# HG changeset patch
# User laurent
# Date 1332111452 -3600
# Node ID ce37271712070a0d8770e978852ab4cbab705f8e
# Parent d676082c1d2fa9c8aa118fa2dafdffff30a67c68
Defining all slaves as Etherlab master subplugin instead of editing them in an editor with vertical notebook
diff -r d676082c1d2f -r ce3727171207 ethercat_tests/wago_sanyo/MCL@motion/baseplugin.xml
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_sanyo/MCL@motion/baseplugin.xml Sun Mar 18 23:57:32 2012 +0100
@@ -0,0 +1,2 @@
+
+
diff -r d676082c1d2f -r ce3727171207 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml
--- a/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml Sun Mar 11 21:57:00 2012 +0100
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml Sun Mar 18 23:57:32 2012 +0100
@@ -23,8 +23,8 @@
EL1088
- 0
- 1
+ 1
+ 0
2
71315538
@@ -35,8 +35,8 @@
EL2088
- 0
- 2
+ 2
+ 0
2
136851538
@@ -44,5 +44,17 @@
0
+
+
+ SanyoDenki RS2 EtherCAT
+ 3
+ 1
+
+ 441
+ 2
+ 0
+ 0
+
+
diff -r d676082c1d2f -r ce3727171207 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseplugin.xml
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseplugin.xml Sun Mar 18 23:57:32 2012 +0100
@@ -0,0 +1,2 @@
+
+
diff -r d676082c1d2f -r ce3727171207 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseplugin.xml
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseplugin.xml Sun Mar 18 23:57:32 2012 +0100
@@ -0,0 +1,2 @@
+
+
diff -r d676082c1d2f -r ce3727171207 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseplugin.xml
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseplugin.xml Sun Mar 18 23:57:32 2012 +0100
@@ -0,0 +1,2 @@
+
+
diff -r d676082c1d2f -r ce3727171207 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatDS402Slave/baseplugin.xml
--- a/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatDS402Slave/baseplugin.xml Sun Mar 11 21:57:00 2012 +0100
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatDS402Slave/baseplugin.xml Sun Mar 18 23:57:32 2012 +0100
@@ -1,2 +1,2 @@
-
+
diff -r d676082c1d2f -r ce3727171207 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatDS402Slave/plugin.xml
--- a/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatDS402Slave/plugin.xml Sun Mar 11 21:57:00 2012 +0100
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatDS402Slave/plugin.xml Sun Mar 18 23:57:32 2012 +0100
@@ -1,2 +1,2 @@
-
+
diff -r d676082c1d2f -r ce3727171207 ethercat_tests/wago_sanyo/plc.xml
--- a/ethercat_tests/wago_sanyo/plc.xml Sun Mar 11 21:57:00 2012 +0100
+++ b/ethercat_tests/wago_sanyo/plc.xml Sun Mar 18 23:57:32 2012 +0100
@@ -8,7 +8,7 @@
productVersion="1.0"
creationDateTime="2011-10-20T19:01:52"/>
+ modificationDateTime="2012-03-18T23:04:07">
@@ -27,12 +27,12 @@
-
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@@ -40,26 +40,36 @@
-
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@@ -68,14 +78,353 @@
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+ 1
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+ CLOCK
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+ CLOCK
+
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+ 4000
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diff -r d676082c1d2f -r ce3727171207 etherlab/ConfigEditor.py
--- a/etherlab/ConfigEditor.py Sun Mar 11 21:57:00 2012 +0100
+++ b/etherlab/ConfigEditor.py Sun Mar 18 23:57:32 2012 +0100
@@ -4,32 +4,6 @@
from controls import CustomGrid, CustomTable, EditorPanel
-SCAN_COMMAND = """
-import commands
-result = commands.getoutput("ethercat slaves")
-slaves = []
-for slave_line in result.splitlines():
- chunks = slave_line.split()
- idx, pos, state, flag = chunks[:4]
- name = " ".join(chunks[4:])
- alias, position = pos.split(":")
- slave = {"idx": int(idx),
- "alias": int(alias),
- "position": int(position),
- "name": name}
- details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"])
- for details_line in details.splitlines():
- details_line = details_line.strip()
- for header, param in [("Vendor Id:", "vendor_id"),
- ("Product code:", "product_code"),
- ("Revision number:", "revision_number")]:
- if details_line.startswith(header):
- slave[param] = int(details_line.split()[-1], 16)
- break
- slaves.append(slave)
-returnVal = slaves
-"""
-
[ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE] = range(3)
def AppendMenu(parent, help, id, kind, text):
@@ -38,91 +12,6 @@
else:
parent.Append(helpString=help, id=id, kind=kind, item=text)
-[ID_SLAVETYPECHOICEDIALOG, ID_SLAVETYPECHOICEDIALOGSTATICTEXT1,
- ID_SLAVETYPECHOICEDIALOGSLAVETYPESLIBRARY
-] = [wx.NewId() for _init_ctrls in range(3)]
-
-class SlaveTypeChoiceDialog(wx.Dialog):
-
- if wx.VERSION < (2, 6, 0):
- def Bind(self, event, function, id = None):
- if id is not None:
- event(self, id, function)
- else:
- event(self, function)
-
- def _init_coll_flexGridSizer1_Items(self, parent):
- parent.AddWindow(self.staticText1, 0, border=20, flag=wx.GROW|wx.TOP|wx.LEFT|wx.RIGHT)
- parent.AddWindow(self.SlaveTypesLibrary, 0, border=20, flag=wx.GROW|wx.LEFT|wx.RIGHT)
- parent.AddSizer(self.ButtonSizer, 0, border=20, flag=wx.ALIGN_RIGHT|wx.BOTTOM|wx.LEFT|wx.RIGHT)
-
- def _init_coll_flexGridSizer1_Growables(self, parent):
- parent.AddGrowableCol(0)
- parent.AddGrowableRow(1)
-
- def _init_sizers(self):
- self.flexGridSizer1 = wx.FlexGridSizer(cols=1, hgap=0, rows=3, vgap=10)
-
- self._init_coll_flexGridSizer1_Items(self.flexGridSizer1)
- self._init_coll_flexGridSizer1_Growables(self.flexGridSizer1)
-
- self.SetSizer(self.flexGridSizer1)
-
- def _init_ctrls(self, prnt):
- wx.Dialog.__init__(self, id=ID_SLAVETYPECHOICEDIALOG,
- name='SlaveTypeChoiceDialog', parent=prnt,
- size=wx.Size(600, 400), style=wx.DEFAULT_DIALOG_STYLE|wx.RESIZE_BORDER,
- title=_('Browse slave types library'))
- self.SetClientSize(wx.Size(600, 400))
-
- self.staticText1 = wx.StaticText(id=ID_SLAVETYPECHOICEDIALOGSTATICTEXT1,
- label=_('Choose a slave type:'), name='staticText1', parent=self,
- pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
-
- self.SlaveTypesLibrary = wx.TreeCtrl(id=ID_SLAVETYPECHOICEDIALOGSLAVETYPESLIBRARY,
- name='TypeTree', parent=self, pos=wx.Point(0, 0),
- size=wx.Size(0, 0), style=wx.TR_HAS_BUTTONS|wx.TR_SINGLE|wx.SUNKEN_BORDER|wx.TR_HIDE_ROOT|wx.TR_LINES_AT_ROOT)
-
- self.ButtonSizer = self.CreateButtonSizer(wx.OK|wx.CANCEL|wx.CENTRE)
- if wx.VERSION >= (2, 5, 0):
- self.Bind(wx.EVT_BUTTON, self.OnOK, id=self.ButtonSizer.GetAffirmativeButton().GetId())
- else:
- self.Bind(wx.EVT_BUTTON, self.OnOK, id=self.ButtonSizer.GetChildren()[0].GetSizer().GetChildren()[0].GetWindow().GetId())
-
- self._init_sizers()
-
- def __init__(self, parent, controler, default=None):
- self._init_ctrls(parent)
-
- slaves_types = controler.GetSlaveTypesLibrary()
-
- root = self.SlaveTypesLibrary.AddRoot("")
- self.GenerateSlaveTypesLibraryTreeBranch(root, slaves_types, default)
