def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode 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()
# define a unique name for the generated C file
prefix = "_".join(map(str, current_location))
Gen_OD_path = os.path.join(buildpath, "OD_%s.c" % prefix)
# Create a new copy of the model
slave = self.GetCurrentNodeCopy()
slave.SetNodeName("OD_%s" % prefix)
# allow access to local OD from Slave PLC
pointers = config_utils.LocalODPointers(locations, current_location,
slave)
res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)
if res:
raise Exception(res)
res = eds_utils.GenerateEDSFile(
os.path.join(buildpath, "Slave_%s.eds" % prefix), slave)
if res:
raise Exception(res)
return [
(Gen_OD_path, local_canfestival_config.getCFLAGS(CanFestivalPath))
], "", False
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode 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()
# define a unique name for the generated C file
prefix = "_".join(map(str, current_location))
Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
# Create a new copy of the model
slave = self.GetCurrentNodeCopy()
slave.SetNodeName("OD_%s"%prefix)
# allow access to local OD from Slave PLC
pointers = config_utils.LocalODPointers(locations, current_location, slave)
res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)
if res :
raise Exception, res
res = eds_utils.GenerateEDSFile(os.path.join(buildpath, "Slave_%s.eds"%prefix), slave)
if res :
raise Exception, res
return [(Gen_OD_path,local_canfestival_config.getCFLAGS(CanFestivalPath))],"",False
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode 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
"""
self._CloseView(self._GeneratedMasterView)
current_location = self.GetCurrentLocation()
# define a unique name for the generated C file
prefix = "_".join(map(str, current_location))
Gen_OD_path = os.path.join(buildpath, "OD_%s.c" % prefix)
# Create a new copy of the model with DCF loaded with PDO mappings for desired location
try:
master, pointers = config_utils.GenerateConciseDCF(
locations, current_location, self,
self.CanFestivalNode.getSync_TPDOs(), "OD_%s" % prefix)
except config_utils.PDOmappingException as e:
raise Exception(e.message)
# Do generate C file.
res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)
if res:
raise Exception(res)
file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")
# linter disabled here, undefined variable happens
# here because gnosis isn't impored while linting
dump(master, file) # pylint: disable=undefined-variable
file.close()
return [
(Gen_OD_path, local_canfestival_config.getCFLAGS(CanFestivalPath))
], "", False
def CTNGenerate_C(self, buildpath, locations):
can_driver = self.GetCanDriver()
if can_driver is not None:
can_drivers = local_canfestival_config.DLL_LIST
if can_driver not in can_drivers:
can_driver = can_drivers[0]
can_drv_ext = self.GetCTRoot().GetBuilder().extension
can_drv_prefix = self.GetCTRoot().GetBuilder().dlopen_prefix
can_driver_name = can_drv_prefix + "libcanfestival_" + can_driver + can_drv_ext
else:
can_driver_name = ""
format_dict = {
"locstr": "_".join(map(str, self.GetCurrentLocation())),
"candriver": can_driver_name,
"nodes_includes": "",
"board_decls": "",
"nodes_init": "",
"nodes_open": "",
"nodes_stop": "",
"nodes_close": "",
"nodes_send_sync": "",
"nodes_proceed_sync": "",
"slavebootups": "",
"slavebootup_register": "",
"post_sync": "",
"post_sync_register": "",
"pre_op": "",
"pre_op_register": "",
}
for child in self.IECSortedChildren():
childlocstr = "_".join(map(str, child.GetCurrentLocation()))
nodename = "OD_%s" % childlocstr
# Try to get Slave Node
child_data = getattr(child, "CanFestivalSlaveNode", None)
if child_data is None:
# Not a slave -> master
child_data = getattr(child, "CanFestivalNode")
# Apply sync setting
format_dict[
"nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n ' % (
nodename, child_data.getNodeId())
if child_data.getSync_TPDOs():
format_dict[
"nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n ' % (
nodename)
format_dict[
"nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n ' % (
nodename)
# initialize and declare node boot status variables for post_SlaveBootup lookup
SlaveIDs = child.GetSlaveIDs()
if len(SlaveIDs) == 0:
# define post_SlaveBootup lookup functions
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){}\n"
% (nodename))
else:
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"
% (nodename) +
" check_and_start_node(d, nodeId);\n" + "}\n")
# register previously declared func as post_SlaveBootup callback for that node
format_dict["slavebootup_register"] += (
"%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n" %
(nodename, nodename))
format_dict["pre_op"] += (
