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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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#This file is part of PLCOpenEditor, a library implementing an IEC 61131-3 editor
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#based on the plcopen standard.
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#
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#Copyright (C): Edouard TISSERANT and Laurent BESSARD
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#
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#See COPYING file for copyrights details.
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#
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#This library is free software; you can redistribute it and/or
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#modify it under the terms of the GNU Lesser General Public
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#License as published by the Free Software Foundation; either
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#version 2.1 of the License, or (at your option) any later version.
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#
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#This library is distributed in the hope that it will be useful,
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#but WITHOUT ANY WARRANTY; without even the implied warranty of
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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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#Lesser General Public License for more details.
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#
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#You should have received a copy of the GNU Lesser General Public
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#License along with this library; if not, write to the Free Software
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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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from plcopen import plcopen
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from plcopen.structures import *
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from types import *
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varTypeNames = {"localVars" : "VAR", "tempVars" : "VAR_TEMP", "inputVars" : "VAR_INPUT",
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"outputVars" : "VAR_OUTPUT", "inOutVars" : "VAR_IN_OUT", "externalVars" : "VAR_EXTERNAL",
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"globalVars" : "VAR_GLOBAL", "accessVars" : "VAR_ACCESS"}
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"""
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Module implementing methods for generating PLC programs in ST or IL
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"""
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class PouProgram:
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def __init__(self, name, type):
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self.Name = name
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self.Type = type
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self.Interface = {}
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self.Steps = {}
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self.Transitions = {}
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self.Order = []
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self.Program = ""
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def GenerateInterface(self, interface):
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if self.Type == "FUNCTION":
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self.Interface["returnType"] = interface.getReturnType().getValue()
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for varlist in interface.getContent():
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variables = {}
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for var in varlist["value"].getVariable():
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type = var.getType().getValue()
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if type not in variables:
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variables[type] = []
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variables[type].append(var.getName())
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self.Interface[(varTypeNames[varlist["name"]], varlist["value"].getRetain(),
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varlist["value"].getConstant())] = variables
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def GenerateProgram(self, pou):
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body = pou.getBody()
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body_content = body.getContent()
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body_type = body_content["name"]
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if body_type in ["IL","ST"]:
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self.Program = "%s\n"%body_content["value"].getText()
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elif body_type == "FBD":
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for instance in body.getContentInstances():
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if isinstance(instance, plcopen.outVariable):
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var = instance.getExpression()
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connections = instance.connectionPointIn.getConnections()
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if connections and len(connections) == 1:
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expression = self.ComputeFBDExpression(body, connections[0])
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self.Program += " %s := %s;\n"%(var, expression)
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elif body_type == "LD":
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for instance in body.getContentInstances():
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if isinstance(instance, plcopen.coil):
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paths = self.GenerateLDPaths(instance, body)
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variable = self.ExtractModifier(instance, instance.getVariable())
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expression = self.ComputeLDExpression(paths, True)
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self.Program += " %s := %s;\n"%(variable, expression)
