# HG changeset patch # User Edouard Tisserant # Date 1529737693 -7200 # Node ID 02a2b5dee5e3b0b93f1d1ba31dc8ac199578768a # Parent bcf346f558bda676fd2c4197cc8bc933dd0d333f# Parent 7a959b19d5a4aafb99db37be89a157f3dbce40e2 Merged GPL + LGPL v2 or later EtherCAT extension. Fixed headers and copyright notice. diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/CommonEtherCATFunction.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/CommonEtherCATFunction.py Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,1591 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + + +# This file is part of Beremiz +# +# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab. University of Seoul, Korea +# +# See COPYING file for copyrights details. + +import os +import wx + +mailbox_protocols = ["AoE", "EoE", "CoE", "FoE", "SoE", "VoE"] + +def ExtractHexDecValue(value): + """ + convert numerical value in string format into decimal or hex format. + @param value : hex or decimal data + @return integer data + """ + try: + return int(value) + except: + pass + try: + return int(value.replace("#", "0"), 16) + + except: + raise ValueError, "Invalid value for HexDecValue \"%s\"" % value + +def ExtractName(names, default=None): + """ + Extract "name" field from XML entries. + @param names : XML entry + @default : if it fails to extract from the designated XML entry, return the default value ("None"). + @return default or the name extracted + """ + if len(names) == 1: + return names[0].getcontent() + else: + for name in names: + if name.getLcId() == 1033: + return name.getcontent() + return default + +#-------------------------------------------------- +# Remote Exec Etherlab Commands +#-------------------------------------------------- + +# --------------------- for master --------------------------- +MASTER_STATE = """ +import commands +result = commands.getoutput("ethercat master") +returnVal =result +""" + +# --------------------- for slave ---------------------------- +# ethercat state -p (slave position) (state (INIT, PREOP, SAFEOP, OP)) +SLAVE_STATE = """ +import commands +result = commands.getoutput("ethercat state -p %d %s") +returnVal = result +""" + +# ethercat slave +GET_SLAVE = """ +import commands +result = commands.getoutput("ethercat slaves") +returnVal =result +""" + +# ethercat xml -p (slave position) +SLAVE_XML = """ +import commands +result = commands.getoutput("ethercat xml -p %d") +returnVal = result +""" + +# ethercat sdos -p (slave position) +SLAVE_SDO = """ +import commands +result = commands.getoutput("ethercat sdos -p %d") +returnVal =result +""" + +# ethercat upload -p (slave position) (main index) (sub index) +GET_SLOW_SDO = """ +import commands +result = commands.getoutput("ethercat upload -p %d %s %s") +returnVal =result +""" + +# ethercat download -p (slave position) (main index) (sub index) (value) +SDO_DOWNLOAD = """ +import commands +result = commands.getoutput("ethercat download --type %s -p %d %s %s %s") +returnVal =result +""" + +# ethercat sii_read -p (slave position) +SII_READ = """ +import commands +result = commands.getoutput("ethercat sii_read -p %d") +returnVal =result +""" + +# ethercat reg_read -p (slave position) (address) (size) +REG_READ = """ +import commands +result = commands.getoutput("ethercat reg_read -p %d %s %s") +returnVal =result +""" + +# ethercat sii_write -p (slave position) - (contents) +SII_WRITE = """ +import subprocess +process = subprocess.Popen( + ["ethercat", "-f", "sii_write", "-p", "%d", "-"], + stdin=subprocess.PIPE) +process.communicate(sii_data) +returnVal = process.returncode +""" + +# ethercat reg_write -p (slave position) -t (uinit16) (address) (data) +REG_WRITE = """ +import commands +result = commands.getoutput("ethercat reg_write -p %d -t uint16 %s %s") +returnVal =result +""" + +# ethercat rescan -p (slave position) +RESCAN = """ +import commands +result = commands.getoutput("ethercat rescan -p %d") +returnVal =result +""" + +#-------------------------------------------------- +# Common Method For EtherCAT Management +#-------------------------------------------------- +class _CommonSlave: + + # ----- Data Structure for ethercat management ---- + SlaveState = "" + + # category of SDO data + DatatypeDescription, CommunicationObject, ManufacturerSpecific, \ + ProfileSpecific, Reserved, AllSDOData = range(6) + + # store the execution result of "ethercat sdos" command into SaveSDOData. + SaveSDOData = [] + + # Flags for checking "write" permission of OD entries + CheckPREOP = False + CheckSAFEOP = False + CheckOP = False + + # Save PDO Data + TxPDOInfo = [] + TxPDOCategory = [] + RxPDOInfo = [] + RxPDOCategory = [] + + # Save EEPROM Data + SiiData = "" + + # Save Register Data + RegData = "" + CrtRegSpec = {"ESCType": "", + "FMMUNumber": "", + "SMNumber": "", + "PDIType": ""} + + def __init__(self, controler): + """ + Constructor + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + self.Controler = controler + + self.ClearSDODataSet() + + #------------------------------------------------------------------------------- + # Used Master State + #------------------------------------------------------------------------------- + def GetMasterState(self): + """ + Execute "ethercat master" command and parse the execution result + @return MasterState + """ + + # exectute "ethercat master" command + error, return_val = self.Controler.RemoteExec(MASTER_STATE, return_val = None) + master_state = {} + # parse the reslut + for each_line in return_val.splitlines(): + if len(each_line) > 0 : + chunks = each_line.strip().split(':', 1) + key = chunks[0] + value = [] + if len(chunks) > 1 : + value = chunks[1].split() + if '(attached)' in value: + value.remove('(attached)') + master_state[key] = value + + return master_state + + #------------------------------------------------------------------------------- + # Used Slave State + #------------------------------------------------------------------------------- + def RequestSlaveState(self, command): + """ + Set slave state to the specified one using "ethercat states -p %d %s" command. + Command example : "ethercat states -p 0 PREOP" (target slave position and target state are given.) + @param command : target slave state + """ + error, return_val = self.Controler.RemoteExec(SLAVE_STATE%(self.Controler.GetSlavePos(), command), return_val = None) + + def GetSlaveStateFromSlave(self): + """ + Get slave information using "ethercat slaves" command and store the information into internal data structure + (self.SlaveState) for "Slave State" + return_val example : 0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100) + """ + error, return_val = self.Controler.RemoteExec(GET_SLAVE, return_val = None) + self.SlaveState = return_val + return return_val + + #------------------------------------------------------------------------------- + # Used SDO Management + #------------------------------------------------------------------------------- + def GetSlaveSDOFromSlave(self): + """ + Get SDO objects information of current slave using "ethercat sdos -p %d" command. + Command example : "ethercat sdos -p 0" + @return return_val : execution results of "ethercat sdos" command (need to be parsed later) + """ + error, return_val = self.Controler.RemoteExec(SLAVE_SDO%(self.Controler.GetSlavePos()), return_val = None) + return return_val + + def SDODownload(self, data_type, idx, sub_idx, value): + """ + Set an SDO object value to user-specified value using "ethercat download" command. + Command example : "ethercat download --type int32 -p 0 0x8020 0x12 0x00000000" + @param data_type : data type of SDO entry + @param idx : index of the SDO entry + @param sub_idx : subindex of the SDO entry + @param value : value of SDO entry + """ + error, return_val = self.Controler.RemoteExec(SDO_DOWNLOAD%(data_type, self.Controler.GetSlavePos(), idx, sub_idx, value), return_val = None) + + def BackupSDODataSet(self): + """ + Back-up current SDO entry information to restore the SDO data + in case that the user cancels SDO update operation. + """ + self.BackupDatatypeDescription = self.SaveDatatypeDescription + self.BackupCommunicationObject = self.SaveCommunicationObject + self.BackupManufacturerSpecific = self.SaveManufacturerSpecific + self.BackupProfileSpecific = self.SaveProfileSpecific + self.BackupReserved = self.SaveReserved + self.BackupAllSDOData = self.SaveAllSDOData + + def ClearSDODataSet(self): + """ + Clear the specified SDO entry information. + """ + for count in range(6): + self.SaveSDOData.append([]) + + #------------------------------------------------------------------------------- + # Used PDO Monitoring + #------------------------------------------------------------------------------- + def RequestPDOInfo(self): + """ + Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method). + """ + # Load slave information from ESI XML file (def EthercatMaster.py) + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + # Initialize PDO data set + self.ClearDataSet() + + # if 'device' object is valid, call SavePDOData() to parse PDO data + if device is not None : + self.SavePDOData(device) + + def SavePDOData(self, device): + """ + Parse PDO data and store the results in TXPDOCategory and RXPDOCategory + Tx(Rx)PDOCategory : index, name, entry number + Tx(Rx)Info : entry index, sub index, name, length, type + @param device : Slave information extracted from ESI XML file + """ + # Parsing TXPDO entries + for pdo, pdo_info in ([(pdo, "Inputs") for pdo in device.getTxPdo()]): + # Save pdo_index, entry, and name of each entry + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) + entries = pdo.getEntry() + pdo_name = ExtractName(pdo.getName()) + + # Initialize entry number count + count = 0 + + # Parse entries + for entry in entries: + # Save index and subindex + index = ExtractHexDecValue(entry.getIndex().getcontent()) + subindex = ExtractHexDecValue(entry.getSubIndex()) + # if entry name exists, save entry data + if ExtractName(entry.getName()) is not None : + entry_infos = { + "entry_index" : index, + "subindex" : subindex, + "name" : ExtractName(entry.getName()), + "bitlen" : entry.getBitLen(), + "type" : entry.getDataType().getcontent() + } + self.TxPDOInfo.append(entry_infos) + count += 1 + + categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count} + self.TxPDOCategory.append(categorys) + + # Parsing RxPDO entries + for pdo, pdo_info in ([(pdo, "Outputs") for pdo in device.getRxPdo()]): + # Save pdo_index, entry, and name of each entry + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) + entries = pdo.getEntry() + pdo_name = ExtractName(pdo.getName()) + + # Initialize entry number count + count = 0 + + # Parse entries + for entry in entries: + # Save index and subindex + index = ExtractHexDecValue(entry.getIndex().getcontent()) + subindex = ExtractHexDecValue(entry.getSubIndex()) + # if entry name exists, save entry data + if ExtractName(entry.getName()) is not None : + entry_infos = { + "entry_index" : index, + "subindex" : subindex, + "name" : ExtractName(entry.getName()), + "bitlen" : str(entry.getBitLen()), + "type" : entry.getDataType().getcontent() + } + self.RxPDOInfo.append(entry_infos) + count += 1 + + categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count} + self.RxPDOCategory.append(categorys) + + def GetTxPDOCategory(self): + """ + Get TxPDOCategory data structure (Meta informaton of TxPDO). + TxPDOCategorys : index, name, number of entries + @return TxPDOCategorys + """ + return self.TxPDOCategory + + def GetRxPDOCategory(self): + """ + Get RxPDOCategory data structure (Meta information of RxPDO). + RxPDOCategorys : index, name, number of entries + @return RxPDOCategorys + """ + return self.RxPDOCategory + + def GetTxPDOInfo(self): + """ + Get TxPDOInfo data structure (Detailed information on TxPDO entries). + TxPDOInfos : entry index, sub index, name, length, type + @return TxPDOInfos + """ + return self.TxPDOInfo + + def GetRxPDOInfo(self): + """ + Get RxPDOInfo data structure (Detailed information on RxPDO entries). + RxPDOInfos : entry index, sub index, name, length, type + @return RxPDOInfos + """ + return self.RxPDOInfo + + def ClearDataSet(self): + """ + Initialize PDO management data structure. + """ + self.TxPDOInfos = [] + self.TxPDOCategorys = [] + self.RxPDOInfos = [] + self.RxPDOCategorys = [] + + #------------------------------------------------------------------------------- + # Used EEPROM Management + #------------------------------------------------------------------------------- + # Base data types in ETG2000; format = {"Name": "BitSize"} + BaseDataTypeDict = {"BOOL": "01", + "SINT": "02", + "INT": "03", + "DINT": "04", + "USINT": "05", + "UINT": "06", + "UDINT": "07", + "REAL": "08", + "INT24": "10", + "LREAL": "11", + "INT40": "12", + "INT48": "13", + "INT56": "14", + "LINT": "15", + "UINT24": "16", + "UINT40": "18", + "UINT48": "19", + "UINT56": "1a", + "ULINT": "1b", + "USINT": "1e", + "BITARR8": "2d", + "BITARR16": "2e", + "BITARR32": "2f", + "BIT1": "30", + "BIT2": "31", + "BIT3": "32", + "BIT4": "33", + "BIT5": "34", + "BIT6": "35", + "BIT7": "36", + "BIT8": "37"} + + def GetSmartViewInfos(self): + """ + Parse XML data for "Smart View" of EEPROM contents. + @return smartview_infos : EEPROM contents dictionary + """ + + smartview_infos = {"eeprom_size": 128, + "pdi_type": 0, + "device_emulation": "False", + "vendor_id": '0x00000000', + "product_code": '0x00000000', + "revision_no": '0x00000000', + "serial_no": '0x00000000', + "supported_mailbox": "", + "mailbox_bootstrapconf_outstart": '0', + "mailbox_bootstrapconf_outlength": '0', + "mailbox_bootstrapconf_instart": '0', + "mailbox_bootstrapconf_inlength": '0', + "mailbox_standardconf_outstart": '0', + "mailbox_standardconf_outlength": '0', + "mailbox_standardconf_instart": '0', + "mailbox_standardconf_inlength": '0'} + + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + + # 'device' represents current slave device selected by user + if device is not None: + for eeprom_element in device.getEeprom().getcontent(): + # get EEPROM size; -- + if eeprom_element["name"] == "ByteSize": + smartview_infos["eeprom_size"] = eeprom_element + + elif eeprom_element["name"] == "ConfigData": + configData_data = self.DecimalToHex(eeprom_element) + # get PDI type; -- address 0x00 + smartview_infos["pdi_type"] = int(configData_data[0:2], 16) + # get state of device emulation; -- address 0x01 + if "{:0>8b}".format(int(configData_data[2:4], 16))[7] == '1': + smartview_infos["device_emulation"] = "True" + + elif eeprom_element["name"] == "BootStrap": + bootstrap_data = "{:0>16x}".format(eeprom_element) + # get bootstrap configuration; -- + for cfg, iter in [("mailbox_bootstrapconf_outstart", 0), + ("mailbox_bootstrapconf_outlength", 1), + ("mailbox_bootstrapconf_instart", 2), + ("mailbox_bootstrapconf_inlength", 3)]: + smartview_infos[cfg] = str(int(bootstrap_data[4*iter+2:4*(iter+1)]+bootstrap_data[4*iter:4*iter+2], 16)) + + # get protocol (profile) types supported by mailbox; - + mb = device.getMailbox() + if mb is not None: + for mailbox_protocol in mailbox_protocols: + if getattr(mb,"get%s"%mailbox_protocol)() is not None: + smartview_infos["supported_mailbox"] += "%s, "%mailbox_protocol + smartview_infos["supported_mailbox"] = smartview_infos["supported_mailbox"].strip(", ") + + # get standard configuration of mailbox; - + for sm_element in device.getSm(): + if sm_element.getcontent() == "MBoxOut": + smartview_infos["mailbox_standardconf_outstart"] = str(ExtractHexDecValue(sm_element.getStartAddress())) + smartview_infos["mailbox_standardconf_outlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize())) + elif sm_element.getcontent() == "MBoxIn": + smartview_infos["mailbox_standardconf_instart"] = str(ExtractHexDecValue(sm_element.getStartAddress())) + smartview_infos["mailbox_standardconf_inlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize())) + else: + pass + + # get device identity from - + # vendor ID; by default, pre-defined value in self.ModulesLibrary + # if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID. + for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]: + if available_device[0] == type_infos["device_type"]: + smartview_infos["vendor_id"] = "0x" + "{:0>8x}".format(vendor_id) + + # product code; + if device.getType().getProductCode() is not None: + product_code = device.getType().getProductCode() + smartview_infos["product_code"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(product_code)) + + # revision number; + if device.getType().getRevisionNo() is not None: + revision_no = device.getType().getRevisionNo() + smartview_infos["revision_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(revision_no)) + + # serial number; + if device.getType().getSerialNo() is not None: + serial_no = device.getType().getSerialNo() + smartview_infos["serial_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(serial_no)) + + return smartview_infos + + else: + return None + + def DecimalToHex(self, decnum): + """ + Convert decimal value into hexadecimal representation. + @param decnum : decimal value + @return hex_data : hexadecimal representation of input value in decimal + """ + value = "%x" % decnum + value_len = len(value) + if (value_len % 2) == 0: + hex_len = value_len + else: + hex_len = (value_len / 2) * 2 + 2 + + hex_data = ("{:0>"+str(hex_len)+"x}").format(decnum) + + return hex_data + + def SiiRead(self): + """ + Get slave EEPROM contents maintained by master device using "ethercat sii_read -p %d" command. + Command example : "ethercat sii_read -p 0" + @return return_val : result of "ethercat sii_read" (binary data) + """ + error, return_val = self.Controler.RemoteExec(SII_READ%(self.Controler.GetSlavePos()), return_val = None) + self.SiiData = return_val + return return_val + + def SiiWrite(self, binary): + """ + Overwrite slave EEPROM contents using "ethercat sii_write -p %d" command. + Command example : "ethercat sii_write -p 0 - (binary contents)" + @param binary : EEPROM contents in binary data format + @return return_val : result of "ethercat sii_write" (If it succeeds, the return value is NULL.) + """ + error, return_val = self.Controler.RemoteExec(SII_WRITE%(self.Controler.GetSlavePos()), return_val = None, sii_data = binary) + return return_val + + def LoadData(self): + """ + Loading data from EEPROM use Sii_Read Method + @return self.BinaryCode : slave EEPROM data in binary format (zero-padded) + """ + return_val = self.Controler.CommonMethod.SiiRead() + self.BinaryCode = return_val + self.Controler.SiiData = self.BinaryCode + + # append zero-filled padding data up to EEPROM size + for index in range(self.SmartViewInfosFromXML["eeprom_size"] - len(self.BinaryCode)): + self.BinaryCode = self.BinaryCode +'ff'.decode('hex') + + return self.BinaryCode + + def HexRead(self, binary): + """ + Convert binary digit representation into hexadecimal representation for "Hex View" menu. + @param binary : binary digits + @return hexCode : hexadecimal digits + @return hexview_table_row, hexview_table_col : Grid size for "Hex View" UI + """ + row_code = [] + row_text = "" + row = 0 + hex_code = [] + + hexview_table_col = 17 + + for index in range(0, len(binary)) : + if len(binary[index]) != 1: + break + else: + digithexstr = hex(ord(binary[index])) + + tempvar2 = digithexstr[2:4] + if len(tempvar2) == 1: + tempvar2 = "0" + tempvar2 + row_code.append(tempvar2) + + if int(digithexstr, 16)>=32 and int(digithexstr, 16)<=126: + row_text = row_text + chr(int(digithexstr, 16)) + else: + row_text = row_text + "." + + if index != 0 : + if len(row_code) == (hexview_table_col - 1): + row_code.append(row_text) + hex_code.append(row_code) + row_text = "" + row_code = [] + row = row + 1 + + hexview_table_row = row + + return hex_code, hexview_table_row, hexview_table_col + + def GenerateEEPROMList(self, data, direction, length): + """ + Generate EEPROM data list by reconstructing 'data' string. + example : data="12345678", direction=0, length=8 -> eeprom_list=['12', '34', '56', '78'] + data="12345678", direction=1, length=8 -> eeprom_list=['78', '56', '34', '12'] + @param data : string to be reconstructed + @param direction : endianness + @param length : data length + @return eeprom_list : reconstructed list data structure + """ + eeprom_list = [] + + if direction is 0 or 1: + for i in range(length/2): + if data == "": + eeprom_list.append("00") + else: + eeprom_list.append(data[direction*(length-2):direction*(length-2)+2]) + data = data[(1-direction)*2:length-direction*2] + length -= 2 + return eeprom_list + + def XmlToEeprom(self): + """ + Extract slave EEPROM contents using slave ESI XML file. + - Mandatory parts + - String category : ExtractEEPROMStringCategory() + - General category : ExtractEEPROMGeneralCategory() + - FMMU category : ExtractEEPROMFMMUCategory + - SyncM category : ExtractEEPROMSyncMCategory() + - Tx/RxPDO category : ExtractEEPROMPDOCategory() + - DC category : ExtractEEPROMDCCategory() + @return eeprom_binary + """ + eeprom = [] + data = "" + eeprom_size = 0 + eeprom_binary = "" + + # 'device' is the slave device of the current EtherCAT slave plugin + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + + if device is not None: + # get ConfigData for EEPROM offset 0x0000-0x000d; -- + for eeprom_element in device.getEeprom().getcontent(): + if eeprom_element["name"] == "ConfigData": + data = self.DecimalToHex(eeprom_element) + eeprom += self.GenerateEEPROMList(data, 0, 28) + + # calculate CRC for EEPROM offset 0x000e-0x000f + crc = 0x48 + for segment in eeprom: + for i in range(8): + bit = crc & 0x80 + crc = (crc << 1) | ((int(segment, 16) >> (7 - i)) & 0x01) + if bit: + crc ^= 0x07 + for k in range(8): + bit = crc & 0x80 + crc <<= 1 + if bit: + crc ^= 0x07 + eeprom.append(hex(crc)[len(hex(crc))-3:len(hex(crc))-1]) + eeprom.append("00") + + # get VendorID for EEPROM offset 0x0010-0x0013; + data = "" + for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]: + if available_device[0] == type_infos["device_type"]: + data = "{:0>8x}".format(vendor_id) + eeprom += self.GenerateEEPROMList(data, 1, 8) + + # get Product Code for EEPROM offset 0x0014-0x0017; + data = "" + if device.getType().getProductCode() is not None: + data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getProductCode())) + eeprom += self.GenerateEEPROMList(data, 1, 8) + + # get Revision Number for EEPROM offset 0x0018-0x001b; + data = "" + if device.getType().getRevisionNo() is not None: + data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getRevisionNo())) + eeprom += self.GenerateEEPROMList(data, 1, 8) + + # get Serial Number for EEPROM 0x001c-0x001f; + data = "" + if device.getType().getSerialNo() is not None: + data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getSerialNo())) + eeprom += self.GenerateEEPROMList(data, 1, 8) + + # get Execution Delay for EEPROM 0x0020-0x0021; not analyzed yet + eeprom.append("00") + eeprom.append("00") + + # get Port0/1 Delay for EEPROM offset 0x0022-0x0025; not analyzed yet + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + + # reserved for EEPROM offset 0x0026-0x0027; + eeprom.append("00") + eeprom.append("00") + + # get BootStrap for EEPROM offset 0x0028-0x002e; -- + data = "" + for eeprom_element in device.getEeprom().getcontent(): + if eeprom_element["name"] == "BootStrap": + data = "{:0>16x}".format(eeprom_element) + eeprom += self.GenerateEEPROMList(data, 0, 16) + + # get Standard Mailbox for EEPROM offset 0x0030-0x0037; - + data = "" + standard_send_mailbox_offset = None + standard_send_mailbox_size = None + standard_receive_mailbox_offset = None + standard_receive_mailbox_size = None + for sm_element in device.getSm(): + if sm_element.getcontent() == "MBoxOut": + standard_receive_mailbox_offset = "{:0>4x}".format(ExtractHexDecValue(sm_element.getStartAddress())) + standard_receive_mailbox_size = "{:0>4x}".format(ExtractHexDecValue(sm_element.getDefaultSize())) + elif sm_element.getcontent() == "MBoxIn": + standard_send_mailbox_offset = "{:0>4x}".format(ExtractHexDecValue(sm_element.getStartAddress())) + standard_send_mailbox_size = "{:0>4x}".format(ExtractHexDecValue(sm_element.getDefaultSize())) + + if standard_receive_mailbox_offset is None: + eeprom.append("00") + eeprom.append("00") + else: + eeprom.append(standard_receive_mailbox_offset[2:4]) + eeprom.append(standard_receive_mailbox_offset[0:2]) + if standard_receive_mailbox_size is None: + eeprom.append("00") + eeprom.append("00") + else: + eeprom.append(standard_receive_mailbox_size[2:4]) + eeprom.append(standard_receive_mailbox_size[0:2]) + if standard_send_mailbox_offset is None: + eeprom.append("00") + eeprom.append("00") + else: + eeprom.append(standard_send_mailbox_offset[2:4]) + eeprom.append(standard_send_mailbox_offset[0:2]) + if standard_send_mailbox_size is None: + eeprom.append("00") + eeprom.append("00") + else: + eeprom.append(standard_send_mailbox_size[2:4]) + eeprom.append(standard_send_mailbox_size[0:2]) + + # get supported mailbox protocols for EEPROM offset 0x0038-0x0039; + data = 0 + mb = device.getMailbox() + if mb is not None : + for bit,mbprot in enumerate(mailbox_protocols): + if getattr(mb,"get%s"%mbprot)() is not None: + data += 1<---- + # vendor_specific_data : vendor specific data (binary type) + vendor_specific_data = "" + # vendor_spec_strings : list of vendor specific "strings" for preventing duplicated strings + vendor_spec_strings = [] + for element in device.getType().getcontent(): + data += element + if data is not "" and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.OrderIdx = vendor_spec_strings.index(data)+1 + typeflag = True + break + if typeflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + typeflag = True + self.OrderIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # element2-1; ---- + data = device.getGroupType() + if data is not None and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.GroupIdx = vendor_spec_strings.index(data)+1 + grouptypeflag = True + break + if grouptypeflag is False: + grouptype = data + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + grouptypeflag = True + self.GroupIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + + # element2-2; --- + if grouptypeflag is False: + if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None: + for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for group_type, group_etc in vendor["groups"].iteritems(): + for device_item in group_etc["devices"]: + if device == device_item[1]: + data = group_type + if data is not None and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.GroupIdx = vendor_spec_strings.index(data)+1 + grouptypeflag = True + break + if grouptypeflag is False: + grouptype = data + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + grouptypeflag = True + self.GroupIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # element3; ---- + if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None: + for vendorId, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for group_type, group_etc in vendor["groups"].iteritems(): + for device_item in group_etc["devices"]: + if device == device_item[1]: + data = group_etc["name"] + if data is not "" and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + groupnameflag = True + break + if groupnameflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + groupnameflag = True + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # element4; ---- + for element in