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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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1
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def ReIndentText(text, nb_spaces):
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compute = ""
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lines = text.splitlines()
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if len(lines) > 0:
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spaces = 0
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while lines[0][spaces] == " ":
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spaces += 1
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indent = ""
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for i in xrange(spaces, nb_spaces):
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indent += " "
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for line in lines:
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compute += "%s%s\n"%(indent, line)
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return compute
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0
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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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1
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self.ReturnType = None
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self.Interface = []
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self.InitialSteps = []
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self.SFCNetworks = {"Steps":{}, "Transitions":{}, "Actions":{}}
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0
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self.Program = ""
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1
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def IsAlreadyDefined(self, name):
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for list_type, retain, constant, vars in self.Interface:
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for var_type, var_name in vars:
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if name == var_name:
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return True
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return False
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0
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def GenerateInterface(self, interface):
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if self.Type == "FUNCTION":
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1
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self.ReturnType = interface.getReturnType().getValue()
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0
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for varlist in interface.getContent():
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1
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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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1
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variables.append((type, var.getName()))
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self.Interface.append((varTypeNames[varlist["name"]], varlist["value"].getRetain(),
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varlist["value"].getConstant(), variables))
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0
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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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1
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self.Program = ReIndentText(body_content["value"].getText(), 2)
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0
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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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1
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self.GenerateSFCStep(instance, pou)
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0
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elif isinstance(instance, plcopen.actionBlock):
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1
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self.GenerateSFCStepActions(instance, pou)
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elif isinstance(instance, plcopen.transition):
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1
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self.GenerateSFCTransition(instance, pou)
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elif isinstance(instance, plcopen.jumpStep):
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self.GenerateSFCJump(instance, pou)
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1
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for initialstep in self.InitialSteps:
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self.ComputeSFCStep(initialstep)
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0
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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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1
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if self.Interface[-1][0] != "VAR" or self.Interface[-1][1] or self.Interface[-1][2]:
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self.Interface.append(("VAR", False, False, []))
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if not self.IsAlreadyDefined(name):
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self.Interface[-1][3].append((type, name))
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0
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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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1