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elif body_type == "SFC":
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for instance in body.getContentInstances():
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if isinstance(instance, plcopen.step):
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self.GenerateSFCSteps(instance, pou)
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elif isinstance(instance, plcopen.actionBlock):
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self.GenerateSFCActions(instance, pou)
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elif isinstance(instance, plcopen.transition):
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self.GenerateSFCTransitions(instance, pou)
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elif isinstance(instance, plcopen.jumpStep):
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self.GenerateSFCJump(instance, pou)
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for name, values in self.Steps.items():
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if values['initial']:
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self.GenerateSFCStepOrder(name, [])
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steps_type = "ARRAY [1..%d] OF BOOL"%len(self.Order)
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if ("VAR", False, False) not in self.Interface:
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self.Interface[("VAR", False, False)] = {}
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if steps_type not in self.Interface[("VAR", False, False)]:
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self.Interface[("VAR", False, False)][steps_type] = ["Steps"]
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else:
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self.Interface[("VAR", False, False)][steps_type].append("Steps")
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for index, name in enumerate(self.Order):
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values = self.Steps[name]
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self.Program += " IF Steps[%d] THEN\n"%index
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for action in values["actions"]:
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if action["qualifier"] == "N":
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for line in action["content"].splitlines():
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self.Program += " %s\n"%line
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elif action["qualifier"] == "S":
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if "R_TRIG" not in self.Interface[("VAR", False, False)]:
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self.Interface[("VAR", False, False)]["R_TRIG"] = []
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i = 1
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name = "R_TRIG%d"%i
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while name in self.Interface[("VAR", False, False)]["R_TRIG"]:
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i += 1
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name = "R_TRIG%d"%i
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self.Interface[("VAR", False, False)]["R_TRIG"].append(name)
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self.Program += " IF %s(CLK := Steps[%d]) THEN\n"%(name, index)
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self.Program += " %s := TRUE;\n"%action["content"]
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for transition in values["transitions"]:
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if transition["compute"] != '':
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self.Program += " %s %s"%(transition["condition"], transition["compute"])
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self.Program += " IF %s THEN\n"%transition["condition"]
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for target in transition["targets"]:
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self.Program += " Steps[%d] := TRUE;\n"%self.Order.index(target)
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self.Program += " Steps[%d] := FALSE;\n"%index
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def ComputeFBDExpression(self, body, link):
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localid = link.getRefLocalId()
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instance = body.getContentInstance(localid)
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if isinstance(instance, plcopen.inVariable):
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return instance.getExpression()
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elif isinstance(instance, plcopen.block):
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name = instance.getInstanceName()
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type = instance.getTypeName()
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block_infos = GetBlockType(type)
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if block_infos["type"] == "function":
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vars = []
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for variable in instance.inputVariables.getVariable():
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connections = variable.connectionPointIn.getConnections()
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if connections and len(connections) == 1:
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value = self.ComputeFBDExpression(body, connections[0])
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vars.append(self.ExtractModifier(variable, value))
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variable = instance.outputVariables.getVariable()[0]
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return self.ExtractModifier(variable, "%s(%s)"%(type, ", ".join(vars)))
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elif block_infos["type"] == "functionBlock":
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if ("VAR", False, False) not in self.Interface:
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self.Interface[("VAR", False, False)] = {}
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if type not in self.Interface[("VAR", False, False)]:
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self.Interface[("VAR", False, False)][type] = []
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if name not in self.Interface[("VAR", False, False)][type]:
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self.Interface[("VAR", False, False)][type].append(name)
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vars = []
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for variable in instance.inputVariables.getVariable():
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connections = variable.connectionPointIn.getConnections()
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if connections and len(connections) == 1:
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parameter = variable.getFormalParameter()
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value = self.ComputeFBDExpression(body, connections[0])
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vars.append(self.ExtractModifier(variable, "%s := %s"%(parameter, value)))
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self.Program += " %s(%s);\n"%(name, ", ".join(vars))
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connectionPoint = link.getPosition()[-1]
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for variable in instance.outputVariables.getVariable():
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blockPointx, blockPointy = variable.connectionPointOut.getRelPosition()
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if instance.getX() + blockPointx == connectionPoint.getX() and instance.getY() + blockPointy == connectionPoint.getY():
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return self.ExtractModifier(variable, "%s.%s"%(name, variable.getFormalParameter()))
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raise ValueError, "No output variable found"
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def GenerateLDPaths(self, instance, body):
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paths = []
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variable = self.ExtractModifier(instance, instance.getVariable())
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connections = instance.connectionPointIn.getConnections()
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for connection in connections:
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localId = connection.getRefLocalId()
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next = body.getContentInstance(localId)
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if isinstance(next, plcopen.leftPowerRail):
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paths.append(None)
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else:
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paths.append(self.GenerateLDPaths(next, body))
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if isinstance(instance, plcopen.coil):
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if len(paths) > 1:
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return tuple(paths)
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else:
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return paths
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else:
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if len(paths) > 1:
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return [variable, tuple(paths)]
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elif type(paths[0]) == ListType:
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return [variable] + paths[0]
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elif paths[0]:
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return [variable, paths[0]]
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else:
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return variable
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def GenerateSFCSteps(self, step, pou):
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step_name = step.getName()
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if step_name not in self.Steps:
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step_infos = {"initial" : step.getInitialStep(), "transitions" : [], "actions" : []}
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self.Steps[step_name] = step_infos
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if step.connectionPointIn:
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instances = []
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connections = step.connectionPointIn.getConnections()
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if len(connections) == 1:
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instanceLocalId = connections[0].getRefLocalId()
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instance = pou.body.getContentInstance(instanceLocalId)
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if isinstance(instance, plcopen.transition):
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self.GenerateSFCTransitions(instance, pou)
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instances.append(instance)
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elif isinstance(instance, plcopen.selectionConvergence):
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for connectionPointIn in instance.getConnectionPointIn():
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divergence_connections = connectionPointIn.getConnections()
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if len(divergence_connections) == 1:
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transitionLocalId = connections[0].getRefLocalId()
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transition = pou.body.getContentInstance(transitionLocalId)
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self.GenerateSFCTransitions(transition, pou)
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instances.append(transition)
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for instance in instances:
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self.Transitions[instance]["targets"].append(step_name)
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def GenerateSFCJump(self, jump, pou):
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jump_target = jump.getTargetName()
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if jump.connectionPointIn:
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instances = []
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connections = jump.connectionPointIn.getConnections()
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if len(connections) == 1:
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instanceLocalId = connections[0].getRefLocalId()