device.getName(): + if element.getLcId() == 1 or element.getLcId()==1033: + data = element.getcontent() + if data is not "" and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.NameIdx = vendor_spec_strings.index(data)+1 + devnameflag = True + break + if devnameflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + devnameflag = True + self.NameIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # element5-1; ---- + if device.getcontent() is not None: + data = device.getcontent() + if data is not None and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.ImgIdx = vendor_spec_strings.index(data)+1 + imageflag = True + break + if imageflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + imageflag = True + self.ImgIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + + # element5-2; ---- + if imageflag is False: + if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None: + for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for group_type, group_etc in vendor["groups"].iteritems(): + for device_item in group_etc["devices"]: + if device == device_item[1]: + data = group_etc + if data is not None and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.ImgIdx = vendor_spec_strings.index(data)+1 + imageflag = True + break + if imageflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + imageflag = True + self.ImgIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # DC related elements + # ------ + dc_related_elements = "" + if device.getDc() is not None: + for element in device.getDc().getOpMode(): + data = element.getName() + if data is not "": + count += 1 + self.Strings.append(data) + dc_related_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + dc_related_elements += "{:0>2x}".format(ord(data[character])) + data = "" + + # Input elements(TxPDO) + # ----; Name + input_elements = "" + inputs = [] + for element in device.getTxPdo(): + for name in element.getName(): + data = name.getcontent() + for input in inputs: + if data == input: + data = "" + if data is not "": + count += 1 + self.Strings.append(data) + inputs.append(data) + input_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + input_elements += "{:0>2x}".format(ord(data[character])) + data = "" + for entry in element.getEntry(): + for name in entry.getName(): + data = name.getcontent() + for input in inputs: + if data == input: + data = "" + if data is not "": + count += 1 + self.Strings.append(data) + inputs.append(data) + input_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + input_elements += "{:0>2x}".format(ord(data[character])) + data = "" + + # Output elements(RxPDO) + # ----; Name + output_elements = "" + outputs = [] + for element in device.getRxPdo(): + for name in element.getName(): + data = name.getcontent() + for output in outputs: + if data == output: + data = "" + if data is not "": + count += 1 + self.Strings.append(data) + outputs.append(data) + output_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + output_elements += "{:0>2x}".format(ord(data[character])) + data = "" + for entry in element.getEntry(): + for name in entry.getName(): + data = name.getcontent() + for output in outputs: + if data == output: + data = "" + if data is not "": + count += 1 + self.Strings.append(data) + outputs.append(data) + output_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + output_elements += "{:0>2x}".format(ord(data[character])) + data = "" + + # form eeprom data + # category header + eeprom.append("0a") + eeprom.append("00") + # category length (word); 1 word is 4 bytes. "+2" is the length of string's total number + length = len(vendor_specific_data + dc_related_elements + input_elements + output_elements) + 2 + if length%4 == 0: + pass + else: + length +=length%4 + padflag = True + eeprom.append("{:0>4x}".format(length/4)[2:4]) + eeprom.append("{:0>4x}".format(length/4)[0:2]) + # total numbers of strings + eeprom.append("{:0>2x}".format(count)) + for element in [vendor_specific_data, + dc_related_elements, + input_elements, + output_elements]: + for iter in range(len(element)/2): + if element == "": + eeprom.append("00") + else: + eeprom.append(element[0:2]) + element = element[2:len(element)] + # padding if length is odd bytes + if padflag is True: + eeprom.append("ff") + + return eeprom + + def ExtractEEPROMGeneralCategory(self, device): + """ + Extract "General" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + + # category header + eeprom.append("1e") + eeprom.append("00") + + # category length + eeprom.append("10") + eeprom.append("00") + + # word 1 : Group Type index and Image index in STRINGS Category + eeprom.append("{:0>2x}".format(self.GroupIdx)) + eeprom.append("{:0>2x}".format(self.ImgIdx)) + + # word 2 : Device Type index and Device Name index in STRINGS Category + eeprom.append("{:0>2x}".format(self.OrderIdx)) + eeprom.append("{:0>2x}".format(self.NameIdx)) + + # word 3 : Physical Layer Port info. and CoE Details + eeprom.append("01") # Physical Layer Port info - assume 01 + # CoE Details; ----- + coe_details = 0 + mb = device.getMailbox() + coe_details = 1 # sdo enabled + if mb is not None : + coe = mb.getCoE() + if coe is not None: + for bit,flag in enumerate(["SdoInfo", "PdoAssign", "PdoConfig", + "PdoUpload", "CompleteAccess"]): + if getattr(coe,"get%s"%flag)() is not None: + coe_details += 1<2x}".format(coe_details)) + + # word 4 : FoE Details and EoE Details + # FoE Details; ----- + if mb is not None and mb.getFoE() is not None: + eeprom.append("01") + else: + eeprom.append("00") + # EoE Details; ----- + if mb is not None and mb.getEoE() is not None: + eeprom.append("01") + else: + eeprom.append("00") + + # word 5 : SoE Channels(reserved) and DS402 Channels + # SoE Details; ----- + if mb is not None and mb.getSoE() is not None: + eeprom.append("01") + else: + eeprom.append("00") + # DS402Channels; -----: DS402Channels + ds402ch = False + if mb is not None : + coe = mb.getCoE() + if coe is not None : + ds402ch = coe.getDS402Channels() + eeprom.append("01" if ds402ch in [True,1] else "00") + + # word 6 : SysmanClass(reserved) and Flags + eeprom.append("00") # reserved + # Flags + en_safeop = False + en_lrw = False + if device.getType().getTcCfgModeSafeOp() == True \ + or device.getType().getTcCfgModeSafeOp() == 1: + en_safeop = True + if device.getType().getUseLrdLwr() == True \ + or device.getType().getUseLrdLwr() == 1: + en_lrw = True + + flags = "0b"+"000000"+str(int(en_lrw))+str(int(en_safeop)) + eeprom.append("{:0>2x}".format(int(flags, 2))) + + # word 7 : Current On EBus (assume 0x0000) + eeprom.append("00") + eeprom.append("00") + # after word 7; couldn't analyze yet + eeprom.append("03") + eeprom.append("00") + eeprom.append("11") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + + return eeprom + + def ExtractEEPROMFMMUCategory(self, device): + """ + Extract "FMMU" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + count = 0 # number of FMMU + padflag = False + + for fmmu in device.getFmmu(): + count += 1 + if fmmu.getcontent() == "Outputs": + data += "01" + if fmmu.getcontent() == "Inputs": + data += "02" + if fmmu.getcontent() == "MBoxState": + data += "03" + + # construct of EEPROM data + if data is not "": + # category header + eeprom.append("28") + eeprom.append("00") + # category length + if count%2 == 1: + padflag = True + eeprom.append("{:0>4x}".format((count+1)/2)[2:4]) + eeprom.append("{:0>4x}".format((count+1)/2)[0:2]) + else: + eeprom.append("{:0>4x}".format((count)/2)[2:4]) + eeprom.append("{:0>4x}".format((count)/2)[0:2]) + for i in range(count): + if data == "": + eeprom.append("00") + else: + eeprom.append(data[0:2]) + data = data[2:len(data)] + # padding if length is odd bytes + if padflag is True: + eeprom.append("ff") + + return eeprom + + def ExtractEEPROMSyncMCategory(self, device): + """ + Extract "SyncM" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + number = {"MBoxOut":"01", "MBoxIn":"02", "Outputs":"03", "Inputs":"04"} + + for sm in device.getSm(): + for attr in [sm.getStartAddress(), + sm.getDefaultSize(), + sm.getControlByte()]: + if attr is not None: + data += "{:0>4x}".format(ExtractHexDecValue(attr))[2:4] + data += "{:0>4x}".format(ExtractHexDecValue(attr))[0:2] + else: + data += "0000" + if sm.getEnable() == "1" or sm.getEnable() == True: + data += "01" + else: + data += "00" + data += number[sm.getcontent()] + + if data is not "": + # category header + eeprom.append("29") + eeprom.append("00") + # category length + eeprom.append("{:0>4x}".format(len(data)/4)[2:4]) + eeprom.append("{:0>4x}".format(len(data)/4)[0:2]) + for i in range(len(data)/2): + if data == "": + eeprom.append("00") + else: + eeprom.append(data[0:2]) + data = data[2:len(data)] + + return eeprom + + def ExtractEEPROMPDOCategory(self, device, pdotype): + """ + Extract ""PDO (Tx, Rx)"" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @param pdotype : identifier whether "TxPDO" or "RxPDO". + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + count = 0 + en_fixed = False + en_mandatory = False + en_virtual = False + + for element in eval("device.get%s()"%pdotype): + # PDO Index + data += "{:0>4x}".format(ExtractHexDecValue(element.getIndex().getcontent()))[2:4] + data += "{:0>4x}".format(ExtractHexDecValue(element.getIndex().getcontent()))[0:2] + # Number of Entries + data += "{:0>2x}".format(len(element.getEntry())) + # About Sync Manager + if element.getSm() is not None: + data += "{:0>2x}".format(element.getSm()) + else: + data += "ff" + # Reference to DC Synch (according to ET1100 documentation) - assume 0 + data += "00" + # Name Index + objname = "" + for name in element.getName(): + objname = name.getcontent() + for name in self.Strings: + count += 1 + if objname == name: + break + if len(self.Strings)+1 == count: + data += "00" + else: + data += "{:0>2x}".format(count) + count = 0 + # Flags; by Fixed, Mandatory, Virtual attributes ? + if element.getFixed() == True or 1: + en_fixed = True + if element.getMandatory() == True or 1: + en_mandatory = True + if element.getVirtual() == True or element.getVirtual(): + en_virtual = True + data += str(int(en_fixed)) + str(int(en_mandatory)) + str(int(en_virtual)) + "0" + + for entry in element.getEntry(): + # Entry Index + data += "{:0>4x}".format(ExtractHexDecValue(entry.getIndex().getcontent()))[2:4] + data += "{:0>4x}".format(ExtractHexDecValue(entry.getIndex().getcontent()))[0:2] + # Subindex + data += "{:0>2x}".format(int(entry.getSubIndex())) + # Entry Name Index + objname = "" + for name in entry.getName(): + objname = name.getcontent() + for name in self.Strings: + count += 1 + if objname == name: + break + if len(self.Strings)+1 == count: + data += "00" + else: + data += "{:0>2x}".format(count) + count = 0 + # DataType + if entry.getDataType() is not None: + if entry.getDataType().getcontent() in self.BaseDataTypeDict: + data += self.BaseDataTypeDict[entry.getDataType().getcontent()] + else: + data += "00" + else: + data += "00" + # BitLen + if entry.getBitLen() is not None: + data += "{:0>2x}".format(int(entry.getBitLen())) + else: + data += "00" + # Flags; by Fixed attributes ? + en_fixed = False + if entry.getFixed() == True or entry.getFixed() == 1: + en_fixed = True + data += str(int(en_fixed)) + "000" + + if data is not "": + # category header + if pdotype == "TxPdo": + eeprom.append("32") + elif pdotype == "RxPdo": + eeprom.append("33") + else: + eeprom.append("00") + eeprom.append("00") + # category length + eeprom.append("{:0>4x}".format(len(data)/4)[2:4]) + eeprom.append("{:0>4x}".format(len(data)/4)[0:2]) + data = str(data.lower()) + for i in range(len(data)/2): + if data == "": + eeprom.append("00") + else: + eeprom.append(data[0:2]) + data = data[2:len(data)] + + return eeprom + + def ExtractEEPROMDCCategory(self, device): + """ + Extract "DC(Distributed Clock)" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + count = 0 + namecount = 0 + + if device.getDc() is not None: + for element in device.getDc().getOpMode(): + count += 1 + # assume that word 1-7 are 0x0000 + data += "0000" + data += "0000" + data += "0000" + data += "0000" + data += "0000" + data += "0000" + data += "0000" + # word 8-10 + # AssignActivate + if element.getAssignActivate() is not None: + data += "{:0>4x}".format(ExtractHexDecValue(element.getAssignActivate()))[2:4] + data += "{:0>4x}".format(ExtractHexDecValue(element.getAssignActivate()))[0:2] + else: + data += "0000" + # Factor of CycleTimeSync0 ? and default is 1? + if element.getCycleTimeSync0() is not None: + if element.getCycleTimeSync0().getFactor() is not None: + data += "{:0>2x}".format(int(element.getCycleTimeSync0().getFactor())) + data += "00" + else: + data += "0100" + else: + data += "0100" + # Index of Name in STRINGS Category + # Name Index + objname = "" + for name in element.getName(): + objname += name + for name in self.Strings: + namecount += 1 + if objname == name: + break + if len(self.Strings)+1 == namecount: + data += "00" + else: + data += "{:0>2x}".format(namecount) + namecount = 0 + data += "00" + # assume that word 11-12 are 0x0000 + data += "0000" + data += "0000" + + if data is not "": + # category header + eeprom.append("3c") + eeprom.append("00") + # category length + eeprom.append("{:0>4x}".format(len(data)/4)[2:4]) + eeprom.append("{:0>4x}".format(len(data)/4)[0:2]) + data = str(data.lower()) + for i in range(len(data)/2): + if data == "": + eeprom.append("00") + else: + eeprom.append(data[0:2]) + data = data[2:len(data)] + + return eeprom + + #------------------------------------------------------------------------------- + # Used Register Access + #------------------------------------------------------------------------------- + def RegRead(self, offset, length): + """ + Read slave ESC register content using "ethercat reg_read -p %d %s %s" command. + Command example : "ethercat reg_read -p 0 0x0c00 0x0400" + @param offset : register address + @param length : register length + @return return_val : register data + """ + error, return_val = self.Controler.RemoteExec(REG_READ%(self.Controler.GetSlavePos(), offset, length), return_val = None) + return return_val + + def RegWrite(self, address, data): + """ + Write data to slave ESC register using "ethercat reg_write -p %d %s %s" command. + Command example : "ethercat reg_write -p 0 0x0c04 0x0001" + @param address : register address + @param data : data to write + @return return_val : the execution result of "ethercat reg_write" (for error check) + """ + error, return_val = self.Controler.RemoteExec(REG_WRITE%(self.Controler.GetSlavePos(), address, data), return_val = None) + return return_val + + def Rescan(self): + """ + Synchronize EEPROM data in master controller with the data in slave device after EEPROM write. + Command example : "ethercat rescan -p 0" + """ + error, return_val = self.Controler.RemoteExec(RESCAN%(self.Controler.GetSlavePos()), return_val = None) + + #------------------------------------------------------------------------------- + # Common Use Methods + #------------------------------------------------------------------------------- + def CheckConnect(self, cyclic_flag): + """ + Check connection status (1) between Beremiz and the master (2) between the master and the slave. + @param cyclic_flag: 0 - one shot, 1 - periodic + @return True or False + """ + if self.Controler.GetCTRoot()._connector is not None: + # Check connection between the master and the slave. + # Command example : "ethercat xml -p 0" + error, return_val = self.Controler.RemoteExec(SLAVE_XML%(self.Controler.GetSlavePos()), return_val = None) + number_of_lines = return_val.split("\n") + if len(number_of_lines) <= 2 : # No slave connected to the master controller + if not cyclic_flag : + self.CreateErrorDialog('No connected slaves') + return False + + elif len(number_of_lines) > 2 : + return True + else: + # The master controller is not connected to Beremiz host + if not cyclic_flag : + self.CreateErrorDialog('PLC not connected!') + return False + + def CreateErrorDialog(self, mention): + """ + Create a dialog to indicate error or warning. + @param mention : Error String + """ + app_frame = self.Controler.GetCTRoot().AppFrame + dlg = wx.MessageDialog (app_frame, mention, + ' Warning...', + wx.OK | wx.ICON_INFORMATION) + dlg.ShowModal() + dlg.Destroy() diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/ConfigEditor.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/ConfigEditor.py Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,1404 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# This file is part of Beremiz +# +# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT +# RTES Lab : CRKim, JBLee, youcu +# Higen Motor : Donggu Kang +# +# See COPYING file for copyrights details. + +import os +import re +from types import TupleType + +import wx +import wx.grid +import wx.gizmos +import wx.lib.buttons + +from plcopen.structures import IEC_KEYWORDS, TestIdentifier +from controls import CustomGrid, CustomTable, FolderTree +from editors.ConfTreeNodeEditor import ConfTreeNodeEditor, SCROLLBAR_UNIT +from util.BitmapLibrary import GetBitmap +from controls.CustomStyledTextCtrl import NAVIGATION_KEYS + +# ----------------------------------------------------------------------- +from EtherCATManagementEditor import EtherCATManagementTreebook, MasterStatePanelClass +# ----------------------------------------------------------------------- + +[ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE] = range(3) + +def AppendMenu(parent, help, id, kind, text): + if wx.VERSION >= (2, 6, 0): + parent.Append(help=help, id=id, kind=kind, text=text) + else: + parent.Append(helpString=help, id=id, kind=kind, item=text) + +def GetVariablesTableColnames(position=False): + _ = lambda x : x + colname = ["#"] + if position: + colname.append(_("Position")) + return colname + [_("Name"), _("Index"), _("SubIndex"), _("Type"), _("Access")] + +ACCESS_TYPES = { + 'ro': 'R', + 'wo': 'W', + 'rw': 'R/W'} + +def GetAccessValue(access, pdo_mapping): + value = "SDO: %s" % ACCESS_TYPES.get(access, "") + if pdo_mapping != "": + value += ", PDO: %s" % pdo_mapping + return value + +VARIABLES_FILTERS = [ + (_("All"), (0x0000, 0xffff)), + (_("Communication Parameters"), (0x1000, 0x1fff)), + (_("Manufacturer Specific"), (0x2000, 0x5fff)), + (_("Standardized Device Profile"), (0x6000, 0x9fff))] + +VARIABLE_INDEX_FILTER_FORMAT = _("Variable Index: #x%4.4X") + +ETHERCAT_INDEX_MODEL = re.compile("#x([0-9a-fA-F]{0,4})$") +ETHERCAT_SUBINDEX_MODEL = re.compile("#x([0-9a-fA-F]{0,2})$") +LOCATION_MODEL = re.compile("(?:%[IQM](?:[XBWLD]?([0-9]+(?:\.[0-9]+)*)))$") + +class NodeVariablesSizer(wx.FlexGridSizer): + + def __init__(self, parent, controler, position_column=False): + wx.FlexGridSizer.__init__(self, cols=1, hgap=0, rows=2, vgap=5) + self.AddGrowableCol(0) + self.AddGrowableRow(1) + + self.Controler = controler + self.PositionColumn = position_column + + self.VariablesFilter = wx.ComboBox(parent, style=wx.TE_PROCESS_ENTER) + self.VariablesFilter.Bind(wx.EVT_COMBOBOX, self.OnVariablesFilterChanged) + self.VariablesFilter.Bind(wx.EVT_TEXT_ENTER, self.OnVariablesFilterChanged) + self.VariablesFilter.Bind(wx.EVT_CHAR, self.OnVariablesFilterKeyDown) + self.AddWindow(self.VariablesFilter, flag=wx.GROW) + + self.VariablesGrid = wx.gizmos.TreeListCtrl(parent, + style=wx.TR_DEFAULT_STYLE | + wx.TR_ROW_LINES | + wx.TR_COLUMN_LINES | + wx.TR_HIDE_ROOT | + wx.TR_FULL_ROW_HIGHLIGHT) + self.VariablesGrid.GetMainWindow().Bind(wx.EVT_LEFT_DOWN, + self.OnVariablesGridLeftClick) + self.AddWindow(self.VariablesGrid, flag=wx.GROW) + + self.Filters = [] + for desc, value in VARIABLES_FILTERS: + self.VariablesFilter.Append(desc) + self.Filters.append(value) + + self.VariablesFilter.SetSelection(0) + self.CurrentFilter = self.Filters[0] + self.VariablesFilterFirstCharacter = True + + if position_column: + for colname, colsize, colalign in zip(GetVariablesTableColnames(position_column), + [40, 80, 350, 80, 100, 80, 150], + [wx.ALIGN_RIGHT, wx.ALIGN_RIGHT, wx.ALIGN_LEFT, + wx.ALIGN_RIGHT, wx.ALIGN_RIGHT, wx.ALIGN_LEFT, + wx.ALIGN_LEFT]): + self.VariablesGrid.AddColumn(_(colname), colsize, colalign) + self.VariablesGrid.SetMainColumn(2) + else: + for colname, colsize, colalign in zip(GetVariablesTableColnames(), + [40, 350, 80, 100, 80, 150], + [wx.ALIGN_RIGHT, wx.ALIGN_LEFT, wx.ALIGN_RIGHT, + wx.ALIGN_RIGHT, wx.ALIGN_LEFT, wx.ALIGN_LEFT]): + self.VariablesGrid.AddColumn(_(colname), colsize, colalign) + self.VariablesGrid.SetMainColumn(1) + + def RefreshView(self): + entries = self.Controler.GetSlaveVariables(self.CurrentFilter) + self.RefreshVariablesGrid(entries) + + def RefreshVariablesGrid(self, entries): + root = self.VariablesGrid.GetRootItem() + if not root.IsOk(): + root = self.VariablesGrid.AddRoot(_("Slave entries")) + self.GenerateVariablesGridBranch(root, entries, GetVariablesTableColnames(self.PositionColumn)) + self.VariablesGrid.Expand(root) + + def GenerateVariablesGridBranch(self, root, entries, colnames, idx=0): + item, root_cookie = self.VariablesGrid.GetFirstChild(root) + + no_more_items = not item.IsOk() + for entry in entries: + idx += 1 + if no_more_items: + item = self.VariablesGrid.AppendItem(root, "") + for col, colname in enumerate(colnames): + if col == 0: + self.VariablesGrid.SetItemText(item, str(idx), 0) + else: + value = entry.get(colname, "") + if colname == "Access": + value = GetAccessValue(value, entry.get("PDOMapping", "")) + self.VariablesGrid.SetItemText(item, value, col) + if entry["PDOMapping"] == "": + self.VariablesGrid.SetItemBackgroundColour(item, wx.LIGHT_GREY) + else: + self.VariablesGrid.SetItemBackgroundColour(item, wx.WHITE) + self.VariablesGrid.SetItemPyData(item, entry) + idx = self.GenerateVariablesGridBranch(item, entry["children"], colnames, idx) + if not no_more_items: + item, root_cookie = self.VariablesGrid.GetNextChild(root, root_cookie) + no_more_items = not item.IsOk() + + if not no_more_items: + to_delete = [] + while item.IsOk(): + to_delete.append(item) + item, root_cookie = self.VariablesGrid.GetNextChild(root, root_cookie) + for item in to_delete: + self.VariablesGrid.Delete(item) + + return idx + + def OnVariablesFilterChanged(self, event): + filter = self.VariablesFilter.GetSelection() + if filter != -1: + self.CurrentFilter = self.Filters[filter] + self.RefreshView() + else: + try: + value = self.VariablesFilter.GetValue() + if value == "": + self.CurrentFilter = self.Filters[0] + self.VariablesFilter.SetSelection(0) + else: + result = ETHERCAT_INDEX_MODEL.match(value) + if result is not None: + value = result.group(1) + index = int(value, 16) + self.CurrentFilter = (index, index) + self.VariablesFilter.SetValue(VARIABLE_INDEX_FILTER_FORMAT % index) + self.RefreshView() + except: + if self.CurrentFilter in self.Filters: + self.VariablesFilter.SetSelection(self.Filters.index(self.CurrentFilter)) + else: + self.VariablesFilter.SetValue(VARIABLE_INDEX_FILTER_FORMAT % self.CurrentFilter[0]) + self.VariablesFilterFirstCharacter = True + event.Skip() + + def OnVariablesFilterKeyDown(self, event): + if self.VariablesFilterFirstCharacter: + keycode = event.GetKeyCode() + if keycode not in [wx.WXK_RETURN, + wx.WXK_NUMPAD_ENTER]: + self.VariablesFilterFirstCharacter = False + if keycode not in NAVIGATION_KEYS: + self.VariablesFilter.SetValue("") + if keycode not in [wx.WXK_DELETE, + wx.WXK_NUMPAD_DELETE, + wx.WXK_BACK]: + event.Skip() + else: + event.Skip() + + def OnVariablesGridLeftClick(self, event): + item, flags, col = self.VariablesGrid.HitTest(event.GetPosition()) + if item.IsOk(): + entry = self.VariablesGrid.GetItemPyData(item) + data_type = entry.get("Type", "") + data_size = self.Controler.GetSizeOfType(data_type) + + if col == -1 and data_size is not None: + pdo_mapping = entry.get("PDOMapping", "") + access = entry.get("Access", "") + entry_index = self.Controler.ExtractHexDecValue(entry.get("Index", "0")) + entry_subindex = self.Controler.ExtractHexDecValue(entry.get("SubIndex", "0")) + location = self.Controler.GetCurrentLocation() + if self.PositionColumn: + slave_pos = self.Controler.ExtractHexDecValue(entry.get("Position", "0")) + location += (slave_pos,) + node_name = self.Controler.GetSlaveName(slave_pos) + else: + node_name = self.Controler.CTNName() + + if pdo_mapping != "": + var_name = "%s_%4.4x_%2.2x" % (node_name, entry_index, entry_subindex) + if pdo_mapping == "T": + dir = "%I" + else: + dir = "%Q" + location = "%s%s" % (dir, data_size) + \ + ".".join(map(lambda x:str(x), location + (entry_index, entry_subindex))) + + data = wx.TextDataObject(str((location, "location", data_type, var_name, "", access))) + dragSource = wx.DropSource(self.VariablesGrid) + dragSource.SetData(data) + dragSource.DoDragDrop() + return + + elif self.PositionColumn: + location = self.Controler.GetCurrentLocation() +\ + (slave_pos, entry_index, entry_subindex) + data = wx.TextDataObject(str((location, "variable", access))) + dragSource = wx.DropSource(self.VariablesGrid) + dragSource.SetData(data) + dragSource.DoDragDrop() + return + + event.Skip() + +class NodeEditor(ConfTreeNodeEditor): + + CONFNODEEDITOR_TABS = [ + (_("Ethercat node"), "_create_EthercatNodeEditor"), + # Add Notebook Tab for EtherCAT Management Treebook + (_("EtherCAT Management"), "_create_EtherCATManagementEditor") + ] + + def _create_EthercatNodeEditor(self, prnt): + self.EthercatNodeEditor = wx.Panel(prnt, style=wx.TAB_TRAVERSAL) + + main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5) + main_sizer.AddGrowableCol(0) + main_sizer.AddGrowableRow(1) + + variables_label = wx.StaticText(self.EthercatNodeEditor, + label=_('Variable entries:')) + main_sizer.AddWindow(variables_label, border=10, flag=wx.TOP|wx.LEFT|wx.RIGHT) + + self.NodeVariables = NodeVariablesSizer(self.EthercatNodeEditor, self.Controler) + main_sizer.AddSizer(self.NodeVariables, border=10, + flag=wx.GROW|wx.BOTTOM|wx.LEFT|wx.RIGHT) + + self.EthercatNodeEditor.SetSizer(main_sizer) + + return self.EthercatNodeEditor + + def __init__(self, parent, controler, window): + ConfTreeNodeEditor.