--- a/etherlab/EthercatCIA402Slave.py Wed Apr 02 15:03:32 2014 +0200
+++ b/etherlab/EthercatCIA402Slave.py Mon Jun 24 09:23:28 2013 +0200
@@ -8,26 +8,33 @@
from EthercatSlave import _EthercatSlaveCTN, _CommonSlave
from ConfigEditor import CIA402NodeEditor
-#------------------------------------------
-#from CommonSlave import _CommonSlave
-#------------------------------------------
-
+# Definition of node variables that have to be mapped in PDO
+# [(name, index, subindex, type,
+# direction for master ('I': input, 'Q': output)),...]
NODE_VARIABLES = [
- ("ControlWord", 0x6040, 0x00, "UINT", "Q"),
- ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
- ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"),
- ("TargetTorque", 0x6071, 0x00, "INT", "Q"),
- ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
- ("StatusWord", 0x6041, 0x00, "UINT", "I"),
- ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
- ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
- ("ActualVelocity", 0x606c, 0x00, "DINT", "I"),
- ("ActualTorque", 0x6077, 0x00, "INT", "I"),
+ ("ControlWord", 0x6040, 0x00, "UINT", "Q"),
+ ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
+ ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"),
+ ("TargetTorque", 0x6071, 0x00, "INT", "Q"),
+ ("ModesOfOperation", 0x6060, 0x00, "SINT", "Q"),
+ ("StatusWord", 0x6041, 0x00, "UINT", "I"),
+ ("ModesOfOperationDisplay", 0x6061, 0x00, "SINT", "I"),
+ ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
+ ("ActualVelocity", 0x606c, 0x00, "DINT", "I"),
+ ("ActualTorque", 0x6077, 0x00, "INT", "I"),
]
-DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);"
-DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;"
-
+# Definition of optional node variables that can be added to PDO mapping.
+# A checkbox will be displayed for each section in node configuration panel to
+# enable them
+# [(section_name,
+# [{'description', (name, index, subindex, type,
+# direction for master ('I': input, 'Q': output)),
+# 'retrieve', string_template_for_retrieve_variable (None: not retrieved,
+# default string template if not defined),
+# 'publish', string_template_for_publish_variable (None: not published,
+# default string template if not defined),
+# },...]
EXTRA_NODE_VARIABLES = [
("ErrorCode", [
{"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),
@@ -52,25 +59,15 @@
"publish": None},
]),
]
-EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])
-
-BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s->,%(input_name)s, %(input_value)s);"
-BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s->%(output_name)s));"
-
-BLOCK_FUNCTION_TEMPLATE = """
-extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
-void __%(blocktype)s_%(location)s(MC_%(ucase_blocktype)s *data__) {
-__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
-ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
-%(extract_inputs)s
-ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
-%(return_outputs)s
-}
-"""
-
-BLOCK_FUNTION_DEFINITION_TEMPLATE = " __CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"
-
-GLOBAL_INSTANCES = [
+
+# List of parameters name in no configuration panel for optional variable
+# sections
+EXTRA_NODE_VARIABLES_DICT = {
+ "Enable" + name: params
+ for name, params in EXTRA_NODE_VARIABLES}
+
+# List of block to define to interface MCL to fieldbus for specific functions
+FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [
{"blocktype": "GetTorqueLimit",
"inputs": [],
"outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
@@ -94,8 +91,10 @@
</xsd:complexType>
</xsd:element>
</xsd:schema>
- """ % ("\n".join(['<xsd:attribute name="Enable%s" type="xsd:boolean" use="optional" default="false"/>' % category
- for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
+ """ % ("\n".join(["""\
+ <xsd:attribute name="Enable%s" type="xsd:boolean"
+ use="optional" default="false"/>""" % category
+ for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
NODE_PROFILE = 402
EditorType = CIA402NodeEditor
@@ -106,7 +105,7 @@
"tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
"method" : "_getCIA402AxisRef",
"push": True},
- ]
+ ]
#--------------------------------------------------
# class code
@@ -146,12 +145,15 @@
def CTNGlobalInstances(self):
current_location = self.GetCurrentLocation()
- return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location))),
- "EtherLab%s" % block_infos["blocktype"], "") for block_infos in GLOBAL_INSTANCES]
+ return [("%s_%s" % (block_infos["blocktype"],
+ "_".join(map(str, current_location))),
+ "EtherLab%s" % block_infos["blocktype"], "")