"static void %s_preOperational(CO_Data* d){\n " %
(nodename) + "".join([
" masterSendNMTstateChange(d, %d, NMT_Reset_Comunication);\n"
% NdId for NdId in SlaveIDs
]) + "}\n")
format_dict["pre_op_register"] += (
"%s_Data.preOperational = %s_preOperational;\n" %
(nodename, nodename))
else:
# Slave node
align = child_data.getSync_Align()
align_ratio = child_data.getSync_Align_Ratio()
if align > 0:
format_dict["post_sync"] += (
"static int %s_CalCount = 0;\n" % (nodename) +
"static void %s_post_sync(CO_Data* d){\n" %
(nodename) + " if(%s_CalCount < %d){\n" %
(nodename, align) + " %s_CalCount++;\n" %
(nodename) + " align_tick(-1);\n" +
" }else{\n" + " align_tick(%d);\n" %
(align_ratio) + " }\n" + "}\n")
format_dict["post_sync_register"] += (
"%s_Data.post_sync = %s_post_sync;\n" %
(nodename, nodename))
format_dict[
"nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n ' % (
nodename, child_data.getNodeId())
# Include generated OD headers
format_dict["nodes_includes"] += '#include "%s.h"\n' % (nodename)
# Declare CAN channels according user filled config
format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n' % (
nodename, child.GetCanDevice(), child_data.getCAN_Baudrate())
format_dict["nodes_open"] += 'NODE_OPEN(%s)\n ' % (nodename)
format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n ' % (nodename)
format_dict["nodes_stop"] += 'NODE_STOP(%s)\n ' % (nodename)
filename = paths.AbsNeighbourFile(__file__, "cf_runtime.c")
cf_main = open(filename).read() % format_dict
cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c" % format_dict)
f = open(cf_main_path, 'w')
f.write(cf_main)
f.close()
res = [
(cf_main_path, local_canfestival_config.getCFLAGS(CanFestivalPath))
], local_canfestival_config.getLDFLAGS(CanFestivalPath), True
if can_driver is not None:
can_driver_path = os.path.join(CanFestivalPath, "drivers",
can_driver, can_driver_name)
if os.path.exists(can_driver_path):
res += ((can_driver_name, file(can_driver_path, "rb")), )
return res
class _NodeListCTN(NodeList):
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="CanFestivalNode">
<xsd:complexType>
<xsd:attribute name="CAN_Device" type="xsd:string" use="optional"/>
<xsd:attribute name="CAN_Baudrate" type="xsd:string" use="optional"/>
<xsd:attribute name="NodeId" type="xsd:integer" use="optional" default="1"/>
<xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>
</xsd:complexType>
</xsd:element>
</xsd:schema>
"""
EditorType = NetworkEditor
IconPath = os.path.join(CanFestivalPath, "objdictgen", "networkedit.png")
def __init__(self):
manager = _NodeManager(self)
NodeList.__init__(self, manager)
self.LoadProject(self.CTNPath())
self.SetNetworkName(self.BaseParams.getName())
def GetCanDevice(self):
return self.CanFestivalNode.getCAN_Device()
def SetParamsAttribute(self, path, value):
if path == "CanFestivalNode.NodeId":
nodeid = self.CanFestivalNode.getNodeId()
if value != nodeid:
slaves = self.GetSlaveIDs()
dir = (value - nodeid) / abs(value - nodeid)
while value in slaves and value >= 0:
value += dir
if value < 0:
value = nodeid
value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value)
refresh_network = False
# Filter IEC_Channel and Name, that have specific behavior
if path == "BaseParams.IEC_Channel" and self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
elif path == "BaseParams.Name":
self.SetNetworkName(value)
refresh_network = True
elif path == "CanFestivalNode.NodeId":
refresh_network = True
if refresh_network and self._View is not None:
wx.CallAfter(self._View.RefreshBufferState)
return value, refresh
def GetVariableLocationTree(self):
current_location = self.GetCurrentLocation()
nodeindexes = self.SlaveNodes.keys()
nodeindexes.sort()
children = []
children += [
GetSlaveLocationTree(self.Manager.GetCurrentNodeCopy(),
current_location, _("Local entries"))
]
children += [
GetSlaveLocationTree(self.SlaveNodes[nodeid]["Node"],
current_location + (nodeid, ),
self.SlaveNodes[nodeid]["Name"])
for nodeid in nodeindexes
]
return {
"name": self.BaseParams.getName(),
"type": LOCATION_CONFNODE,
"location": self.GetFullIEC_Channel(),
"children": children
}
_GeneratedMasterView = None
def _ShowGeneratedMaster(self):
self._OpenView("Generated master")
def _OpenView(self, name=None, onlyopened=False):
if name == "Generated master":
app_frame = self.GetCTRoot().AppFrame
if self._GeneratedMasterView is None:
buildpath = self._getBuildPath()
# Eventually create build dir
if not os.path.exists(buildpath):
self.GetCTRoot().logger.write_error(
_("Error: No PLC built\n"))
return
masterpath = os.path.join(buildpath, "MasterGenerated.od")
if not os.path.exists(masterpath):
self.GetCTRoot().logger.write_error(
_("Error: No Master generated\n"))
return
manager = MiniNodeManager(self, masterpath, self.CTNFullName())