__init__(self, parent, controler, window) + + # add Contoler for use EthercatSlave.py Method + self.Controler = controler + + def GetBufferState(self): + return False, False + + def RefreshView(self): + ConfTreeNodeEditor.RefreshView(self) + + self.NodeVariables.RefreshView() + + # -------------------For EtherCAT Management ---------------------------------------------- + def _create_EtherCATManagementEditor(self, prnt): + self.EtherCATManagementEditor = wx.ScrolledWindow(prnt, + style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL) + self.EtherCATManagementEditor.Bind(wx.EVT_SIZE, self.OnResize) + + self.EtherCATManagermentEditor_Main_Sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5) + self.EtherCATManagermentEditor_Main_Sizer.AddGrowableCol(0) + self.EtherCATManagermentEditor_Main_Sizer.AddGrowableRow(0) + + self.EtherCATManagementTreebook = EtherCATManagementTreebook(self.EtherCATManagementEditor, self.Controler, self) + + self.EtherCATManagermentEditor_Main_Sizer.AddSizer(self.EtherCATManagementTreebook, border=10, flag=wx.GROW) + + self.EtherCATManagementEditor.SetSizer(self.EtherCATManagermentEditor_Main_Sizer) + return self.EtherCATManagementEditor + + def OnResize(self, event): + self.EtherCATManagementEditor.GetBestSize() + xstart, ystart = self.EtherCATManagementEditor.GetViewStart() + window_size = self.EtherCATManagementEditor.GetClientSize() + maxx, maxy = self.EtherCATManagementEditor.GetMinSize() + posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT)) + posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT)) + self.EtherCATManagementEditor.Scroll(posx, posy) + self.EtherCATManagementEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, + maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy) + event.Skip() + # ------------------------------------------------------------------------------------------------------- + +CIA402NodeEditor = NodeEditor + + +def GetProcessVariablesTableColnames(): + _ = lambda x : x + return ["#", _("Name"), + _("Read from (nodeid, index, subindex)"), + _("Write to (nodeid, index, subindex)"), + _("Description")] + +class ProcessVariablesTable(CustomTable): + + def GetValue(self, row, col): + if row < self.GetNumberRows(): + if col == 0: + return row + 1 + colname = self.GetColLabelValue(col, False) + if colname.startswith("Read from"): + value = self.data[row].get("ReadFrom", "") + if value == "": + return value + return "%d, #x%0.4X, #x%0.2X" % value + elif colname.startswith("Write to"): + value = self.data[row].get("WriteTo", "") + if value == "": + return value + return "%d, #x%0.4X, #x%0.2X" % value + return self.data[row].get(colname, "") + + def SetValue(self, row, col, value): + if col < len(self.colnames): + colname = self.GetColLabelValue(col, False) + if colname.startswith("Read from"): + self.data[row]["ReadFrom"] = value + elif colname.startswith("Write to"): + self.data[row]["WriteTo"] = value + else: + self.data[row][colname] = value + + def _updateColAttrs(self, grid): + """ + wx.grid.Grid -> update the column attributes to add the + appropriate renderer given the column name. + + Otherwise default to the default renderer. + """ + for row in range(self.GetNumberRows()): + for col in range(self.GetNumberCols()): + editor = None + renderer = None + colname = self.GetColLabelValue(col, False) + if colname in ["Name", "Description"]: + editor = wx.grid.GridCellTextEditor() + renderer = wx.grid.GridCellStringRenderer() + grid.SetReadOnly(row, col, False) + else: + grid.SetReadOnly(row, col, True) + + grid.SetCellEditor(row, col, editor) + grid.SetCellRenderer(row, col, renderer) + + self.ResizeRow(grid, row) + +class ProcessVariableDropTarget(wx.TextDropTarget): + + def __init__(self, parent): + wx.TextDropTarget.__init__(self) + self.ParentWindow = parent + + def OnDropText(self, x, y, data): + self.ParentWindow.Select() + x, y = self.ParentWindow.ProcessVariablesGrid.CalcUnscrolledPosition(x, y) + col = self.ParentWindow.ProcessVariablesGrid.XToCol(x) + row = self.ParentWindow.ProcessVariablesGrid.YToRow(y - self.ParentWindow.ProcessVariablesGrid.GetColLabelSize()) + message = None + try: + values = eval(data) + except: + message = _("Invalid value \"%s\" for process variable")%data + values = None + if not isinstance(values, TupleType): + message = _("Invalid value \"%s\" for process variable")%data + values = None + if values is not None and col != wx.NOT_FOUND and row != wx.NOT_FOUND and 2 <= col <= 3: + location = None + if values[1] == "location": + result = LOCATION_MODEL.match(values[0]) + if result is not None: + location = map(int, result.group(1).split('.')) + master_location = self.ParentWindow.GetMasterLocation() + if (master_location == tuple(location[:len(master_location)]) and + len(location) - len(master_location) == 3): + values = tuple(location[len(master_location):]) + var_type = self.ParentWindow.Controler.GetSlaveVariableDataType(*values) + if col == 2: + other_values = self.ParentWindow.ProcessVariablesTable.GetValueByName(row, "WriteTo") + else: + other_values = self.ParentWindow.ProcessVariablesTable.GetValueByName(row, "ReadFrom") + if other_values != "": + other_type = self.ParentWindow.Controler.GetSlaveVariableDataType(*other_values) + else: + other_type = None + if other_type is None or var_type == other_type: + if col == 2: + self.ParentWindow.ProcessVariablesTable.SetValueByName(row, "ReadFrom", values) + else: + self.ParentWindow.ProcessVariablesTable.SetValueByName(row, "WriteTo", values) + self.ParentWindow.SaveProcessVariables() + self.ParentWindow.RefreshProcessVariables() + else: + message = _("'Read from' and 'Write to' variables types are not compatible") + else: + message = _("Invalid value \"%s\" for process variable")%data + + if message is not None: + wx.CallAfter(self.ShowMessage, message) + + def ShowMessage(self, message): + message = wx.MessageDialog(self.ParentWindow, message, _("Error"), wx.OK|wx.ICON_ERROR) + message.ShowModal() + message.Destroy() + +def GetStartupCommandsTableColnames(): + _ = lambda x : x + return [_("Position"), _("Index"), _("Subindex"), _("Value"), _("Description")] + +class StartupCommandDropTarget(wx.TextDropTarget): + + def __init__(self, parent): + wx.TextDropTarget.__init__(self) + self.ParentWindow = parent + + def OnDropText(self, x, y, data): + self.ParentWindow.Select() + message = None + try: + values = eval(data) + except: + message = _("Invalid value \"%s\" for startup command")%data + values = None + if not isinstance(values, TupleType): + message = _("Invalid value \"%s\" for startup command")%data + values = None + if values is not None: + location = None + if values[1] == "location": + result = LOCATION_MODEL.match(values[0]) + if result is not None and len(values) > 5: + location = map(int, result.group(1).split('.')) + access = values[5] + elif values[1] == "variable": + location = values[0] + access = values[2] + if location is not None: + master_location = self.ParentWindow.GetMasterLocation() + if (master_location == tuple(location[:len(master_location)]) and + len(location) - len(master_location) == 3): + if access in ["wo", "rw"]: + self.ParentWindow.AddStartupCommand(*location[len(master_location):]) + else: + message = _("Entry can't be write through SDO") + else: + message = _("Invalid value \"%s\" for startup command")%data + + if message is not None: + wx.CallAfter(self.ShowMessage, message) + + def ShowMessage(self, message): + message = wx.MessageDialog(self.ParentWindow, message, _("Error"), wx.OK|wx.ICON_ERROR) + message.ShowModal() + message.Destroy() + +class StartupCommandsTable(CustomTable): + + """ + A custom wx.grid.Grid Table using user supplied data + """ + def __init__(self, parent, data, colnames): + # The base class must be initialized *first* + CustomTable.__init__(self, parent, data, colnames) + self.old_value = None + + def GetValue(self, row, col): + if row < self.GetNumberRows(): + colname = self.GetColLabelValue(col, False) + value = self.data[row].get(colname, "") + if colname == "Index": + return "#x%0.4X" % value + elif colname == "Subindex": + return "#x%0.2X" % value + return value + + def SetValue(self, row, col, value): + if col < len(self.colnames): + colname = self.GetColLabelValue(col, False) + if colname in ["Index", "Subindex"]: + if colname == "Index": + result = ETHERCAT_INDEX_MODEL.match(value) + else: + result = ETHERCAT_SUBINDEX_MODEL.match(value) + if result is None: + return + value = int(result.group(1), 16) + elif colname == "Value": + value = int(value) + elif colname == "Position": + self.old_value = self.data[row][colname] + value = int(value) + self.data[row][colname] = value + + def GetOldValue(self): + return self.old_value + + def _updateColAttrs(self, grid): + """ + wx.grid.Grid -> update the column attributes to add the + appropriate renderer given the column name. + + Otherwise default to the default renderer. + """ + for row in range(self.GetNumberRows()): + for col in range(self.GetNumberCols()): + editor = None + renderer = None + colname = self.GetColLabelValue(col, False) + if colname in ["Position", "Value"]: + editor = wx.grid.GridCellNumberEditor() + renderer = wx.grid.GridCellNumberRenderer() + else: + editor = wx.grid.GridCellTextEditor() + renderer = wx.grid.GridCellStringRenderer() + + grid.SetCellEditor(row, col, editor) + grid.SetCellRenderer(row, col, renderer) + grid.SetReadOnly(row, col, False) + + self.ResizeRow(grid, row) + + def GetCommandIndex(self, position, command_idx): + for row, command in enumerate(self.data): + if command["Position"] == position and command["command_idx"] == command_idx: + return row + return None + +class MasterNodesVariablesSizer(NodeVariablesSizer): + + def __init__(self, parent, controler): + NodeVariablesSizer.__init__(self, parent, controler, True) + + self.CurrentNodesFilter = {} + + def SetCurrentNodesFilter(self, nodes_filter): + self.CurrentNodesFilter = nodes_filter + + def RefreshView(self): + if self.CurrentNodesFilter is not None: + args = self.CurrentNodesFilter.copy() + args["limits"] = self.CurrentFilter + entries = self.Controler.GetNodesVariables(**args) + self.RefreshVariablesGrid(entries) + +NODE_POSITION_FILTER_FORMAT = _("Node Position: %d") + +class MasterEditor(ConfTreeNodeEditor): + + CONFNODEEDITOR_TABS = [ + (_("Network"), "_create_EthercatMasterEditor"), + (_("Master State"), "_create_MasterStateEditor") + ] + + def _create_MasterStateEditor(self, prnt): + self.MasterStateEditor = wx.ScrolledWindow(prnt, style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL) + self.MasterStateEditor.Bind(wx.EVT_SIZE, self.OnResize) + + self.MasterStateEditor_Panel_Main_Sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5) + self.MasterStateEditor_Panel_Main_Sizer.AddGrowableCol(0) + self.MasterStateEditor_Panel_Main_Sizer.AddGrowableRow(0) + + self.MasterStateEditor_Panel = MasterStatePanelClass(self.MasterStateEditor, self.Controler) + + self.MasterStateEditor_Panel_Main_Sizer.AddSizer(self.MasterStateEditor_Panel, border=10, flag=wx.GROW) + + self.MasterStateEditor.SetSizer(self.MasterStateEditor_Panel_Main_Sizer) + return self.MasterStateEditor + + def OnResize(self, event): + self.MasterStateEditor.GetBestSize() + xstart, ystart = self.MasterStateEditor.GetViewStart() + window_size = self.MasterStateEditor.GetClientSize() + maxx, maxy = self.MasterStateEditor.GetMinSize() + posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT)) + posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT)) + self.MasterStateEditor.Scroll(posx, posy) + self.MasterStateEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, + maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy) + event.Skip() + + def _create_EthercatMasterEditor(self, prnt): + self.EthercatMasterEditor = wx.ScrolledWindow(prnt, + style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL) + self.EthercatMasterEditor.Bind(wx.EVT_SIZE, self.OnResize) + + self.EthercatMasterEditorSizer = wx.BoxSizer(wx.VERTICAL) + + self.NodesFilter = wx.ComboBox(self.EthercatMasterEditor, + style=wx.TE_PROCESS_ENTER) + self.Bind(wx.EVT_COMBOBOX, self.OnNodesFilterChanged, self.NodesFilter) + self.Bind(wx.EVT_TEXT_ENTER, self.OnNodesFilterChanged, self.NodesFilter) + self.NodesFilter.Bind(wx.EVT_CHAR, self.OnNodesFilterKeyDown) + + process_variables_header = wx.BoxSizer(wx.HORIZONTAL) + + process_variables_label = wx.StaticText(self.EthercatMasterEditor, + label=_("Process variables mapped between nodes:")) + process_variables_header.AddWindow(process_variables_label, 1, + flag=wx.ALIGN_CENTER_VERTICAL) + + for name, bitmap, help in [ + ("AddVariableButton", "add_element", _("Add process variable")), + ("DeleteVariableButton", "remove_element", _("Remove process variable")), + ("UpVariableButton", "up", _("Move process variable up")), + ("DownVariableButton", "down", _("Move process variable down"))]: + button = wx.lib.buttons.GenBitmapButton(self.EthercatMasterEditor, bitmap=GetBitmap(bitmap), + size=wx.Size(28, 28), style=wx.NO_BORDER) + button.SetToolTipString(help) + setattr(self, name, button) + process_variables_header.AddWindow(button, border=5, flag=wx.LEFT) + + self.ProcessVariablesGrid = CustomGrid(self.EthercatMasterEditor, style=wx.VSCROLL) + self.ProcessVariablesGrid.SetMinSize(wx.Size(0, 150)) + self.ProcessVariablesGrid.SetDropTarget(ProcessVariableDropTarget(self)) + self.ProcessVariablesGrid.Bind(wx.grid.EVT_GRID_CELL_CHANGE, + self.OnProcessVariablesGridCellChange) + self.ProcessVariablesGrid.Bind(wx.grid.EVT_GRID_CELL_LEFT_CLICK, + self.OnProcessVariablesGridCellLeftClick) + self.ProcessVariablesGrid.Bind(wx.EVT_KEY_DOWN, self.OnProcessVariablesGridKeyDown) + + startup_commands_header = wx.BoxSizer(wx.HORIZONTAL) + + startup_commands_label = wx.StaticText(self.EthercatMasterEditor, + label=_("Startup service variables assignments:")) + startup_commands_header.AddWindow(startup_commands_label, 1, + flag=wx.ALIGN_CENTER_VERTICAL) + + for name, bitmap, help in [ + ("AddCommandButton", "add_element", _("Add startup service variable")), + ("DeleteCommandButton", "remove_element", _("Remove startup service variable"))]: + button = wx.lib.buttons.GenBitmapButton(self.EthercatMasterEditor, bitmap=GetBitmap(bitmap), + size=wx.Size(28, 28), style=wx.NO_BORDER) + button.SetToolTipString(help) + setattr(self, name, button) + startup_commands_header.AddWindow(button, border=5, flag=wx.LEFT) + + self.StartupCommandsGrid = CustomGrid(self.EthercatMasterEditor, style=wx.VSCROLL) + self.StartupCommandsGrid.SetDropTarget(StartupCommandDropTarget(self)) + self.StartupCommandsGrid.SetMinSize(wx.Size(0, 150)) + self.StartupCommandsGrid.Bind(wx.grid.EVT_GRID_CELL_CHANGE, + self.OnStartupCommandsGridCellChange) + self.StartupCommandsGrid.Bind(wx.grid.EVT_GRID_EDITOR_SHOWN, + self.OnStartupCommandsGridEditorShow) + + self.NodesVariables = MasterNodesVariablesSizer(self.EthercatMasterEditor, self.Controler) + + main_staticbox = wx.StaticBox(self.EthercatMasterEditor, label=_("Node filter:")) + staticbox_sizer = wx.StaticBoxSizer(main_staticbox, wx.VERTICAL) + self.EthercatMasterEditorSizer.AddSizer(staticbox_sizer, 0, border=10, flag=wx.GROW|wx.ALL) + + main_staticbox_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=6, vgap=0) + main_staticbox_sizer.AddGrowableCol(0) + main_staticbox_sizer.AddGrowableRow(2) + main_staticbox_sizer.AddGrowableRow(4) + main_staticbox_sizer.AddGrowableRow(5) + staticbox_sizer.AddSizer(main_staticbox_sizer, 1, flag=wx.GROW) + main_staticbox_sizer.AddWindow(self.NodesFilter, border=5, flag=wx.GROW|wx.ALL) + main_staticbox_sizer.AddSizer(process_variables_header, border=5, + flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM) + main_staticbox_sizer.AddWindow(self.ProcessVariablesGrid, 1, + border=5, flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM) + main_staticbox_sizer.AddSizer(startup_commands_header, + border=5, flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM) + main_staticbox_sizer.AddWindow(self.StartupCommandsGrid, 1, + border=5, flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM) + + second_staticbox = wx.StaticBox(self.EthercatMasterEditor, label=_("Nodes variables filter:")) + second_staticbox_sizer = wx.StaticBoxSizer(second_staticbox, wx.VERTICAL) + second_staticbox_sizer.AddSizer(self.NodesVariables, 1, border=5, flag=wx.GROW|wx.ALL) + + main_staticbox_sizer.AddSizer(second_staticbox_sizer, 1, + border=5, flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM) + + self.EthercatMasterEditor.SetSizer(self.EthercatMasterEditorSizer) + + return self.EthercatMasterEditor + + def __init__(self, parent, controler, window): + ConfTreeNodeEditor.__init__(self, parent, controler, window) + + # ------------------------------------------------------------------ + self.Controler = controler + # ------------------------------------------------------------------ + + self.ProcessVariables = [] + self.CellShown = None + self.NodesFilterFirstCharacter = True + + self.ProcessVariablesDefaultValue = {"Name": "", "ReadFrom": "", "WriteTo": "", "Description": ""} + self.ProcessVariablesTable = ProcessVariablesTable(self, [], GetProcessVariablesTableColnames()) + self.ProcessVariablesColSizes = [40, 100, 150, 150, 200] + self.ProcessVariablesColAlignements = [wx.ALIGN_CENTER, wx.ALIGN_LEFT, wx.ALIGN_LEFT, wx.ALIGN_LEFT, wx.ALIGN_LEFT] + + self.ProcessVariablesGrid.SetTable(self.ProcessVariablesTable) + self.ProcessVariablesGrid.SetButtons({"Add": self.AddVariableButton, + "Delete": self.DeleteVariableButton, + "Up": self.UpVariableButton, + "Down": self.DownVariableButton}) + + def _AddVariablesElement(new_row): + self.ProcessVariablesTable.InsertRow(new_row, self.ProcessVariablesDefaultValue.copy()) + self.SaveProcessVariables() + self.ProcessVariablesTable.ResetView(self.ProcessVariablesGrid) + return new_row + setattr(self.ProcessVariablesGrid, "_AddRow", _AddVariablesElement) + + def _DeleteVariablesElement(row): + self.ProcessVariablesTable.RemoveRow(row) + self.SaveProcessVariables() + self.ProcessVariablesTable.ResetView(self.ProcessVariablesGrid) + setattr(self.ProcessVariablesGrid, "_DeleteRow", _DeleteVariablesElement) + + def _MoveVariablesElement(row, move): + new_row = self.ProcessVariablesTable.MoveRow(row, move) + if new_row != row: + self.SaveProcessVariables() + self.ProcessVariablesTable.ResetView(self.ProcessVariablesGrid) + return new_row + setattr(self.ProcessVariablesGrid, "_MoveRow", _MoveVariablesElement) + + _refresh_buttons = getattr(self.ProcessVariablesGrid, "RefreshButtons") + def _RefreshButtons(): + if self.NodesFilter.GetSelection() == 0: + _refresh_buttons() + else: + self.AddVariableButton.Enable(False) + self.DeleteVariableButton.Enable(False) + self.UpVariableButton.Enable(False) + self.DownVariableButton.Enable(False) + setattr(self.ProcessVariablesGrid, "RefreshButtons", _RefreshButtons) + + self.ProcessVariablesGrid.SetRowLabelSize(0) + for col in range(self.ProcessVariablesTable.GetNumberCols()): + attr = wx.grid.GridCellAttr() + attr.SetAlignment(self.ProcessVariablesColAlignements[col], wx.ALIGN_CENTRE) + self.ProcessVariablesGrid.SetColAttr(col, attr) + self.ProcessVariablesGrid.SetColMinimalWidth(col, self.ProcessVariablesColSizes[col]) + self.ProcessVariablesGrid.AutoSizeColumn(col, False) + self.ProcessVariablesGrid.RefreshButtons() + + self.StartupCommandsDefaultValue = {"Position": 0, "Index": 0, "Subindex": 0, "Value": 0, "Description": ""} + self.StartupCommandsTable = StartupCommandsTable(self, [], GetStartupCommandsTableColnames()) + self.StartupCommandsColSizes = [100, 100, 50, 100, 200] + self.StartupCommandsColAlignements = [wx.ALIGN_CENTER, wx.ALIGN_RIGHT, wx.ALIGN_RIGHT, wx.ALIGN_RIGHT, wx.ALIGN_LEFT] + + self.StartupCommandsGrid.SetTable(self.StartupCommandsTable) + self.StartupCommandsGrid.SetButtons({"Add": self.AddCommandButton, + "Delete": self.DeleteCommandButton}) + + def _AddCommandsElement(new_row): + command = self.StartupCommandsDefaultValue.copy() + command_idx = self.Controler.AppendStartupCommand(command) + self.RefreshStartupCommands() + self.RefreshBuffer() + return self.StartupCommandsTable.GetCommandIndex(command["Position"], command_idx) + setattr(self.StartupCommandsGrid, "_AddRow", _AddCommandsElement) + + def _DeleteCommandsElement(row): + command = self.StartupCommandsTable.GetRow(row) + self.Controler.RemoveStartupCommand(command["Position"], command["command_idx"]) + self.RefreshStartupCommands() + self.RefreshBuffer() + setattr(self.StartupCommandsGrid, "_DeleteRow", _DeleteCommandsElement) + + self.StartupCommandsGrid.SetRowLabelSize(0) + for col in range(self.StartupCommandsTable.GetNumberCols()): + attr = wx.grid.GridCellAttr() + attr.SetAlignment(self.StartupCommandsColAlignements[col], wx.ALIGN_CENTRE) + self.StartupCommandsGrid.SetColAttr(col, attr) + self.StartupCommandsGrid.SetColMinimalWidth(col, self.StartupCommandsColSizes[col]) + self.StartupCommandsGrid.AutoSizeColumn(col, False) + self.StartupCommandsGrid.RefreshButtons() + + def RefreshBuffer(self): + self.ParentWindow.RefreshTitle() + self.ParentWindow.RefreshFileMenu() + self.ParentWindow.RefreshEditMenu() + self.ParentWindow.RefreshPageTitles() + + def GetBufferState(self): + return self.Controler.GetBufferState() + + def Undo(self): + self.Controler.LoadPrevious() + self.RefreshView() + + def Redo(self): + self.Controler.LoadNext() + self.RefreshView() + + def RefreshView(self): + ConfTreeNodeEditor.RefreshView(self) + + self.RefreshNodesFilter() + self.RefreshProcessVariables() + self.RefreshStartupCommands() + self.NodesVariables.RefreshView() + + def RefreshNodesFilter(self): + value = self.NodesFilter.GetValue() + self.NodesFilter.Clear() + self.NodesFilter.Append(_("All")) + self.NodesFilterValues = [{}] + for vendor_id, vendor_name in self.Controler.GetLibraryVendors(): + self.NodesFilter.Append(_("%s's nodes") % vendor_name) + self.NodesFilterValues.append({"vendor": vendor_id}) + self.NodesFilter.Append(_("CIA402 nodes")) + self.NodesFilterValues.append({"slave_profile": 402}) + if value in self.NodesFilter.GetStrings(): + self.NodesFilter.SetStringSelection(value) + else: + try: + int(value) + self.NodesFilter.SetValue(value) + except: + self.NodesFilter.SetSelection(0) + self.RefreshCurrentNodesFilter() + + def RefreshCurrentNodesFilter(self): + filter = self.NodesFilter.GetSelection() + if filter != -1: + self.CurrentNodesFilter = self.NodesFilterValues[filter] + else: + try: + value = self.NodesFilter.GetValue() + if value == "": + self.CurrentNodesFilter = self.NodesFilterValues[0] + self.NodesFilter.SetSelection(0) + else: + position = int(self.NodesFilter.GetValue()) + self.CurrentNodesFilter = {"slave_pos": position} + self.NodesFilter.SetValue(NODE_POSITION_FILTER_FORMAT % position) + except: + if self.CurrentNodesFilter in self.NodesFilterValues: + self.NodesFilter.SetSelection(self.NodesFilterValues.index(self.CurrentNodesFilter)) + else: + self.NodesFilter.SetValue(NODE_POSITION_FILTER_FORMAT % self.CurrentNodesFilter["slave_pos"]) + self.NodesFilterFirstCharacter = True + self.NodesVariables.SetCurrentNodesFilter(self.CurrentNodesFilter) + + def RefreshProcessVariables(self): + if self.CurrentNodesFilter is not None: + self.ProcessVariables = self.Controler.GetProcessVariables() + slaves = self.Controler.GetSlaves(**self.CurrentNodesFilter) + data = [] + for variable in self.ProcessVariables: + if (variable["ReadFrom"] == "" or variable["ReadFrom"][0] in slaves or + variable["WriteTo"] == "" or variable["WriteTo"][0] in slaves): + data.append(variable) + self.ProcessVariablesTable.SetData(data) + self.ProcessVariablesTable.ResetView(self.ProcessVariablesGrid) + self.ProcessVariablesGrid.RefreshButtons() + + def SaveProcessVariables(self): + if self.CurrentNodesFilter is not None: + if len(self.CurrentNodesFilter) > 0: + self.Controler.SetProcessVariables(self.ProcessVariables) + else: + self.Controler.SetProcessVariables(self.ProcessVariablesTable.GetData()) + self.RefreshBuffer() + + def RefreshStartupCommands(self, position=None, command_idx=None): + if self.CurrentNodesFilter is not None: + col = max(self.StartupCommandsGrid.GetGridCursorCol(), 0) + self.StartupCommandsTable.SetData( + self.Controler.GetStartupCommands(**self.CurrentNodesFilter)) + self.StartupCommandsTable.ResetView(self.StartupCommandsGrid) + if position is not None and command_idx is not None: + self.SelectStartupCommand(position, command_idx, col) + + def SelectStartupCommand(self, position, command_idx, col): + self.StartupCommandsGrid.SetSelectedCell( + self.StartupCommandsTable.GetCommandIndex(position, command_idx), + col) + + def GetMasterLocation(self): + return self.Controler.GetCurrentLocation() + + def AddStartupCommand(self, position, index, subindex): + col = max(self.StartupCommandsGrid.GetGridCursorCol(), 0) + command = self.StartupCommandsDefaultValue.copy() + command["Position"] = position + command["Index"] = index + command["Subindex"] = subindex + command_idx = self.Controler.AppendStartupCommand(command) + self.RefreshStartupCommands() + self.RefreshBuffer() + self.SelectStartupCommand(position, command_idx, col) + + def OnNodesFilterChanged(self, event): + self.RefreshCurrentNodesFilter() + if self.CurrentNodesFilter is not None: + self.RefreshProcessVariables() + self.RefreshStartupCommands() + self.NodesVariables.RefreshView() + event.Skip() + + def OnNodesFilterKeyDown(self, event): + if self.NodesFilterFirstCharacter: + keycode = event.GetKeyCode() + if keycode not in [wx.WXK_RETURN, + wx.WXK_NUMPAD_ENTER]: + self.NodesFilterFirstCharacter = False + if keycode not in NAVIGATION_KEYS: + self.NodesFilter.SetValue("") + if keycode not in [wx.WXK_DELETE, + wx.WXK_NUMPAD_DELETE, + wx.WXK_BACK]: + event.Skip() + else: + event.Skip() + + def OnProcessVariablesGridCellChange(self, event): + row, col = event.GetRow(), event.GetCol() + colname = self.ProcessVariablesTable.GetColLabelValue(col, False) + value = self.ProcessVariablesTable.GetValue(row, col) + message = None + if colname == "Name": + if not TestIdentifier(value): + message = _("\"%s\" is not a valid identifier!") % value + elif value.upper() in IEC_KEYWORDS: + message = _("\"%s\" is a keyword. It can't be used!") % value + elif value.upper() in [var["Name"].upper() for idx, var in enumerate(self.ProcessVariablesTable.GetData()) if idx != row]: + message = _("An variable named \"%s\" already exists!") % value + if message is None: + self.SaveProcessVariables() + wx.CallAfter(self.ProcessVariablesTable.ResetView, self.ProcessVariablesGrid) + event.Skip() + else: + dialog = wx.MessageDialog(self, message, _("Error"), wx.OK|wx.ICON_ERROR) + dialog.ShowModal() + dialog.Destroy() + event.Veto() + + def OnProcessVariablesGridCellLeftClick(self, event): + row = event.GetRow() + if event.GetCol() == 0: + var_name = self.ProcessVariablesTable.GetValueByName(row, "Name") + var_type = self.Controler.GetSlaveVariableDataType( + *self.ProcessVariablesTable.GetValueByName(row, "ReadFrom")) + data_size = self.Controler.GetSizeOfType(var_type) + number = self.ProcessVariablesTable.GetValueByName(row, "Number") + location = "%%M%s" % data_size + \ + ".".join(map(lambda x:str(x), self.Controler.GetCurrentLocation() + (number,))) + + data = wx.TextDataObject(str((location, "location", var_type, var_name, ""))) + dragSource = wx.DropSource(self.ProcessVariablesGrid) + dragSource.SetData(data) + dragSource.DoDragDrop() + event.Skip() + + def OnProcessVariablesGridKeyDown(self, event): + keycode = event.GetKeyCode() + col = self.ProcessVariablesGrid.GetGridCursorCol() + row = self.ProcessVariablesGrid.GetGridCursorRow() + colname = self.ProcessVariablesTable.GetColLabelValue(col, False) + if (keycode in (wx.WXK_DELETE, wx.WXK_NUMPAD_DELETE) and + (colname.startswith("Read from") or colname.startswith("Write to"))): + self.ProcessVariablesTable.SetValue(row, col, "") + self.SaveProcessVariables() + wx.CallAfter(self.ProcessVariablesTable.ResetView, self.ProcessVariablesGrid) + else: + event.Skip() + + def OnStartupCommandsGridEditorShow(self, event): + self.CellShown = event.GetRow(), event.GetCol() + event.Skip() + + def OnStartupCommandsGridCellChange(self, event): + row, col = event.GetRow(), event.GetCol() + if self.CellShown == (row, col): + self.CellShown = None + colname = self.StartupCommandsTable.GetColLabelValue(col, False) + value = self.StartupCommandsTable.GetValue(row, col) + message = None + if colname == "Position": + if value not in self.Controler.GetSlaves(): + message = _("No slave defined at position %d!") % value + old_value = self.StartupCommandsTable.GetOldValue() + command = self.StartupCommandsTable.GetRow(row) + if message is None and old_value != command["Position"]: + self.Controler.RemoveStartupCommand( + self.StartupCommandsTable.GetOldValue(), + command["command_idx"], False) + command_idx = self.Controler.AppendStartupCommand(command) + wx.CallAfter(self.RefreshStartupCommands, command["Position"], command_idx) + else: + command = self.StartupCommandsTable.GetRow(row) + self.Controler.SetStartupCommandInfos(command) + if colname in ["Index", "SubIndex"]: + wx.CallAfter(self.RefreshStartupCommands, command["Position"], command["command_idx"]) + if message is None: + self.RefreshBuffer() + event.Skip() + else: + dialog = wx.MessageDialog(self, message, _("Error"), wx.OK|wx.ICON_ERROR) + dialog.ShowModal() + dialog.Destroy() + event.Veto() + else: + event.Veto() + + def OnResize(self, event): + self.EthercatMasterEditor.GetBestSize() + xstart, ystart = self.EthercatMasterEditor.GetViewStart() + window_size = self.EthercatMasterEditor.GetClientSize() + maxx, maxy = self.EthercatMasterEditorSizer.GetMinSize() + posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT)) + posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT)) + self.EthercatMasterEditor.Scroll(posx, posy) + self.EthercatMasterEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, + maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy) + event.Skip() + + #def OnButtonClick(self, event): + # self.MasterState = self.Controler.getMasterState() + # if self.MasterState: + # self.Phase.SetValue(self.MasterState["phase"]) + # self.Active.SetValue(self.MasterState["active"]) + # self.SlaveCount.SetValue(self.MasterState["slave"]) + # self.MacAddress.SetValue(self.MasterState["MAC"]) + # self.LinkState.SetValue(self.MasterState["link"]) + # self.TxFrames.SetValue(self.MasterState["TXframe"]) + # self.RxFrames.SetValue(self.MasterState["RXframe"]) + # self.TxByte.SetValue(self.MasterState["TXbyte"]) + # self.TxError.SetValue(self.MasterState["TXerror"]) + # self.LostFrames.SetValue(self.MasterState["lost"]) + + # self.TxFrameRate1.SetValue(self.MasterState["TXframerate1"]) + # self.TxFrameRate2.SetValue(self.MasterState["TXframerate2"]) + # self.TxFrameRate3.SetValue(self.MasterState["TXframerate3"]) + # self.TxRate1.SetValue(self.MasterState["TXrate1"]) + # self.TxRate2.SetValue(self.MasterState["TXrate2"]) + # self.TxRate3.SetValue(self.MasterState["TXrate3"]) + # self.LossRate1.SetValue(self.MasterState["loss1"]) + # self.LossRate2.SetValue(self.MasterState["loss2"]) + # self.LossRate3.SetValue(self.MasterState["loss3"]) + # self.FrameLoss1.SetValue(self.MasterState["frameloss1"]) + # self.FrameLoss2.SetValue(self.MasterState["frameloss2"]) + # self.FrameLoss3.SetValue(self.MasterState["frameloss3"]) + +class LibraryEditorSizer(wx.FlexGridSizer): + + def __init__(self, parent, module_library, buttons): + wx.FlexGridSizer.