+ for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES]
def _getCIA402AxisRef(self):
- data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
- "location", "AXIS_REF", self.CTNName(), "")))
+ data = wx.TextDataObject(str(
+ ("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
+ "location", "AXIS_REF", self.CTNName(), "")))
dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
dragSource.SetData(data)
dragSource.DoDragDrop()
@@ -160,124 +162,141 @@
current_location = self.GetCurrentLocation()
location_str = "_".join(map(lambda x:str(x), current_location))
-
- plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c")
+ slave_pos = self.GetSlavePos()
+ MCL_headers = Headers
+
+ # Open CIA402 node code template file
+ plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0],
+ "plc_cia402node.c")
plc_cia402node_file = open(plc_cia402node_filepath, 'r')
plc_cia402node_code = plc_cia402node_file.read()
plc_cia402node_file.close()
- str_completion = {
- "slave_pos": self.GetSlavePos(),
- "location": location_str,
- "MCL_headers": Headers,
- "extern_located_variables_declaration": [],
- "fieldbus_interface_declaration": [],
- "fieldbus_interface_definition": [],
- "entry_variables": [],
- "init_axis_params": [],
- "init_entry_variables": [],
- "extra_variables_retrieve": [],
- "extra_variables_publish": []
- }
-
- for blocktype_infos in GLOBAL_INSTANCES:
- texts = {
- "blocktype": blocktype_infos["blocktype"],
- "ucase_blocktype": blocktype_infos["blocktype"].upper(),
- "location": "_".join(map(str, current_location))
- }
- texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts
-
- inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())},
- {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\
- [{"input_name": input["name"].upper(),
- "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()}
- for input in blocktype_infos["inputs"]]
- input_texts = []
- for input_infos in inputs:
- input_infos.update(texts)
- input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos)
- texts["extract_inputs"] = "\n".join(input_texts)
-
- outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \
- [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]]
- output_texts = []
- for output_infos in outputs:
- output_infos.update(texts)
- output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos)
- texts["return_outputs"] = "\n".join(output_texts)
-
- str_completion["fieldbus_interface_declaration"].append(
- BLOCK_FUNCTION_TEMPLATE % texts)
-
- str_completion["fieldbus_interface_definition"].append(
- BLOCK_FUNTION_DEFINITION_TEMPLATE % texts)
-
+ # Init list of generated strings for each code template file section
+ fieldbus_interface_declaration = []
+ fieldbus_interface_definition = []
+ init_axis_params = []
+ extra_variables_retrieve = []
+ extra_variables_publish = []
+ extern_located_variables_declaration = []
+ entry_variables = []
+ init_entry_variables = []
+
+ # Fieldbus interface code sections
+ for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES:
+ blocktype = blocktype_infos["blocktype"]
+ ucase_blocktype = blocktype.upper()
+ blockname = "_".join([ucase_blocktype, location_str])
+
+ extract_inputs = "\n".join(["""\
+ __SET_VAR(%s->, %s, %s);""" % (blockname, input_name, input_value)
+ for (input_name, input_value) in [
+ ("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [
+ (input["name"].upper(),
+ "__GET_VAR(data__->%s)" % input["name"].upper())
+ for input in blocktype_infos["inputs"]]
+ ])
+
+
+ return_outputs = "\n".join(["""\
+ __SET_VAR(data__->,%(output_name)s,
+ __GET_VAR(%(blockname)s->%(output_name)s));""" % locals()
+ for output_name in ["DONE", "BUSY", "ERROR"] + [
+ output["name"].upper()
+ for output in blocktype_infos["outputs"]]
+ ])
+
+ fieldbus_interface_declaration.append("""
+extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
+void __%(blocktype)s_%(location_str)s(MC_%(ucase_blocktype)s *data__) {
+__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
+ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
+__SET_VAR(%(blockname)s->, POS, AxsPub.axis->NetworkPosition);
+%(extract_inputs)s
+ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
+%(return_outputs)s
+}""" % locals())
+
+ fieldbus_interface_definition.append("""\
+ AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\
+""" % locals())
+
+ # Get a copy list of default variables to map
variables = NODE_VARIABLES[:]
- params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
- for param in params["children"]:
- if param["name"] in EXTRA_NODE_VARIABLES_DICT:
- if param["value"]:
- extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"])