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instance = pou.body.getContentInstance(instanceLocalId)
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if isinstance(instance, plcopen.transition):
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self.GenerateSFCTransitions(instance, pou)
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instances.append(instance)
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elif isinstance(instance, plcopen.selectionConvergence):
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for connectionPointIn in instance.getConnectionPointIn():
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divergence_connections = connectionPointIn.getConnections()
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if len(divergence_connections) == 1:
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transitionLocalId = divergence_connections[0].getRefLocalId()
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transition = pou.body.getContentInstance(transitionLocalId)
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self.GenerateSFCTransitions(transition, pou)
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instances.append(transition)
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for instance in instances:
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self.Transitions[instance]["targets"].append(jump_target)
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def GenerateSFCActions(self, actionBlock, pou):
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connections = actionBlock.connectionPointIn.getConnections()
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if len(connections) == 1:
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stepLocalId = connections[0].getRefLocalId()
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step = pou.body.getContentInstance(stepLocalId)
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step_name = step.getName()
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if step_name not in self.Steps:
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self.GenerateSFCSteps(step, pou)
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if step_name in self.Steps:
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actions = actionBlock.getActions()
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for action in actions:
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action_infos = {"qualifier" : action["qualifier"], "content" : ""}
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if action["type"] == "inline":
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action_infos["content"] = action["value"]
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elif action["type"] == "reference":
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actionContent = pou.getAction(action["value"])
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if actionContent:
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actionType = actionContent.getBodyType()
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actionBody = actionContent.getBody()
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if actionType in ["ST", "IL"]:
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action_infos["content"] = actionContent.getText()
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elif actionType == "FBD":
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for instance in actionBody.getContentInstances():
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if isinstance(instance, plcopen.outVariable):
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var = instance.getExpression()
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connections = instance.connectionPointIn.getConnections()
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if connections and len(connections) == 1:
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expression = self.ComputeFBDExpression(actionBody, connections[0])
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action_infos["content"] = self.Program + " %s := %s;"%(var, expression)
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self.Program = ""
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elif actionType == "LD":
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for instance in actionbody.getContentInstances():
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if isinstance(instance, plcopen.coil):
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paths = self.GenerateLDPaths(instance, actionBody)
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variable = self.ExtractModifier(instance, instance.getVariable())
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expression = self.ComputeLDExpression(paths, True)
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action_infos["content"] = self.Program + " %s := %s;"%(variable, expression)
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self.Program = ""
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else:
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action_infos["content"] = action["value"]
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self.Steps[step_name]["actions"].append(action_infos)
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def GenerateSFCTransitions(self, transition, pou):
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if transition not in self.Transitions:
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connections = transition.connectionPointIn.getConnections()
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if len(connections) == 1:
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instanceLocalId = connections[0].getRefLocalId()
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instance = pou.body.getContentInstance(instanceLocalId)
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if isinstance(instance, plcopen.step):
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step_name = instance.getName()
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if step_name not in self.Steps:
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self.GenerateSFCSteps(instance, pou)
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elif isinstance(instance, plcopen.selectionDivergence):
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divergence_connections = instance.connectionPointIn.getConnections()
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if len(divergence_connections) == 1:
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stepLocalId = divergence_connections[0].getRefLocalId()