__init__(self, cols=1, hgap=0, rows=4, vgap=5) + + self.ModuleLibrary = module_library + self.ParentWindow = parent + + self.AddGrowableCol(0) + self.AddGrowableRow(1) + self.AddGrowableRow(3) + + ESI_files_label = wx.StaticText(parent, + label=_("ESI Files:")) + self.AddWindow(ESI_files_label, border=10, + flag=wx.TOP|wx.LEFT|wx.RIGHT) + + folder_tree_sizer = wx.FlexGridSizer(cols=2, hgap=5, rows=1, vgap=0) + folder_tree_sizer.AddGrowableCol(0) + folder_tree_sizer.AddGrowableRow(0) + self.AddSizer(folder_tree_sizer, border=10, + flag=wx.GROW|wx.LEFT|wx.RIGHT) + + self.ESIFiles = FolderTree(parent, self.GetPath(), editable=False) + self.ESIFiles.SetFilter(".xml") + folder_tree_sizer.AddWindow(self.ESIFiles, flag=wx.GROW) + + buttons_sizer = wx.BoxSizer(wx.VERTICAL) + folder_tree_sizer.AddSizer(buttons_sizer, + flag=wx.ALIGN_CENTER_VERTICAL) + + for idx, (name, bitmap, help, callback) in enumerate(buttons): + button = wx.lib.buttons.GenBitmapButton(parent, + bitmap=GetBitmap(bitmap), + size=wx.Size(28, 28), style=wx.NO_BORDER) + button.SetToolTipString(help) + setattr(self, name, button) + if idx > 0: + flag = wx.TOP + else: + flag = 0 + if callback is None: + callback = getattr(self, "On" + name, None) + if callback is not None: + parent.Bind(wx.EVT_BUTTON, callback, button) + buttons_sizer.AddWindow(button, border=10, flag=flag) + + modules_label = wx.StaticText(parent, + label=_("Modules library:")) + self.AddSizer(modules_label, border=10, + flag=wx.LEFT|wx.RIGHT) + + self.ModulesGrid = wx.gizmos.TreeListCtrl(parent, + style=wx.TR_DEFAULT_STYLE | + wx.TR_ROW_LINES | + wx.TR_COLUMN_LINES | + wx.TR_HIDE_ROOT | + wx.TR_FULL_ROW_HIGHLIGHT) + self.ModulesGrid.GetMainWindow().Bind(wx.EVT_LEFT_DOWN, + self.OnModulesGridLeftDown) + self.ModulesGrid.Bind(wx.EVT_TREE_BEGIN_LABEL_EDIT, + self.OnModulesGridBeginLabelEdit) + self.ModulesGrid.Bind(wx.EVT_TREE_END_LABEL_EDIT, + self.OnModulesGridEndLabelEdit) + self.ModulesGrid.GetHeaderWindow().Bind(wx.EVT_MOTION, + self.OnModulesGridHeaderMotion) + self.AddWindow(self.ModulesGrid, border=10, + flag=wx.GROW|wx.BOTTOM|wx.LEFT|wx.RIGHT) + + for colname, colsize, colalign in zip( + [_("Name")] + [param_infos["column_label"] + for param, param_infos in + self.ModuleLibrary.MODULES_EXTRA_PARAMS], + [400] + [param_infos["column_size"] + for param, param_infos in + self.ModuleLibrary.MODULES_EXTRA_PARAMS], + [wx.ALIGN_LEFT] + [wx.ALIGN_RIGHT] * len(self.ModuleLibrary.MODULES_EXTRA_PARAMS)): + self.ModulesGrid.AddColumn(_(colname), colsize, colalign, edit=True) + self.ModulesGrid.SetMainColumn(0) + + self.CurrentSelectedCol = None + self.LastToolTipCol = None + + def GetPath(self): + return self.ModuleLibrary.GetPath() + + def SetControlMinSize(self, size): + self.ESIFiles.SetMinSize(size) + self.ModulesGrid.SetMinSize(size) + + def GetSelectedFilePath(self): + return self.ESIFiles.GetPath() + + def RefreshView(self): + self.ESIFiles.RefreshTree() + self.RefreshModulesGrid() + + def RefreshModulesGrid(self): + root = self.ModulesGrid.GetRootItem() + if not root.IsOk(): + root = self.ModulesGrid.AddRoot("Modules") + self.GenerateModulesGridBranch(root, + self.ModuleLibrary.GetModulesLibrary(), + GetVariablesTableColnames()) + self.ModulesGrid.Expand(root) + + def GenerateModulesGridBranch(self, root, modules, colnames): + item, root_cookie = self.ModulesGrid.GetFirstChild(root) + + no_more_items = not item.IsOk() + for module in modules: + if no_more_items: + item = self.ModulesGrid.AppendItem(root, "") + self.ModulesGrid.SetItemText(item, module["name"], 0) + if module["infos"] is not None: + for param_idx, (param, param_infos) in enumerate(self.ModuleLibrary.MODULES_EXTRA_PARAMS): + self.ModulesGrid.SetItemText(item, + str(module["infos"][param]), + param_idx + 1) + else: + self.ModulesGrid.SetItemBackgroundColour(item, wx.LIGHT_GREY) + self.ModulesGrid.SetItemPyData(item, module["infos"]) + self.GenerateModulesGridBranch(item, module["children"], colnames) + if not no_more_items: + item, root_cookie = self.ModulesGrid.GetNextChild(root, root_cookie) + no_more_items = not item.IsOk() + + if not no_more_items: + to_delete = [] + while item.IsOk(): + to_delete.append(item) + item, root_cookie = self.ModulesGrid.GetNextChild(root, root_cookie) + for item in to_delete: + self.ModulesGrid.Delete(item) + + def OnImportButton(self, event): + dialog = wx.FileDialog(self.ParentWindow, + _("Choose an XML file"), + os.getcwd(), "", + _("XML files (*.xml)|*.xml|All files|*.*"), wx.OPEN) + + if dialog.ShowModal() == wx.ID_OK: + filepath = dialog.GetPath() + if self.ModuleLibrary.ImportModuleLibrary(filepath): + wx.CallAfter(self.RefreshView) + else: + message = wx.MessageDialog(self, + _("No such XML file: %s\n") % filepath, + _("Error"), wx.OK|wx.ICON_ERROR) + message.ShowModal() + message.Destroy() + dialog.Destroy() + + event.Skip() + + def OnDeleteButton(self, event): + filepath = self.GetSelectedFilePath() + if os.path.isfile(filepath): + folder, filename = os.path.split(filepath) + + dialog = wx.MessageDialog(self.ParentWindow, + _("Do you really want to delete the file '%s'?") % filename, + _("Delete File"), wx.YES_NO|wx.ICON_QUESTION) + remove = dialog.ShowModal() == wx.ID_YES + dialog.Destroy() + + if remove: + os.remove(filepath) + self.ModuleLibrary.LoadModules() + wx.CallAfter(self.RefreshView) + event.Skip() + + def OnModulesGridLeftDown(self, event): + item, flags, col = self.ModulesGrid.HitTest(event.GetPosition()) + if item.IsOk(): + entry_infos = self.ModulesGrid.GetItemPyData(item) + if entry_infos is not None and col > 0: + self.CurrentSelectedCol = col + else: + self.CurrentSelectedCol = None + else: + self.CurrentSelectedCol = None + event.Skip() + + def OnModulesGridBeginLabelEdit(self, event): + item = event.GetItem() + if item.IsOk(): + entry_infos = self.ModulesGrid.GetItemPyData(item) + if entry_infos is not None: + event.Skip() + else: + event.Veto() + else: + event.Veto() + + def OnModulesGridEndLabelEdit(self, event): + item = event.GetItem() + if item.IsOk() and self.CurrentSelectedCol is not None: + entry_infos = self.ModulesGrid.GetItemPyData(item) + if entry_infos is not None and self.CurrentSelectedCol > 0: + param, param_infos = self.ModuleLibrary.MODULES_EXTRA_PARAMS[self.CurrentSelectedCol - 1] + stripped_column_label = param_infos["column_label"].split('(')[0].strip() + try: + self.ModuleLibrary.SetModuleExtraParam( + entry_infos["vendor"], + entry_infos["product_code"], + entry_infos["revision_number"], + param, + int(event.GetLabel())) + wx.CallAfter(self.RefreshModulesGrid) + event.Skip() + except ValueError: + message = wx.MessageDialog(self, + _("Module %s must be an integer!") % stripped_column_label, + _("Error"), wx.OK|wx.ICON_ERROR) + message.ShowModal() + message.Destroy() + event.Veto() + else: + event.Veto() + else: + event.Veto() + + def OnModulesGridHeaderMotion(self, event): + item, flags, col = self.ModulesGrid.HitTest(event.GetPosition()) + if col != self.LastToolTipCol and self.LastToolTipCol is not None: + self.ModulesGrid.GetHeaderWindow().SetToolTip(None) + self.LastToolTipCol = None + if col > 0 and self.LastToolTipCol != col: + self.LastToolTipCol = col + param, param_infos = self.ModuleLibrary.MODULES_EXTRA_PARAMS[col - 1] + wx.CallAfter(self.ModulesGrid.GetHeaderWindow().SetToolTipString, + param_infos["description"]) + event.Skip() + +class DatabaseManagementDialog(wx.Dialog): + + def __init__(self, parent, database): + wx.Dialog.__init__(self, parent, + size=wx.Size(700, 500), title=_('ESI Files Database management'), + style=wx.DEFAULT_DIALOG_STYLE|wx.RESIZE_BORDER) + + main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=10) + main_sizer.AddGrowableCol(0) + main_sizer.AddGrowableRow(0) + + self.DatabaseSizer = LibraryEditorSizer(self, database, + [("ImportButton", "ImportESI", _("Import file to ESI files database"), None), + ("DeleteButton", "remove_element", _("Remove file from database"), None)]) + self.DatabaseSizer.SetControlMinSize(wx.Size(0, 0)) + main_sizer.AddSizer(self.DatabaseSizer, border=10, + flag=wx.GROW|wx.TOP|wx.LEFT|wx.RIGHT) + + button_sizer = self.CreateButtonSizer(wx.OK|wx.CANCEL|wx.CENTRE) + button_sizer.GetAffirmativeButton().SetLabel(_("Add file to project")) + button_sizer.GetCancelButton().SetLabel(_("Close")) + main_sizer.AddSizer(button_sizer, border=10, + flag=wx.ALIGN_RIGHT|wx.BOTTOM|wx.LEFT|wx.RIGHT) + + self.SetSizer(main_sizer) + + self.DatabaseSizer.RefreshView() + + def GetValue(self): + return self.DatabaseSizer.GetSelectedFilePath() + +class LibraryEditor(ConfTreeNodeEditor): + + CONFNODEEDITOR_TABS = [ + (_("Modules Library"), "_create_ModuleLibraryEditor")] + + def _create_ModuleLibraryEditor(self, prnt): + self.ModuleLibraryEditor = wx.ScrolledWindow(prnt, + style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL) + self.ModuleLibraryEditor.Bind(wx.EVT_SIZE, self.OnResize) + + self.ModuleLibrarySizer = LibraryEditorSizer(self.ModuleLibraryEditor, + self.Controler.GetModulesLibraryInstance(), + [("ImportButton", "ImportESI", _("Import ESI file"), None), + ("AddButton", "ImportDatabase", _("Add file from ESI files database"), self.OnAddButton), + ("DeleteButton", "remove_element", _("Remove file from library"), None)]) + self.ModuleLibrarySizer.SetControlMinSize(wx.Size(0, 200)) + self.ModuleLibraryEditor.SetSizer(self.ModuleLibrarySizer) + + return self.ModuleLibraryEditor + + def __init__(self, parent, controler, window): + ConfTreeNodeEditor.__init__(self, parent, controler, window) + + self.RefreshView() + + def RefreshView(self): + ConfTreeNodeEditor.RefreshView(self) + self.ModuleLibrarySizer.RefreshView() + + def OnAddButton(self, event): + dialog = DatabaseManagementDialog(self, + self.Controler.GetModulesDatabaseInstance()) + + if dialog.ShowModal() == wx.ID_OK: + module_library = self.Controler.GetModulesLibraryInstance() + module_library.ImportModuleLibrary(dialog.GetValue()) + + dialog.Destroy() + + wx.CallAfter(self.ModuleLibrarySizer.RefreshView) + + event.Skip() + + def OnResize(self, event): + self.ModuleLibraryEditor.GetBestSize() + xstart, ystart = self.ModuleLibraryEditor.GetViewStart() + window_size = self.ModuleLibraryEditor.GetClientSize() + maxx, maxy = self.ModuleLibraryEditor.GetMinSize() + posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT)) + posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT)) + self.ModuleLibraryEditor.Scroll(posx, posy) + self.ModuleLibraryEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, + maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy) + event.Skip() + diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/EtherCATBase.xsd --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EtherCATBase.xsd Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,654 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + for future use + + + + + + + + + + obsolete + + + + + obsolete + + + + + + obsolete + + + + + obsolete + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/EtherCATConfig.xsd --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EtherCATConfig.xsd Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,1122 @@ + + + + + + + + + + + Description of the master + + + + + + General information abaout the master + + + + + + name of the master + + + + + destination MAC address + + + + + source MAC address + + + + + Ether type. + + + + + + + + If this tag exists the master checks the mailbox of one or more slaves for new messages during the cylcic process data communication. + + + + + + Start address of the logical address area, that is configured to the written bit of the input mailibox sync manager. In the cyclic frame the master will then include a LRD command with laddr = StartAddr. + + + + + Number of slave devices of which the state of the mailbox is tested by the master. + + + + + + + + Ethernet over EtherCAT settings + + + + + + + + + + + + Initialization commands that are directed at all slaves. + + + + + + + + + + + + + Description of one or more EtherCAT slave devices. + + + + + + General information about the EtherCAT slave device + + + + + + Name of the slave device. + + + + + Slave device has EtherCAT Slave Controller + + + + Fixed EtherCAT address of the slave device. + + + + + Auto Increment address of the slave device. + + + + + Physics at the individual ports(A,B,C,D) of the slave. + + + + + + EtherCAT VendorId. VendorId, ProductCode and RevisionNo are used to identify a specific slave. + + + + + + + + User friendly name generated from ProductCode and RevisionNo with the help of a vendor specific algorithmn + + + + + + + + Description of the process data of this slave + + + + + + Description of the output process data + + + + + + Start address of the process data of this slave in the output image of the master + + + + + Length of the send process data + + + + + + + + Description of the input process data + + + + + + Start address of the process data of this slave in the inpute image of the master + + + + + Length of the recv process data + + + + + + + + Settings of sync manager 0 + + + + + Settings of sync manager 1 + + + + + Settings of sync manager 2 + + + + + Settings of sync manager 3 + + + + + + Ouput Pdos + + + + + Input Pdos + + + + + + + + + Mailbox settings + + + + + + Output mailbox settings + + + + + Input mailbox settings + + + + + + + + Output mailbox settings for bootstrap state + + + + + Input mailbox settings for bootstrap state + + + + + + + + Supported protocols + + + + + + + + + + + + + + + + + + + + + SDO download cmds + + + + + + init cmd will be send at the defined transitions + + + + + + Timeout in ms + + + + + + SDO index + + + + + SDO subindex + + + + + SDO data + + + + + If true the init command should not be sent + + + + + + + + + + + + + + + + + + + + + + + service channel write req + + + + + + init cmd will be send at the defined transitions + + + + + + + + + + + + + + + Timeout in ms + + + + + Op Code + + + + + Drive number + + + + + IDN to write + + + + + + + data to write + + + + + If true the init command should not be sent + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Initialization commands that are necessary for the slave device to run-up. + + + + + + + + + + Possible previous port. The current previous port is set with the Selected attribute + + + + + + deprecated + + + + + Port of the previous slave device this device is connected to + + + + + + + + + + + + Fixed EtherCAT Address of slave device + + + + + + + + + + + + + + + + + Distributed clock settings + + + + + + Determines if this device is the reference clock + + + + + + + + + + + + + + Cycles in which frames are sent + + + + + + + Cycle time of the task sending the frames + + + + + Priority of the task sending the frames + + + + + Id of the task sending the frames + + + + + Frames to be sent in this cycle + + + + + + + EtherCAT sub command + + + + + + Master state the command should be sent in. If the command should not be sent in the current master state one can either remove this command form the frame or set Cmd to Nop. + + + + + + + + + + + + + + + + + Adress position. Either Auto Increment Address or fixed EtherCAT Address + + + + + Offset in DPRAM of the EtherCAT Slave Controller + + + + + + Logical Address + + + + + + + Data that should sent + + + + + Length of the data that should be sent. The data is then filled with 0. + + + + + + Expected working counter. + + + + + Offset in the input image + + + + + Offset in the output image + + + + + Copy information for slave to slave communication. The master has to copy valid input data of this command from the source offest (bit offs in the complete process image) to a destination offset. + + + + + + + + + + + + + + Description of the process image of the master + + + + + + Input process image of the master + + + + + + Size of the input image + + + + + Input variables + + + + + + + + Output process image of the master + + + + + + Size of the output image + + + + + Output variables + + + + + + + + + + + + + + + Schema version (actual 1.3) + + + + + + + + + Transition this command should be sent in + + + + + If BeforeSlave is true this command will be sent before the slave init commands defined for this transition + + + + + + If Requires is set to cycle, this command has to be sent in a seperate cycle. If Requires is set to cycle, this command has to be sent in a seperate frame. + + + + + + + + + + + EtherCAT Command Id + + + + + + + Adress position. Either Auto Increment Address or fixed EtherCAT Address + + + + + Offset in DPRAM of the EtherCAT Slave Controller + + + + + + Logical Address + + + + + + + Data that should sent + + + + + Length of the data that should be sent. The data is then filled with 0. + + + + + + Expected working counter. If the returned working counter is not equal to this value the init command fails. + + + + + Defines how many times the master should retry sending the command before the init command fails. + + + + + If validate is set the returned data has to be validated by the master. + + + + + + Binary data with which the returned data has to be compared with. + + + + + If a data mask is set, the returned data and the data mask is combined with an AND operatore, before comparing the data. + + + + + Timeout in ms. Determis how long the master retries to read out the date, if the validation has failed. + + + + + + + + + + + + Type of Sync Manager (e.g. Outputs) + + + + + + + + + + + + + + + + + + + + Watchdog setting of the sync manager + + + + + Pdo indices + + + + + + + + + + + + + + + + + + + + + + + + + + The index of the PDO will be adapted depend on the slot number and the SlotPdoIncrement value in the Slots-part of the device description + + + + + The index of the PDO will be adapted depend on the slot group number and the SlotGroupPdoIncrement value in the Slots-part of the device description + + + + + + + + + + List of pdo indicies that are excluded if this pdo is in sync manager + + + + + + + The index of the Exclude PDO will be adapted depend on the slot number and the SlotPdoIncrement value in the Slots-part of the device description + + + + + The index of the Exclude-PDO will be adapted depend on the slot group number and the SlotPdoIncrement value in the Slots-part of the device description + + + + + + + + + + + + + + + + + + + pdo is not configurable + + + + + pdo must be configured in a sync manager + + + + + pdo will be configured internally (based on the configured variables) + + + + + default sync manager for this pdo (if set, this PDO will be include in the process image) + + + + + default sync unit for this pdo + + + + + + default oversampling factor + + + + + min. oversampling factor + + + + + max. oversampling factor + + + + + oversampling increment for entry indicies + + + + + If this attribute is True, the PDO shall not be considered if the configurator supports the modular device description because this PDO will be defined via the module definition (only for configurators supporting V1.3). + + + + + + + + + + + + The index will be adapted depend on the slot number and the SlotIndexIncrement value in the Slots-part of the device description + + + + + The index will be adapted depend on the slot group number and the SlotGroupIndexIncrement value in the Slots-part of the device description + + + + + + + + + Default value = 0 + + + + + + Name is mandatory if Index != 0 + + + + + + DataType is mandatory if Index != 0 + + + + + + + + + + + + + + + + + + 1 = swap hi and lo bytes; 2 = swap hi and lo words; 3 = swap both + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Name of the variable + + + + + + Datatype of the variable + + + + + Size of the variable in bits + + + + + Bit offset of the variable in the image + + + + + + + + + + + + + + + + + + + + + If this attribute is True, the object shall not be considered if the configurator supports the modular device description because this object will be defined via the module definition (only for configurators supporting V1.3). + + + + + + + + + + + + + + + + + init cmd will be send at the defined transitions + + + + + + Timeout in ms + + + + + data of the mailbox cmd (excl. the mailbox) + + + + + If true the init command should not be sent + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/EtherCATInfo.xsd --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EtherCATInfo.xsd Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,955 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Helps to display multiple groups in the order intended by the vendor + + + + + Type of an optional parent group - only for additional display order possibilities + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Schema version (1.4) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + obsolete + + + + + + + for future use + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + for future use + + + + + for future use + + + + + + + + + + + + + + + + for future use + + + + + for future use + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + obsolete + + + + + + obsolete + + + + + + + + + + + + + + + for future use + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + obsolete + + + + + obsolete + + + + + obsolete + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + for future use + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + for future use + + + + + + + + + + + + + + + obsolete + + + + + obsolete + + + + + + + obsolete + + + + + + + + + obsolete + + + + + + + obsolete + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + in 100ps + + + + + in 100ps + + + + + + + + + + + + + + + + + + + + + in 100ps + + + + + in 100ps + + + + + + + + + obsolete + + + + + + + + + + + + + for future use + + + + + + for future use + + + + + for future use + + + + + for future use + + + + + for future use + + + + + + for future use; +in bytes + + + + + for future use; +in bytes + + + + + for future use + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + obsolete + + + + + + + + + + + + + + + + + + + + + + + + diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/EtherCATManagementEditor.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EtherCATManagementEditor.py Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2207 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# This file is part of Beremiz +# +# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab., University of Seoul +# +# See COPYING file for copyrights details. + +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!') diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/EthercatCFileGenerator.