-
- def GenerateSlaveTypesLibraryTreeBranch(self, root, children, default):
- for infos in children:
- item = self.SlaveTypesLibrary.AppendItem(root, infos["name"])
- if infos["type"] == ETHERCAT_DEVICE:
- self.SlaveTypesLibrary.SetPyData(item, infos["infos"])
- if infos["infos"] == default:
- self.SlaveTypesLibrary.SelectItem(item)
- self.SlaveTypesLibrary.EnsureVisible(item)
- else:
- self.GenerateSlaveTypesLibraryTreeBranch(item, infos["children"], default)
-
- def GetType(self):
- selected = self.SlaveTypesLibrary.GetSelection()
- return self.SlaveTypesLibrary.GetPyData(selected)
-
- def OnOK(self, event):
- selected = self.SlaveTypesLibrary.GetSelection()
- if not selected.IsOk() or self.SlaveTypesLibrary.GetPyData(selected) is None:
- message = wx.MessageDialog(self, _("No valid slave type selected!"), _("Error"), wx.OK|wx.ICON_ERROR)
- message.ShowModal()
- message.Destroy()
- else:
- self.EndModal(wx.ID_OK)
-
def GetSyncManagersTableColnames():
_ = lambda x : x
return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")]
@@ -139,23 +28,18 @@
_ = lambda x : x
return ["#", _("Name"), _("Index"), _("SubIndex"), _("Type"), _("PDO index"), _("PDO name"), _("PDO type")]
-[ID_SLAVEINFOSPANEL, ID_SLAVEINFOSPANELVENDORLABEL,
- ID_SLAVEINFOSPANELVENDOR, ID_SLAVEINFOSPANELPRODUCTCODELABEL,
- ID_SLAVEINFOSPANELPRODUCTCODE, ID_SLAVEINFOSPANELREVISIONNUMBERLABEL,
- ID_SLAVEINFOSPANELREVISIONNUMBER, ID_SLAVEINFOSPANELPHYSICSLABEL,
- ID_SLAVEINFOSPANELPHYSICS, ID_SLAVEINFOSPANELSYNCMANAGERSLABEL,
- ID_SLAVEINFOSPANELSYNCMANAGERSGRID, ID_SLAVEINFOSPANELVARIABLESLABEL,
- ID_SLAVEINFOSPANELVARIABLESGRID,
+[ID_NODEEDITOR, ID_NODEEDITORVENDORLABEL,
+ ID_NODEEDITORVENDOR, ID_NODEEDITORPRODUCTCODELABEL,
+ ID_NODEEDITORPRODUCTCODE, ID_NODEEDITORREVISIONNUMBERLABEL,
+ ID_NODEEDITORREVISIONNUMBER, ID_NODEEDITORPHYSICSLABEL,
+ ID_NODEEDITORPHYSICS, ID_NODEEDITORSYNCMANAGERSLABEL,
+ ID_NODEEDITORSYNCMANAGERSGRID, ID_NODEEDITORVARIABLESLABEL,
+ ID_NODEEDITORVARIABLESGRID,
] = [wx.NewId() for _init_ctrls in range(13)]
-class SlaveInfosPanel(wx.Panel):
-
- if wx.VERSION < (2, 6, 0):
- def Bind(self, event, function, id = None):
- if id is not None:
- event(self, id, function)
- else:
- event(self, function)
+class NodeEditor(EditorPanel):
+
+ ID = ID_NODEEDITOR
def _init_coll_MainSizer_Items(self, parent):
parent.AddSizer(self.SlaveInfosDetailsSizer, 0, border=5, flag=wx.TOP|wx.LEFT|wx.RIGHT|wx.GROW)
@@ -192,58 +76,58 @@
self._init_coll_SlaveInfosDetailsSizer_Growables(self.SlaveInfosDetailsSizer)
self._init_coll_SlaveInfosDetailsSizer_Items(self.SlaveInfosDetailsSizer)
- self.SetSizer(self.MainSizer)
-
- def _init_ctrls(self, prnt):
- wx.Panel.__init__(self, id=ID_SLAVEINFOSPANEL, name='SlavePanel', parent=prnt,
+ self.Editor.SetSizer(self.MainSizer)
+
+ def _init_Editor(self, prnt):
+ self.Editor = wx.Panel(id=-1, name='SlavePanel', parent=prnt,
size=wx.Size(0, 0), style=wx.TAB_TRAVERSAL)
- self.VendorLabel = wx.StaticText(id=ID_SLAVEINFOSPANELVENDORLABEL,
- label=_('Vendor:'), name='VendorLabel', parent=self,
- pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
-
- self.Vendor = wx.TextCtrl(id=ID_SLAVEINFOSPANELVENDOR, value='',
- name='Vendor', parent=self, pos=wx.Point(0, 0),
- size=wx.Size(0, 24), style=wx.TE_READONLY)
-
- self.ProductCodeLabel = wx.StaticText(id=ID_SLAVEINFOSPANELPRODUCTCODELABEL,
- label=_('Product code:'), name='ProductCodeLabel', parent=self,
- pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
-
- self.ProductCode = wx.TextCtrl(id=ID_SLAVEINFOSPANELPRODUCTCODE, value='',
- name='ProductCode', parent=self, pos=wx.Point(0, 0),
- size=wx.Size(0, 24), style=wx.TE_READONLY)
-
- self.RevisionNumberLabel = wx.StaticText(id=ID_SLAVEINFOSPANELREVISIONNUMBERLABEL,
- label=_('Revision number:'), name='RevisionNumberLabel', parent=self,
- pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
-
- self.RevisionNumber = wx.TextCtrl(id=ID_SLAVEINFOSPANELREVISIONNUMBER, value='',
- name='RevisionNumber', parent=self, pos=wx.Point(0, 0),
- size=wx.Size(0, 24), style=wx.TE_READONLY)
-
- self.PhysicsLabel = wx.StaticText(id=ID_SLAVEINFOSPANELPHYSICSLABEL,
- label=_('Physics:'), name='PhysicsLabel', parent=self,
- pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
-
- self.Physics = wx.TextCtrl(id=ID_SLAVEINFOSPANELPHYSICS, value='',
- name='Physics', parent=self, pos=wx.Point(0, 0),
- size=wx.Size(0, 24), style=wx.TE_READONLY)
-
- self.SyncManagersLabel = wx.StaticText(id=ID_SLAVEINFOSPANELSYNCMANAGERSLABEL,
- label=_('Sync managers:'), name='SyncManagersLabel', parent=self,
- pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
-
- self.SyncManagersGrid = CustomGrid(id=ID_SLAVEINFOSPANELSYNCMANAGERSGRID,
- name='SyncManagersGrid', parent=self, pos=wx.Point(0, 0),
+ self.VendorLabel = wx.StaticText(id=ID_NODEEDITORVENDORLABEL,
+ label=_('Vendor:'), name='VendorLabel', parent=self.Editor,
+ pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
+
+ self.Vendor = wx.TextCtrl(id=ID_NODEEDITORVENDOR, value='',
+ name='Vendor', parent=self.Editor, pos=wx.Point(0, 0),
+ size=wx.Size(0, 24), style=wx.TE_READONLY)
+
+ self.ProductCodeLabel = wx.StaticText(id=ID_NODEEDITORPRODUCTCODELABEL,
+ label=_('Product code:'), name='ProductCodeLabel', parent=self.Editor,
+ pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
+
+ self.ProductCode = wx.TextCtrl(id=ID_NODEEDITORPRODUCTCODE, value='',
+ name='ProductCode', parent=self.Editor, pos=wx.Point(0, 0),
+ size=wx.Size(0, 24), style=wx.TE_READONLY)
+
+ self.RevisionNumberLabel = wx.StaticText(id=ID_NODEEDITORREVISIONNUMBERLABEL,
+ label=_('Revision number:'), name='RevisionNumberLabel', parent=self.Editor,
+ pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
+
+ self.RevisionNumber = wx.TextCtrl(id=ID_NODEEDITORREVISIONNUMBER, value='',
+ name='RevisionNumber', parent=self.Editor, pos=wx.Point(0, 0),
+ size=wx.Size(0, 24), style=wx.TE_READONLY)
+
+ self.PhysicsLabel = wx.StaticText(id=ID_NODEEDITORPHYSICSLABEL,
+ label=_('Physics:'), name='PhysicsLabel', parent=self.Editor,
+ pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
+
+ self.Physics = wx.TextCtrl(id=ID_NODEEDITORPHYSICS, value='',
+ name='Physics', parent=self.Editor, pos=wx.Point(0, 0),
+ size=wx.Size(0, 24), style=wx.TE_READONLY)
+
+ self.SyncManagersLabel = wx.StaticText(id=ID_NODEEDITORSYNCMANAGERSLABEL,
+ label=_('Sync managers:'), name='SyncManagersLabel', parent=self.Editor,
+ pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
+
+ self.SyncManagersGrid = CustomGrid(id=ID_NODEEDITORSYNCMANAGERSGRID,
+ name='SyncManagersGrid', parent=self.Editor, pos=wx.Point(0, 0),
size=wx.Size(0, 0), style=wx.VSCROLL)
- self.VariablesLabel = wx.StaticText(id=ID_SLAVEINFOSPANELVARIABLESLABEL,
+ self.VariablesLabel = wx.StaticText(id=ID_NODEEDITORVARIABLESLABEL,
