} + self.RegisterSubGridDict = {} + + # ./EthercatMaster/register_information.xml contains register description. + if wx.Platform == '__WXMSW__': + reg_info_file = open("../../EthercatMaster/register_information.xml", 'r') + else: + reg_info_file = open("./EthercatMaster/register_information.xml", 'r') + reg_info_tree = minidom.parse(reg_info_file) + reg_info_file.close() + + # parse register description + for register_info in reg_info_tree.childNodes: + for register in register_info.childNodes: + if register.nodeType == reg_info_tree.ELEMENT_NODE and register.nodeName == "Register": + # If it depends on the property(ESC type, PDI type, FMMU number, SM number) + for property, type, value in [("esc", "type", self.ESCType), + ("pdi", "type", self.PDIType), + ("fmmu", "number", self.FMMUNumber), + ("sm", "number", self.SMNumber)]: + if property in register.attributes.keys(): + if type == "type": + if register.attributes[property].value == value: + self.GetRegisterInfo(reg_info_tree, register) + break + else: # type == "number" + if register.attributes[property].value < value: + self.GetRegisterInfo(reg_info_tree, register) + break + else: + self.GetRegisterInfo(reg_info_tree, register) + break + + def GetRegisterInfo(self, reg_info_tree, register): + """ + Save the register's description into the dictionary. + reg_info_tree is based on the register_information.xml. + @param reg_info_tree: XML tree + @param register: register which you want to get the description + """ + # temporary variables for register main table idescription dictionary + reg_index = "" + reg_main_description = "" + + for data in register.childNodes: + if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Index": + for index in data.childNodes: + reg_index = index.nodeValue + if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Description": + for description in data.childNodes: + reg_main_description = description.nodeValue + + # Add description for register main table + if reg_index is not "" and reg_main_description is not "": + self.RegisterDescriptionDict[reg_index] = reg_main_description + + if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Details": + # declare register sub table description dictionary about this index + self.RegisterSubGridDict[reg_index] = [] + + for detail in data.childNodes: + if detail.nodeType == reg_info_tree.ELEMENT_NODE and detail.nodeName == "Detail": + # If it depends on the property(ESC type, PDI type, FMMU number, SM number) + for property, type, value in [("esc", "type", self.ESCType), + ("pdi", "type", self.PDIType), + ("fmmu", "number", self.FMMUNumber), + ("sm", "number", self.SMNumber)]: + if property in detail.attributes.keys(): + if type == "type": + if detail.attributes[property].value == value: + self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail) + break + else: # type == "number" + if detail.attributes[property].value < value: + self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail) + break + else: + self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail) + break + + def GetRegisterDetailInfo(self, reg_info_tree, reg_index, detail): + """ + Get the resgister's detailed description(for sub table) from the reg_info_tree. + @param reg_info_tree: XML tree (register_information.xml) + @param reg_index: index of the register + @param detail: description of the register + """ + # temporary variables for register sub table description dictionary + # - It is initialized in every sub description + reg_bit_range = "" + reg_sub_description = "" + reg_enum_dictionary = {} + + for detail_data in detail.childNodes: + if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Range": + for range in detail_data.childNodes: + reg_bit_range = range.nodeValue + if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Description": + for description in detail_data.childNodes: + reg_sub_description = description.nodeValue + + if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Enum": + for enum in detail_data.childNodes: + if enum.nodeType == reg_info_tree.ELEMENT_NODE and enum.nodeName == "item": + + # temporary variables for a description of each value + # For example, if the bit is 1, it is 'enabled'('On', 'True', etc.), + # otherwise 'disabled'('Off', 'False', etc.). + reg_sub_value = "" + reg_sub_value_description = "" + + for item in enum.childNodes: + if item.nodeType == reg_info_tree.ELEMENT_NODE and item.nodeName == "value": + for value in item.childNodes: + reg_sub_value = value.nodeValue + if item.nodeType == reg_info_tree.ELEMENT_NODE and item.nodeName == "Description": + for description in item.childNodes: + reg_sub_value_description = description.nodeValue + + # Add a description of each value to register enum dictionary + if reg_sub_value is not "" and reg_sub_value_description is not "": + reg_enum_dictionary[reg_sub_value] = reg_sub_value_description + + # add a description to register sub table description dictionary + if reg_bit_range is not "" and reg_sub_description is not "": + self.RegisterSubGridDict[reg_index].append([reg_bit_range, + reg_sub_description, reg_enum_dictionary]) + + def ParseData(self): + """ + Transform the data into dec, hex, string, and description + """ + row_data = [] + self.RegMonitorData = [] + reg_word = "" + + reg_data = self.Controler.CommonMethod.RegData.split() + + # loop for register(0x0000:0x0fff) + for address in range(0x1000): + # arrange 2 Bytes of register data + reg_word = reg_data[address].split('x')[1] + reg_word + if (address%2) == 1: + # append address + hex_address = "{:0>4x}".format(address-1) + row_data.append(hex_address) + + # append description + if self.RegisterDescriptionDict.has_key(hex_address): + row_data.append(self.RegisterDescriptionDict[hex_address]) + else: + row_data.append("") + + # append Decimal value + row_data.append(str(int(reg_word, 16))) + + # append Hex value + row_data.append('0x'+reg_word) + + # append ASCII value + char_data = "" + for iter in range(2): + if int(reg_word[iter*2:iter*2+2], 16)>=32 and int(reg_word[iter*2:iter*2+2], 16)<=126: + char_data = char_data + chr(int(reg_word[iter*2:iter*2+2], 16)) + else: + char_data = char_data + "." + row_data.append(char_data) + + self.RegMonitorData.append(row_data) + reg_word = "" # initialize regWord + row_data = [] + + def OnReloadButton(self, event): + """ + Handle the click event of the 'Reload' button. + Get the data from registers again, and update the table. + @param event: wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + self.LoadData() + self.BasicSetData() + self.ParseData() + # set data into UI + if self.CompactFlag: + self.ToggleCompactViewCheckbox(True) + else : + for index in range(4): + self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol, + self.PageRange[index][0], self.PageRange[index][1], + self.RegMonitorData) + + def ToggleCompactViewCheckbox(self, event): + """ + Handles the event of the 'Compact view' check box. + If it's checked, show only the registers that have a description. + If not, show all the registers. + @param event: wx.EVT_CHECKBOX object + """ + + # If "Compact View" Checkbox is True + ## 'event' is argument of this method or event of checkbox. + if event==True or event.GetEventObject().GetValue(): + self.CompactFlag = True + + reg_compact_data = [] + page_row = [0, 0, 0, 0] + for index in range(4): + self.PageRange[index] = [0, 0] + + for reg_row_data in self.RegMonitorData: + if reg_row_data[1] is not "": + # data structure for "compact view" + reg_compact_data.append(reg_row_data) + # count for each register notebooks' row + # It compare with register's address. + for index in range(4): + if int('0x'+reg_row_data[0], 16) < (index+1)*1024: + page_row[index] += 1 + break + + # Setting tables' rows and cols, range for compact view + for index in range(4): + self.MainRow[index] = page_row[index] + self.PageRange[index][1] = page_row[index] + for iter in range(index): + self.PageRange[index][0] += page_row[iter] + self.PageRange[index][1] += page_row[iter] + + # Update table + for index in range(4): + self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol, + self.PageRange[index][0], self.PageRange[index][1], + reg_compact_data) + + # Compact View Checkbox is False + else: + self.CompactFlag = False + # Setting original rows, cols and range + self.MainRow = [512, 512, 512, 512] + self.PageRange = [] + + for index in range(4): + self.PageRange.append([512*index, 512*(index+1)]) + + # Update table + for index in range(4): + self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol, + self.PageRange[index][0], self.PageRange[index][1], + self.RegMonitorData) + + +#------------------------------------------------------------------------------- +# For Register Access Notebook (divide index range) +#------------------------------------------------------------------------------- +class RegisterNotebook(wx.Notebook): + def __init__(self, parent, controler): + """ + Constructor + @param parent: RegisterAccessPanel object + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Notebook.