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EthercatCFileGenerator.py Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,568 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# This file is part of Beremiz +# +# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT +# RTES Lab : CRKim, JBLee, youcu +# Higen Motor : Donggu Kang +# +# See COPYING file for copyrights details. + +import os + +from EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName + +SLAVE_PDOS_CONFIGURATION_DECLARATION = """ +/* Slave %(slave)d, "%(device_type)s" + * Vendor ID: 0x%(vendor).8x + * Product code: 0x%(product_code).8x + * Revision number: 0x%(revision_number).8x + */ + +ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = { +%(pdos_entries_infos)s +}; + +ec_pdo_info_t slave_%(slave)d_pdos[] = { +%(pdos_infos)s +}; + +ec_sync_info_t slave_%(slave)d_syncs[] = { +%(pdos_sync_infos)s + {0xff} +}; +""" + +SLAVE_CONFIGURATION_TEMPLATE = """ + if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) { + SLOGF(LOG_CRITICAL, "EtherCAT failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d."); + goto ecat_failed; + } + + if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) { + SLOGF(LOG_CRITICAL, "EtherCAT failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d."); + goto ecat_failed; + } +""" + +SLAVE_INITIALIZATION_TEMPLATE = """ + { + uint8_t value[%(data_size)d]; + EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s); + if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) { + SLOGF(LOG_CRITICAL, "EtherCAT Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%d", abort_code); + goto ecat_failed; + } + } +""" + +SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """ + { + uint8_t value[%(data_size)d]; + if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) { + SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code); + goto ecat_failed; + } + %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value); + } +""" + +def ConfigureVariable(entry_infos, str_completion): + entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None) + if entry_infos["data_type"] is None: + raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"] + + if not entry_infos.get("no_decl", False): + if entry_infos.has_key("real_var"): + str_completion["located_variables_declaration"].append( + "IEC_%(var_type)s %(real_var)s;" % entry_infos) + else: + entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] + str_completion["located_variables_declaration"].extend( + ["IEC_%(var_type)s %(real_var)s;" % entry_infos, + "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos]) + for declaration in entry_infos.get("extra_declarations", []): + entry_infos["extra_decl"] = declaration + str_completion["located_variables_declaration"].append( + "IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos) + elif not entry_infos.has_key("real_var"): + entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] + + str_completion["used_pdo_entry_offset_variables_declaration"].append( + "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) + + if entry_infos["data_type"] == "BIT": + str_completion["used_pdo_entry_offset_variables_declaration"].append( + "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos) + + str_completion["used_pdo_entry_configuration"].append( + (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + + "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + + "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos) + + if entry_infos["dir"] == "I": + str_completion["retrieve_variables"].append( + (" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + + "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos) + elif entry_infos["dir"] == "Q": + str_completion["publish_variables"].append( + (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + + "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos) + + else: + str_completion["used_pdo_entry_configuration"].append( + (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + + "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos) + + if entry_infos["dir"] == "I": + str_completion["retrieve_variables"].append( + (" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + + "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos) + elif entry_infos["dir"] == "Q": + str_completion["publish_variables"].append( + (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + + "%(real_var)s);") % entry_infos) + +def ExclusionSortFunction(x, y): + if x["matching"] == y["matching"]: + if x["assigned"] and not y["assigned"]: + return -1 + elif not x["assigned"] and y["assigned"]: + return 1 + return cmp(x["count"], y["count"]) + return -cmp(x["matching"], y["matching"]) + +class _EthercatCFileGenerator: + + def __init__(self, controler): + self.Controler = controler + + self.Slaves = [] + self.UsedVariables = {} + + def __del__(self): + self.Controler = None + + def DeclareSlave(self, slave_index, slave): + self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave)) + + def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False): + slave_variables = self.UsedVariables.setdefault(slave_index, {}) + + entry_infos = slave_variables.get((index, subindex), None) + if entry_infos is None: + slave_variables[(index, subindex)] = { + "infos": (iec_type, dir, name, no_decl, []), + "mapped": False} + return name + elif entry_infos["infos"][:2] == (iec_type, dir): + if name != entry_infos["infos"][2]: + if dir == "I": + entry_infos["infos"][4].append(name) + return entry_infos["infos"][2] + else: + raise ValueError, _("Output variables can't be defined with different locations (%s and %s)") % (entry_infos["infos"][2], name) + else: + raise ValueError, _("Definition conflict for location \"%s\"") % name + + def GenerateCFile(self, filepath, location_str, master_number): + + # Extract etherlab master code template + plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c") + plc_etherlab_file = open(plc_etherlab_filepath, 'r') + plc_etherlab_code = plc_etherlab_file.read() + plc_etherlab_file.close() + + # Initialize strings for formatting master code template + str_completion = { + "location": location_str, + "master_number": master_number, + "located_variables_declaration": [], + "used_pdo_entry_offset_variables_declaration": [], + "used_pdo_entry_configuration": [], + "pdos_configuration_declaration": "", + "slaves_declaration": "", + "slaves_configuration": "", + "slaves_output_pdos_default_values_extraction": "", + "slaves_initialization": "", + "retrieve_variables": [], + "publish_variables": [], + } + + # Initialize variable storing variable mapping state + for slave_entries in self.UsedVariables.itervalues(): + for entry_infos in slave_entries.itervalues(): + entry_infos["mapped"] = False + + # Sort slaves by position (IEC_Channel) + self.Slaves.sort() + # Initialize dictionary storing alias auto-increment position values + alias = {} + + # Generating code for each slave + for (slave_idx, slave_alias, slave) in self.Slaves: + type_infos = slave.getType() + + # Defining slave alias and auto-increment position + if alias.get(slave_alias) is not None: + alias[slave_alias] += 1 + else: + alias[slave_alias] = 0 + slave_pos = (slave_alias, alias[slave_alias]) + + # Extract slave device informations + device, module_extra_params = self.Controler.GetModuleInfos(type_infos) + if device is None: + raise ValueError, _("No informations found for device %s!") % (type_infos["device_type"]) + + # Extract slaves variables to be mapped + slave_variables = self.UsedVariables.get(slave_idx, {}) + + # Extract slave device object dictionary entries + device_entries = device.GetEntriesList() + + # Adding code for declaring slave in master code template strings + for element in ["vendor", "product_code", "revision_number"]: + type_infos[element] = ExtractHexDecValue(type_infos[element]) + type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) + + # Extract slave device CoE informations + device_coe = device.getCoE() + if device_coe is not None: + + # If device support CanOpen over Ethernet, adding code for calling + # init commands when initializing slave in master code template strings + initCmds = [] + for initCmd in device_coe.getInitCmd(): + initCmds.append({ + "Index": ExtractHexDecValue(initCmd.getIndex()), + "Subindex": ExtractHexDecValue(initCmd.getSubIndex()), + "Value": initCmd.getData().getcontent()}) + initCmds.extend(slave.getStartupCommands()) + for initCmd in initCmds: + index = initCmd["Index"] + subindex = initCmd["Subindex"] + entry = device_entries.get((index, subindex), None) + if entry is not None: + data_size = entry["BitSize"] / 8 + data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"] + init_cmd_infos = { + "index": index, + "subindex": subindex, + "data": data_str, + "data_type": DATATYPECONVERSION.get(entry["Type"]), + "data_size": data_size + } + init_cmd_infos.update(type_infos) + str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos + + # Extract slave device PDO configuration capabilities + PdoAssign = device_coe.getPdoAssign() + PdoConfig = device_coe.getPdoConfig() + else: + PdoAssign = PdoConfig = False + + # Test if slave has a configuration or need one + if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign: + + str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos + str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos + + # Initializing + pdos_infos = { + "pdos_entries_infos": [], + "pdos_infos": [], + "pdos_sync_infos": [], + } + pdos_infos.update(type_infos) + + sync_managers = [] + for sync_manager_idx, sync_manager in enumerate(device.getSm()): + sync_manager_infos = { + "index": sync_manager_idx, + "name": sync_manager.getcontent(), + "slave": slave_idx, + "pdos": [], + "pdos_number": 0, + } + + sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) + sync_manager_direction = sync_manager_control_byte & 0x0c + sync_manager_watchdog = sync_manager_control_byte & 0x40 + if sync_manager_direction: + sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" + else: + sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" + if sync_manager_watchdog: + sync_manager_infos["watchdog"] = "EC_WD_ENABLE" + else: + sync_manager_infos["watchdog"] = "EC_WD_DISABLE" + + sync_managers.append(sync_manager_infos) + + pdos_index = [] + exclusive_pdos = {} + selected_pdos = [] + for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + + [(pdo, "Outputs") for pdo in device.getRxPdo()]): + + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) + pdos_index.append(pdo_index) + + excluded_list = pdo.getExclude() + if len(excluded_list) > 0: + exclusion_list = [pdo_index] + for excluded in excluded_list: + exclusion_list.append(ExtractHexDecValue(excluded.getcontent())) + exclusion_list.sort() + + exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), []) + + entries = pdo.getEntry() + pdo_mapping_match = { + "index": pdo_index, + "matching": 0, + "count": len(entries), + "assigned": pdo.getSm() is not None + } + exclusion_scope.append(pdo_mapping_match) + + for entry in entries: + index = ExtractHexDecValue(entry.getIndex().getcontent()) + subindex = ExtractHexDecValue(entry.getSubIndex()) + if slave_variables.get((index, subindex), None) is not None: + pdo_mapping_match["matching"] += 1 + + if pdo.getFixed() != True: + pdo_mapping_match["matching"] += \ + module_extra_params["max_pdo_size"] - \ + pdo_mapping_match["count"] + + elif pdo.getMandatory(): + selected_pdos.append(pdo_index) + + excluded_pdos = [] + for exclusion_scope in exclusive_pdos.itervalues(): + exclusion_scope.sort(ExclusionSortFunction) + start_excluding_index = 0 + if exclusion_scope[0]["matching"] > 0: + selected_pdos.append(exclusion_scope[0]["index"]) + start_excluding_index = 1 + excluded_pdos.extend([pdo["index"] + for pdo in exclusion_scope[start_excluding_index:] + if PdoAssign or not pdo["assigned"]]) + + for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + + [(pdo, "Outputs") for pdo in device.getRxPdo()]): + entries = pdo.getEntry() + + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) + if pdo_index in excluded_pdos: + continue + + pdo_needed = pdo_index in selected_pdos + + entries_infos = [] + + for entry in entries: + index = ExtractHexDecValue(entry.getIndex().getcontent()) + subindex = ExtractHexDecValue(entry.getSubIndex()) + entry_infos = { + "index": index, + "subindex": subindex, + "name": ExtractName(entry.getName()), + "bitlen": entry.getBitLen(), + } + entry_infos.update(type_infos) + entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) + + entry_declaration = slave_variables.get((index, subindex), None) + if entry_declaration is not None and not entry_declaration["mapped"]: + pdo_needed = True + + entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], + entry_declaration["infos"]))) + entry_declaration["mapped"] = True + + entry_type = entry.getDataType().getcontent() + if entry_infos["var_type"] != entry_type: + message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] + if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != + self.Controler.GetSizeOfType(entry_type)): + raise ValueError, message + else: + self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") + + if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or + entry_infos["dir"] == "Q" and pdo_type != "Outputs"): + raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] + + ConfigureVariable(entry_infos, str_completion) + + elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None: + data_type = entry.getDataType().getcontent() + entry_infos["dir"] = "Q" + entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8) + entry_infos["data_type"] = DATATYPECONVERSION.get(data_type) + entry_infos["var_type"] = data_type + entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos + + ConfigureVariable(entry_infos, str_completion) + + str_completion["slaves_output_pdos_default_values_extraction"] += \ + SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos + + if pdo_needed: + for excluded in pdo.getExclude(): + excluded_index = ExtractHexDecValue(excluded.getcontent()) + if excluded_index not in excluded_pdos: + excluded_pdos.append(excluded_index) + + sm = pdo.getSm() + if sm is None: + for sm_idx, sync_manager in enumerate(sync_managers): + if sync_manager["name"] == pdo_type: + sm = sm_idx + if sm is None: + raise ValueError, _("No sync manager available for %s pdo!") % pdo_type + + sync_managers[sm]["pdos_number"] += 1 + sync_managers[sm]["pdos"].append( + {"slave": slave_idx, + "index": pdo_index, + "name": ExtractName(pdo.getName()), + "type": pdo_type, + "entries": entries_infos, + "entries_number": len(entries_infos), + "fixed": pdo.getFixed() == True}) + + if PdoConfig and PdoAssign: + dynamic_pdos = {} + dynamic_pdos_number = 0 + for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), + ("Outputs", 0x1a00, 0x1C00)]: + for sync_manager in sync_managers: + if sync_manager["name"] == category: + category_infos = dynamic_pdos.setdefault(category, {}) + category_infos["sync_manager"] = sync_manager + category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] + if not pdo["fixed"] and pdo["type"] == category] + category_infos["current_index"] = min_index + category_infos["max_index"] = max_index + break + + for (index, subindex), entry_declaration in slave_variables.iteritems(): + + if not entry_declaration["mapped"]: + entry = device_entries.get((index, subindex), None) + if entry is None: + raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \ + (index, subindex, type_infos["device_type"]) + + entry_infos = { + "index": index, + "subindex": subindex, + "name": entry["Name"], + "bitlen": entry["BitSize"], + } + entry_infos.update(type_infos) + + entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], + entry_declaration["infos"]))) + entry_declaration["mapped"] = True + + if entry_infos["var_type"] != entry["Type"]: + message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] + if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != + self.Controler.GetSizeOfType(entry["Type"])): + raise ValueError, message + else: + self.Controler.GetCTRoot().logger.write_warning(message + "\n") + + if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: + pdo_type = "Inputs" + elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]: + pdo_type = "Outputs" + else: + raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] + + if not dynamic_pdos.has_key(pdo_type): + raise ValueError, _("No Sync manager defined for %s!") % pdo_type + + ConfigureVariable(entry_infos, str_completion) + + if len(dynamic_pdos[pdo_type]["pdos"]) > 0: + pdo = dynamic_pdos[pdo_type]["pdos"][0] + elif module_extra_params["add_pdo"]: + while dynamic_pdos[pdo_type]["current_index"] in pdos_index: + dynamic_pdos[pdo_type]["current_index"] += 1 + if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: + raise ValueError, _("No more free PDO index available for %s!") % pdo_type + pdos_index.append(dynamic_pdos[pdo_type]["current_index"]) + + dynamic_pdos_number += 1 + pdo = {"slave": slave_idx, + "index": dynamic_pdos[pdo_type]["current_index"], + "name": "Dynamic PDO %d" % dynamic_pdos_number, + "type": pdo_type, + "entries": [], + "entries_number": 0, + "fixed": False} + dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1 + dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo) + dynamic_pdos[pdo_type]["pdos"].append(pdo) + else: + break + + pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) + if entry_infos["bitlen"] < module_extra_params["pdo_alignment"]: + pdo["entries"].append(" {0x0000, 0x00, %d}, /* None */" % ( + module_extra_params["pdo_alignment"] - entry_infos["bitlen"])) + pdo["entries_number"] += 1 + + if pdo["entries_number"] == module_extra_params["max_pdo_size"]: + dynamic_pdos[pdo_type]["pdos"].pop(0) + + pdo_offset = 0 + entry_offset = 0 + for sync_manager_infos in sync_managers: + + for pdo_infos in sync_manager_infos["pdos"]: + pdo_infos["offset"] = entry_offset + pdo_entries = pdo_infos["entries"] + pdos_infos["pdos_infos"].append( + (" {0x%(index).4x, %(entries_number)d, " + + "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) + entry_offset += len(pdo_entries) + pdos_infos["pdos_entries_infos"].extend(pdo_entries) + + sync_manager_infos["offset"] = pdo_offset + pdo_offset_shift = sync_manager_infos["pdos_number"] + pdos_infos["pdos_sync_infos"].append( + (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + + ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") + + ", %(watchdog)s},") % sync_manager_infos) + pdo_offset += pdo_offset_shift + + for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: + pdos_infos[element] = "\n".join(pdos_infos[element]) + + str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos + + for (index, subindex), entry_declaration in slave_variables.iteritems(): + if not entry_declaration["mapped"]: + message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \ + (index, subindex, type_infos["device_type"]) + self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") + + for element in ["used_pdo_entry_offset_variables_declaration", + "used_pdo_entry_configuration", + "located_variables_declaration", + "retrieve_variables", + "publish_variables"]: + str_completion[element] = "\n".join(str_completion[element]) + + etherlabfile = open(filepath, 'w') + etherlabfile.write(plc_etherlab_code % str_completion) + etherlabfile.close() diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/EthercatCIA402Slave.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EthercatCIA402Slave.py Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,332 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# This file is part of Beremiz +# +# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT +# RTES Lab : CRKim, JBLee, youcu +# Higen Motor : Donggu Kang +# +# See COPYING file for copyrights details. + +import os + +import wx + +from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY + +from MotionLibrary import Headers, AxisXSD +from EthercatSlave import _EthercatSlaveCTN, _CommonSlave +from ConfigEditor import CIA402NodeEditor + +# Definition of node variables that have to be mapped in PDO +# [(name, index, subindex, type, +# direction for master ('I': input, 'Q': output)),...] +NODE_VARIABLES = [ + ("ControlWord", 0x6040, 0x00, "UINT", "Q"), + ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), + ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"), + ("TargetTorque", 0x6071, 0x00, "INT", "Q"), + ("ModesOfOperation", 0x6060, 0x00, "SINT", "Q"), + ("StatusWord", 0x6041, 0x00, "UINT", "I"), + ("ModesOfOperationDisplay", 0x6061, 0x00, "SINT", "I"), + ("ActualPosition", 0x6064, 0x00, "DINT", "I"), + ("ActualVelocity", 0x606c, 0x00, "DINT", "I"), + ("ActualTorque", 0x6077, 0x00, "INT", "I"), +] + +# Definition of optional node variables that can be added to PDO mapping. +# A checkbox will be displayed for each section in node configuration panel to +# enable them +# [(section_name, +# [{'description', (name, index, subindex, type, +# direction for master ('I': input, 'Q': output)), +# 'retrieve', string_template_for_retrieve_variable (None: not retrieved, +# default string template if not defined), +# 'publish', string_template_for_publish_variable (None: not published, +# default string template if not defined), +# },...] +EXTRA_NODE_VARIABLES = [ + ("ErrorCode", [ + {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"), + "publish": None} + ]), + ("DigitalInputs", [ + {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"), + "publish": None} + ]), + ("DigitalOutputs", [ + {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"), + "retrieve": None} + ]), + ("TouchProbe", [ + {"description": ("TouchProbeFunction", 0x60B8, 0x00, "UINT", "Q"), + "retrieve": None}, + {"description": ("TouchProbeStatus", 0x60B9, 0x00, "UINT", "I"), + "publish": None}, + {"description": ("TouchProbePos1PosValue", 0x60BA, 0x00, "DINT", "I"), + "publish": None}, + {"description": ("TouchProbePos1NegValue", 0x60BB, 0x00, "DINT", "I"), + "publish": None}, + ]), +] + +# List of parameters name in no configuration panel for optional variable +# sections +EXTRA_NODE_VARIABLES_DICT = { + "Enable" + name: params + for name, params in EXTRA_NODE_VARIABLES} + +# List of block to define to interface MCL to fieldbus for specific functions +FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [ + {"blocktype": "GetTorqueLimit", + "inputs": [], + "outputs": [{"name": "TorqueLimitPos", "type": "UINT"}, + {"name": "TorqueLimitNeg", "type": "UINT"}]}, + {"blocktype": "SetTorqueLimit", + "inputs": [{"name": "TorqueLimitPos", "type": "UINT"}, + {"name": "TorqueLimitNeg", "type": "UINT"}], + "outputs": []}, +] + +#-------------------------------------------------- +# Ethercat CIA402 Node +#-------------------------------------------------- + +class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN): + XSD = """ + + + + %s + + + + """ % ("\n".join(["""\ + """ % category + for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD) + + NODE_PROFILE = 402 + EditorType = CIA402NodeEditor + + ConfNodeMethods = [ + {"bitmap" : "CIA402AxisRef", + "name" : _("Axis Ref"), + "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"), + "method" : "_getCIA402AxisRef", + "push": True}, + {"bitmap" : "CIA402NetPos", + "name" : _("Axis Pos"), + "tooltip" : _("Initiate Drag'n drop of Network position located variable"), + "method" : "_getCIA402NetworkPosition", + "push": True}, + ] + +#-------------------------------------------------- +# class code +#-------------------------------------------------- + + def __init__(self): + # ----------- call ethercat mng. function -------------- + self.CommonMethod = _CommonSlave(self) + + def GetIconName(self): + return "CIA402Slave" + + def SetParamsAttribute(self, path, value): + if path == "CIA402SlaveParams.Type": + path = "SlaveParams.Type" + elif path == "CIA402SlaveParams.Alias": + path = "SlaveParams.Alias" + return _EthercatSlaveCTN.SetParamsAttribute(self, path, value) + + def GetVariableLocationTree(self): + axis_name = self.CTNName() + current_location = self.GetCurrentLocation() + children = [{"name": name_frmt % (axis_name), + "type": LOCATION_VAR_INPUT, + "size": "W", + "IEC_type": iec_type, + "var_name": var_name_frmt % axis_name, + "location": location_frmt % ( + ".".join(map(str, current_location))), + "description": "", + "children": []} + for name_frmt, iec_type, var_name_frmt, location_frmt in + [("%s Network Position", "UINT", "%s_pos", "%%IW%s"), + ("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402")]] + children.extend(self.CTNParent.GetDeviceLocationTree( + self.GetSlavePos(), current_location, axis_name)) + return {"name": axis_name, + "type": LOCATION_CONFNODE, + "location": self.GetFullIEC_Channel(), + "children": children, + } + + def CTNGlobalInstances(self): + current_location = self.GetCurrentLocation() + return [("%s_%s" % (block_infos["blocktype"], + "_".join(map(str, current_location))), + "EtherLab%s" % block_infos["blocktype"], "") + for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES] + + def StartDragNDrop(self, data): + data_obj = wx.TextDataObject(str(data)) + dragSource = wx.DropSource(self.GetCTRoot().AppFrame) + dragSource.SetData(data_obj) + dragSource.DoDragDrop() + + def _getCIA402NetworkPosition(self): + self.StartDragNDrop( + ("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())), + "location", "UINT", self.CTNName() + "_Pos", "")) + + def _getCIA402AxisRef(self): + self.StartDragNDrop( + ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())), + "location", "AXIS_REF", self.CTNName(), "")) + + def CTNGenerate_C(self, buildpath, locations): + current_location = self.GetCurrentLocation() + + location_str = "_".join(map(lambda x:str(x), current_location)) + slave_pos = self.GetSlavePos() + MCL_headers = Headers + + # Open CIA402 node code template file + plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], + "plc_cia402node.c") + plc_cia402node_file = open(plc_cia402node_filepath, 'r') + plc_cia402node_code = plc_cia402node_file.read() + plc_cia402node_file.close() + + # Init list of generated strings for each code template file section + fieldbus_interface_declaration = [] + fieldbus_interface_definition = [] + init_axis_params = [] + extra_variables_retrieve = [] + extra_variables_publish = [] + extern_located_variables_declaration = [] + entry_variables = [] + init_entry_variables = [] + + # Fieldbus interface code sections + for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES: + blocktype = blocktype_infos["blocktype"] + ucase_blocktype = blocktype.upper() + blockname = "_".join([ucase_blocktype, location_str]) + + extract_inputs = "\n".join(["""\ + __SET_VAR(%s->, %s,, %s);""" % (blockname, input_name, input_value) + for (input_name, input_value) in [ + ("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [ + (input["name"].upper(), + "__GET_VAR(data__->%s)" % input["name"].upper()) + for input in blocktype_infos["inputs"]] + ]) + + + return_outputs = "\n".join(["""\ + __SET_VAR(data__->,%(output_name)s,, + __GET_VAR(%(blockname)s->%(output_name)s));""" % locals() + for output_name in ["DONE", "BUSY", "ERROR"] + [ + output["name"].upper() + for output in blocktype_infos["outputs"]] + ]) + + fieldbus_interface_declaration.append(""" +extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__); +void __%(blocktype)s_%(location_str)s(MC_%(ucase_blocktype)s *data__) { +__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s); +ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s(); +__SET_VAR(%(blockname)s->, POS,, AxsPub.axis->NetworkPosition); +%(extract_inputs)s +ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s); +%(return_outputs)s +}""" % locals()) + + fieldbus_interface_definition.append("""\ + AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\ +""" % locals()) + + # Get a copy list of default variables to map + variables = NODE_VARIABLES[:] + + # Set AxisRef public struct members value + node_params = self.CTNParams[1].getElementInfos(self.CTNParams[0]) + for param in node_params["children"]: + param_name = param["name"] + + # Param is optional variables section enable flag + extra_node_variable_infos = EXTRA_NODE_VARIABLES_DICT.get(param_name) + if extra_node_variable_infos is not None: + param_name = param_name.replace("Enable", "") + "Enabled" + + if not param["value"]: + continue + + # Optional variables section is enabled + for variable_infos in extra_node_variable_infos: + var_name = variable_infos["description"][0] + + # Add each variables defined in section description to the + # list of variables to map + variables.append(variable_infos["description"]) + + # Add code to publish or retrive variable + for var_exchange_dir, str_list, default_template in [ + ("retrieve", extra_variables_retrieve, + " AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"), + ("publish", extra_variables_publish, + " *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")]: + + template = variable_infos.get(var_exchange_dir, + default_template) + if template is not None: + extra_variables_publish.append(template % locals()) + + # Set AxisRef public struct member value if defined + if param["value"] is not None: + param_value = ({True: "1", False: "0"}[param["value"]] + if param["type"] == "boolean" + else str(param["value"])) + + init_axis_params.append("""\ + AxsPub.axis->%(param_name)s = %(param_value)s;""" % locals()) + + # Add each variable in list of variables to map to master list of + # variables to add to network configuration + for name, index, subindex, var_type, dir in variables: + var_size = self.GetSizeOfType(var_type) + var_name = """\ +__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % locals() + + extern_located_variables_declaration.append( + "IEC_%(var_type)s *%(var_name)s;" % locals()) + entry_variables.append( + " IEC_%(var_type)s *%(name)s;" % locals()) + init_entry_variables.append( + " AxsPub.