label=_('Variable entries:'), name='VariablesLabel', parent=self,
pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
- self.VariablesGrid = wx.gizmos.TreeListCtrl(id=ID_SLAVEINFOSPANELVARIABLESGRID,
- name='VariablesGrid', parent=self, pos=wx.Point(0, 0),
+ self.VariablesGrid = wx.gizmos.TreeListCtrl(id=ID_NODEEDITORVARIABLESGRID,
+ name='VariablesGrid', parent=self.Editor, pos=wx.Point(0, 0),
size=wx.Size(0, 0), style=wx.TR_DEFAULT_STYLE |
wx.TR_ROW_LINES |
wx.TR_COLUMN_LINES |
@@ -252,14 +136,10 @@
self.VariablesGrid.GetMainWindow().Bind(wx.EVT_LEFT_DOWN, self.OnVariablesGridLeftClick)
self._init_sizers()
-
- def __init__(self, parent, controler):
- self._init_ctrls(parent)
-
- self.Controler = controler
- self.Slave = None
- self.Type = None
-
+
+ def __init__(self, parent, controler, window):
+ EditorPanel.__init__(self, parent, "", window, controler)
+
self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames())
self.SyncManagersGrid.SetTable(self.SyncManagersTable)
self.SyncManagersGridColAlignements = [wx.ALIGN_RIGHT, wx.ALIGN_LEFT, wx.ALIGN_RIGHT,
@@ -281,10 +161,21 @@
self.VariablesGrid.AddColumn(colname, colsize, colalign)
self.VariablesGrid.SetMainColumn(1)
- def SetSlaveInfos(self, slave_pos, slave_infos):
- self.Slave = slave_pos
+ img = wx.Bitmap(self.Controler.GetIconPath("Cfile.png"), wx.BITMAP_TYPE_PNG).ConvertToImage()
+ self.SetIcon(wx.BitmapFromImage(img.Rescale(16, 16)))
+
+ def __del__(self):
+ self.Controler.OnCloseEditor(self)
+
+ def GetTitle(self):
+ return self.Controler.PlugFullName()
+
+ def GetBufferState(self):
+ return False, False
+
+ def RefreshView(self):
+ slave_infos = self.Controler.GetSlaveInfos()
if slave_infos is not None:
- self.Type = slave_infos["device_type"]
self.Vendor.SetValue(slave_infos["vendor"])
self.ProductCode.SetValue(slave_infos["product_code"])
self.RevisionNumber.SetValue(slave_infos["revision_number"])
@@ -293,7 +184,6 @@
self.SyncManagersTable.ResetView(self.SyncManagersGrid)
self.RefreshVariablesGrid(slave_infos["entries"])
else:
- self.Type = None
self.Vendor.SetValue("")
self.ProductCode.SetValue("")
self.RevisionNumber.SetValue("")
@@ -301,7 +191,7 @@
self.SyncManagersTable.SetData([])
self.SyncManagersTable.ResetView(self.SyncManagersGrid)
self.RefreshVariablesGrid([])
-
+
def RefreshVariablesGrid(self, entries):
root = self.VariablesGrid.GetRootItem()
if not root.IsOk():
@@ -317,7 +207,8 @@
for entry in entries:
idx += 1
- if not item.IsOk():
+ create_new = not item.IsOk()
+ if create_new:
item = self.VariablesGrid.AppendItem(root, "")
for col, colname in enumerate(colnames):
if col == 0:
@@ -327,9 +218,9 @@
if entry["PDOMapping"] == "":
self.VariablesGrid.SetItemBackgroundColour(item, wx.LIGHT_GREY)
self.VariablesGrid.SetItemPyData(item, entry)
+ if create_new and wx.Platform != '__WXMSW__':
+ item, root_cookie = self.VariablesGrid.GetNextChild(root, root_cookie)
idx = self.GenerateVariablesGridBranch(item, entry["children"], colnames, idx)
- if wx.Platform != '__WXMSW__':
- item, root_cookie = self.VariablesGrid.GetNextChild(root, root_cookie)
item, root_cookie = self.VariablesGrid.GetNextChild(root, root_cookie)
to_delete = []
@@ -353,13 +244,13 @@
entry_index = self.Controler.ExtractHexDecValue(entry.get("Index", "0"))
entry_subindex = self.Controler.ExtractHexDecValue(entry.get("SubIndex", "0"))
- var_name = "%s_%4.4x_%2.2x" % (self.Type, entry_index, entry_subindex)
+ var_name = "%s_%4.4x_%2.2x" % (self.Controler.PlugName(), entry_index, entry_subindex)
if pdo_mapping == "R":
dir = "%I"
else:
dir = "%Q"
location = "%s%s" % (dir, self.Controler.GetSizeOfType(data_type)) + \
- ".".join(map(lambda x:str(x), self.Controler.GetCurrentLocation() + self.Slave + (entry_index, entry_subindex)))
+ ".".join(map(lambda x:str(x), self.Controler.GetCurrentLocation() + (self.Controler.GetSlavePos(), entry_index, entry_subindex)))
data = wx.TextDataObject(str((location, "location", data_type, var_name, "")))
dragSource = wx.DropSource(self.VariablesGrid)
@@ -368,339 +259,4 @@
event.Skip()
-[ID_SLAVEPANEL, ID_SLAVEPANELTYPELABEL,
- ID_SLAVEPANELTYPE, ID_SLAVEPANELTYPEBROWSE,
- ID_SLAVEPANELALIASLABEL, ID_SLAVEPANELALIAS,
- ID_SLAVEPANELPOSLABEL, ID_SLAVEPANELPOS,
- ID_SLAVEPANELSLAVEINFOSSTATICBOX,
-] = [wx.NewId() for _init_ctrls in range(9)]
-
-class SlavePanel(wx.Panel):
-
- if wx.VERSION < (2, 6, 0):
- def Bind(self, event, function, id = None):
- if id is not None:
- event(self, id, function)
- else:
- event(self, function)
-
- def _init_coll_MainSizer_Items(self, parent):
- parent.AddSizer(self.PositionSizer, 0, border=5, flag=wx.GROW|wx.TOP|wx.LEFT|wx.RIGHT)
- parent.AddSizer(self.SlaveInfosBoxSizer, 0, border=5, flag=wx.GROW|wx.ALIGN_RIGHT|wx.LEFT|wx.RIGHT)
-
- def _init_coll_MainSizer_Growables(self, parent):
- parent.AddGrowableCol(0)
- parent.AddGrowableRow(1)
-
- def _init_coll_PositionSizer_Items(self, parent):
- parent.AddWindow(self.TypeLabel, 0, border=0, flag=wx.ALIGN_CENTER_VERTICAL)
- parent.AddSizer(self.TypeSizer, 0, border=0, flag=wx.GROW)
- parent.AddWindow(self.AliasLabel, 0, border=0, flag=wx.ALIGN_CENTER_VERTICAL)
- parent.AddWindow(self.Alias, 0, border=0, flag=wx.GROW)
- parent.AddWindow(self.PosLabel, 0, border=0, flag=wx.ALIGN_CENTER_VERTICAL)
- parent.AddWindow(self.Pos, 0, border=0, flag=wx.GROW)
-
- def _init_coll_PositionSizer_Growables(self, parent):
- parent.AddGrowableCol(1)
- parent.AddGrowableCol(3)
- parent.AddGrowableCol(5)
- parent.AddGrowableRow(0)
-
- def _init_coll_TypeSizer_Items(self, parent):
- parent.AddWindow(self.Type, 1, border=0, flag=0)
- parent.AddWindow(self.TypeBrowse, 0, border=0, flag=0)
-
- def _init_coll_SlaveInfosBoxSizer_Items(self, parent):
- parent.AddWindow(self.SlaveInfosPanel, 1, border=0, flag=wx.GROW)
-
- def _init_sizers(self):
- self.MainSizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5)
- self.PositionSizer = wx.FlexGridSizer(cols=6, hgap=5, rows=1, vgap=0)
- self.TypeSizer = wx.BoxSizer(wx.HORIZONTAL)
- self.SlaveInfosBoxSizer = wx.StaticBoxSizer(self.SlaveInfosStaticBox, wx.VERTICAL)
-
- self._init_coll_MainSizer_Growables(self.MainSizer)
- self._init_coll_MainSizer_Items(self.MainSizer)
- self._init_coll_PositionSizer_Growables(self.PositionSizer)
- self._init_coll_PositionSizer_Items(self.PositionSizer)
- self._init_coll_TypeSizer_Items(self.TypeSizer)
- self._init_coll_SlaveInfosBoxSizer_Items(self.SlaveInfosBoxSizer)
-
- self.SetSizer(self.MainSizer)
-
- def _init_ctrls(self, prnt):
- wx.Panel.__init__(self, id=ID_SLAVEPANEL, name='SlavePanel', parent=prnt,
- size=wx.Size(0, 0), style=wx.TAB_TRAVERSAL)
-
- self.TypeLabel = wx.StaticText(id=ID_SLAVEPANELTYPELABEL,
- label=_('Type:'), name='TypeLabel', parent=self,
- pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
-