__init__(self, parent, id = -1) + + self.parent = parent + self.Controler = controler + + # Initialize pages + self.RegPage = [] + for iter in range(4): + self.RegPage.append(None) + + for index in range(4): + self.RegPage[index] = RegisterNotebookPanel(self, self.Controler, + parent.MainRow[index], parent.MainCol) + self.AddPage(self.RegPage[index], + "0x"+"{:0>4x}".format(index*1024)+" - 0x"+"{:0>4x}".format((index+1)*1024-1)) + + self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + +#------------------------------------------------------------------------------- +# For Register Access Notebook Panel +# (Main UI : including main, sub table) +#------------------------------------------------------------------------------- +class RegisterNotebookPanel(wx.Panel): + def __init__(self, parent, controler, row, col): + """ + Constructor + @param parent: RegisterAccessPanel object + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + @param row, col: size of the table + """ + wx.Panel.__init__(self, parent, -1) + + self.parent = parent + self.Controler = controler + self.Row = row + self.Col = col + sub_row = 0 + sub_col = 4 + + self.Sizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=30) + + self.MainTable = RegisterMainTable(self, self.Row, self.Col, self.Controler) + self.SubTable = RegisterSubTable(self, sub_row, sub_col) + + self.SubTable.CreateGrid(sub_row, sub_col) + self.SubTable.SetValue(self, []) + + self.Sizer.AddMany([self.MainTable, self.SubTable]) + + self.SetSizer(self.Sizer) + + def UpdateMainTable(self, row, col, low_index, high_index, data): + """ + Updates main table. + It's done by deleting the main table and creating it again. + @param row, col: size of the table + @param low_index: the lowest index of the page + @param high_index: the highest index of the page + @param data: data + """ + self.MainTable.Destroy() + self.MainTable = RegisterMainTable(self, row, col, self.Controler) + self.Sizer.Detach(self.SubTable) + self.Sizer.AddMany([self.MainTable, self.SubTable]) + self.SetSizer(self.Sizer) + self.MainTable.CreateGrid(row, col) + self.MainTable.SetValue(self, data, low_index, high_index) + self.MainTable.Update() + + def UpdateSubTable(self, row, col, data): + """ + Updates sub table. + It's done by deleting the sub table and creating it again. + @param row, col: size of the table + @param data: data + """ + self.SubTable.Destroy() + self.SubTable = RegisterSubTable(self, row, col) + self.Sizer.Detach(self.MainTable) + self.Sizer.AddMany([self.MainTable, self.SubTable]) + self.Sizer.Layout() + self.SetSizer(self.Sizer) + self.SubTable.CreateGrid(row, col) + self.SubTable.SetValue(self, data) + self.SubTable.Update() + + +#------------------------------------------------------------------------------- +# For Register Access Notebook Panel (Main Table) +#------------------------------------------------------------------------------- +class RegisterMainTable(wx.grid.Grid): + def __init__(self, parent, row, col, controler): + """ + Constructor + @param parent: RegisterNotebook object + @param row, col: size of the table + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + self.parent = parent + self.Data = {} + self.Row = row + self.Col = col + self.Controler = controler + self.RegisterAccessPanel = self.parent.parent.parent + + wx.grid.Grid.__init__(self, parent, -1, size=(820,300), + style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + for evt, mapping_method in [(gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell), + (gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell), + (gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.OnRegModifyDialog)]: + self.Bind(evt, mapping_method) + + def SetValue(self, parent, reg_monitor_data, low_index, high_index): + """ + Set the RegMonitorData into the main table. + @param parent: RegisterNotebook object + @param reg_monitor_data: data + @param low_index: the lowest index of the page + @param high_index: the highest index of the page + """ + self.RegMonitorData = reg_monitor_data + + # set label name and size + register_maintable_label = [(0, "Description"), (1, "Dec"), + (2, "Hex"), (3, "Char")] + + for (index, label) in register_maintable_label: + self.SetColLabelValue(index, label) + + self.SetColSize(0, 200) + + # if reg_monitor_data is 0, it is initialization of register access. + if reg_monitor_data == 0: + return 0 + + # set data into UI + row = col = 0 + for row_index in reg_monitor_data[low_index:high_index]: + col = 0 + self.SetRowLabelValue(row, row_index[0]) + for data_index in