%(name)s = %(var_name)s;" % locals()) + + self.CTNParent.FileGenerator.DeclareVariable( + slave_pos, index, subindex, var_type, dir, var_name) + + # Add newline between string in list of generated strings for sections + [fieldbus_interface_declaration, fieldbus_interface_definition, + init_axis_params, extra_variables_retrieve, extra_variables_publish, + extern_located_variables_declaration, entry_variables, + init_entry_variables] = map(lambda l: "\n".join(l), [ + fieldbus_interface_declaration, fieldbus_interface_definition, + init_axis_params, extra_variables_retrieve, extra_variables_publish, + extern_located_variables_declaration, entry_variables, + init_entry_variables]) + + # Write generated content to CIA402 node file + Gen_CIA402Nodefile_path = os.path.join(buildpath, + "cia402node_%s.c"%location_str) + cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') + cia402nodefile.write(plc_cia402node_code % locals()) + cia402nodefile.close() + + return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/EthercatMaster.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EthercatMaster.py Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,814 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# This file is part of Beremiz +# +# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT +# RTES Lab : CRKim, JBLee, youcu +# Higen Motor : Donggu Kang +# +# See COPYING file for copyrights details. + +import os +import cPickle +from lxml import etree +from copy import deepcopy + +import wx + +from xmlclass import * + +from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY +from ConfigTreeNode import ConfigTreeNode +from dialogs import BrowseValuesLibraryDialog +from IDEFrame import TITLE, FILEMENU, PROJECTTREE + +from EthercatSlave import _EthercatSlaveCTN, ExtractHexDecValue, GenerateHexDecValue, TYPECONVERSION, VARCLASSCONVERSION, _CommonSlave +from EthercatCFileGenerator import _EthercatCFileGenerator +from ConfigEditor import MasterEditor +from POULibrary import POULibrary + +try: + from EthercatCIA402Slave import _EthercatCIA402SlaveCTN + HAS_MCL = True +except: + HAS_MCL = False + +#-------------------------------------------------- +# Remote Exec Etherlab Commands +#-------------------------------------------------- + +SCAN_COMMAND = """ +import commands +result = commands.getoutput("ethercat slaves") +slaves = [] +for slave_line in result.splitlines(): + chunks = slave_line.split() + idx, pos, state, flag = chunks[:4] + name = " ".join(chunks[4:]) + alias, position = pos.split(":") + slave = {"idx": int(idx), + "alias": int(alias), + "position": int(position), + "name": name} + details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"]) + for details_line in details.splitlines(): + details_line = details_line.strip() + for header, param in [("Vendor Id:", "vendor_id"), + ("Product code:", "product_code"), + ("Revision number:", "revision_number")]: + if details_line.startswith(header): + slave[param] = details_line.split()[-1] + break + slaves.append(slave) +returnVal = slaves +""" + +#-------------------------------------------------- +# Etherlab Specific Blocks Library +#-------------------------------------------------- + +def GetLocalPath(filename): + return os.path.join(os.path.split(__file__)[0], filename) + +class EtherlabLibrary(POULibrary): + def GetLibraryPath(self): + return GetLocalPath("pous.xml") + + def Generate_C(self, buildpath, varlist, IECCFLAGS): + etherlab_ext_file = open(GetLocalPath("etherlab_ext.c"), 'r') + etherlab_ext_code = etherlab_ext_file.read() + etherlab_ext_file.close() + + Gen_etherlabfile_path = os.path.join(buildpath, "etherlab_ext.c") + ethelabfile = open(Gen_etherlabfile_path,'w') + ethelabfile.write(etherlab_ext_code) + ethelabfile.close() + + runtimefile_path = os.path.join(os.path.split(__file__)[0], "runtime_etherlab.py") + return ((["etherlab_ext"], [(Gen_etherlabfile_path, IECCFLAGS)], True), "", + ("runtime_etherlab.py", file(GetLocalPath("runtime_etherlab.py")))) + +#-------------------------------------------------- +# Ethercat MASTER +#-------------------------------------------------- + +EtherCATConfigParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd")) + +def sort_commands(x, y): + if x["Index"] == y["Index"]: + return cmp(x["Subindex"], y["Subindex"]) + return cmp(x["Index"], y["Index"]) + +cls = EtherCATConfigParser.GetElementClass("Slave", "Config") +if cls: + + def getType(self): + slave_info = self.getInfo() + return {"device_type": slave_info.getName(), + "vendor": GenerateHexDecValue(slave_info.getVendorId()), + "product_code": GenerateHexDecValue(slave_info.getProductCode(), 16), + "revision_number": GenerateHexDecValue(slave_info.getRevisionNo(), 16)} + setattr(cls, "getType", getType) + + def setType(self, type_infos): + slave_info = self.getInfo() + slave_info.setName(type_infos["device_type"]) + slave_info.setVendorId(ExtractHexDecValue(type_infos["vendor"])) + slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"])) + slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"])) + setattr(cls, "setType", setType) + + def getInitCmds(self, create_default=False): + Mailbox = self.getMailbox() + if Mailbox is None: + if create_default: + self.addMailbox() + Mailbox = self.getMailbox() + else: + return None + CoE = Mailbox.getCoE() + if CoE is None: + if create_default: + Mailbox.addCoE() + CoE = Mailbox.getCoE() + else: + return None + InitCmds = CoE.getInitCmds() + if InitCmds is None and create_default: + CoE.addInitCmds() + InitCmds = CoE.getInitCmds() + return InitCmds + setattr(cls, "getInitCmds", getInitCmds) + + def getStartupCommands(self): + pos = self.getInfo().getPhysAddr() + InitCmds = self.getInitCmds() + if InitCmds is None: + return [] + commands = [] + for idx, InitCmd in enumerate(InitCmds.getInitCmd()): + comment = InitCmd.getComment() + if comment is None: + comment = "" + commands.append({ + "command_idx": idx, + "Position": pos, + "Index": InitCmd.getIndex(), + "Subindex": InitCmd.getSubIndex(), + "Value": InitCmd.getData(), + "Description": comment}) + commands.sort(sort_commands) + return commands + setattr(cls, "getStartupCommands", getStartupCommands) + + def appendStartupCommand(self, command_infos): + InitCmds = self.getInitCmds(True) + command = EtherCATConfigParser.CreateElement("InitCmd", "InitCmds", 1) + InitCmds.appendInitCmd(command) + command.setIndex(command_infos["Index"]) + command.setSubIndex(command_infos["Subindex"]) + command.setData(command_infos["Value"]) + command.setComment(command_infos["Description"]) + return len(InitCmds.getInitCmd()) - 1 + setattr(cls, "appendStartupCommand", appendStartupCommand) + + def setStartupCommand(self, command_infos): + InitCmds = self.getInitCmds() + if InitCmds is not None: + commands = InitCmds.getInitCmd() + if command_infos["command_idx"] < len(commands): + command = commands[command_infos["command_idx"]] + command.setIndex(command_infos["Index"]) + command.setSubIndex(command_infos["Subindex"]) + command.setData(command_infos["Value"]) + command.setComment(command_infos["Description"]) + setattr(cls, "setStartupCommand", setStartupCommand) + + def removeStartupCommand(self, command_idx): + InitCmds = self.getInitCmds() + if InitCmds is not None: + if command_idx < len(InitCmds.getInitCmd()): + InitCmds.removeInitCmd(command_idx) + setattr(cls, "removeStartupCommand", removeStartupCommand) + +ProcessVariablesXSD = """ + + + + + + + + + + + + + + + + + + + + + + + +""" + +ProcessVariablesParser = GenerateParserFromXSDstring(ProcessVariablesXSD) + +class _EthercatCTN: + + CTNChildrenTypes = [("EthercatSlave", _EthercatSlaveCTN, "Ethercat Slave")] + if HAS_MCL: + CTNChildrenTypes.append(("EthercatCIA402Slave", _EthercatCIA402SlaveCTN, "Ethercat CIA402 Slave")) + EditorType = MasterEditor + + def __init__(self): + config_filepath = self.ConfigFileName() + config_is_saved = False + self.Config = None + if os.path.isfile(config_filepath): + config_xmlfile = open(config_filepath, 'r') + try: + self.Config, error = \ + EtherCATConfigParser.LoadXMLString(config_xmlfile.read()) + if error is None: + config_is_saved = True + except Exception, e: + error = e.message + config_xmlfile.close() + + if error is not None: + self.GetCTRoot().logger.write_error( + _("Couldn't load %s network configuration file.") % CTNName) + + if self.Config is None: + self.Config = EtherCATConfigParser.CreateElement("EtherCATConfig") + + process_filepath = self.ProcessVariablesFileName() + process_is_saved = False + self.ProcessVariables = None + if os.path.isfile(process_filepath): + process_xmlfile = open(process_filepath, 'r') + try: + self.ProcessVariables, error = \ + ProcessVariablesParser.LoadXMLString(process_xmlfile.read()) + if error is None: + process_is_saved = True + except Exception, e: + error = e.message + process_xmlfile.close() + + if error is not None: + self.GetCTRoot().logger.write_error( + _("Couldn't load %s network process variables file.") % CTNName) + + if self.ProcessVariables is None: + self.ProcessVariables = ProcessVariablesParser.CreateElement("ProcessVariables") + + if config_is_saved and process_is_saved: + self.CreateBuffer(True) + else: + self.CreateBuffer(False) + self.OnCTNSave() + + # ----------- call ethercat mng. function -------------- + self.CommonMethod = _CommonSlave(self) + + def GetIconName(self): + return "Ethercat" + + def GetContextualMenuItems(self): + return [("Add Ethercat Slave", "Add Ethercat Slave to Master", self.OnAddEthercatSlave)] + + def OnAddEthercatSlave(self, event): + app_frame = self.GetCTRoot().AppFrame + dialog = BrowseValuesLibraryDialog(app_frame, + "Ethercat Slave Type", self.GetSlaveTypesLibrary()) + if dialog.ShowModal() == wx.ID_OK: + type_infos = dialog.GetValueInfos() + device, module_extra_params = self.GetModuleInfos(type_infos) + if device is not None: + if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers(): + ConfNodeType = "EthercatCIA402Slave" + else: + ConfNodeType = "EthercatSlave" + new_child = self.CTNAddChild("%s_0" % ConfNodeType, ConfNodeType) + new_child.SetParamsAttribute("SlaveParams.Type", type_infos) + self.CTNRequestSave() + new_child._OpenView() + app_frame._Refresh(TITLE, FILEMENU, PROJECTTREE) + dialog.Destroy() + + def ExtractHexDecValue(self, value): + return ExtractHexDecValue(value) + + def GetSizeOfType(self, type): + return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None) + + def ConfigFileName(self): + return os.path.join(self.CTNPath(), "config.xml") + + def ProcessVariablesFileName(self): + return os.path.join(self.CTNPath(), "process_variables.xml") + + def FilterSlave(self, slave, vendor=None, slave_pos=None, slave_profile=None): + if slave_pos is not None and slave.getInfo().getPhysAddr() != slave_pos: + return False + type_infos = slave.getType() + if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor: + return False + device, module_extra_params = self.GetModuleInfos(type_infos) + if slave_profile is not None and slave_profile not in device.GetProfileNumbers(): + return False + return True + + def GetSlaveName(self, slave_pos): + CTNChild = self.GetChildByIECLocation((slave_pos,)) + if CTNChild is not None: + return CTNChild.CTNName() + return self.CTNName() + + def GetSlaves(self, vendor=None, slave_pos=None, slave_profile=None): + slaves = [] + for slave in self.Config.getConfig().getSlave(): + if self.FilterSlave(slave, vendor, slave_pos, slave_profile): + slaves.append(slave.getInfo().getPhysAddr()) + slaves.sort() + return slaves + + def GetSlave(self, slave_pos): + for slave in self.Config.getConfig().getSlave(): + slave_info = slave.getInfo() + if slave_info.getPhysAddr() == slave_pos: + return slave + return None + + def GetStartupCommands(self, vendor=None, slave_pos=None, slave_profile=None): + commands = [] + for slave in self.Config.getConfig().getSlave(): + if self.FilterSlave(slave, vendor, slave_pos, slave_profile): + commands.append((slave.getInfo().getPhysAddr(), slave.getStartupCommands())) + commands.sort() + return reduce(lambda x, y: x + y[1], commands, []) + + def AppendStartupCommand(self, command_infos): + slave = self.GetSlave(command_infos["Position"]) + if slave is not None: + command_idx = slave.appendStartupCommand(command_infos) + self.BufferModel() + return command_idx + return None + + def SetStartupCommandInfos(self, command_infos): + slave = self.GetSlave(command_infos["Position"]) + if slave is not None: + slave.setStartupCommand(command_infos) + self.BufferModel() + + def RemoveStartupCommand(self, slave_pos, command_idx, buffer=True): + slave = self.GetSlave(slave_pos) + if slave is not None: + slave.removeStartupCommand(command_idx) + if buffer: + self.BufferModel() + + def SetProcessVariables(self, variables): + vars = [] + for var in variables: + variable = ProcessVariablesParser.CreateElement("variable", "ProcessVariables") + variable.setName(var["Name"]) + variable.setComment(var["Description"]) + if var["ReadFrom"] != "": + position, index, subindex = var["ReadFrom"] + if variable.getReadFrom() is None: + variable.addReadFrom() + read_from = variable.getReadFrom() + read_from.setPosition(position) + read_from.setIndex(index) + read_from.setSubIndex(subindex) + elif variable.getReadFrom() is not None: + variable.deleteReadFrom() + if var["WriteTo"] != "": + position, index, subindex = var["WriteTo"] + if variable.getWriteTo() is None: + variable.addWriteTo() + write_to = variable.getWriteTo() + write_to.setPosition(position) + write_to.setIndex(index) + write_to.setSubIndex(subindex) + elif variable.getWriteTo() is not None: + variable.deleteWriteTo() + vars.append(variable) + self.ProcessVariables.setvariable(vars) + self.BufferModel() + + def GetProcessVariables(self): + variables = [] + idx = 0 + for variable in self.ProcessVariables.getvariable(): + var = {"Name": variable.getName(), + "Number": idx, + "Description": variable.getComment()} + read_from = variable.getReadFrom() + if read_from is not None: + var["ReadFrom"] = (read_from.getPosition(), + read_from.getIndex(), + read_from.getSubIndex()) + else: + var["ReadFrom"] = "" + write_to = variable.getWriteTo() + if write_to is not None: + var["WriteTo"] = (write_to.getPosition(), + write_to.getIndex(), + write_to.getSubIndex()) + else: + var["WriteTo"] = "" + variables.append(var) + idx += 1 + return variables + + def _ScanNetwork(self): + app_frame = self.GetCTRoot().AppFrame + + execute = True + if len(self.Children) > 0: + dialog = wx.MessageDialog(app_frame, + _("The current network configuration will be deleted.\nDo you want to continue?"), + _("Scan Network"), + wx.YES_NO|wx.ICON_QUESTION) + execute = dialog.ShowModal() == wx.ID_YES + dialog.Destroy() + + if execute: + error, returnVal = self.RemoteExec(SCAN_COMMAND, returnVal = None) + if error != 0: + dialog = wx.MessageDialog(app_frame, returnVal, "Error", wx.OK|wx.ICON_ERROR) + dialog.ShowModal() + dialog.Destroy() + elif returnVal is not None: + for child in self.IECSortedChildren(): + self._doRemoveChild(child) + + for slave in returnVal: + type_infos = { + "vendor": slave["vendor_id"], + "product_code": slave["product_code"], + "revision_number":slave["revision_number"], + } + device, module_extra_params = self.GetModuleInfos(type_infos) + if device is not None: + if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers(): + CTNType = "EthercatCIA402Slave" + else: + CTNType = "EthercatSlave" + self.CTNAddChild("slave%s" % slave["idx"], CTNType, slave["idx"]) + self.SetSlaveAlias(slave["idx"], slave["alias"]) + type_infos["device_type"] = device.getType().getcontent() + self.SetSlaveType(slave["idx"], type_infos) + + if app_frame: + app_frame.RefreshProjectTree() + + def CTNAddChild(self, CTNName, CTNType, IEC_Channel=0): + """ + Create the confnodes that may be added as child to this node self + @param CTNType: string desining the confnode class name (get name from CTNChildrenTypes) + @param CTNName: string for the name of the confnode instance + """ + newConfNodeOpj = ConfigTreeNode.CTNAddChild(self, CTNName, CTNType, IEC_Channel) + + slave = self.GetSlave(newConfNodeOpj.BaseParams.getIEC_Channel()) + if slave is None: + slave = EtherCATConfigParser.CreateElement("Slave", "Config") + self.Config.getConfig().appendSlave(slave) + slave_infos = slave.getInfo() + slave_infos.setName("undefined") + slave_infos.setPhysAddr(newConfNodeOpj.BaseParams.getIEC_Channel()) + slave_infos.setAutoIncAddr(0) + self.BufferModel() + self.OnCTNSave() + + return newConfNodeOpj + + def _doRemoveChild(self, CTNInstance): + slave_pos = CTNInstance.GetSlavePos() + config = self.Config.getConfig() + for idx, slave in enumerate(config.getSlave()): + slave_infos = slave.getInfo() + if slave_infos.getPhysAddr() == slave_pos: + config.removeSlave(idx) + self.BufferModel() + self.OnCTNSave() + ConfigTreeNode._doRemoveChild(self, CTNInstance) + + def SetSlavePosition(self, slave_pos, new_pos): + slave = self.GetSlave(slave_pos) + if slave is not None: + slave_info = slave.getInfo() + slave_info.setPhysAddr(new_pos) + for variable in self.ProcessVariables.getvariable(): + read_from = variable.getReadFrom() + if read_from is not None and read_from.getPosition() == slave_pos: + read_from.setPosition(new_pos) + write_to = variable.getWriteTo() + if write_to is not None and write_to.getPosition() == slave_pos: + write_to.setPosition(new_pos) + self.CreateBuffer(True) + self.CTNRequestSave() + if self._View is not None: + self._View.RefreshView() + self._View.RefreshBuffer() + + def GetSlaveAlias(self, slave_pos): + slave = self.GetSlave(slave_pos) + if slave is not None: + slave_info = slave.getInfo() + return slave_info.getAutoIncAddr() + return None + + def SetSlaveAlias(self, slave_pos, alias): + slave = self.GetSlave(slave_pos) + if slave is not None: + slave_info = slave.getInfo() + slave_info.setAutoIncAddr(alias) + self.BufferModel() + + def GetSlaveType(self, slave_pos): + slave = self.GetSlave(slave_pos) + if slave is not None: + return slave.getType() + return None + + def SetSlaveType(self, slave_pos, type_infos): + slave = self.GetSlave(slave_pos) + if slave is not None: + slave.setType(type_infos) + self.BufferModel() + + def GetSlaveInfos(self, slave_pos): + slave = self.GetSlave(slave_pos) + if slave is not None: + type_infos = slave.getType() + device, module_extra_params = self.GetModuleInfos(type_infos) + if device is not None: + infos = type_infos.copy() + infos.update({"physics": device.getPhysics(), + "sync_managers": device.GetSyncManagers(), + "entries": self.GetSlaveVariables(device)}) + return infos + return None + + def GetSlaveVariables(self, slave_pos=None, limits=None, device=None): + if device is None and slave_pos is not None: + slave = self.GetSlave(slave_pos) + if slave is not None: + type_infos = slave.getType() + device, module_extra_params = self.GetModuleInfos(type_infos) + if device is not None: + entries = device.GetEntriesList(limits) + #print entries + entries_list = entries.items() + entries_list.sort() + entries = [] + current_index = None + current_entry = None + for (index, subindex), entry in entries_list: + entry["children"] = [] + if slave_pos is not None: + entry["Position"] = str(slave_pos) + entry + if index != current_index: + current_index = index + current_entry = entry + entries.append(entry) + elif current_entry is not None: + current_entry["children"].append(entry) + else: + entries.append(entry) + return entries + return [] + + def GetSlaveVariableDataType(self, slave_pos, index, subindex): + slave = self.GetSlave(slave_pos) + if slave is not None: + device, module_extra_params = self.GetModuleInfos(slave.getType()) + if device is not None: + entries = device.GetEntriesList() + entry_infos = entries.get((index, subindex)) + if entry_infos is not None: + return entry_infos["Type"] + return None + + def GetNodesVariables(self, vendor=None, slave_pos=None, slave_profile=None, limits=None): + entries = [] + for slave_position in self.GetSlaves(): + if slave_pos is not None and slave_position != slave_pos: + continue + slave = self.GetSlave(slave_position) + type_infos = slave.getType() + if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor: + continue + device, module_extra_params = self.GetModuleInfos(type_infos) + if slave_profile is not None and slave_profile not in device.GetProfileNumbers(): + continue + entries.extend(self.GetSlaveVariables(slave_position, limits, device)) + return entries + + def GetModuleInfos(self, type_infos): + return self.CTNParent.GetModuleInfos(type_infos) + + def GetSlaveTypesLibrary(self, profile_filter=None): + return self.CTNParent.GetModulesLibrary(profile_filter) + + def GetLibraryVendors(self): + return self.CTNParent.GetVendors() + + def GetDeviceLocationTree(self, slave_pos, current_location, device_name): + slave = self.GetSlave(slave_pos) + vars = [] + if slave is not None: + type_infos = slave.getType() + + device, module_extra_params = self.GetModuleInfos(type_infos) + if device is not None: + sync_managers = [] + for sync_manager in device.getSm(): + sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) + sync_manager_direction = sync_manager_control_byte & 0x0c + if sync_manager_direction: + sync_managers.append(LOCATION_VAR_OUTPUT) + else: + sync_managers.append(LOCATION_VAR_INPUT) + + entries = device.GetEntriesList().items() + entries.sort() + for (index, subindex), entry in entries: + var_size = self.GetSizeOfType(entry["Type"]) + if var_size is not None: + var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None) + if var_class is not None: + if var_class == LOCATION_VAR_INPUT: + var_dir = "%I" + else: + var_dir = "%Q" + + vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]), + "type": var_class, + "size": var_size, + "IEC_type": entry["Type"], + "var_name": "%s_%4.4x_%2.2x" % ("_".join(device_name.split()), index, subindex), + "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location + + (index, subindex)))), + "description": "", + "children": []}) + + return vars + + def CTNTestModified(self): + return self.ChangesToSave or not self.ModelIsSaved() + + def OnCTNSave(self, from_project_path=None): + config_filepath = self.ConfigFileName() + + config_xmlfile = open(config_filepath,"w") + config_xmlfile.write(etree.tostring( + self.Config, + pretty_print=True, + xml_declaration=True, + encoding='utf-8')) + config_xmlfile.close() + + process_filepath = self.ProcessVariablesFileName() + + process_xmlfile = open(process_filepath,"w") + process_xmlfile.write(etree.tostring( + self.ProcessVariables, + pretty_print=True, + xml_declaration=True, + encoding='utf-8')) + process_xmlfile.close() + + self.Buffer.CurrentSaved() + return True + + def GetProcessVariableName(self, location, var_type): + return "__M%s_%s" % (self.GetSizeOfType(var_type), "_".join(map(str, location))) + + def _Generate_C(self, buildpath, locations): + current_location = self.GetCurrentLocation() + # define a unique name for the generated C file + location_str = "_".join(map(lambda x:str(x), current_location)) + + Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str) + + self.FileGenerator = _EthercatCFileGenerator(self) + + LocationCFilesAndCFLAGS, LDFLAGS, extra_files = ConfigTreeNode._Generate_C(self, buildpath, locations) + + for idx, variable in enumerate(self.ProcessVariables.getvariable()): + name = None + var_type = None + read_from = variable.getReadFrom() + write_to = variable.getWriteTo() + if read_from is not None: + pos = read_from.getPosition() + index = read_from.getIndex() + subindex = read_from.getSubIndex() + location = current_location + (idx, ) + var_type = self.GetSlaveVariableDataType(pos, index, subindex) + name = self.FileGenerator.DeclareVariable( + pos, index, subindex, var_type, "I", + self.GetProcessVariableName(location, var_type)) + if write_to is not None: + pos = write_to.getPosition() + index = write_to.getIndex() + subindex = write_to.getSubIndex() + if name is None: + location = current_location + (idx, ) + var_type = self.GetSlaveVariableDataType(pos, index, subindex) + name = self.GetProcessVariableName(location, var_type) + self.FileGenerator.DeclareVariable( + pos, index, subindex, var_type, "Q", name, True) + + self.FileGenerator.GenerateCFile(Gen_Ethercatfile_path, location_str, self.BaseParams.getIEC_Channel()) + + LocationCFilesAndCFLAGS.insert(0, + (current_location, + [(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))], + True)) + LDFLAGS.append("-lethercat_rtdm -lrtdm") + + return LocationCFilesAndCFLAGS, LDFLAGS, extra_files + + ConfNodeMethods = [ + {"bitmap" : "ScanNetwork", + "name" : _("Scan Network"), + "tooltip" : _("Scan Network"), + "method" : "_ScanNetwork"}, + ] + + def CTNGenerate_C(self, buildpath, locations): + current_location = self.GetCurrentLocation() + + slaves = self.GetSlaves() + for slave_pos in slaves: + slave = self.GetSlave(slave_pos) + if slave is not None: + self.FileGenerator.DeclareSlave(slave_pos, slave) + + for location in locations: + loc = location["LOC"][len(current_location):] + slave_pos = loc[0] + if slave_pos in slaves and len(loc) == 3 and location["DIR"] != "M": + self.FileGenerator.DeclareVariable( + slave_pos, loc[1], loc[2], location["IEC_TYPE"], location["DIR"], location["NAME"]) + + return [],"",False + +#------------------------------------------------------------------------------- +# Current Buffering Management Functions +#------------------------------------------------------------------------------- + + """ + Return a copy of the config + """ + def Copy(self, model): + return deepcopy(model) + + def CreateBuffer(self, saved): + self.Buffer = UndoBuffer( + (EtherCATConfigParser.Dumps(self.Config), + ProcessVariablesParser.Dumps(self.ProcessVariables)), + saved) + + def BufferModel(self): + self.Buffer.Buffering( + (EtherCATConfigParser.Dumps(self.Config), + ProcessVariablesParser.Dumps(self.ProcessVariables))) + + def ModelIsSaved(self): + if self.Buffer is not None: + return self.Buffer.IsCurrentSaved() + else: + return True + + def LoadPrevious(self): + config, process_variables = self.Buffer.Previous() + self.Config = EtherCATConfigParser.Loads(config) + self.ProcessVariables = ProcessVariablesParser.Loads(process_variables) + + def LoadNext(self): + config, process_variables = self.Buffer.Next() + self.Config = EtherCATConfigParser.Loads(config) + self.ProcessVariables = ProcessVariablesParser.Loads(process_variables) + + def GetBufferState(self): + first = self.Buffer.IsFirst() + last = self.Buffer.IsLast() + return not first, not last + diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/EthercatSlave.