- for variable_infos in extra_variables:
- var_infos = {
- "location": location_str,
- "name": variable_infos["description"][0]
- }
- variables.append(variable_infos["description"])
- retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE)
- publish_template = variable_infos.get("publish", DEFAULT_PUBLISH)
+ # Set AxisRef public struct members value
+ node_params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
+ for param in node_params["children"]:
+ param_name = param["name"]
+
+ # Param is optional variables section enable flag
+ extra_node_variable_infos = EXTRA_NODE_VARIABLES_DICT.get(param_name)
+ if extra_node_variable_infos is not None:
+
+ if not param["value"]:
+ continue
+
+ # Optional variables section is enabled
+ for variable_infos in extra_node_variable_infos:
+ var_name = variable_infos["description"][0]
+
+ # Add each variables defined in section description to the
+ # list of variables to map
+ variables.append(variable_infos["description"])
+
+ # Add code to publish or retrive variable
+ for var_exchange_dir, str_list, default_template in [
+ ("retrieve", extra_variables_retrieve,
+ " AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"),
+ ("publish", extra_variables_publish,
+ " *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")]:
- if retrieve_template is not None:
- str_completion["extra_variables_retrieve"].append(
- retrieve_template % var_infos)
- if publish_template is not None:
- str_completion["extra_variables_publish"].append(
- publish_template % var_infos)
+ template = variable_infos.get(var_exchange_dir,
+ default_template)
+ if template is not None:
+ extra_variables_publish.append(template % locals())
+
+ # Set AxisRef public struct member value if defined
elif param["value"] is not None:
- param_infos = {
- "location": location_str,
- "param_name": param["name"],
- }
- if param["type"] == "boolean":
- param_infos["param_value"] = {True: "1", False: "0"}[param["value"]]
- else:
- param_infos["param_value"] = str(param["value"])
- str_completion["init_axis_params"].append(
- " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)
-
- for variable in 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(
- " __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos)
+ param_value = ({True: "1", False: "0"}[param["value"]]
+ if param["type"] == "boolean"
+ else str(param["value"]))
+
+ init_axis_params.append("""\
+ AxsPub.axis->%(param_name)s = %(param_value)s;""" % locals())
+
+ # Add each variable in list of variables to map to master list of
+ # variables to add to network configuration
+ for name, index, subindex, var_type, dir in variables:
+ var_size = self.GetSizeOfType(var_type)
+ var_name = """\
+__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % locals()
+
+ extern_located_variables_declaration.append(
+ "IEC_%(var_type)s *%(var_name)s;" % locals())
+ entry_variables.append(
+ " IEC_%(var_type)s *%(name)s;" % locals())
+ init_entry_variables.append(
+ " AxsPub.%(name)s = %(var_name)s;" % locals())
self.CTNParent.FileGenerator.DeclareVariable(
- self.GetSlavePos(), var_infos["index"], var_infos["subindex"],
- var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
-
- for element in ["extern_located_variables_declaration",
- "fieldbus_interface_declaration",
- "fieldbus_interface_definition",
- "entry_variables",
- "init_axis_params",
- "init_entry_variables",
- "extra_variables_retrieve",
- "extra_variables_publish"]:
- str_completion[element] = "\n".join(str_completion[element])
-
- Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str)
+ slave_pos, index, subindex, var_type, dir, var_name)
+
+ # Add newline between string in list of generated strings for sections
+ [fieldbus_interface_declaration, fieldbus_interface_definition,
+ init_axis_params, extra_variables_retrieve, extra_variables_publish,
+ extern_located_variables_declaration, entry_variables,
+ init_entry_variables] = map(lambda l: "\n".join(l), [
+ fieldbus_interface_declaration, fieldbus_interface_definition,
+ init_axis_params, extra_variables_retrieve, extra_variables_publish,
+ extern_located_variables_declaration, entry_variables,
+ init_entry_variables])
+
+ # Write generated content to CIA402 node file
+ Gen_CIA402Nodefile_path = os.path.join(buildpath,
+ "cia402node_%s.c"%location_str)
cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
- cia402nodefile.write(plc_cia402node_code % str_completion)
+ cia402nodefile.write(plc_cia402node_code % locals())
cia402nodefile.close()
return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True
-
\ No newline at end of file