range(4): + self.SetCellValue(row, col, row_index[data_index+1]) + self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER) + self.SetReadOnly(row, col, True) + col = col + 1 + row = row + 1 + + def OnSelectCell(self, event): + """ + Handles the event of the cell of the main table. + @param event: gridlib object (left click) + """ + # if reg_monitor_data is 0, it is initialization of register access. + if self.RegMonitorData == 0: + event.Skip() + return 0 + + sub_row = 0 + sub_col = 4 + + address = self.GetRowLabelValue(event.GetRow()) + + reg_sub_grid_data = [] + + BIT_RANGE, NAME, DESCRIPTIONS = range(3) + + # Check if this register's detail description is exist or not, + # and create data structure for the detail description table ; sub grid + if address in self.RegisterAccessPanel.RegisterSubGridDict: + for element in self.RegisterAccessPanel.RegisterSubGridDict[address]: + row_data =[] + row_data.append(element[BIT_RANGE]) + row_data.append(element[NAME]) + bin_data = "{:0>16b}".format(int(self.GetCellValue(event.GetRow(), 1))) + value_range = element[BIT_RANGE].split('-') + value = (bin_data[8:16][::-1]+bin_data[0:8][::-1])[int(value_range[0]):(int(value_range[-1])+1)][::-1] + row_data.append(str(int(('0b'+str(value)), 2))) + if value in element[DESCRIPTIONS]: + row_data.append(element[DESCRIPTIONS][value]) + else: + row_data.append('') + reg_sub_grid_data.append(row_data) + sub_row = sub_row + 1 + + self.parent.UpdateSubTable(sub_row, sub_col, reg_sub_grid_data) + # event.Skip() updates UI of selecting cell + event.Skip() + + def OnRegModifyDialog(self, event): + """ + Handle the event of the cell of the main table. + Display the window where the user modifies the value of the cell. + @param event: gridlib object (double click) + """ + # user can enter a value in case that user double-clicked 'Dec' or 'Hex' value. + if event.GetCol() == 1 or event.GetCol() == 2: + dlg = wx.TextEntryDialog(self, "Enter hex(0xnnnn) or dec(n) value", + "Register Modify Dialog", style = wx.OK|wx.CANCEL) + + # Setting value in initial dialog value + start_value = self.GetCellValue(event.GetRow(), event.GetCol()) + dlg.SetValue(start_value) + + if dlg.ShowModal() == wx.ID_OK: + try: + # It int(input) success, this input is dev or hex value. + # Otherwise, it's error, so it goes except. + int(dlg.GetValue(), 0) + + # reg_write + # ex) ethercat reg_write -p 0 -t uint16 0x0000 0x0000 + return_val = self.Controler.CommonMethod.RegWrite('0x'+self.GetRowLabelValue(event.GetRow()), dlg.GetValue()) + + if len(return_val)==0: + # set dec + self.SetCellValue(event.GetRow(), 1, str(int(dlg.GetValue(), 0))) + # set hex + hex_data = '0x'+"{:0>4x}".format(int(dlg.GetValue(), 0)) + self.SetCellValue(event.GetRow(), 2, hex_data) + # set char + char_data = "" + # If hex_data is been able to convert to ascii code, append ascii code. + for iter in range(2): + if int(hex_data[(iter+1)*2:(iter+2)*2], 16)>=32 and int(hex_data[(iter+1)*2:(iter+2)*2], 16)<=126: + char_data = char_data + chr(int(hex_data[(iter+1)*2:(iter+2)*2], 16)) + else: + char_data = char_data + "." + + self.SetCellValue(event.GetRow(), 3, char_data) + + else: + self.Controler.CommonMethod.CreateErrorDialog('You can\'t modify it. This register is read-only or it\'s not connected.') + + except ValueError: + self.Controler.CommonMethod.CreateErrorDialog('You entered wrong value. You can enter dec or hex value only.') + + +#------------------------------------------------------------------------------- +# For Register Access Notebook Panel (Sub Table) +#------------------------------------------------------------------------------- +class RegisterSubTable(wx.grid.Grid): + def __init__(self, parent, row, col): + """ + Constructor + @param parent: RegisterNotebook object + @param row, col: size of the table + """ + self.parent = parent + self.Data = {} + self.Row = row + self.Col = col + + wx.grid.Grid.__init__(self, parent, -1, size=(820,150), + style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + def SetValue(self, parent, data): + """ + Set the data into the subtable. + @param parent: RegisterNotebook object + @param data: data + """ + # lset label name and size + Register_SubTable_Label = [(0, "Bits"), (1, "Name"), + (2, "Value"), (3, "Enum")] + + for (index, label) in Register_SubTable_Label: + self.SetColLabelValue(index, label) + + self.SetColSize(1, 200) + self.SetColSize(3, 200) + + # set data into table + row = col = 0 + for rowData in data: + col = 0 + for element in rowData: + self.SetCellValue(row, col, element) + self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER) + self.SetReadOnly(row, col, True) + col = col + 1 + row = row + 1 + + +#------------------------------------------------------------------------------- +# For Master State Panel +#------------------------------------------------------------------------------- +class MasterStatePanelClass(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: wx.ScrollWindow object + @Param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1, (0, 0), + size=wx.DefaultSize, style = wx.SUNKEN_BORDER) + self.Controler = controler + self.parent = parent + self.StaticBox = {} + self.StaticText = {} + self.TextCtrl = {} + + # ----------------------- Main Sizer and Update Button -------------------------------------------- + self.MasterStateSizer = {"main" : wx.BoxSizer(wx.VERTICAL)} + for key, attr in [ + ("innerMain", [1, 10, 2, 10]), + ("innerTopHalf", [2, 10, 1, 10]), + ("innerBottomHalf", [2, 10, 1, 10]), + ("innerMasterState", [2, 10, 3, 10]), + ("innerDeviceInfo", [4, 10, 3, 10]), + ("innerFrameInfo", [4, 10, 5, 10])]: + self.MasterStateSizer[key] = wx.FlexGridSizer(cols=attr[0], hgap=attr[1], rows=attr[2], vgap=attr[3]) + + + self.UpdateButton = wx.Button(self, label=_('Update')) + self.UpdateButton.Bind(wx.EVT_BUTTON, self.OnButtonClick) + + for key, label in [ + ('masterState', 'EtherCAT Master State'), + ('deviceInfo', 'Ethernet Network Card Information'), + ('frameInfo', 'Network Frame Information')]: + self.StaticBox[key] = wx.StaticBox(self, label=_(label)) + self.MasterStateSizer[key] = wx.StaticBoxSizer(self.StaticBox[key]) + + + # ----------------------- Master State ----------------------------------------------------------- + for key, label in [ + ('Phase', 'Phase:'), + ('Active', 'Active:'), + ('Slaves', 'Slave Count:')]: + self.StaticText[key] = wx.StaticText(self, label=_(label)) + self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY) + self.MasterStateSizer['innerMasterState'].AddMany([self.StaticText[key], self.TextCtrl[key]]) + + self.MasterStateSizer['masterState'].AddSizer(self.MasterStateSizer['innerMasterState']) + + # ----------------------- Ethernet Network Card Information --------------------------------------- + for key, label in [ + ('Main', 'MAC Address:'), + ('Link', 'Link State:'), + ('Tx frames', 'Tx Frames:'), + ('Rx frames', 'Rx Frames:'), + ('Lost frames', 'Lost Frames:')]: + self.StaticText[key] = wx.StaticText(self, label=_(label)) + self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY) + self.MasterStateSizer['innerDeviceInfo'].AddMany([self.StaticText[key], self.TextCtrl[key]]) + + self.MasterStateSizer['deviceInfo'].AddSizer(self.MasterStateSizer['innerDeviceInfo']) + + # ----------------------- Network Frame Information ----------------------------------------------- + for key, label in [ + ('Tx frame rate [1/s]', 'Tx Frame Rate [1/s]:'), + ('Rx frame rate [1/s]', 'Tx Rate [kByte/s]:'), + ('Loss rate [1/s]', 'Loss Rate [1/s]:'), + ('Frame loss [%]', 'Frame Loss [%]:')]: + self.StaticText[key] = wx.StaticText(self, label=_(label)) + self.MasterStateSizer['innerFrameInfo'].Add(self.StaticText[key]) + self.TextCtrl[key] = {} + for index in ['0', '1', '2']: + self.TextCtrl[key][index] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY) + self.MasterStateSizer['innerFrameInfo'].Add(self.TextCtrl[key][index]) + + self.MasterStateSizer['frameInfo'].AddSizer(self.MasterStateSizer['innerFrameInfo']) + + # --------------------------------- Main Sizer ---------------------------------------------------- + for key, sub, in [ + ('innerTopHalf', [ + 'masterState', 'deviceInfo']), + ('innerBottomHalf', [ + 'frameInfo']), + ('innerMain', [ + 'innerTopHalf', 'innerBottomHalf'])]: + for key2 in sub: + self.MasterStateSizer[key].AddSizer(self.MasterStateSizer[key2]) + + self.MasterStateSizer['main'].AddSizer(self.UpdateButton) + self.MasterStateSizer['main'].AddSizer(self.MasterStateSizer['innerMain']) + + self.SetSizer(self.MasterStateSizer['main']) + + def OnButtonClick(self, event): + """ + Handle the event of the 'Update' button. + Update the data of the master state. + @param event: wx.EVT_BUTTON object + """ + if self.Controler.GetCTRoot()._connector is not None: + self.MasterState = self.Controler.CommonMethod.GetMasterState() + # Update each TextCtrl + if self.MasterState: + for key in self.TextCtrl: + if isinstance(self.TextCtrl[key], dict): + for index in self.TextCtrl[key]: + self.TextCtrl[key][index].SetValue(self.MasterState[key][int(index)]) + else: + self.TextCtrl[key].SetValue(self.MasterState[key][0]) + else : + self.Controler.CommonMethod.CreateErrorDialog('PLC not connected!')