- self.Type = wx.TextCtrl(id=ID_SLAVEPANELTYPE, value='',
- name='Type', parent=self, pos=wx.Point(0, 0),
- size=wx.Size(0, 24), style=wx.TE_READONLY)
-
- self.TypeBrowse = wx.Button(id=ID_SLAVEPANELTYPEBROWSE, label='...',
- name='TypeBrowse', parent=self, pos=wx.Point(0, 0),
- size=wx.Size(30, 24), style=0)
- self.Bind(wx.EVT_BUTTON, self.OnTypeBrowseClick, id=ID_SLAVEPANELTYPEBROWSE)
-
- self.AliasLabel = wx.StaticText(id=ID_SLAVEPANELALIASLABEL,
- label=_('Alias:'), name='AliasLabel', parent=self,
- pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
-
- self.Alias = wx.SpinCtrl(id=ID_SLAVEPANELALIAS,
- name='Alias', parent=self, pos=wx.Point(0, 0),
- size=wx.Size(0, 24), style=wx.SP_ARROW_KEYS, min=0, max=0xffff)
- self.Bind(wx.EVT_SPINCTRL, self.OnAliasChanged, id=ID_SLAVEPANELALIAS)
-
- self.PosLabel = wx.StaticText(id=ID_SLAVEPANELPOSLABEL,
- label=_('Position:'), name='PositionLabel', parent=self,
- pos=wx.Point(0, 0), size=wx.DefaultSize, style=0)
-
- self.Pos = wx.SpinCtrl(id=ID_SLAVEPANELPOS,
- name='Pos', parent=self, pos=wx.Point(0, 0),
- size=wx.Size(0, 24), style=wx.SP_ARROW_KEYS, min=0, max=0xffff)
- self.Bind(wx.EVT_SPINCTRL, self.OnPositionChanged, id=ID_SLAVEPANELPOS)
-
- self.SlaveInfosStaticBox = wx.StaticBox(id=ID_SLAVEPANELSLAVEINFOSSTATICBOX,
- label=_('Slave infos:'), name='SlaveInfosStaticBox', parent=self,
- pos=wx.Point(0, 0), size=wx.Size(0, 0), style=0)
-
- self.SlaveInfosPanel = SlaveInfosPanel(self, self.Controler)
-
- self._init_sizers()
-
- def __init__(self, parent, controler, window, slave):
- self.Controler = controler
- self.ParentWindow = window
- self.Slave = slave
-
- self._init_ctrls(parent)
-
- self.RefreshView()
-
- def GetSlaveTitle(self):
- type_infos = self.Controler.GetSlaveType(self.Slave)
- return "%s (%d:%d)" % (type_infos["device_type"], self.Slave[0], self.Slave[1])
-
- def GetSlave(self):
- return self.Slave
-
- def SetSlave(self, slave):
- if self.Slave != slave:
- self.Slave = slave
- self.RefreshView()
-
- def RefreshView(self):
- self.Alias.SetValue(self.Slave[0])
- self.Pos.SetValue(self.Slave[1])
- slave_infos = self.Controler.GetSlaveInfos(self.Slave)
- if slave_infos is not None:
- self.Type.SetValue(slave_infos["device_type"])
- else:
- type_infos = self.Controler.GetSlaveType(self.Slave)
- self.Type.SetValue(type_infos["device_type"])
- self.SlaveInfosPanel.SetSlaveInfos(self.Slave, slave_infos)
-
- def OnAliasChanged(self, event):
- alias = self.Alias.GetValue()
- if alias != self.Slave[0]:
- result = self.Controler.SetSlavePos(self.Slave[:2], alias = alias)
- if result is not None:
- message = wx.MessageDialog(self, result, _("Error"), wx.OK|wx.ICON_ERROR)
- message.ShowModal()
- message.Destroy()
- else:
- wx.CallAfter(self.ParentWindow.RefreshView, (alias, self.Slave[1]))
- wx.CallAfter(self.ParentWindow.RefreshParentWindow)
- event.Skip()
-
- def OnPositionChanged(self, event):
- position = self.Pos.GetValue()
- if position != self.Slave[1]:
- result = self.Controler.SetSlavePos(self.Slave, position = position)
- if result is not None:
- message = wx.MessageDialog(self, result, _("Error"), wx.OK|wx.ICON_ERROR)
- message.ShowModal()
- message.Destroy()
- else:
- wx.CallAfter(self.ParentWindow.RefreshView, (self.Slave[0], position))
- wx.CallAfter(self.ParentWindow.RefreshParentWindow)
- event.Skip()
-
- def OnTypeBrowseClick(self, event):
- dialog = SlaveTypeChoiceDialog(self, self.Controler, self.Controler.GetSlaveType(self.Slave))
- if dialog.ShowModal() == wx.ID_OK:
- result = self.Controler.SetSlaveType(self.Slave, dialog.GetType())
- if result is not None:
- message = wx.MessageDialog(self, result, _("Error"), wx.OK|wx.ICON_ERROR)
- message.ShowModal()
- message.Destroy()
- else:
- wx.CallAfter(self.RefreshView)
- wx.CallAfter(self.ParentWindow.RefreshSlaveNodesTitles)
- wx.CallAfter(self.ParentWindow.RefreshParentWindow)
- dialog.Destroy()
- event.Skip()
-
-[ID_CONFIGEDITOR, ID_CONFIGEDITORSLAVENODES,
-] = [wx.NewId() for _init_ctrls in range(2)]
-
-[ID_CONFIGEDITORPLUGINMENUSCANNETWORK, ID_CONFIGEDITORPLUGINMENUADDSLAVE,
- ID_CONFIGEDITORPLUGINMENUDELETESLAVE,
-] = [wx.NewId() for _init_coll_PluginMenu_Items in range(3)]
-
-class ConfigEditor(EditorPanel):
-
- ID = ID_CONFIGEDITOR
-
- def _init_coll_MainSizer_Items(self, parent):
- parent.AddWindow(self.SlaveNodes, 0, border=5, flag=wx.GROW|wx.ALL)
-
- def _init_coll_MainSizer_Growables(self, parent):
- parent.AddGrowableCol(0)
- parent.AddGrowableRow(0)
-
- def _init_sizers(self):
- self.MainSizer = wx.FlexGridSizer(cols=1, hgap=0, rows=1, vgap=0)
-
- self._init_coll_MainSizer_Items(self.MainSizer)
- self._init_coll_MainSizer_Growables(self.MainSizer)
-
- self.Editor.SetSizer(self.MainSizer)
-
- def _init_Editor(self, prnt):
- self.Editor = wx.Panel(id=-1, parent=prnt, pos=wx.Point(0, 0),
- size=wx.Size(0, 0), style=wx.TAB_TRAVERSAL)
-
- self.SlaveNodes = wx.Notebook(id=ID_CONFIGEDITORSLAVENODES,
- name='SlaveNodes', parent=self.Editor, pos=wx.Point(0, 0),
- size=wx.Size(0, 0), style=wx.NB_LEFT)
-
- self._init_sizers()
-
- def _init_MenuItems(self):
- self.MenuItems = [
- (wx.ITEM_NORMAL, (_("Scan network"), ID_CONFIGEDITORPLUGINMENUSCANNETWORK, '', self.OnScanNetworkMenu)),
- (wx.ITEM_SEPARATOR, None),
- (wx.ITEM_NORMAL, (_("Add slave"), ID_CONFIGEDITORPLUGINMENUADDSLAVE, '', self.OnAddSlaveMenu)),
- (wx.ITEM_NORMAL, (_("Delete slave"), ID_CONFIGEDITORPLUGINMENUDELETESLAVE, '', self.OnDeleteSlaveMenu)),
- ]
-
- def __init__(self, parent, controler, window):
- EditorPanel.__init__(self, parent, "", window, controler)
-
- img = wx.Bitmap(self.Controler.GetIconPath("Cfile.png"), wx.BITMAP_TYPE_PNG).ConvertToImage()
- self.SetIcon(wx.BitmapFromImage(img.Rescale(16, 16)))
-
- def __del__(self):
- self.Controler.OnCloseEditor(self)
-
- def GetTitle(self):
- fullname = self.Controler.PlugFullName()
- if not self.Controler.ConfigIsSaved():
- return "~%s~" % fullname
- return fullname
-
- def GetBufferState(self):
- return self.Controler.GetBufferState()
-
- def Undo(self):
- self.Controler.LoadPrevious()
- self.RefreshView()
-
- def Redo(self):
- self.Controler.LoadNext()
- self.RefreshView()
-
- def RefreshView(self, slave_pos=None):
- slaves = self.Controler.GetSlaves()
- for i, slave in enumerate(slaves):
- if i < self.SlaveNodes.GetPageCount():
- panel = self.SlaveNodes.GetPage(i)
- panel.SetSlave(slave)
- else:
- panel = SlavePanel(self.SlaveNodes, self.Controler, self, slave)
- self.SlaveNodes.AddPage(panel, "")
- while self.SlaveNodes.GetPageCount() > len(slaves):
- self.SlaveNodes.RemovePage(len(slaves))
- self.RefreshSlaveNodesTitles()
- if slave_pos is not None:
- self.SelectSlave(slave_pos)
-
- def RefreshParentWindow(self):
- self.ParentWindow.RefreshTitle()
- self.ParentWindow.RefreshFileMenu()
- self.ParentWindow.RefreshEditMenu()