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EthercatSlave.py Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,159 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# This file is part of Beremiz +# +# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT +# RTES Lab : CRKim, JBLee, youcu +# Higen Motor : Donggu Kang +# +# See COPYING file for copyrights details. + +import wx + +from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY +from ConfigTreeNode import ConfigTreeNode + +from ConfigEditor import NodeEditor + +#------------------------------------------ +from CommonEtherCATFunction import _CommonSlave +#------------------------------------------ + + +TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L", + "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L", + "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"} + +DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64", + "USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64", + "BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"} + +VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY} + +def ExtractHexDecValue(value): + try: + return int(value) + except: + pass + try: + return int(value.replace("#", "0"), 16) + except: + raise ValueError, "Invalid value for HexDecValue \"%s\"" % value + +def GenerateHexDecValue(value, base=10): + if base == 10: + return str(value) + elif base == 16: + return "#x%.8x" % value + else: + raise ValueError, "Not supported base" + +def ExtractName(names, default=None): + if len(names) == 1: + return names[0].getcontent() + else: + for name in names: + if name.getLcId() == 1033: + return name.getcontent() + return default + + +#-------------------------------------------------- +# Ethercat Node +#-------------------------------------------------- + +class _EthercatSlaveCTN: + NODE_PROFILE = None + EditorType = NodeEditor + + def __init__(self): + # ----------- call ethercat mng. function -------------- + self.CommonMethod = _CommonSlave(self) + + def GetIconName(self): + return "Slave" + + def ExtractHexDecValue(self, value): + return ExtractHexDecValue(value) + + def GetSizeOfType(self, type): + return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None) + + def GetSlavePos(self): + return self.BaseParams.getIEC_Channel() + + def GetParamsAttributes(self, path = None): + if path: + parts = path.split(".", 1) + if self.MandatoryParams and parts[0] == self.MandatoryParams[0]: + return self.MandatoryParams[1].getElementInfos(parts[0], parts[1]) + elif self.CTNParams and parts[0] == self.CTNParams[0]: + return self.CTNParams[1].getElementInfos(parts[0], parts[1]) + else: + params = [] + if self.CTNParams: + params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0])) + else: + params.append({ + 'use': 'required', + 'type': 'element', + 'name': 'SlaveParams', + 'value': None, + 'children': [] + }) + + slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos()) + params[0]['children'].insert(0, + {'use': 'optional', + 'type': self.CTNParent.GetSlaveTypesLibrary(self.NODE_PROFILE), + 'name': 'Type', + 'value': (slave_type["device_type"], slave_type)}) + params[0]['children'].insert(1, + {'use': 'optional', + 'type': 'unsignedLong', + 'name': 'Alias', + 'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())}) + return params + + def SetParamsAttribute(self, path, value): + self.GetSlaveInfos() + position = self.BaseParams.getIEC_Channel() + + if path == "SlaveParams.Type": + self.CTNParent.SetSlaveType(position, value) + slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos()) + value = (slave_type["device_type"], slave_type) + #if self._View is not None: + #wx.CallAfter(self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos()) + #self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos() + #self._View.EtherCATManagementTreebook.PDOMonitoringPanel.PDOInfoUpdate() + #self._View.EtherCATManagementTreebook.SmartView.Create_SmartView() + return value, True + elif path == "SlaveParams.Alias": + self.CTNParent.SetSlaveAlias(position, value) + return value, True + + value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value) + + # Filter IEC_Channel, Slave_Type and Alias that have specific behavior + if path == "BaseParams.IEC_Channel" and value != position: + self.CTNParent.SetSlavePosition(position, value) + + return value, refresh + + def GetSlaveInfos(self): + return self.CTNParent.GetSlaveInfos(self.GetSlavePos()) + + def GetSlaveVariables(self, limits): + return self.CTNParent.GetSlaveVariables(self.GetSlavePos(), limits) + + def GetVariableLocationTree(self): + return {"name": self.BaseParams.getName(), + "type": LOCATION_CONFNODE, + "location": self.GetFullIEC_Channel(), + "children": self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), self.GetCurrentLocation(), self.BaseParams.getName()) + } + + def CTNGenerate_C(self, buildpath, locations): + return [],"",False diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/README --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/README Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,1 @@ +Ethercat \ No newline at end of file diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/__init__.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/__init__.py Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,1 @@ +from etherlab import * \ No newline at end of file diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/entries_list.xslt --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/entries_list.xslt Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,1 @@ +0 - rowoTR \ No newline at end of file diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/entries_list.ysl2 --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/entries_list.ysl2 Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,100 @@ +/* + +Stylesheet used to list EtherCat dictionnary entries. + +Copyright (C) 2011-2014: Laurent BESSARD + +Distributed under the terms of the GNU Lesser General Public License as +published by the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +See COPYING file for copyrights details. + +*/ + +include yslt.yml2 +estylesheet xmlns:ns="entries_list_ns" + extension-element-prefixes="ns" + exclude-result-prefixes="ns" { + + param "min_index"; + param "max_index"; + + template "text()"; + + template "Device" { + apply "Profile/Dictionary/Objects/Object"; + foreach "RxPdo" { + call "pdo_entries" with "direction", "'Receive'"; + } + foreach "TxPdo" { + call "pdo_entries" with "direction", "'Transmit'"; + } + } + + template "Object" { + variable "index" > «ns:HexDecValue(Index/text())» + variable "entry_name" > «ns:EntryName(Name)» + choose { + when "$index >= $min_index and $index <= $max_index" { + variable "datatype_name" > «Type/text()» + choose { + when "ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]" { + apply "ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]" { + with "index" > «$index» + with "entry_name" > «$entry_name» + } + } + otherwise { + variable "subindex" > 0 + variable "entry" { + > «ns:AddEntry($index, $subindex, $entry_name, $datatype_name, BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())» + } + } + } + } + } + } + + template "DataType" { + param "index"; + param "entry_name"; + foreach "SubItem" { + variable "subindex" > «ns:HexDecValue(SubIdx/text())» + variable "subentry_name" > «$entry_name» - «ns:EntryName(DisplayName, Name/text())» + variable "entry" { + > «ns:AddEntry($index, $subindex, $subentry_name, Type/text(), BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())» + } + } + } + + function "pdo_entries" { + param "direction"; + variable "pdo_index" > «ns:HexDecValue(Index/text())» + variable "pdo_name" > «ns:EntryName(Name)» + foreach "Entry" { + variable "index" > «ns:HexDecValue(Index/text())» + choose { + when "$index >= $min_index and $index <= $max_index" { + variable "subindex" > «ns:HexDecValue(SubIndex/text())» + variable "subentry_name" > «ns:EntryName(Name)» + variable "access" { + choose { + when "$direction='Transmit'" > ro + otherwise > wo + } + } + variable "pdo_mapping" { + choose { + when "$direction='Transmit'" > T + otherwise > R + } + } + variable "entry" { + > «ns:AddEntry($index, $subindex, $subentry_name, DataType/text(), BitLen/text(), $access, $pdo_mapping, $pdo_index, $pdo_name, $direction)» + } + } + } + } + } +} diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/etherlab.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/etherlab.py Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,433 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +# This file is part of Beremiz +# +# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT +# RTES Lab : CRKim, JBLee, youcu +# Higen Motor : Donggu Kang +# +# See COPYING file for copyrights details. + +import os, shutil +from lxml import etree + +import wx +import csv + +from xmlclass import * + +from ConfigTreeNode import ConfigTreeNode, XSDSchemaErrorMessage +from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY + +from EthercatSlave import ExtractHexDecValue, ExtractName +from EthercatMaster import _EthercatCTN +from ConfigEditor import LibraryEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE + +ScriptDirectory = os.path.split(os.path.realpath(__file__))[0] + +#-------------------------------------------------- +# Ethercat ConfNode +#-------------------------------------------------- + +EtherCATInfoParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd")) +EtherCATInfo_XPath = lambda xpath: etree.XPath(xpath) + +def HexDecValue(context, *args): + return str(ExtractHexDecValue(args[0][0])) + +def EntryName(context, *args): + return ExtractName(args[0], + args[1][0] if len(args) > 1 else None) + +ENTRY_INFOS_KEYS = [ + ("Index", lambda x: "#x%4.4X" % int(x), "#x0000"), + ("SubIndex", str, "0"), + ("Name", str, ""), + ("Type", str, ""), + ("BitSize", int, 0), + ("Access", str, ""), + ("PDOMapping", str, ""), + ("PDO index", str, ""), + ("PDO name", str, ""), + ("PDO type", str, "")] + +class EntryListFactory: + + def __init__(self, entries): + self.Entries = entries + + def AddEntry(self, context, *args): + index, subindex = map(lambda x: int(x[0]), args[:2]) + new_entry_infos = { + key: translate(arg[0]) if len(arg) > 0 else default + for (key, translate, default), arg + in zip(ENTRY_INFOS_KEYS, args)} + + if (index, subindex) != (0, 0): + entry_infos = self.Entries.get((index, subindex)) + if entry_infos is not None: + for param in ["PDO index", "PDO name", "PDO type"]: + value = new_entry_infos.get(param) + if value is not None: + entry_infos[param] = value + else: + self.Entries[(index, subindex)] = new_entry_infos + +entries_list_xslt = etree.parse( + os.path.join(ScriptDirectory, "entries_list.xslt")) + +cls = EtherCATInfoParser.GetElementClass("DeviceType") +if cls: + + profile_numbers_xpath = EtherCATInfo_XPath("Profile/ProfileNo") + def GetProfileNumbers(self): + return [number.text for number in profile_numbers_xpath(self)] + setattr(cls, "GetProfileNumbers", GetProfileNumbers) + + def getCoE(self): + mailbox = self.getMailbox() + if mailbox is not None: + return mailbox.getCoE() + return None + setattr(cls, "getCoE", getCoE) + + def GetEntriesList(self, limits=None): + entries = {} + + factory = EntryListFactory(entries) + + entries_list_xslt_tree = etree.XSLT( + entries_list_xslt, extensions = { + ("entries_list_ns", "AddEntry"): factory.AddEntry, + ("entries_list_ns", "HexDecValue"): HexDecValue, + ("entries_list_ns", "EntryName"): EntryName}) + entries_list_xslt_tree(self, **dict(zip( + ["min_index", "max_index"], + map(lambda x: etree.XSLT.strparam(str(x)), + limits if limits is not None else [0x0000, 0xFFFF]) + ))) + + return entries + setattr(cls, "GetEntriesList", GetEntriesList) + + def GetSyncManagers(self): + sync_managers = [] + for sync_manager in self.getSm(): + sync_manager_infos = {} + for name, value in [("Name", sync_manager.getcontent()), + ("Start Address", sync_manager.getStartAddress()), + ("Default Size", sync_manager.getDefaultSize()), + ("Control Byte", sync_manager.getControlByte()), + ("Enable", sync_manager.getEnable())]: + if value is None: + value ="" + sync_manager_infos[name] = value + sync_managers.append(sync_manager_infos) + return sync_managers + setattr(cls, "GetSyncManagers", GetSyncManagers) + +def GroupItemCompare(x, y): + if x["type"] == y["type"]: + if x["type"] == ETHERCAT_GROUP: + return cmp(x["order"], y["order"]) + else: + return cmp(x["name"], y["name"]) + elif x["type"] == ETHERCAT_GROUP: + return -1 + return 1 + +def SortGroupItems(group): + for item in group["children"]: + if item["type"] == ETHERCAT_GROUP: + SortGroupItems(item) + group["children"].sort(GroupItemCompare) + +class ModulesLibrary: + + MODULES_EXTRA_PARAMS = [ + ("pdo_alignment", { + "column_label": _("PDO alignment"), + "column_size": 150, + "default": 8, + "description": _( +"Minimal size in bits between 2 pdo entries")}), + ("max_pdo_size", { + "column_label": _("Max entries by PDO"), + "column_size": 150, + "default": 255, + "description": _( +"""Maximal number of entries mapped in a PDO +including empty entries used for PDO alignment""")}), + ("add_pdo", { + "column_label": _("Creating new PDO"), + "column_size": 150, + "default": 0, + "description": _( +"""Adding a PDO not defined in default configuration +for mapping needed location variables +(1 if possible)""")}) + ] + + def __init__(self, path, parent_library=None): + self.Path = path + if not os.path.exists(self.Path): + os.makedirs(self.Path) + self.ParentLibrary = parent_library + + if parent_library is not None: + self.LoadModules() + else: + self.Library = None + self.LoadModulesExtraParams() + + def GetPath(self): + return self.Path + + def GetModulesExtraParamsFilePath(self): + return os.path.join(self.Path, "modules_extra_params.cfg") + + groups_xpath = EtherCATInfo_XPath("Descriptions/Groups/Group") + devices_xpath = EtherCATInfo_XPath("Descriptions/Devices/Device") + def LoadModules(self): + self.Library = {} + + files = os.listdir(self.Path) + for file in files: + filepath = os.path.join(self.Path, file) + if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml": + self.modules_infos = None + + xmlfile = open(filepath, 'r') + try: + self.modules_infos, error = EtherCATInfoParser.LoadXMLString(xmlfile.read()) + if error is not None: + self.GetCTRoot().logger.write_warning( + XSDSchemaErrorMessage % (filepath + error)) + except Exception, exc: + self.modules_infos, error = None, unicode(exc) + xmlfile.close() + + if self.modules_infos is not None: + vendor = self.modules_infos.getVendor() + + vendor_category = self.Library.setdefault( + ExtractHexDecValue(vendor.getId()), + {"name": ExtractName(vendor.getName(), _("Miscellaneous")), + "groups": {}}) + + for group in self.groups_xpath(self.modules_infos): + group_type = group.getType() + + vendor_category["groups"].setdefault(group_type, + {"name": ExtractName(group.getName(), group_type), + "parent": group.getParentGroup(), + "order": group.getSortOrder(), + #"value": group.getcontent()["value"], + "devices": []}) + + for device in self.devices_xpath(self.modules_infos): + device_group = device.getGroupType() + if not vendor_category["groups"].has_key(device_group): + raise ValueError, "Not such group \"%\"" % device_group + vendor_category["groups"][device_group]["devices"].append( + (device.getType().getcontent(), device)) + + else: + + self.GetCTRoot().logger.write_error( + _("Couldn't load %s XML file:\n%s") % (filepath, error)) + + return self.Library + + def GetModulesLibrary(self, profile_filter=None): + if self.Library is None: + self.LoadModules() + library = [] + for vendor_id, vendor in self.Library.iteritems(): + groups = [] + children_dict = {} + for group_type, group in vendor["groups"].iteritems(): + group_infos = {"name": group["name"], + "order": group["order"], + "type": ETHERCAT_GROUP, + "infos": None, + "children": children_dict.setdefault(group_type, [])} + device_dict = {} + for device_type, device in group["devices"]: + if profile_filter is None or profile_filter in device.GetProfileNumbers(): + product_code = device.getType().getProductCode() + revision_number = device.getType().getRevisionNo() + module_infos = {"device_type": device_type, + "vendor": vendor_id, + "product_code": product_code, + "revision_number": revision_number} + module_infos.update(self.GetModuleExtraParams(vendor_id, product_code, revision_number)) + device_infos = {"name": ExtractName(device.getName()), + "type": ETHERCAT_DEVICE, + "infos": module_infos, + "children": []} + group_infos["children"].append(device_infos) + device_type_occurrences = device_dict.setdefault(device_type, []) + device_type_occurrences.append(device_infos) + for device_type_occurrences in device_dict.itervalues(): + if len(device_type_occurrences) > 1: + for occurrence in device_type_occurrences: + occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"] + if len(group_infos["children"]) > 0: + if group["parent"] is not None: + parent_children = children_dict.setdefault(group["parent"], []) + parent_children.append(group_infos) + else: + groups.append(group_infos) + if len(groups) > 0: + library.append({"name": vendor["name"], + "type": ETHERCAT_VENDOR, + "infos": None, + "children": groups}) + library.sort(lambda x, y: cmp(x["name"], y["name"])) + return library + + def GetVendors(self): + return [(vendor_id, vendor["name"]) for vendor_id, vendor in self.Library.items()] + + def GetModuleInfos(self, module_infos): + vendor = ExtractHexDecValue(module_infos["vendor"]) + vendor_infos = self.Library.get(vendor) + if vendor_infos is not None: + for group_name, group_infos in vendor_infos["groups"].iteritems(): + for device_type, device_infos in group_infos["devices"]: + product_code = ExtractHexDecValue(device_infos.getType().getProductCode()) + revision_number = ExtractHexDecValue(device_infos.getType().getRevisionNo()) + if (product_code == ExtractHexDecValue(module_infos["product_code"]) and + revision_number == ExtractHexDecValue(module_infos["revision_number"])): + self.cntdevice = device_infos + self.cntdeviceType = device_type + return device_infos, self.GetModuleExtraParams(vendor, product_code, revision_number) + return None, None + + def ImportModuleLibrary(self, filepath): + if os.path.isfile(filepath): + shutil.copy(filepath, self.Path) + self.LoadModules() + return True + return False + + def LoadModulesExtraParams(self): + self.ModulesExtraParams = {} + + csvfile_path = self.GetModulesExtraParamsFilePath() + if os.path.exists(csvfile_path): + csvfile = open(csvfile_path, "rb") + sample = csvfile.read(1024) + csvfile.seek(0) + dialect = csv.Sniffer().sniff(sample) + has_header = csv.Sniffer().has_header(sample) + reader = csv.reader(csvfile, dialect) + for row in reader: + if has_header: + has_header = False + else: + params_values = {} + for (param, param_infos), value in zip( + self.MODULES_EXTRA_PARAMS, row[3:]): + if value != "": + params_values[param] = int(value) + self.ModulesExtraParams[ + tuple(map(int, row[:3]))] = params_values + csvfile.close() + + def SaveModulesExtraParams(self): + csvfile = open(self.GetModulesExtraParamsFilePath(), "wb") + extra_params = [param for param, params_infos in self.MODULES_EXTRA_PARAMS] + writer = csv.writer(csvfile, delimiter=';') + writer.writerow(['Vendor', 'product_code', 'revision_number'] + extra_params) + for (vendor, product_code, revision_number), module_extra_params in self.ModulesExtraParams.iteritems(): + writer.writerow([vendor, product_code, revision_number] + + [module_extra_params.get(param, '') + for param in extra_params]) + csvfile.close() + + def SetModuleExtraParam(self, vendor, product_code, revision_number, param, value): + vendor = ExtractHexDecValue(vendor) + product_code = ExtractHexDecValue(product_code) + revision_number = ExtractHexDecValue(revision_number) + + module_infos = (vendor, product_code, revision_number) + self.ModulesExtraParams.setdefault(module_infos, {}) + self.ModulesExtraParams[module_infos][param] = value + + self.SaveModulesExtraParams() + + def GetModuleExtraParams(self, vendor, product_code, revision_number): + vendor = ExtractHexDecValue(vendor) + product_code = ExtractHexDecValue(product_code) + revision_number = ExtractHexDecValue(revision_number) + + if self.ParentLibrary is not None: + extra_params = self.ParentLibrary.GetModuleExtraParams(vendor, product_code, revision_number) + else: + extra_params = {} + + extra_params.update(self.ModulesExtraParams.get((vendor, product_code, revision_number), {})) + + for param, param_infos in self.MODULES_EXTRA_PARAMS: + extra_params.setdefault(param, param_infos["default"]) + + return extra_params + +USERDATA_DIR = wx.StandardPaths.Get().GetUserDataDir() +if wx.Platform != '__WXMSW__': + USERDATA_DIR += '_files' + +ModulesDatabase = ModulesLibrary( + os.path.join(USERDATA_DIR, "ethercat_modules")) + +class RootClass: + + CTNChildrenTypes = [("EthercatNode",_EthercatCTN,"Ethercat Master")] + EditorType = LibraryEditor + + + def __init__(self): + self.ModulesLibrary = None + self.LoadModulesLibrary() + + def GetIconName(self): + return "Ethercat" + + def GetModulesLibraryPath(self, project_path=None): + if project_path is None: + project_path = self.CTNPath() + return os.path.join(project_path, "modules") + + def OnCTNSave(self, from_project_path=None): + if from_project_path is not None: + shutil.copytree(self.GetModulesLibraryPath(from_project_path), + self.GetModulesLibraryPath()) + return True + + def CTNGenerate_C(self, buildpath, locations): + return [],"",False + + def LoadModulesLibrary(self): + if self.ModulesLibrary is None: + self.ModulesLibrary = ModulesLibrary(self.GetModulesLibraryPath(), ModulesDatabase) + else: + self.ModulesLibrary.LoadModulesLibrary() + + def GetModulesDatabaseInstance(self): + return ModulesDatabase + + def GetModulesLibraryInstance(self): + return self.ModulesLibrary + + def GetModulesLibrary(self, profile_filter=None): + return self.ModulesLibrary.GetModulesLibrary(profile_filter) + + def GetVendors(self): + return self.ModulesLibrary.GetVendors() + + def GetModuleInfos(self, module_infos): + return self.ModulesLibrary.GetModuleInfos(module_infos) + diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/etherlab_ext.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/etherlab_ext.c Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,56 @@ +/* + +Template C code used to produce target Ethercat C code. + +Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT + +Distributed under the terms of the GNU Lesser General Public License as +published by the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +See COPYING file for copyrights details. + +*/ + +#include "iec_types_all.h" + +#define FREE 0 +#define ACQUIRED 1 +#define ANSWERED 2 + +long SDOLock = FREE; +extern long AtomicCompareExchange(long* atomicvar,long compared, long exchange); + +int AcquireSDOLock() { + return AtomicCompareExchange(&SDOLock, FREE, ACQUIRED) == FREE; +} + +void SDOAnswered() { + AtomicCompareExchange(&SDOLock, ACQUIRED, ANSWERED); +} + +int HasAnswer() { + return SDOLock == ANSWERED; +} + +void ReleaseSDOLock() { + AtomicCompareExchange(&SDOLock, ANSWERED, FREE); +} + +int __init_etherlab_ext() +{ + SDOLock = FREE; + return 0; +} + +void __cleanup_etherlab_ext() +{ +} + +void __retrieve_etherlab_ext() +{ +} + +void __publish_etherlab_ext() +{ +} diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/CIA402AxisRef.png Binary file etherlab/images/CIA402AxisRef.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/CIA402NetPos.png Binary file etherlab/images/CIA402NetPos.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/CIA402Slave.png Binary file etherlab/images/CIA402Slave.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/Ethercat.png Binary file etherlab/images/Ethercat.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/ImportDatabase.png Binary file etherlab/images/ImportDatabase.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/ImportESI.png Binary file etherlab/images/ImportESI.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/ScanNetwork.png Binary file etherlab/images/ScanNetwork.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/Slave.png Binary file etherlab/images/Slave.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/editCIA402Slave.png Binary file etherlab/images/editCIA402Slave.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/editSlave.png Binary file etherlab/images/editSlave.png has changed diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/genicons.sh --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/images/genicons.sh Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,15 @@ +#!/bin/bash + +INKSCAPE=inkscape + +for i in `cat icons.svg |grep -o -e '%%[^%]*%%'|sed 's/%//g'` +do + if [ $i.png -nt icons.svg ]; then + echo "Skip $i" + else + rm -f $i.png + echo "$INKSCAPE" icons.svg -z -e $i.png -i $i + "$INKSCAPE" icons.svg -z -e $i.png -i $i + fi +done + diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/images/icons.svg --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/images/icons.svg Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,64538 @@ + + + + + + + + image/svg+xml + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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ther + ab + + Ether + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + PluginTabs icons + %% Ethercat Slave CIA402Slave %% + + + + + + + + + + + + + + + + + + + + + + + + + + + + + R + E + F + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + CAT + + + + + + + + + + + + + + + + + + + + + + + + P + O + S + + + + + diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/plc_cia402node.