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def GenerateSFCStep(self, step, pou):
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0
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step_name = step.getName()
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1
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if step_name not in self.SFCNetworks["Steps"].keys():
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if step.getInitialStep():
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self.InitialSteps.append(step_name)
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0
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step_infos = {"initial" : step.getInitialStep(), "transitions" : [], "actions" : []}
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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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1
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self.GenerateSFCTransition(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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1
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self.GenerateSFCTransition(transition, pou)
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instances.append(transition)
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elif isinstance(instance, plcopen.simultaneousDivergence):
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connectionPointIn = instance.getConnectionPointIn()
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if connectionPointIn:
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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.GenerateSFCTransition(transition, pou)
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instances.append(transition)
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for instance in instances:
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1
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if instance in self.SFCNetworks["Transitions"].keys():
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self.SFCNetworks["Transitions"][instance]["to"].append(step_name)
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self.SFCNetworks["Steps"][step_name] = step_infos
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0
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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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1
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self.GenerateSFCTransition(instance, pou)
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0
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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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1
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self.GenerateSFCTransition(transition, pou)
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instances.append(transition)
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elif isinstance(instance, plcopen.simultaneousDivergence):
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connectionPointIn = instance.getConnectionPointIn()
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if connectionPointIn:
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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.GenerateSFCTransition(transition, pou)
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0
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instances.append(transition)
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for instance in instances:
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1
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if instance in self.SFCNetworks["Transitions"].keys():
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self.SFCNetworks["Transitions"][instance]["to"].append(jump_target)
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def GenerateSFCStepActions(self, actionBlock, pou):
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0
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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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1
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self.GenerateSFCStep(step, pou)
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0
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253 |
step_name = step.getName()
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1
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254 |
if step_name in self.SFCNetworks["Steps"].keys():
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0
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255 |
actions = actionBlock.getActions()
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256 |
for action in actions:
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1
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257 |
action_infos = {"qualifier" : action["qualifier"], "content" : action["value"]}
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258 |
if "duration" in action:
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259 |
action_infos["duration"] = action["duration"]
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260 |
if "indicator" in action:
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261 |
action_infos["indicator"] = action["indicator"]
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262 |
if action["type"] == "reference":
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263 |
self.GenerateSFCAction(action["value"], pou)
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264 |
self.SFCNetworks["Steps"][step_name]["actions"].append(action_infos)
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265 |
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266 |
def GenerateSFCAction(self, action_name, pou):
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267 |