- self.ParentWindow.RefreshPluginMenu()
- self.ParentWindow.RefreshPageTitles()
-
- def RefreshSlaveNodesTitles(self):
- for idx in xrange(self.SlaveNodes.GetPageCount()):
- panel = self.SlaveNodes.GetPage(idx)
- self.SlaveNodes.SetPageText(idx, panel.GetSlaveTitle())
-
- def RefreshPluginMenu(self, plugin_menu):
- plugin_menu.Enable(ID_CONFIGEDITORPLUGINMENUDELETESLAVE,
- self.SlaveNodes.GetPageCount() > 0)
-
- def SelectSlave(self, slave):
- for idx in xrange(self.SlaveNodes.GetPageCount()):
- panel = self.SlaveNodes.GetPage(idx)
- if panel.GetSlave() == slave:
- self.SlaveNodes.SetSelection(idx)
- return
-
- def OnScanNetworkMenu(self, event):
- error, returnVal = self.Controler.RemoteExec(SCAN_COMMAND, returnVal = None)
- if error != 0:
- dialog = wx.MessageDialog(self, returnVal, "Error", wx.OK|wx.ICON_ERROR)
- dialog.ShowModal()
- dialog.Destroy()
- elif returnVal is not None:
- print returnVal
- wx.CallAfter(self.RefreshView)
-
- def OnAddSlaveMenu(self, event):
- slave = self.Controler.AddSlave()
- self.RefreshParentWindow()
- wx.CallAfter(self.RefreshView, slave)
-
- def OnDeleteSlaveMenu(self, event):
- selected = self.SlaveNodes.GetSelection()
- if selected != -1:
- panel = self.SlaveNodes.GetPage(selected)
- if self.Controler.RemoveSlave(panel.GetSlave()[:2]):
- self.RefreshParentWindow()
- wx.CallAfter(self.RefreshView)
-
-
-[ID_DS402NODEEDITOR,
-] = [wx.NewId() for _init_ctrls in range(1)]
-
-class DS402NodeEditor(EditorPanel):
-
- ID = ID_DS402NODEEDITOR
-
- def _init_Editor(self, prnt):
- self.Editor = SlaveInfosPanel(prnt, self.Controler)
-
- def __init__(self, parent, controler, window):
- EditorPanel.__init__(self, parent, "", window, controler)
-
- img = wx.Bitmap(self.Controler.GetIconPath("Cfile.png"), wx.BITMAP_TYPE_PNG).ConvertToImage()
- self.SetIcon(wx.BitmapFromImage(img.Rescale(16, 16)))
-
- def __del__(self):
- self.Controler.OnCloseEditor(self)
-
- def GetTitle(self):
- return self.Controler.PlugFullName()
-
- def GetBufferState(self):
- return False, False
-
- def RefreshView(self):
- self.Editor.SetSlaveInfos(self.Controler.GetSlavePos(), self.Controler.GetSlaveInfos())
-
\ No newline at end of file
+DS402NodeEditor = NodeEditor
diff -r d676082c1d2f -r ce3727171207 etherlab/etherlab.py
--- a/etherlab/etherlab.py Sun Mar 11 21:57:00 2012 +0100
+++ b/etherlab/etherlab.py Sun Mar 18 23:57:32 2012 +0100
@@ -7,118 +7,129 @@
from xmlclass import *
from plugger import PlugTemplate
from PLCControler import UndoBuffer, LOCATION_PLUGIN, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
-from ConfigEditor import ConfigEditor, DS402NodeEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE
+from ConfigEditor import NodeEditor, DS402NodeEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE
+
+try:
+ from plugins.motion import Headers, AxisXSD
+ HAS_MCL = True
+except:
+ HAS_MCL = False
+
+
+TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L",
+ "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L",
+ "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"}
+
+DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64",
+ "USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64",
+ "BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"}
+
+VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY}
#--------------------------------------------------
-# Ethercat DS402 Node
+# Remote Exec Etherlab Commands
#--------------------------------------------------
-NODE_VARIABLES = [
- ("ControlWord", 0x6040, 0x00, "UINT", "Q"),
- ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
- ("StatusWord", 0x6041, 0x00, "UINT", "I"),
- ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
- ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
- ("ErrorCode", 0x603f, 0x00, "UINT", "I"),
-]
-
-class _EthercatDS402SlavePlug:
- XSD = """
-
-
-
-
-
-
-
- """
- EditorType = DS402NodeEditor
+SCAN_COMMAND = """
+import commands
+result = commands.getoutput("ethercat slaves")
+slaves = []
+for slave_line in result.splitlines():
+ chunks = slave_line.split()
+ idx, pos, state, flag = chunks[:4]
+ name = " ".join(chunks[4:])
+ alias, position = pos.split(":")
+ slave = {"idx": int(idx),
+ "alias": int(alias),
+ "position": int(position),
+ "name": name}
+ details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"])
+ for details_line in details.splitlines():
+ details_line = details_line.strip()
+ for header, param in [("Vendor Id:", "vendor_id"),
+ ("Product code:", "product_code"),
+ ("Revision number:", "revision_number")]:
+ if details_line.startswith(header):
+ slave[param] = int(details_line.split()[-1], 16)
+ break
+ slaves.append(slave)
+returnVal = slaves
+"""
+
+#--------------------------------------------------
+# Ethercat Node
+#--------------------------------------------------
+
+class _EthercatSlavePlug:
+
+ NODE_PROFILE = None
+ EditorType = NodeEditor
def ExtractHexDecValue(self, value):
return ExtractHexDecValue(value)
-
+
def GetSizeOfType(self, type):
return TYPECONVERSION.get(self.GetPlugRoot().GetBaseType(type), None)
- def _GetChildBySomething(self, something, toks):
- return self
+ def GetSlavePos(self):
+ return self.BaseParams.getIEC_Channel()
def GetParamsAttributes(self, path = None):
- infos = PlugTemplate.GetParamsAttributes(self, path = None)
- for element in infos:
- if element["name"] == "EtherlabDS402Slave":
- for child in element["children"]:
- if child["name"] == "Node_Type":
- child["type"] = [module[0] for module in self.PlugParent.GetModulesByProfile(402)]
- return infos
-
- def GetAllChannels(self):
- AllChannels = PlugTemplate.GetAllChannels(self)
- for slave_pos in self.PlugParent.GetSlaves():
- if slave_pos[0] not in AllChannels:
- AllChannels.append(slave_pos[0])
- AllChannels.sort()
- return AllChannels
-
- def GetCurrentLocation(self):
- """
- @return: Tupple containing plugin IEC location of current plugin : %I0.0.4.5 => (0,0,4,5)
- """
- return self.PlugParent.GetCurrentLocation() + self.GetSlavePos()
-
- def GetSlavePos(self):
- return self.BaseParams.getIEC_Channel(), 0
-
- def GetSlaveTypeInfos(self):
- slave_type = self.EtherlabDS402Slave.getNode_Type()
-
- for module_type, vendor_id, product_code, revision_number in self.PlugParent.GetModulesByProfile(402):
- if module_type == slave_type:
- return {"device_type": module_type,
- "vendor": GenerateHexDecValue(vendor_id),
- "product_code": GenerateHexDecValue(product_code, 16),
- "revision_number": GenerateHexDecValue(revision_number, 16)}
-
- return None
+ if path:
+ parts = path.split(".", 1)
+ if self.MandatoryParams and parts[0] == self.MandatoryParams[0]:
+ return self.MandatoryParams[1].getElementInfos(parts[0], parts[1])
+ elif self.PlugParams and parts[0] == self.PlugParams[0]:
+ return self.PlugParams[1].getElementInfos(parts[0], parts[1])
+ else:
+ params = []
+ if wx.VERSION < (2, 8, 0) and self.MandatoryParams:
+ params.append(self.MandatoryParams[1].getElementInfos(self.MandatoryParams[0]))
+ slave_type = self.PlugParent.GetSlaveType(self.GetSlavePos())
+ params.append({
+ 'use': 'required',
+ 'type': 'element',
+ 'name': 'SlaveParams',
+ 'value': None,
+ 'children': [{
+ 'use': 'optional',
+ 'type': self.PlugParent.GetSlaveTypesLibrary(self.NODE_PROFILE),
+ 'name': 'Type',
+ 'value': (slave_type["device_type"], slave_type)},
+ {'use': 'optional',
+ 'type': 'unsignedLong',
+ 'name': 'Alias',
+ 'value': self.PlugParent.GetSlaveAlias(self.GetSlavePos())}]
+ })
+ if self.PlugParams:
+ params.append(self.PlugParams[1].getElementInfos(self.PlugParams[0]))
+ return params
+
+ def SetParamsAttribute(self, path, value):
+ position = self.BaseParams.getIEC_Channel()
+ value, changed = PlugTemplate.SetParamsAttribute(self, path, value)
+ # Filter IEC_Channel, Slave_Type and Alias that have specific behavior
+ if path == "BaseParams.IEC_Channel":
+ self.PlugParent.SetSlavePosition(position, value)
+ elif path == "SlaveParams.Type":
+ self.PlugParent.SetSlaveType(position, value)
+ slave_type = self.PlugParent.GetSlaveType(self.GetSlavePos())
+ value = (slave_type["device_type"], slave_type)
+ changed = True
+ elif path == "SlaveParams.Alias":
+ self.PlugParent.SetSlaveAlias(position, value)
+ changed = True
+ return value, changed
def GetSlaveInfos(self):
- slave_typeinfos = self.GetSlaveTypeInfos()
- if slave_typeinfos is not None:
- device = self.PlugParent.GetModuleInfos(slave_typeinfos)
- if device is not None:
- infos = slave_typeinfos.copy()
- entries = device.GetEntriesList()
- entries_list = entries.items()
- entries_list.sort()
- entries = []
- current_index = None
- current_entry = None
- for (index, subindex), entry in entries_list:
- entry["children"] = []
- if index != current_index:
- current_index = index
- current_entry = entry
- entries.append(entry)
- elif current_entry is not None:
- current_entry["children"].append(entry)
- else:
- entries.append(entry)
- infos.update({"physics": device.getPhysics(),
- "sync_managers": device.GetSyncManagers(),
- "entries": entries})
- return infos
- return None
-
+ return self.PlugParent.GetSlaveInfos(self.GetSlavePos())
+
def GetVariableLocationTree(self):
- slave_typeinfos = self.GetSlaveTypeInfos()
- vars = []
- if slave_typeinfos is not None:
- vars = self.PlugParent.GetDeviceLocationTree(self.GetCurrentLocation(), slave_typeinfos)
-
return {"name": self.BaseParams.getName(),
"type": LOCATION_PLUGIN,
"location": self.GetFullIEC_Channel(),
- "children": vars}
+ "children": self.PlugParent.GetDeviceLocationTree(self.GetSlavePos(), self.GetCurrentLocation(), self.BaseParams.getName())
+ }
PluginMethods = [
{"bitmap" : os.path.join("images", "EditCfile"),
@@ -127,7 +138,6 @@
"method" : "_OpenView"},
]
-
def PlugGenerate_C(self, buildpath, locations):
"""
Generate C code
@@ -141,79 +151,111 @@
}, ...]
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
"""
- current_location = self.GetCurrentLocation()
-
- location_str = "_".join(map(lambda x:str(x), current_location))
-
- slave_pos = current_location[-2:]
-
- slave_typeinfos = self.GetSlaveTypeInfos()
- device = None
- if slave_typeinfos is not None:
- device = self.PlugParent.GetModuleInfos(slave_typeinfos)
-
- if device is None:
- raise (ValueError,
- _("No information found for DS402 node \"%s\" at location %s!") % (
- slave_typeinfos["device_type"], ".".join(current_location)))
-
- self.PlugParent.FileGenerator.DeclareSlave(slave_pos, slave_typeinfos)
-
- plc_ds402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_ds402node.c")
- plc_ds402node_file = open(plc_ds402node_filepath, 'r')
- plc_ds402node_code = plc_ds402node_file.read()
- plc_ds402node_file.close()
-
- from plugins.motion import Headers
-
- str_completion = {
- "location": location_str,
- "MCL_headers": Headers,
- "extern_located_variables_declaration": [],
- "entry_variables": [],
- "init_entry_variables": [],
- }
-
- for variable in NODE_VARIABLES:
- var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable))
- var_infos["location"] = location_str
- var_infos["var_size"] = self.PlugParent.GetSizeOfType(var_infos["var_type"])
- var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos
-
- str_completion["extern_located_variables_declaration"].append(
- "IEC_%(var_type)s *%(var_name)s;" % var_infos)
- str_completion["entry_variables"].append(
- " IEC_%(var_type)s *%(name)s;" % var_infos)
- str_completion["init_entry_variables"].append(
- " __DS402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos)
-
- self.PlugParent.FileGenerator.DeclareVariable(
- slave_pos, var_infos["index"], var_infos["subindex"],
- var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
-
- for element in ["extern_located_variables_declaration",
- "entry_variables",
- "init_entry_variables"]:
- str_completion[element] = "\n".join(str_completion[element])
-
- Gen_DS402Nodefile_path = os.path.join(buildpath, "ds402node_%s.c"%location_str)
- ds402nodefile = open(Gen_DS402Nodefile_path, 'w')
- ds402nodefile.write(plc_ds402node_code % str_completion)
- ds402nodefile.close()
-
- return [(Gen_DS402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))],"",True
-
-
-
-TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L",
- "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L",
- "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"}
-
-DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64",
- "USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64",
- "BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"}
-
-VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY}
+ return [],"",False
+
+#--------------------------------------------------
+# Ethercat DS402 Node
+#--------------------------------------------------
+
+if HAS_MCL:
+
+ NODE_VARIABLES = [
+ ("ControlWord", 0x6040, 0x00, "UINT", "Q"),
+ ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
+ ("StatusWord", 0x6041, 0x00, "UINT", "I"),
+ ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
+ ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
+ ("ErrorCode", 0x603f, 0x00, "UINT", "I"),
+ ]
+
+ class _EthercatDS402SlavePlug(_EthercatSlavePlug):
+ XSD = """
+
+
+
+ %s
+
+
+
+ """ % AxisXSD
+
+ NODE_PROFILE = 402
+ EditorType = DS402NodeEditor
+
+ def PlugGenerate_C(self, buildpath, locations):
+ """
+ Generate C code
+ @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)
+ @param locations: List of complete variables locations \
+ [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
+ "NAME" : name of the variable (generally "__IW0_1_2" style)
+ "DIR" : direction "Q","I" or "M"
+ "SIZE" : size "X", "B", "W", "D", "L"
+ "LOC" : tuple of interger for IEC location (0,1,2,...)
+ }, ...]