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divergence_instance = pou.body.getContentInstance(stepLocalId)
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if isinstance(divergence_instance, plcopen.step):
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step_name = divergence_instance.getName()
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if step_name not in self.Steps:
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self.GenerateSFCSteps(divergence_instance, pou)
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if step_name in self.Steps:
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transition_infos = {"targets" : []}
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transitionValues = transition.getConditionContent()
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transition_infos["condition"] = transitionValues["value"]
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if transitionValues["type"] == "inline":
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transition_infos["compute"] = ""
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else:
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transitionContent = pou.getTransition(transitionValues["value"])
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transitionType = transitionContent.getBodyType()
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transitionBody = transitionContent.getBody()
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if transitionType in ["ST", "IL"]:
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transition_infos["compute"] = "%s\n"%transitionContent.getText()
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elif conditionType == "FBD":
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for instance in conditionBody.getContentInstances():
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if isinstance(instance, plcopen.outVariable):
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316 |
var = instance.getExpression()
|
|
|
317 |
connections = instance.connectionPointIn.getConnections()
|
|
|
318 |
if connections and len(connections) == 1:
|
|
|
319 |
expression = self.ComputeFBDExpression(actionBody, connections[0])
|
|
|
320 |
transition_infos["compute"] = self.Program + ":= %s;\n"%(var, expression)
|
|
|
321 |
self.Program = ""
|
|
|
322 |
elif actionType == "LD":
|
|
|
323 |
for instance in conditionbody.getContentInstances():
|
|
|
324 |
if isinstance(instance, plcopen.coil):
|
|
|
325 |
paths = self.GenerateLDPaths(instance, conditionBody)
|
|
|
326 |
variable = self.ExtractModifier(instance, instance.getVariable())
|
|
|
327 |
expression = self.ComputeLDExpression(paths, True)
|
|
|
328 |
transition_infos["compute"] = self.Program + ":= %s;\n"%(variable, expression)
|
|
|
329 |
self.Program = ""
|
|
|
330 |
self.Steps[step_name]["transitions"].append(transition_infos)
|
|
|
331 |
self.Transitions[transition] = transition_infos
|
|
|
332 |
|
|
|
333 |
def GenerateSFCStepOrder(self, name, path):
|
|
|
334 |
self.Order.append(name)
|
|
|
335 |
for transition in self.Steps[name]["transitions"]:
|
|
|
336 |
for target in transition["targets"]:
|
|
|
337 |
if target not in self.Order or target not in path:
|
|
|
338 |
if target in self.Order:
|
|
|
339 |
self.Order.remove(target)
|
|
|
340 |
self.GenerateSFCStepOrder(target, path + [name])
|
|
|
341 |
|
|
|
342 |
def ComputeLDExpression(self, paths, first = False):
|
|
|
343 |
if type(paths) == TupleType:
|
|
|
344 |
if None in paths:
|
|
|
345 |
return "TRUE"
|
|
|
346 |
else:
|
|
|
347 |
var = [self.ComputeLDExpression(path) for path in paths]
|
|
|
348 |
if first:
|
|
|
349 |
return " OR ".join(var)
|
|
|
350 |
else:
|
|
|
351 |
return "(%s)"%" OR ".join(var)
|
|
|
352 |
elif type(paths) == ListType:
|
|
|
353 |
var = [self.ComputeLDExpression(path) for path in paths]
|
|
|
354 |
return " AND ".join(var)
|
|
|
355 |
else:
|
|
|
356 |
return paths
|
|
|
357 |
|
|
|
358 |
def ExtractModifier(self, variable, text):
|
|
|
359 |
if variable.getNegated():
|
|
|
360 |
return "NOT(%s)"%text
|
|
|
361 |
else:
|
|
|
362 |
edge = variable.getEdge()
|
|
|
363 |
if edge:
|
|
|
364 |
if edge.getValue() == "rising":
|
|
|
365 |
return self.AddTrigger("R_TRIG", text)
|
|
|
366 |
elif edge.getValue() == "falling":
|
|
|
367 |
return self.AddTrigger("F_TRIG", text)
|
|
|
368 |
return text
|
|
|
369 |
|
|
|
370 |
def AddTrigger(self, edge, text):
|
|
|
371 |
if ("VAR", False, False) not in self.Interface:
|
|
|
372 |
self.Interface[("VAR", False, False)] = {}
|
|
|
373 |
if type not in self.Interface[("VAR", False, False)]:
|
|
|
374 |
self.Interface[("VAR", False, False)][edge] = []
|
|
|
375 |
i = 1
|
|
|
376 |
name = "%s%d"%(edge, i)
|
|
|
377 |
while name in self.Interface[("VAR", False, False)][edge]:
|
|
|
378 |
i += 1
|
|
|
379 |
name = "%s%d"%(edge, i)
|
|
|
380 |
self.Interface[("VAR", False, False)][edge].append(name)
|
|
|
381 |
self.Program += " %s(CLK := %s);\n"%(name, text)
|
|
|
382 |
return "%s.Q"%name
|
|
|
383 |
|
|
|
384 |
def GenerateSTProgram(self):
|
|
|
385 |
program = ""
|
|
|
386 |
if "returnType" in self.Interface:
|
|
|
387 |
program += "%s %s : %s\n"%(self.Type, self.Name, self.Interface["returnType"])
|
|
|
388 |
else:
|
|
|
389 |
program += "%s %s\n"%(self.Type, self.Name)
|
|
|
390 |
for values, variables in self.Interface.items():
|
|
|
391 |
if values != "returnType":
|
|
|
392 |
program += " %s"%values[0]
|
|
|
393 |
if values[1]:
|
|
|
394 |
program += " RETAIN"
|
|
|
395 |
if values[2]:
|
|
|
396 |
program += " CONSTANT"
|
|
|
397 |
program += "\n"
|
|
|
398 |
for vartype, list in variables.items():
|
|
|
399 |
program += " %s : %s;\n"%(", ".join(list), vartype)
|
|
|
400 |
program += " END_%s\n"%values[0]
|
|
|
401 |
program += "\n"
|
|
|
402 |
program += self.Program
|
|
|
403 |
program += "END_%s\n\n"%self.Type
|
|
|
404 |
return program
|
|
|
405 |
|
|
|
406 |
def GenerateCurrentProgram(project):
|
|
|
407 |
program = ""
|
|
|
408 |
for pou in project.getPous():
|
|
|
409 |
pou_type = pou.getPouType().getValue()
|
|
|
410 |
if pou_type == "function":
|
|
|
411 |
pou_program = PouProgram(pou.getName(), "FUNCTION")
|
|
|
412 |
elif pou_type == "functionBlock":
|
|
|
413 |
pou_program = PouProgram(pou.getName(), "FUNCTION_BLOCK")
|
|
|
414 |
elif pou_type == "program":
|
|
|
415 |
pou_program = PouProgram(pou.getName(), "PROGRAM")
|
|
|
416 |
else:
|
|
|
417 |
raise ValueError, "Undefined pou type"
|
|
|
418 |
pou_program.GenerateInterface(pou.getInterface())
|
|
|
419 |
pou_program.GenerateProgram(pou)
|
|
|
420 |
program += pou_program.GenerateSTProgram()
|
|
|
421 |
return program
|
|
|
422 |
|