# HG changeset patch # User Andrey Skvortsov # Date 1538144153 -10800 # Node ID 9460872f1440ab300f0cb6ee9d94a9396b96e018 # Parent 8f1a2846b2f5812831466b65a2212a6c0c78ba37 convert some etherlab source files to unix format diff -r 8f1a2846b2f5 -r 9460872f1440 etherlab/CommonEtherCATFunction.py --- a/etherlab/CommonEtherCATFunction.py Fri Sep 28 17:14:42 2018 +0300 +++ b/etherlab/CommonEtherCATFunction.py Fri Sep 28 17:15:53 2018 +0300 @@ -1,1591 +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 Exception: - pass - try: - return int(value.replace("#", "0"), 16) - - except Exception: - 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() +#!/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 Exception: + pass + try: + return int(value.replace("#", "0"), 16) + + except Exception: + 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 8f1a2846b2f5 -r 9460872f1440 etherlab/ConfigEditor.py --- a/etherlab/ConfigEditor.py Fri Sep 28 17:14:42 2018 +0300 +++ b/etherlab/ConfigEditor.py Fri Sep 28 17:15:53 2018 +0300 @@ -25,9 +25,9 @@ from controls.CustomStyledTextCtrl import NAVIGATION_KEYS # ----------------------------------------------------------------------- -from EtherCATManagementEditor import EtherCATManagementTreebook, MasterStatePanelClass -# ----------------------------------------------------------------------- - +from EtherCATManagementEditor import EtherCATManagementTreebook, MasterStatePanelClass +# ----------------------------------------------------------------------- + [ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE] = range(3) def AppendMenu(parent, help, id, kind, text): diff -r 8f1a2846b2f5 -r 9460872f1440 etherlab/EtherCATManagementEditor.py --- a/etherlab/EtherCATManagementEditor.py Fri Sep 28 17:14:42 2018 +0300 +++ b/etherlab/EtherCATManagementEditor.py Fri Sep 28 17:15:53 2018 +0300 @@ -1,2207 +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 Exception: - 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 Exception: - 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 Exception: - 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 Exception: - 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 Exception: - 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 Exception: - 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!') +#!/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 Exception: + 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 Exception: + 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 Exception: + 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 Exception: + 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 Exception: + 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 Exception: + 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!')