+ @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
+ """
+ current_location = self.GetCurrentLocation()
+
+ location_str = "_".join(map(lambda x:str(x), current_location))
+
+ plc_ds402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_ds402node.c")
+ plc_ds402node_file = open(plc_ds402node_filepath, 'r')
+ plc_ds402node_code = plc_ds402node_file.read()
+ plc_ds402node_file.close()
+
+ str_completion = {
+ "location": location_str,
+ "MCL_headers": Headers,
+ "extern_located_variables_declaration": [],
+ "entry_variables": [],
+ "init_axis_params": [],
+ "init_entry_variables": [],
+ }
+
+ for variable in NODE_VARIABLES:
+ var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable))
+ var_infos["location"] = location_str
+ var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"])
+ var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos
+
+ str_completion["extern_located_variables_declaration"].append(
+ "IEC_%(var_type)s *%(var_name)s;" % var_infos)
+ str_completion["entry_variables"].append(
+ " IEC_%(var_type)s *%(name)s;" % var_infos)
+ str_completion["init_entry_variables"].append(
+ " __DS402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos)
+
+ self.PlugParent.FileGenerator.DeclareVariable(
+ self.GetSlavePos(), var_infos["index"], var_infos["subindex"],
+ var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
+
+ params = self.PlugParams[1].getElementInfos(self.PlugParams[0])
+ for param in params["children"]:
+ if param["value"] is not None:
+ param_infos = {
+ "location": location_str,
+ "param_name": param["name"],
+ }
+ if param["type"] == "boolean":
+ param_infos["param_value"] = {True: "true", False: "false"}[param["value"]]
+ else:
+ param_infos["param_value"] = str(param["value"])
+ str_completion["init_axis_params"].append(
+ " __DS402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)
+
+ for element in ["extern_located_variables_declaration",
+ "entry_variables",
+ "init_axis_params",
+ "init_entry_variables"]:
+ str_completion[element] = "\n".join(str_completion[element])
+
+ Gen_DS402Nodefile_path = os.path.join(buildpath, "ds402node_%s.c"%location_str)
+ ds402nodefile = open(Gen_DS402Nodefile_path, 'w')
+ ds402nodefile.write(plc_ds402node_code % str_completion)
+ ds402nodefile.close()
+
+ return [(Gen_DS402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))],"",True
#--------------------------------------------------
# Ethercat MASTER
@@ -257,18 +299,6 @@
slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"]))
slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"]))
setattr(cls, "setType", setType)
-
-cls = EtherCATConfigClasses.get("Slave_Info", None)
-if cls:
-
- def getSlavePosition(self):
- return self.getPhysAddr(), self.getAutoIncAddr()
- setattr(cls, "getSlavePosition", getSlavePosition)
-
- def setSlavePosition(self, alias, pos):
- self.setPhysAddr(alias)
- self.setAutoIncAddr(pos)
- setattr(cls, "setSlavePosition", setSlavePosition)
class _EthercatPlug:
XSD = """
@@ -281,9 +311,10 @@
"""
- EditorType = ConfigEditor
-
- PlugChildsTypes = [("EthercatDS402Slave", _EthercatDS402SlavePlug, "Ethercat DS402 Slave")]
+
+ PlugChildsTypes = [("EthercatSlave", _EthercatSlavePlug, "Ethercat Slave")]
+ if HAS_MCL:
+ PlugChildsTypes.append(("EthercatDS402Slave", _EthercatDS402SlavePlug, "Ethercat DS402 Slave"))
def __init__(self):
filepath = self.ConfigFileName()
@@ -314,62 +345,70 @@
def GetSlaves(self):
slaves = []
for slave in self.Config.getConfig().getSlave():
- slaves.append(slave.getInfo().getSlavePosition())
+ slaves.append(slave.getInfo().getPhysAddr())
slaves.sort()
return slaves
def GetSlave(self, slave_pos):
for slave in self.Config.getConfig().getSlave():
slave_info = slave.getInfo()
- if slave_info.getSlavePosition() == slave_pos:
+ if slave_info.getPhysAddr() == slave_pos:
return slave
return None
- def AddSlave(self):
- slaves = self.GetSlaves()
- for PlugInstance in self.IterChilds():
- slaves.append(PlugInstance.GetSlavePos())
- slaves.sort()
- if len(slaves) > 0:
- new_pos = (slaves[-1][0] + 1, 0)
- else:
- new_pos = (0, 0)
- slave = EtherCATConfigClasses["Config_Slave"]()
- slave_infos = slave.getInfo()
- slave_infos.setName("undefined")
- slave_infos.setSlavePosition(new_pos[0], new_pos[1])
- self.Config.getConfig().appendSlave(slave)
- self.BufferConfig()
- return new_pos
-
- def RemoveSlave(self, slave_pos):
+ def PlugAddChild(self, PlugName, PlugType, IEC_Channel=0):
+ """
+ Create the plugins that may be added as child to this node self
+ @param PlugType: string desining the plugin class name (get name from PlugChildsTypes)
+ @param PlugName: string for the name of the plugin instance
+ """
+ newPluginOpj = PlugTemplate.PlugAddChild(self, PlugName, PlugType, IEC_Channel)
+
+ slave = self.GetSlave(newPluginOpj.BaseParams.getIEC_Channel())
+ if slave is None:
+ slave = EtherCATConfigClasses["Config_Slave"]()
+ slave_infos = slave.getInfo()
+ slave_infos.setName("undefined")
+ slave_infos.setPhysAddr(newPluginOpj.BaseParams.getIEC_Channel())
+ slave_infos.setAutoIncAddr(0)
+ self.Config.getConfig().appendSlave(slave)
+ self.BufferConfig()
+ self.OnPlugSave()
+
+ return newPluginOpj
+
+ def _doRemoveChild(self, PlugInstance):
+ slave_pos = PlugInstance.GetSlavePos()
config = self.Config.getConfig()
for idx, slave in enumerate(config.getSlave()):
slave_infos = slave.getInfo()
- if slave_infos.getSlavePosition() == slave_pos:
+ if slave_infos.getPhysAddr() == slave_pos:
config.removeSlave(idx)
self.BufferConfig()
- return True
- return False
-
- def SetSlavePos(self, slave_pos, alias=None, position=None):
- for PlugInstance in self.IterChilds():
- if PlugInstance.BaseParams.getIEC_Channel() == alias:
- return _("Slave with alias \"%d\" already exists!" % alias)
+ self.OnPlugSave()
+ PlugTemplate._doRemoveChild(self, PlugInstance)
+
+ def SetSlavePosition(self, slave_pos, new_pos):
slave = self.GetSlave(slave_pos)
if slave is not None:
slave_info = slave.getInfo()
- new_pos = slave_pos
- if alias is not None:
- new_pos = (alias, new_pos[1])
- if position is not None:
- new_pos = (new_pos[0], position)
- if self.GetSlave(new_pos) is not None:
- return _("Slave with position \"%d:%d\" already exists!" % new_pos)
- slave_info.setSlavePosition(*new_pos)
+ slave_info.setPhysAddr(new_pos)
self.BufferConfig()
+
+ def GetSlaveAlias(self, slave_pos):
+ slave = self.GetSlave(slave_pos)
+ if slave is not None:
+ slave_info = slave.getInfo()
+ return slave_info.getAutoIncAddr()
return None
+ def SetSlaveAlias(self, slave_pos, alias):
+ slave = self.GetSlave(slave_pos)
+ if slave is not None:
+ slave_info = slave.getInfo()
+ slave_info.setAutoIncAddr(alias)
+ self.BufferConfig()
+
def GetSlaveType(self, slave_pos):
slave = self.GetSlave(slave_pos)
if slave is not None:
@@ -381,7 +420,6 @@
if slave is not None:
slave.setType(type_infos)
self.BufferConfig()
- return None
def GetSlaveInfos(self, slave_pos):
slave = self.GetSlave(slave_pos)
@@ -415,81 +453,51 @@
def GetModuleInfos(self, type_infos):
return self.PlugParent.GetModuleInfos(type_infos)
- def GetModulesByProfile(self, profile_type):
- return self.PlugParent.GetModulesByProfile(profile_type)
-
- def GetSlaveTypesLibrary(self):
- return self.PlugParent.GetModulesLibrary()
-
- def GetDeviceLocationTree(self, current_location, type_infos):
- vars = []
-
- device = self.GetModuleInfos(type_infos)
- if device is not None:
- sync_managers = []
- for sync_manager in device.getSm():
- sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
- sync_manager_direction = sync_manager_control_byte & 0x0c
- if sync_manager_direction:
- sync_managers.append(LOCATION_VAR_OUTPUT)
- else:
- sync_managers.append(LOCATION_VAR_INPUT)
-
- entries = device.GetEntriesList().items()
- entries.sort()
- for (index, subindex), entry in entries:
- var_size = self.GetSizeOfType(entry["Type"])
- if var_size is not None:
- var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None)
- if var_class is not None:
- if var_class == LOCATION_VAR_INPUT:
- var_dir = "%I"
- else:
- var_dir = "%Q"
-
- vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]),
- "type": var_class,
- "size": var_size,
- "IEC_type": entry["Type"],
- "var_name": "%s_%4.4x_%2.2x" % ("_".join(type_infos["device_type"].split()), index, subindex),
- "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location +
- (index, subindex)))),
- "description": "",
- "children": []})
+ def GetSlaveTypesLibrary(self, profile_filter=None):
+ return self.PlugParent.GetModulesLibrary(profile_filter)
+
+ def GetDeviceLocationTree(self, slave_pos, current_location, device_name):
+ slave = self.GetSlave(slave_pos)
+ if slave is not None:
+ type_infos = slave.getType()
+
+ vars = []
+
+ device = self.GetModuleInfos(type_infos)
+ if device is not None:
+ sync_managers = []
+ for sync_manager in device.getSm():
+ sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
+ sync_manager_direction = sync_manager_control_byte & 0x0c
+ if sync_manager_direction:
+ sync_managers.append(LOCATION_VAR_OUTPUT)
+ else:
+ sync_managers.append(LOCATION_VAR_INPUT)
+
+ entries = device.GetEntriesList().items()
+ entries.sort()
+ for (index, subindex), entry in entries:
+ var_size = self.GetSizeOfType(entry["Type"])
+ if var_size is not None:
+ var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None)
+ if var_class is not None:
+ if var_class == LOCATION_VAR_INPUT:
+ var_dir = "%I"
+ else:
+ var_dir = "%Q"
+
+ vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]),
+ "type": var_class,
+ "size": var_size,
+ "IEC_type": entry["Type"],
+ "var_name": "%s_%4.4x_%2.2x" % ("_".join(device_name.split()), index, subindex),
+ "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location +
+ (index, subindex)))),
+ "description": "",
+ "children": []})
return vars
- def GetVariableLocationTree(self):
- '''See PlugTemplate.GetVariableLocationTree() for a description.'''