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/plc_cia402node.c Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,193 @@ +/* + +Template C code used to produce target Ethercat C CIA402 code + +Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT + +Distributed under the terms of the GNU Lesser General Public License as +published by the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +See COPYING file for copyrights details. + +*/ + +#include "ecrt.h" + +#include "beremiz.h" +#include "iec_types_all.h" + +#include "accessor.h" +#include "POUS.h" + +/* From CiA402, page 27 + + Table 30 - State coding + Statusword | PDS FSA state +xxxx xxxx x0xx 0000 | Not ready to switch on +xxxx xxxx x1xx 0000 | Switch on disabled +xxxx xxxx x01x 0001 | Ready to switch on +xxxx xxxx x01x 0011 | Switched on +xxxx xxxx x01x 0111 | Operation enabled +xxxx xxxx x00x 0111 | Quick stop active +xxxx xxxx x0xx 1111 | Fault reaction active +xxxx xxxx x0xx 1000 | Fault +*/ +#define FSAFromStatusWord(SW) (SW & 0x006f) +#define NotReadyToSwitchOn 0b00000000 FSA_sep 0b00100000 +#define SwitchOnDisabled 0b01000000 FSA_sep 0b01100000 +#define ReadyToSwitchOn 0b00100001 +#define SwitchedOn 0b00100011 +#define OperationEnabled 0b00100111 +#define QuickStopActive 0b00000111 +#define FaultReactionActive 0b00001111 FSA_sep 0b00101111 +#define Fault 0b00001000 FSA_sep 0b00101000 + +// SatusWord bits : +#define SW_ReadyToSwitchOn 0x0001 +#define SW_SwitchedOn 0x0002 +#define SW_OperationEnabled 0x0004 +#define SW_Fault 0x0008 +#define SW_VoltageEnabled 0x0010 +#define SW_QuickStop 0x0020 +#define SW_SwitchOnDisabled 0x0040 +#define SW_Warning 0x0080 +#define SW_Remote 0x0200 +#define SW_TargetReached 0x0400 +#define SW_InternalLimitActive 0x0800 + +// ControlWord bits : +#define SwitchOn 0x0001 +#define EnableVoltage 0x0002 +#define QuickStop 0x0004 +#define EnableOperation 0x0008 +#define FaultReset 0x0080 +#define Halt 0x0100 + + +IEC_INT beremiz__IW%(location_str)s = %(slave_pos)s; +IEC_INT *__IW%(location_str)s = &beremiz__IW%(location_str)s; +IEC_INT beremiz__IW%(location_str)s_402; +IEC_INT *__IW%(location_str)s_402 = &beremiz__IW%(location_str)s_402; + +%(MCL_headers)s + +static IEC_BOOL __FirstTick = 1; + +typedef struct { +%(entry_variables)s + axis_s* axis; +} __CIA402Node; + +#define AxsPub __CIA402Node_%(location_str)s + +static __CIA402Node AxsPub; + +%(extern_located_variables_declaration)s + +%(fieldbus_interface_declaration)s + +int __init_%(location_str)s() +{ + __FirstTick = 1; +%(init_entry_variables)s + *(AxsPub.ModesOfOperation) = 0x08; + return 0; +} + +void __cleanup_%(location_str)s() +{ +} + +void __retrieve_%(location_str)s() +{ + if (__FirstTick) { + *__IW%(location_str)s_402 = __MK_Alloc_AXIS_REF(); + AxsPub.axis = + __MK_GetPublic_AXIS_REF(*__IW%(location_str)s_402); + AxsPub.axis->NetworkPosition = beremiz__IW%(location_str)s; +%(init_axis_params)s +%(fieldbus_interface_definition)s + __FirstTick = 0; + } + + // Default variables retrieve + AxsPub.axis->CommunicationReady = + *(AxsPub.StatusWord) != 0; +#define FSA_sep || FSA == + { + uint16_t FSA = FSAFromStatusWord(*(AxsPub.StatusWord)); + AxsPub.axis->ReadyForPowerOn = FSA == ReadyToSwitchOn; + AxsPub.axis->PowerFeedback = FSA == OperationEnabled; + } +#undef FSA_sep + AxsPub.axis->ActualRawPosition = *(AxsPub.ActualPosition); + AxsPub.axis->ActualRawVelocity = *(AxsPub.ActualVelocity); + AxsPub.axis->ActualRawTorque = *(AxsPub.ActualTorque); + + // Extra variables retrieve +%(extra_variables_retrieve)s +} + +void __publish_%(location_str)s() +{ + IEC_BOOL power = + ((*(AxsPub.StatusWord) & SW_VoltageEnabled) != 0) + && AxsPub.axis->Power; + uint16_t CW = *(AxsPub.ControlWord); + +#define FSA_sep : case + // CIA402 node state transition computation + switch (FSAFromStatusWord(*(AxsPub.StatusWord))) { + case SwitchOnDisabled : + CW &= ~(SwitchOn | FaultReset); + CW |= EnableVoltage | QuickStop; + break; + case ReadyToSwitchOn : + case OperationEnabled : + if (!power) { + CW &= ~(FaultReset | EnableOperation); + CW |= SwitchOn | EnableVoltage | QuickStop; + break; + } + case SwitchedOn : + if (power) { + CW &= ~(FaultReset); + CW |= SwitchOn | EnableVoltage | QuickStop | EnableOperation; + } + break; + case Fault : + /* TODO reset fault only when MC_Reset */ + CW &= ~(SwitchOn | EnableVoltage | QuickStop | EnableOperation); + CW |= FaultReset; + break; + default: + break; + } +#undef FSA_sep + *(AxsPub.ControlWord) = CW; + + // CIA402 node modes of operation computation according to axis motion mode + switch (AxsPub.axis->AxisMotionMode) { + case mc_mode_cst: + *(AxsPub.ModesOfOperation) = 0x0a; + break; + case mc_mode_csv: + *(AxsPub.ModesOfOperation) = 0x09; + break; + default: + *(AxsPub.ModesOfOperation) = 0x08; + break; + } + + // Default variables publish + *(AxsPub.TargetPosition) = + AxsPub.axis->RawPositionSetPoint; + *(AxsPub.TargetVelocity) = + AxsPub.axis->RawVelocitySetPoint; + *(AxsPub.TargetTorque) = + AxsPub.axis->RawTorqueSetPoint; + + // Extra variables publish +%(extra_variables_publish)s +} diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/plc_etherlab.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/plc_etherlab.c Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,168 @@ +/* + +Template C code used to produce target Ethercat C code + +Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT + +Distributed under the terms of the GNU Lesser General Public License as +published by the Free Software Foundation; either version 2 of the License, or +(at your option) any later version. + +See COPYING file for copyrights details. + +*/ + +#include +#include +#include + +#include "ecrt.h" + +#include "beremiz.h" +#include "iec_types_all.h" + +// declaration of interface variables +%(located_variables_declaration)s + +// process data +uint8_t *domain1_pd = NULL; +%(used_pdo_entry_offset_variables_declaration)s + +const static ec_pdo_entry_reg_t domain1_regs[] = { +%(used_pdo_entry_configuration)s + {} +}; +/*****************************************************************************/ + +%(pdos_configuration_declaration)s + +long long wait_period_ns = 100000LL; + +// EtherCAT +static ec_master_t *master = NULL; +static ec_domain_t *domain1 = NULL; +static int first_sent=0; +%(slaves_declaration)s +#define SLOGF(level, format, args...)\ +{\ + char sbuf[256];\ + int slen = snprintf(sbuf , sizeof(sbuf) , format , ##args);\ + LogMessage(level, sbuf, slen);\ +} + +/* Beremiz plugin functions */ +int __init_%(location)s(int argc,char **argv) +{ + uint32_t abort_code; + size_t result_size; + + abort_code = 0; + result_size = 0; + + master = ecrt_request_master(%(master_number)d); + if (!master) { + SLOGF(LOG_CRITICAL, "EtherCAT master request failed!"); + return -1; + } + + if(!(domain1 = ecrt_master_create_domain(master))){ + SLOGF(LOG_CRITICAL, "EtherCAT Domain Creation failed!"); + goto ecat_failed; + } + + // slaves PDO configuration +%(slaves_configuration)s + + if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) { + SLOGF(LOG_CRITICAL, "EtherCAT PDO registration failed!"); + goto ecat_failed; + } + + ecrt_master_set_send_interval(master, common_ticktime__); + + // slaves initialization +%(slaves_initialization)s + + // extracting default value for not mapped entry in output PDOs +%(slaves_output_pdos_default_values_extraction)s + + if (ecrt_master_activate(master)){ + SLOGF(LOG_CRITICAL, "EtherCAT Master activation failed"); + goto ecat_failed; + } + + if (!(domain1_pd = ecrt_domain_data(domain1))) { + SLOGF(LOG_CRITICAL, "Failed to map EtherCAT process data"); + goto ecat_failed; + } + + SLOGF(LOG_INFO, "Master %(master_number)d activated."); + + first_sent = 0; + + return 0; + +ecat_failed: + ecrt_release_master(master); + return -1; + +} + +void __cleanup_%(location)s(void) +{ + //release master + ecrt_release_master(master); + first_sent = 0; +} + +void __retrieve_%(location)s(void) +{ + // receive ethercat + if(first_sent){ + ecrt_master_receive(master); + ecrt_domain_process(domain1); +%(retrieve_variables)s + } + +} + +static RTIME _last_occur=0; +static RTIME _last_publish=0; +RTIME _current_lag=0; +RTIME _max_jitter=0; +static inline RTIME max(RTIME a,RTIME b){return a>b?a:b;} + +void __publish_%(location)s(void) +{ +%(publish_variables)s + ecrt_domain_queue(domain1); + { + RTIME current_time = rt_timer_read(); + // Limit spining max 1/5 of common_ticktime + RTIME maxdeadline = current_time + (common_ticktime__ / 5); + RTIME deadline = _last_occur ? + _last_occur + common_ticktime__ : + current_time + _max_jitter; + if(deadline > maxdeadline) deadline = maxdeadline; + _current_lag = deadline - current_time; + if(_last_publish != 0){ + RTIME period = current_time - _last_publish; + if(period > common_ticktime__ ) + _max_jitter = max(_max_jitter, period - common_ticktime__); + else + _max_jitter = max(_max_jitter, common_ticktime__ - period); + } + _last_publish = current_time; + _last_occur = current_time; + while(current_time < deadline) { + _last_occur = current_time; //Drift backward by default + current_time = rt_timer_read(); + } + if( _max_jitter * 10 < common_ticktime__ && _current_lag < _max_jitter){ + //Consuming security margin ? + _last_occur = current_time; //Drift forward + } + } + ecrt_master_send(master); + first_sent = 1; +} diff -r bcf346f558bd -r 02a2b5dee5e3 etherlab/pous.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/pous.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,1311 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +,STATE,, 2)} + 2: + IF PY0.ACK THEN + STATE := 3; + END_IF; + 3: + {if (HasAnswer()) __SET_VAR(data__->,STATE,, 4)} + 4: + IF PY1.ACK THEN + ACK := 1; + VALUE := PY1.RESULT; + VALID := NE(VALUE, 'None'); + STATE := 0; + {ReleaseSDOLock();} + END_IF; +ELSE + STATE := 0; +END_CASE; + +EXECUTE0 := EXECUTE; +PY0(TRIG := STATE = 2, + CODE := CONCAT('EthercatSDOUpload(', + INT_TO_STRING(POS), + ',', + UINT_TO_STRING(INDEX), + ',', + USINT_TO_STRING(SUBINDEX), + ',"', + VARTYPE, + '")')); +PY1(TRIG := STATE = 4, + CODE := 'GetResult()'); +]]> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +,STATE,, 2)} + 2: + IF PY0.ACK THEN + STATE := 3; + END_IF; + 3: + {if (HasAnswer()) __SET_VAR(data__->,STATE,, 4)} + 4: + IF PY1.ACK THEN + ACK := 1; + ERROR := EQ(PY1.RESULT, 'False'); + STATE := 0; + {ReleaseSDOLock();} + END_IF; +ELSE + STATE := 0; +END_CASE; +EXECUTE0 := EXECUTE; +PY0(TRIG := STATE = 2, + CODE := CONCAT('EthercatSDODownload(', + INT_TO_STRING(POS), + ',', + UINT_TO_STRING(INDEX), + ',', + USINT_TO_STRING(SUBINDEX), + ',"', + VARTYPE, + '",', + VALUE, + ')')); +PY1(TRIG := STATE = 4, + CODE := 'GetResult()'); +]]> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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b/etherlab/register_information.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,7114 @@ + + + + + 0000 + ESC Rev/Type +
+ + 0-7 + Type + + + 00000010 + ESC10/ESC20 + + + 00000100 + IP Core + + + 00010001 + ET1100 + + + 00010010 + ET1200 + + + + + 8-15 + Revision + +
+ + + 0002 + ESC Build +
+ + 0-3 + Maintenance version + + + 4-7 + Minor version + +
+ + + 0004 + SM/FMMU Cnt +
+ + 0-7 + FMMU cnt + + + 8-15 + SM cnt + +
+ + + 0006 + Ports/DPRAM +
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+ + + 0008 + Features +
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+ + 0-7 + ESC reset ECAT + + + 8-15 + ESC reset PDI + +
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-*- coding: utf-8 -*- -# This file is part of Beremiz, a Integrated Development Environment for -# programming IEC 61131-3 automates supporting plcopen standard and CanFestival. +# This file is part of Beremiz # -# Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD +# Copyright (C) 2007: Laurent BESSARD +# Copyright (C) 2007-2018: Edouard TISSERANT # # See COPYING file for copyrights details. -# -# This program 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 -# of the License, or (at your option) any later version. -# -# This program 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 program; if not, write to the Free Software -# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. libraries = [ ('Native', 'NativeLib.NativeLibrary'), ('Python', 'py_ext.PythonLibrary'), + ('Etherlab', 'etherlab.EthercatMaster.EtherlabLibrary'), ('SVGUI', 'svgui.SVGUILibrary')] catalog = [ ('canfestival', _('CANopen support'), _('Map located variables over CANopen'), 'canfestival.canfestival.RootClass'), ('bacnet', _('Bacnet support'), _('Map located variables over Bacnet'), 'bacnet.bacnet.RootClass'), + ('etherlab', _('EtherCAT master'), _('Map located variables over EtherCAT'), 'etherlab.etherlab.RootClass'), ('modbus', _('Modbus support'), _('Map located variables over Modbus'), 'modbus.modbus.RootClass'), ('c_ext', _('C extension'), _('Add C code accessing located variables synchronously'), 'c_ext.CFile'), ('py_ext', _('Python file'), _('Add Python code executed asynchronously'), 'py_ext.PythonFile'), diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/beremiz.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/beremiz.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,4 @@ + + + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/ethercat@etherlab/baseconfnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/ethercat@etherlab/baseconfnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/ethercat@etherlab/confnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/ethercat@etherlab/confnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/baseconfnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/baseconfnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,127 @@ + + + + + + + 00 + 00 + + + + + EK1100 + 0 + 0 + + 2 + 72100946 + 65536 + 0 + + + + 0 + 0 + + + 0 + 0 + + + + + + + + + EL1088 + 1 + 0 + + 2 + 71315538 + 1048576 + 0 + + + + 0 + 0 + + + 0 + 0 + + + + + + + + + EL2088 + 2 + 0 + + 2 + 136851538 + 1048576 + 0 + + + + + EDA7000 CoE Drive + 3 + 0 + + 1573 + 1768449365 + 3 + 0 + + + + 0 + 0 + + + 0 + 0 + + + + + II + Configure limit switches signal + 0 + 0 + 8229 + 0 + 07 + + + II + + 0 + 0 + 24800 + 0 + 05DC + + + II + + 0 + 0 + 24801 + 0 + 05DC + + + + + + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/confnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/confnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 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PWM Output, 24V + EL2502 2K. 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PWM Output, 24V + EL2502 2K. 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DT1604 + 48 + + + SubIndex 000 + + 01 + + + + SubIndex 001 + + 20121070 + + + + + ro + o + + + + #x1800 + TxPDO-Par + DT1800 + 64 + + + SubIndex 000 + + 06 + + + + Exclude TxPDOs + + 011a021a051a + + + + + ro + o + + + + #x1801 + PTO TxPDO-Par Status + DT1801 + 72 + + + SubIndex 000 + + 09 + + + + Exclude TxPDOs + + 001a00000000 + + + + + ro + o + + + + #x1802 + ENC TxPDO-Par Status compact + DT1801 + 72 + + + SubIndex 000 + + 09 + + + + Exclude TxPDOs + + 051a001a0000 + + + + + ro + o + + + + #x1805 + ENC TxPDO-Par Status + DT1801 + 72 + + + SubIndex 000 + + 09 + + + + Exclude TxPDOs + + 021a001a0000 + + + + + ro + o + + + + #x1a00 + TxPDO-Map + DT1600 + 80 + + + SubIndex 000 + + 02 + + + + SubIndex 001 + + 10010060 + + + + SubIndex 002 + + 10020060 + + + + + ro + o + + + + #x1a01 + PTO TxPDO-Map Status + DT1A01 + 336 + + + SubIndex 000 + + 0a + + + + SubIndex 001 + + 01011060 + + + + SubIndex 002 + + 01021060 + + + + SubIndex 003 + + 02000000 + + + + SubIndex 004 + + 01051060 + + + + 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01000000 + + + + SubIndex 009 + + 01090518 + + + + SubIndex 010 + + 20112060 + + + + + ro + o + + + + #x1c00 + Sync manager type + DT1C00 + 48 + + + SubIndex 000 + + 04 + + + + SubIndex 001 + + 01 + + + + SubIndex 002 + + 02 + + + + SubIndex 003 + + 03 + + + + SubIndex 004 + + 04 + + + + + ro + o + + + + #x1c12 + RxPDO assign + DT1C12 + 64 + + + SubIndex 000 + + 01 + + + + SubIndex 001 + + 0016 + + + + SubIndex 002 + + 0000 + + + + SubIndex 003 + + 0000 + + + + + rw + o + + + + #x1c13 + TxPDO assign + DT1C13 + 48 + + + SubIndex 000 + + 01 + + + + SubIndex 001 + + 001a + + + + SubIndex 002 + + 0000 + + + + + rw + o + + + + #x1c32 + SM output parameter + DT1C32 + 344 + + + SubIndex 000 + + 20 + + + + Sync mode + + 0100 + + + + Cycle time + + 80841e00 + + + + Shift time + + 00000000 + + + + Sync modes supported + + 07c0 + + + + Minimum cycle time + + 00000000 + + + + Calc and copy time + + 00000000 + + + + Minimum delay time + + 00000000 + + + + Command + + 0000 + + + + Maximum delay time 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Ack/End counter + + 00 + + + + Ramp active + + 00 + + + + Status of input target + + 00 + + + + Status of input zero + + 00 + + + + Error + + 00 + + + + + ro + o + + + + #x6020 + ENC Inputs + DT6020 + 64 + + + SubIndex 000 + + 11 + + + + Set counter done + + 00 + + + + Counter underflow + + 00 + + + + Counter overflow + + 00 + + + + Counter value + + 00000000 + + + + + ro + o + + + + #x7000 + Outputs + DT7000 + 48 + + + SubIndex 000 + + 02 + + + + Ctrl + + 0000 + + + + Data Out + + 0000 + + + + + ro + o + + + + #x7010 + PTO Outputs + DT7010 + 80 + + + SubIndex 000 + + 12 + + + + Frequency select + + 00 + + + + Disable ramp + + 00 + + + + Go counter + + 00 + + + + Frequency value + + 0000 + + + + Target counter value + + 00000000 + + + + + ro + o + + + + #x7020 + ENC Outputs + DT7020 + 64 + + + SubIndex 000 + + 11 + + + + Set counter + + 00 + + + + Set counter value + + 00000000 + + + + + ro + o + + + + #x8000 + Feature bits + DT8000 + 32 + + + SubIndex 000 + + 0f + + + + Emergency ramp active + + 00 + + + + Watchdog timer deactive + + 00 + + + + Sign/amount representation + + 00 + + + + Rising edge clears/sets counter + + 01 + + + + Ramp function active + + 01 + + + + Ramp base frequency + + 00 + + + + Direct input mode + + 00 + + + + Users switch-on-value on wdt + + 00 + + + + Travel distance control active + + 00 + + + + Rising edge sets counter + + 00 + + + + Operating mode + + 00 + + + + Negative logic + + 00 + + + + + rw + o + + + + #x8001 + User settings + DT8001 + 176 + + + SubIndex 000 + + 08 + + + + Users switch-on-value + + 0000 + + + + Base frequency 1 + + #x64 + #x7a120 + #xc350 + + + + Base frequency 2 + + #x64 + #x7a120 + #x186a0 + + + + Ramp time constant (rising) + + e803 + + + + Ramp time constant (falling) + + e803 + + + + Frequency factor (Digit x 10mHz) + + #x1 + #xffff + #x64 + + + + Slowing down frequency + + #x0 + #x7fff + #x32 + + + + Ramp time constant (emergency) + + e803 + + + + + rw + o + + + + #x8010 + PTO Settings + DT8010 + 192 + + + SubIndex 000 + + 18 + + + + Emergency ramp active + + 00 + + + + Watchdog timer deactive + + 00 + + + + Sign/amount representation + + 00 + + + + Ramp function active + + 01 + + + + Ramp base frequency + + 00 + + + + Direct input mode + + 00 + + + + Users switch-on-value on wdt + + 00 + + + + Travel distance control active + + 00 + + + + Operating mode + + 00 + + + + Negative logic + + 00 + + + + Users switch-on-value + + 0000 + + + + Base frequency 1 + + #x64 + #x7a120 + #xc350 + + + + Base frequency 2 + + #x64 + #x7a120 + #x186a0 + + + + Ramp time constant (rising) + + e803 + + + + Ramp time constant (falling) + + e803 + + + + Frequency factor (Digit x 10mHz) + + #x1 + #xffff + #x64 + + + + Slowing down frequency + + #x0 + #x7fff + #x32 + + + + Ramp time constant (emergency) + + e803 + + + + + rw + o + + + + #x8800 + Volatile settings + DT8800 + 64 + + + SubIndex 000 + + 02 + + + + Target counter state + + 00000000 + + + + Maximum frequency + + #x0 + #x7fff + #x0 + + + + + rw + o + + + + #xa000 + Diagnostic parameter + DTA000 + 32 + + + SubIndex 000 + + 01 + + + + Counter extension + + 0000 + + + + + ro + o + + + + #xf000 + Modular device profile + DTF000 + 48 + + + SubIndex 000 + + 02 + + + + Module index distance + + 1000 + + + + Maximum number of modules + + 0300 + + + + + ro + o + + + + #xf008 + Code word + UDINT + 32 + + 00000000 + + + rw + o + + + + #xf010 + Module list + DTF010 + 112 + + + SubIndex 000 + + 03 + + + + SubIndex 001 + + fc000000 + + + + SubIndex 002 + + fd000000 + + + + SubIndex 003 + + ff010000 + + + + + rw + o + + + + + + Outputs + Inputs + MBoxState + MBoxOut + MBoxIn + Outputs + Inputs + + #x1600 + Outputs + #x1601 + #x1604 + #x1607 + #x1602 + #x1605 + + #x7000 + 1 + 16 + Ctrl + UINT + + + #x7000 + 2 + 16 + Data Out + UINT + + + + #x1601 + PTO Control + #x1600 + + #x7010 + 1 + 1 + Control__Frequency select + BOOL + + + #x7010 + 2 + 1 + Control__Disable ramp + BOOL + + + #x7010 + 3 + 1 + Control__Go counter + BOOL + + + #x0 + 5 + Control__Gap + + + #x0 + 8 + Control__Gap + + + #x7010 + 17 + 16 + Frequency value + UINT + + + + #x1604 + PTO Target compact + #x1600 + #x1605 + #x1607 + + #x7010 + 18 + 16 + Target counter value + UINT + + + + #x1607 + PTO Target + #x1600 + #x1602 + #x1604 + + #x7010 + 18 + 32 + Target counter value + UDINT + + + + #x1602 + ENC Control compact + #x1600 + #x1605 + #x1607 + + #x0 + 2 + Control__Gap + + + #x7020 + 3 + 1 + Control__Set counter + BOOL + + + #x0 + 5 + Control__Gap + + + #x0 + 8 + Control__Gap + + + #x7020 + 17 + 16 + Set counter value + UINT + + + + #x1605 + ENC Control + #x1600 + #x1602 + #x1604 + + #x0 + 2 + Control__Gap + + + #x7020 + 3 + 1 + Control__Set counter + BOOL + + + #x0 + 5 + Control__Gap + + + #x0 + 8 + Control__Gap + + + #x7020 + 17 + 32 + Set counter value + UDINT + + + + #x1a00 + Inputs + #x1a01 + #x1a02 + #x1a05 + + #x6000 + 1 + 16 + Status + UINT + + + #x6000 + 2 + 16 + Data In + UINT + + + + #x1a01 + PTO Status + #x1a00 + + #x6010 + 1 + 1 + Status__Sel. Ack/End counter + BOOL + + + #x6010 + 2 + 1 + Status__Ramp active + BOOL + + + #x0 + 2 + Status__ + + + #x6010 + 5 + 1 + Status__Status of input target + BOOL + + + #x6010 + 6 + 1 + Status__Status of input zero + BOOL + + + #x6010 + 7 + 1 + Status__Error + BOOL + + + #x0 + 6 + Status__ + + + #x1c32 + 32 + 1 + Status__Sync error + BOOL + + + #x0 + 1 + Status__ + + + #x1801 + 9 + 1 + Status__TxPDO Toggle + BOOL + + + + #x1a02 + ENC Status compact + #x1a05 + #x1a00 + + #x0 + 2 + Status__Gap + + + #x6020 + 3 + 1 + Status__Set counter done + BOOL + + + #x6020 + 4 + 1 + Status__Counter underflow + BOOL + + + #x6020 + 5 + 1 + Status__Counter overflow + BOOL + + + #x0 + 3 + Status__Gap + + + #x0 + 5 + Status__Gap + + + #x1c32 + 32 + 1 + Status__Sync error + BOOL + + + #x0 + 1 + Status__Gap + + + #x1802 + 9 + 1 + Status__TxPDO Toggle + BOOL + + + #x6020 + 17 + 16 + Counter value + UINT + + + + #x1a05 + ENC Status + #x1a02 + #x1a00 + + #x0 + 2 + Status__Gap + + + #x6020 + 3 + 1 + Status__Set counter done + BOOL + + + #x6020 + 4 + 1 + Status__Counter underflow + BOOL + + + #x6020 + 5 + 1 + Status__Counter overflow + BOOL + + + #x0 + 3 + Status__Gap + + + #x0 + 5 + Status__Gap + + + #x1c32 + 32 + 1 + Status__Sync error + BOOL + + + #x0 + 1 + Status__Gap + + + #x1805 + 9 + 1 + Status__TxPDO Toggle + BOOL + + + #x6020 + 17 + 32 + Counter value + UDINT + + + + + + + + + Synchron + FreeRun/SM-Synchron + #x0 + 0 + 0 + 0 + 0 + + + DC + DC-Synchron + #x300 + 0 + 0 + 0 + 0 + + + + 2048 + 0500030c32000000000000000000 + 0010f400f410f400 + + + + EL2521-0025 + EL2521-0025 1Ch. Pulse Train 24V DC Output negative + EL2521-0025 1K. 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+ Lost Link Counter + + 0000 + + + + Counter Reset + + 0000 + + + + + rw + o + + + + #x6080 + Max Motor Speed + UDINT + 32 + + 00004E20 + + + rw + o + + + + #x608F + Position encoder revolution + DT608F + 80 + + + largest sub-index supported + + 02 + + + + Encoder increments + + 00000200 + + + + Motor revolutions + + 01000000 + + + + + rw + o + + + + #x6090 + Velocity Encoder revolution + DT6090 + 80 + + + largest sub-index supported + + 02 + + + + Encoder incremets per second + + 00000200 + + + + Motor revolutions per second + + 01000000 + + + + + rw + o + + + + #x6092 + Feed constant + DT6092 + 80 + + + largest sub-index supported + + 02 + + + + Feed + + 00020000 + + + + Shaft revolutions + + 00000001 + + + + + rw + o + + + + #x6403 + Motor catalog number + STRING(4) + 32 + + 30303030 + + + rw + o + + + + #x1008 + Manufacturer Device Name + STRING(12) + 96 + + 454441373030300000000000 + + + ro + o + + + + #x6072 + Max torque + UINT + 16 + + 8813 + + + rw + o + RT + + + + #x2028 + Redundancy Enable + USINT + 8 + + 00 + + + rw + o + + + + + + Outputs + Inputs + MBoxOut + MBoxIn + Outputs + Inputs + Drives + + #x1600 + Receive PDO mapping + #x1601 + #x1602 + + #x6040 + + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x6071 + + 0 + 16 + Target Torque + object 0x6071:0 + INT + + + #x6060 + + 0 + 8 + Mode of Operation + object 0x6060:0 + SINT + + + 0 + + 0 + 8 + + + + #x1601 + Receive PDO mapping + #x1600 + #x1602 + + #x6040 + + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x60FF + + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x60E0 + + 0 + 16 + Positive Torque Limit Value + object 0x60E0:0 + UINT + + + #x60E1 + + 0 + 16 + Negative Torque Limit Value + object 0x60E1:0 + UINT + + + #x6060 + + 0 + 8 + Mode of Operation + object 0x6060:0 + SINT + + + 0 + + 0 + 8 + + + + #x1602 + Receive PDO mapping + #x1600 + #x1601 + + #x6040 + + 0 + 16 + Controlword + object 0x6040:0 + UINT + + + #x607A + + 0 + 32 + Target Position + object 0x607A:0 + DINT + + + #x60FF + + 0 + 32 + Target Velocity + object 0x60FF:0 + DINT + + + #x60B8 + + 0 + 16 + Touch Probe Function + object 0x60B8:0 + UINT + + + #x6060 + + 0 + 8 + Mode of Operation + object 0x6060:0 + SINT + + + 0 + + 0 + 8 + + + + #x1A00 + Transmit PDO mapping + #x1A01 + #x1A02 + + #x6041 + + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x6077 + + 0 + 16 + Torque actual value + object 0x6077:0 + INT + + + #x6061 + + 0 + 8 + Modes of operation display + object 0x6061:0 + SINT + + + 0 + + 0 + 8 + + + + #x1A01 + Transmit PDO mapping + #x1A00 + #x1A02 + + #x6041 + + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x606C + + 0 + 32 + Actual Velocity + object 0x606C:0 + DINT + + + #x6077 + + 0 + 16 + Torque actual value + object 0x6077:0 + INT + + + #x2051 + + 0 + 16 + Actual peak torque limit + object 0x2051:0 + UINT + + + #x6061 + + 0 + 8 + Modes of operation display + object 0x6061:0 + SINT + + + 0 + + 0 + 8 + + + + #x1A02 + Transmit PDO mapping + #x1A00 + #x1A01 + + #x6041 + + 0 + 16 + Statusword + object 0x6041:0 + UINT + + + #x6064 + + 0 + 32 + Position actual value + object 0x6064:0 + DINT + + + #x606C + + 0 + 32 + Actual Velocity + object 0x606C:0 + DINT + + + #x60B9 + + 0 + 16 + Touch Probe Status + object 0x60B9:0 + UINT + + + #x60BA + + 0 + 32 + Touch Probe Pos1 Pos Value + object 0x60BA:0 + DINT + + + #x60BB + + 0 + 32 + Touch Probe Pos1 Neg Value + object 0x60BB:0 + DINT + + + #x60FD + + 0 + 32 + Digital Inputs + object 0x60FD:0 + UDINT + + + #x6061 + + 0 + 8 + Modes of operation display + object 0x6061:0 + SINT + + + 0 + + 0 + 8 + + + + + + + + DC + DC-Synchron by Sync0 + #x300 + 0 + 0 + 0 + 0 + + + Free-run + DC unused + #x0000 + + + + 2048 + 080C0244320000000000 + + DRIVE + + + + \ No newline at end of file diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/ethercat@etherlab/modules/modules_extra_params.cfg --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/ethercat@etherlab/modules/modules_extra_params.cfg Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ +Vendor;product_code;revision_number;pdo_alignment;max_pdo_size;add_pdo +1573;1768449365;3;16;10; diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_higen/plc.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_higen/plc.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,1049 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + CLOCK + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + + + + + + + + + + + CLOCK + + + + + + + CLOCK + + + + + + + 4000 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Axis + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1800.0 + + + + + + + 360.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 360.0 + + + + + + + -360.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + BOOL#TRUE + + + + + + + + + + + Pn + + + + + + + Axis + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 10 + + + + + + + BOOL#TRUE + + + + + + + + + + + Vn + + + + + + + -1800.0 + + + + + + + Pn + + + + + + + 360.0 + + + + + + + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.0 + + + + + + + + + + + + + + + + + + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/beremiz.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/beremiz.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,6 @@ + + + + + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/baseconfnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/baseconfnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/confnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/confnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/baseconfnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/baseconfnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,60 @@ + + + + + + + 00 + 00 + + + + + EK1100 + 0 + 0 + + 2 + 72100946 + 65536 + 0 + + + + + EL1088 + 1 + 0 + + 2 + 71315538 + 1048576 + 0 + + + + + EL2088 + 2 + 0 + + 2 + 136851538 + 1048576 + 0 + + + + + SanyoDenki RS2 EtherCAT + 3 + 1 + + 441 + 2 + 0 + 0 + + + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/confnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/confnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/baseconfnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/baseconfnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,2 @@ + + diff -r bcf346f558bd -r 02a2b5dee5e3 tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EKxxxx.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EKxxxx.xml Sat Jun 23 09:08:13 2018 +0200 @@ -0,0 +1,776 @@ + + + + 2 + Beckhoff Automation GmbH + 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