if action_name not in self.SFCNetworks["Actions"].keys():
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268 |
actionContent = pou.getAction(action_name)
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|
269 |
if actionContent:
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270 |
actionType = actionContent.getBodyType()
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|
271 |
actionBody = actionContent.getBody()
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272 |
if actionType in ["ST", "IL"]:
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273 |
self.SFCNetworks["Actions"][action_name] = ReIndentText(actionContent.getText(), 4)
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274 |
elif actionType == "FBD":
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275 |
for instance in actionBody.getContentInstances():
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|
276 |
if isinstance(instance, plcopen.outVariable):
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|
277 |
var = instance.getExpression()
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278 |
connections = instance.connectionPointIn.getConnections()
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|
279 |
if connections and len(connections) == 1:
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|
280 |
expression = self.ComputeFBDExpression(actionBody, connections[0])
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|
281 |
self.SFCNetworks["Actions"][action_name] = self.Program + " %s := %s;\n"%(var, expression)
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282 |
self.Program = ""
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|
283 |
elif actionType == "LD":
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|
284 |
for instance in actionbody.getContentInstances():
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|
285 |
if isinstance(instance, plcopen.coil):
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|
286 |
paths = self.GenerateLDPaths(instance, actionBody)
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|
287 |
variable = self.ExtractModifier(instance, instance.getVariable())
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|
288 |
expression = self.ComputeLDExpression(paths, True)
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|
289 |
self.SFCNetworks["Actions"][action_name] = self.Program + " %s := %s;\n"%(variable, expression)
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|
290 |
self.Program = ""
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291 |
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292 |
def GenerateSFCTransition(self, transition, pou):
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|
293 |
if transition not in self.SFCNetworks["Transitions"].keys():
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294 |
steps = []
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0
|
295 |
connections = transition.connectionPointIn.getConnections()
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|
296 |
if len(connections) == 1:
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|
297 |
instanceLocalId = connections[0].getRefLocalId()
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|
298 |
instance = pou.body.getContentInstance(instanceLocalId)
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|
299 |
if isinstance(instance, plcopen.step):
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1
|
300 |
self.GenerateSFCStep(instance, pou)
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|
301 |
steps.append(instance.getName())
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0
|
302 |
elif isinstance(instance, plcopen.selectionDivergence):
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|
303 |
divergence_connections = instance.connectionPointIn.getConnections()
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|
304 |
if len(divergence_connections) == 1:
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|
305 |
stepLocalId = divergence_connections[0].getRefLocalId()
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|
306 |
divergence_instance = pou.body.getContentInstance(stepLocalId)
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|
307 |
if isinstance(divergence_instance, plcopen.step):
|
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1
|
308 |
self.GenerateSFCStep(divergence_instance, pou)
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|
309 |
steps.append(divergence_instance.getName())
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|
310 |
transition_infos = {"from": [], "to" : []}
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|
311 |
transitionValues = transition.getConditionContent()
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|
312 |
if transitionValues["type"] == "inline":
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|
313 |
transition_infos["content"] = "\n := %s;\n"%transitionValues["value"]
|
|
|
314 |
else:
|
|
|
315 |
transitionContent = pou.getTransition(transitionValues["value"])
|
|
|
316 |
transitionType = transitionContent.getBodyType()
|
|
|
317 |
transitionBody = transitionContent.getBody()
|
|
|
318 |
if transitionType == "IL":
|
|
|
319 |
transition_infos["content"] = ":\n%s\n"%ReIndentText(transitionBody.getText(), 4)
|
|
|
320 |
elif transitionType == "ST":
|
|
|
321 |
transition_infos["content"] = "\n%s\n"%ReIndentText(transitionBody.getText(), 4)
|
|
|
322 |
elif conditionType == "FBD":
|
|
|
323 |
for instance in transitionBody.getContentInstances():
|
|
|
324 |
if isinstance(instance, plcopen.outVariable):
|
|
|
325 |
connections = instance.connectionPointIn.getConnections()
|
|
|
326 |
if connections and len(connections) == 1:
|
|
|
327 |
expression = self.ComputeFBDExpression(actionBody, connections[0])
|
|
|
328 |
transition_infos["content"] = "\n := %s;\n"%(var, expression)
|
|
|
329 |
elif actionType == "LD":
|
|
|
330 |