-
- current_location = self.GetCurrentLocation()
-
- groups = []
- for slave_pos in self.GetSlaves():
-
- slave = self.GetSlave(slave_pos)
- if slave is not None:
- type_infos = slave.getType()
-
- vars = self.GetDeviceLocationTree(current_location + slave_pos, type_infos)
- if len(vars) > 0:
- groups.append({"name": "%s (%d,%d)" % ((type_infos["device_type"],) + slave_pos),
- "type": LOCATION_GROUP,
- "location": ".".join(map(str, current_location + slave_pos)) + ".x",
- "children": vars})
-
- return {"name": self.BaseParams.getName(),
- "type": LOCATION_PLUGIN,
- "location": self.GetFullIEC_Channel(),
- "children": groups}
-
- PluginMethods = [
- {"bitmap" : os.path.join("images", "EditCfile"),
- "name" : _("Edit Config"),
- "tooltip" : _("Edit Config"),
- "method" : "_OpenView"},
- ]
-
def PlugTestModified(self):
return self.ChangesToSave or not self.ConfigIsSaved()
@@ -548,14 +556,14 @@
for slave_pos in slaves:
slave = self.GetSlave(slave_pos)
if slave is not None:
- self.FileGenerator.DeclareSlave(slave_pos, slave.getType())
+ self.FileGenerator.DeclareSlave(slave_pos, slave.getInfo().getAutoIncAddr(), slave.getType())
for location in locations:
loc = location["LOC"][len(current_location):]
- slave_pos = loc[:2]
- if slave_pos in slaves:
+ slave_pos = loc[0]
+ if slave_pos in slaves and len(loc) == 3:
self.FileGenerator.DeclareVariable(
- slave_pos, loc[2], loc[3], location["IEC_TYPE"], location["DIR"], location["NAME"])
+ slave_pos, loc[1], loc[2], location["IEC_TYPE"], location["DIR"], location["NAME"])
return [],"",False
@@ -709,13 +717,11 @@
def __del__(self):
self.Controler = None
- def DeclareSlave(self, slave_identifier, slave):
- self.Slaves.append((slave_identifier, slave))
- self.Slaves.sort()
- return self.Slaves.index((slave_identifier, slave))
-
- def DeclareVariable(self, slave_identifier, index, subindex, iec_type, dir, name):
- slave_variables = self.UsedVariables.setdefault(slave_identifier, {})
+ def DeclareSlave(self, slave_index, slave_alias, slave):
+ self.Slaves.append((slave_index, slave_alias, slave))
+
+ def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name):
+ slave_variables = self.UsedVariables.setdefault(slave_index, {})
entry_infos = slave_variables.get((index, subindex), None)
if entry_infos is None:
@@ -752,12 +758,19 @@
for entry_infos in slave_entries.itervalues():
entry_infos["mapped"] = False
- for slave_idx, (slave_pos, type_infos) in enumerate(self.Slaves):
+ self.Slaves.sort()
+ alias = {}
+ for (slave_idx, slave_alias, type_infos) in self.Slaves:
+ if alias.get(slave_alias) is not None:
+ alias[slave_alias] += 1
+ else:
+ alias[slave_alias] = 0
+ slave_pos = (slave_alias, alias[slave_alias])
device = self.Controler.GetModuleInfos(type_infos)
if device is not None:
- slave_variables = self.UsedVariables.get(slave_pos, {})
+ slave_variables = self.UsedVariables.get(slave_idx, {})
device_entries = device.GetEntriesList()
if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0:
@@ -1306,39 +1319,45 @@
raise ValueError, "Not such group \"%\"" % device_group
vendor_category["groups"][device_group]["devices"].append((device.getType().getcontent(), device))
- def GetModulesLibrary(self):
+ def GetModulesLibrary(self, profile_filter=None):
library = []
children_dict = {}
for vendor_id, vendor in self.ModulesLibrary.iteritems():
groups = []
- library.append({"name": vendor["name"],
- "type": ETHERCAT_VENDOR,
- "children": groups})
for group_type, group in vendor["groups"].iteritems():
group_infos = {"name": group["name"],
"order": group["order"],
"type": ETHERCAT_GROUP,
+ "infos": None,
"children": children_dict.setdefault(group_type, [])}
- if group["parent"] is not None:
- parent_children = children_dict.setdefault(group["parent"], [])
- parent_children.append(group_infos)
- else:
- groups.append(group_infos)
device_dict = {}
for device_type, device in group["devices"]:
- device_infos = {"name": ExtractName(device.getName()),
- "type": ETHERCAT_DEVICE,
- "infos": {"device_type": device_type,
- "vendor": vendor_id,
- "product_code": device.getType().getProductCode(),
- "revision_number": device.getType().getRevisionNo()}}
- group_infos["children"].append(device_infos)
- device_type_occurrences = device_dict.setdefault(device_type, [])
- device_type_occurrences.append(device_infos)
+ if profile_filter is None or profile_filter in device.GetProfileNumbers():
+ device_infos = {"name": ExtractName(device.getName()),
+ "type": ETHERCAT_DEVICE,
+ "infos": {"device_type": device_type,
+ "vendor": vendor_id,
+ "product_code": device.getType().getProductCode(),
+ "revision_number": device.getType().getRevisionNo()},
+ "children": []}
+ group_infos["children"].append(device_infos)
+ device_type_occurrences = device_dict.setdefault(device_type, [])
+ device_type_occurrences.append(device_infos)
for device_type_occurrences in device_dict.itervalues():
if len(device_type_occurrences) > 1:
for occurrence in device_type_occurrences:
occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"]
+ if len(group_infos["children"]) > 0:
+ if group["parent"] is not None:
+ parent_children = children_dict.setdefault(group["parent"], [])
+ parent_children.append(group_infos)
+ else:
+ groups.append(group_infos)
+ if len(groups) > 0:
+ library.append({"name": vendor["name"],
+ "type": ETHERCAT_VENDOR,
+ "infos": None,
+ "children": groups})
library.sort(lambda x, y: cmp(x["name"], y["name"]))
return library
@@ -1354,16 +1373,5 @@
revision_number == ExtractHexDecValue(type_infos["revision_number"])):
return device
return None
-
- def GetModulesByProfile(self, profile_type):
- modules = []
- for vendor_id, vendor in self.ModulesLibrary.iteritems():
- for group_type, group in vendor["groups"].iteritems():
- for device_type, device in group["devices"]:
- if profile_type in device.GetProfileNumbers():
- product_code = ExtractHexDecValue(device.getType().getProductCode())
- revision_number = ExtractHexDecValue(device.getType().getRevisionNo())
- modules.append((device_type, vendor_id, product_code, revision_number))
- return modules
-
-
+
+
diff -r d676082c1d2f -r ce3727171207 etherlab/plc_ds402node.c
--- a/etherlab/plc_ds402node.c Sun Mar 11 21:57:00 2012 +0100
+++ b/etherlab/plc_ds402node.c Sun Mar 18 23:57:32 2012 +0100
@@ -19,6 +19,7 @@
IEC_UINT __InactiveMask = 0x4f;
IEC_UINT __ActiveMask = 0x6f;
IEC_UINT __PowerMask = 0x10;
+IEC_BOOL __FirstTick = 1;
typedef enum {
__Unknown,
@@ -44,8 +45,8 @@
int __init_%(location)s()
{
-%(init_entry_variables)s;
-*__IW%(location)s_0 = __MK_AllocAxis(&(__DS402Node_%(location)s.axis));
+%(init_entry_variables)s
+ *__IW%(location)s_0 = __MK_AllocAxis(&(__DS402Node_%(location)s.axis));
return 0;
}
@@ -58,6 +59,11 @@
IEC_UINT statusword_inactive = *(__DS402Node_%(location)s.StatusWord) & __InactiveMask;
IEC_UINT statusword_active = *(__DS402Node_%(location)s.StatusWord) & __ActiveMask;
+ if (__FirstTick) {
+%(init_axis_params)s
+ _FirstTick = 0;
+ }
+
// DS402 node state computation
__DS402Node_%(location)s.state = __Unknown;
switch (statusword_inactive) {