for instance in transitionbody.getContentInstances():
|
|
|
331 |
if isinstance(instance, plcopen.coil):
|
|
|
332 |
paths = self.GenerateLDPaths(instance, conditionBody)
|
|
|
333 |
expression = self.ComputeLDExpression(paths, True)
|
|
|
334 |
transition_infos["content"] = "\n := %s;\n"%expression
|
|
|
335 |
for step_name in steps:
|
|
|
336 |
if step_name in self.SFCNetworks["Steps"].keys():
|
|
|
337 |
transition_infos["from"].append(step_name)
|
|
|
338 |
self.SFCNetworks["Steps"][step_name]["transitions"].append(transition)
|
|
|
339 |
self.SFCNetworks["Transitions"][transition] = transition_infos
|
|
|
340 |
|
|
|
341 |
def ComputeSFCStep(self, step_name):
|
|
|
342 |
if step_name in self.SFCNetworks["Steps"].keys():
|
|
|
343 |
step_infos = self.SFCNetworks["Steps"].pop(step_name)
|
|
|
344 |
if step_infos["initial"]:
|
|
|
345 |
self.Program += " INITIAL_STEP %s:\n"%step_name
|
|
|
346 |
else:
|
|
|
347 |
self.Program += " STEP %s:\n"%step_name
|
|
|
348 |
actions = []
|
|
|
349 |
for action_infos in step_infos["actions"]:
|
|
|
350 |
actions.append(action_infos["content"])
|
|
|
351 |
self.Program += " %(content)s(%(qualifier)s"%action_infos
|
|
|
352 |
if "duration" in action_infos:
|
|
|
353 |
self.Program += ", %(duration)s"%action_infos
|
|
|
354 |
if "indicator" in action_infos:
|
|
|
355 |
self.Program += ", %(indicator)s"%action_infos
|
|
|
356 |
self.Program += ");\n"
|
|
|
357 |
self.Program += " END_STEP\n\n"
|
|
|
358 |
for action in actions:
|
|
|
359 |
self.ComputeSFCAction(action)
|
|
|
360 |
for transition in step_infos["transitions"]:
|
|
|
361 |
self.ComputeSFCTransition(transition)
|
|
|
362 |
|
|
|
363 |
def ComputeSFCAction(self, action_name):
|
|
|
364 |
if action_name in self.SFCNetworks["Actions"].keys():
|
|
|
365 |
action_content = self.SFCNetworks["Actions"].pop(action_name)
|
|
|
366 |
self.Program += " ACTION %s:\n%s END_ACTION\n\n"%(action_name, action_content)
|
|
|
367 |
|
|
|
368 |
def ComputeSFCTransition(self, transition):
|
|
|
369 |
if transition in self.SFCNetworks["Transitions"].keys():
|
|
|
370 |
transition_infos = self.SFCNetworks["Transitions"].pop(transition)
|
|
|
371 |
self.Program += " TRANSITION FROM "
|
|
|
372 |
if len(transition_infos["from"]) > 1:
|
|
|
373 |
self.Program += "(%s)"%", ".join(transition_infos["from"])
|
|
|
374 |
else:
|
|
|
375 |
self.Program += "%s"%transition_infos["from"][0]
|
|
|
376 |
self.Program += " TO "
|
|
|
377 |
if len(transition_infos["to"]) > 1:
|
|
|
378 |
self.Program += "(%s)"%", ".join(transition_infos["to"])
|
|
|
379 |
else:
|
|
|
380 |
self.Program += "%s"%transition_infos["to"][0]
|
|
|
381 |
self.Program += transition_infos["content"]
|
|
|
382 |
self.Program += " END_TRANSITION\n\n"
|
|
|
383 |
for step_name in transition_infos["to"]:
|
|
|
384 |
self.ComputeSFCStep(step_name)
|
|
|
385 |
|
|
0
|
386 |
def ComputeLDExpression(self, paths, first = False):
|
|
|
387 |
if type(paths) == TupleType:
|
|
|
388 |
if None in paths:
|
|
|
389 |
return "TRUE"
|
|
|
390 |
else:
|
|
|
391 |
var = [self.ComputeLDExpression(path) for path in paths]
|
|
|
392 |
if first:
|
|
|
393 |
return " OR ".join(var)
|
|
|
394 |
else:
|
|
|
395 |
return "(%s)"%" OR ".join(var)
|
|
|
396 |
elif type(paths) == ListType:
|
|
|
397 |
var = [self.ComputeLDExpression(path) for path in paths]
|
|
|
398 |
return " AND ".join(var)
|
|
|
399 |
else:
|
|
|
400 |
return paths
|
|
|
401 |
|
|
|
402 |
def ExtractModifier(self, variable, text):
|
|
|
403 |
if variable.getNegated():
|
|
|
404 |
return "NOT(%s)"%text
|
|
|
405 |
else:
|
|
|
406 |
edge = variable.getEdge()
|
|
|
407 |
if edge:
|
|
|
408 |
if edge.getValue() == "rising":
|
|
|
409 |
return self.AddTrigger("R_TRIG", text)
|
|
|
410 |
elif edge.getValue() == "falling":
|
|
|
411 |
return self.AddTrigger("F_TRIG", text)
|
|
|
412 |
return text
|
|
|
413 |
|
|
|
414 |
def AddTrigger(self, edge, text):
|
|
1
|
415 |
if self.Interface[-1][0] != "VAR" or self.Interface[-1][1] or self.Interface[-1][2]:
|
|
|
416 |
self.Interface.append(("VAR", False, False, []))
|
|
0
|
417 |
i = 1
|
|
|
418 |
name = "%s%d"%(edge, i)
|
|
1
|
419 |
while self.IsAlreadyDefined(name):
|
|
0
|
420 |
i += 1
|
|
|
421 |
name = "%s%d"%(edge, i)
|
|
1
|
422 |
self.Interface[-1][3].append((edge, name))
|
|
0
|
423 |
self.Program += " %s(CLK := %s);\n"%(name, text)
|
|
|
424 |
return "%s.Q"%name
|
|
|
425 |
|
|
|
426 |
def GenerateSTProgram(self):
|
|
|
427 |
program = ""
|
|
1
|
428 |
if self.ReturnType:
|
|
|
429 |
program += "%s %s : %s\n"%(self.Type, self.Name, self.ReturnType)
|
|
0
|
430 |
else:
|
|
|
431 |
program += "%s %s\n"%(self.Type, self.Name)
|
|
1
|
432 |
for list_type, retain, constant, variables in self.Interface:
|
|
|
433 |
program += " %s"%list_type
|
|
|
434 |
if retain:
|
|
|
435 |
program += " RETAIN"
|
|
|
436 |
if constant:
|
|
|
437 |
program += " CONSTANT"
|
|
|
438 |
program += "\n"
|
|
|
439 |
for var_type, var_name in variables:
|
|
|
440 |
program += " %s : %s;\n"%(var_name, var_type)
|
|
|
441 |
program += " END_%s\n"%list_type
|
|
0
|
442 |
program += "\n"
|
|
|
443 |
program += self.Program
|
|
|
444 |
program += "END_%s\n\n"%self.Type
|
|
|
445 |
return program
|
|
|
446 |
|
|
|
447 |
def GenerateCurrentProgram(project):
|
|
|
448 |
program = ""
|
|
|
449 |
for pou in project.getPous():
|
|
|
450 |
pou_type = pou.getPouType().getValue()
|
|
|
451 |
if pou_type == "function":
|
|
|
452 |
pou_program = PouProgram(pou.getName(), "FUNCTION")
|
|
|
453 |
elif pou_type == "functionBlock":
|
|
|
454 |
pou_program = PouProgram(pou.getName(), "FUNCTION_BLOCK")
|
|
|
455 |
elif pou_type == "program":
|
|
|
456 |
pou_program = PouProgram(pou.getName(), "PROGRAM")
|
|
|
457 |
else:
|
|
|
458 |
raise ValueError, "Undefined pou type"
|
|
|
459 |
pou_program.GenerateInterface(pou.getInterface())
|
|
|
460 |
pou_program.GenerateProgram(pou)
|
|
|
461 |
program += pou_program.GenerateSTProgram()
|
|
|
462 |
return program
|
|
|
463 |
|