self._GeneratedMasterView = MasterViewer(
app_frame.TabsOpened, manager, app_frame, name)
if self._GeneratedMasterView is not None:
app_frame.EditProjectElement(
self._GeneratedMasterView,
self._GeneratedMasterView.GetInstancePath())
return self._GeneratedMasterView
else:
ConfigTreeNode._OpenView(self, name, onlyopened)
if self._View is not None:
self._View.SetBusId(self.GetCurrentLocation())
return self._View
ConfNodeMethods = [{
"bitmap": "ShowMaster",
"name": _("Show Master"),
"tooltip": _("Show Master generated by config_utils"),
"method": "_ShowGeneratedMaster"
}]
def OnCloseEditor(self, view):
ConfigTreeNode.OnCloseEditor(self, view)
if self._GeneratedMasterView == view:
self._GeneratedMasterView = None
def OnCTNClose(self):
ConfigTreeNode.OnCTNClose(self)
self._CloseView(self._GeneratedMasterView)
return True
def CTNTestModified(self):
return self.ChangesToSave or self.HasChanged()
def OnCTNSave(self, from_project_path=None):
self.SetRoot(self.CTNPath())
if from_project_path is not None:
shutil.copytree(self.GetEDSFolder(from_project_path),
self.GetEDSFolder())
return self.SaveProject() is None
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@param current_location: Tupple containing confnode 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
"""
self._CloseView(self._GeneratedMasterView)
current_location = self.GetCurrentLocation()
# define a unique name for the generated C file
prefix = "_".join(map(str, current_location))
Gen_OD_path = os.path.join(buildpath, "OD_%s.c" % prefix)
# Create a new copy of the model with DCF loaded with PDO mappings for desired location
try:
master, pointers = config_utils.GenerateConciseDCF(
locations, current_location, self,
self.CanFestivalNode.getSync_TPDOs(), "OD_%s" % prefix)
except config_utils.PDOmappingException, e:
raise Exception(e.message)
# Do generate C file.
res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)
if res:
raise Exception(res)
file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")
dump(master, file)
file.close()
return [
(Gen_OD_path, local_canfestival_config.getCFLAGS(CanFestivalPath))
], "", False
def CTNGenerate_C(self, buildpath, locations):
can_driver = self.GetCanDriver()
if can_driver is not None:
can_drivers = local_canfestival_config.DLL_LIST
if can_driver not in can_drivers :
can_driver = can_drivers[0]
can_drv_ext = self.GetCTRoot().GetBuilder().extension
can_drv_prefix = self.GetCTRoot().GetBuilder().dlopen_prefix
can_driver_name = can_drv_prefix + "libcanfestival_" + can_driver + can_drv_ext
else:
can_driver_name = ""
format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())),
"candriver" : can_driver_name,
"nodes_includes" : "",
"board_decls" : "",
"nodes_init" : "",
"nodes_open" : "",
"nodes_stop" : "",
"nodes_close" : "",
"nodes_send_sync" : "",
"nodes_proceed_sync" : "",
"slavebootups" : "",
"slavebootup_register" : "",
"post_sync" : "",
"post_sync_register" : "",
"pre_op" : "",
"pre_op_register" : "",
}
for child in self.IECSortedChildren():
childlocstr = "_".join(map(str,child.GetCurrentLocation()))
nodename = "OD_%s" % childlocstr
# Try to get Slave Node
child_data = getattr(child, "CanFestivalSlaveNode", None)
if child_data is None:
# Not a slave -> master
child_data = getattr(child, "CanFestivalNode")
# Apply sync setting
format_dict["nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n '%(
nodename,
child_data.getNodeId())
if child_data.getSync_TPDOs():
format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n '%(nodename)
format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n '%(nodename)
# initialize and declare node boot status variables for post_SlaveBootup lookup
SlaveIDs = child.GetSlaveIDs()
if len(SlaveIDs) == 0:
# define post_SlaveBootup lookup functions
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){}\n"%(nodename))
else:
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"%(nodename)+
" check_and_start_node(d, nodeId);\n"+
"}\n")
# register previously declared func as post_SlaveBootup callback for that node
format_dict["slavebootup_register"] += (
"%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n"%(nodename,nodename))
format_dict["pre_op"] += (
"static void %s_preOperational(CO_Data* d){\n "%(nodename)+
"".join([" masterSendNMTstateChange(d, %d, NMT_Reset_Comunication);\n"%NdId for NdId in SlaveIDs])+
"}\n")
format_dict["pre_op_register"] += (
"%s_Data.preOperational = %s_preOperational;\n"%(nodename,nodename))
else:
# Slave node
align = child_data.getSync_Align()
align_ratio=child_data.getSync_Align_Ratio()
if align > 0:
format_dict["post_sync"] += (
"static int %s_CalCount = 0;\n"%(nodename)+
"static void %s_post_sync(CO_Data* d){\n"%(nodename)+
" if(%s_CalCount < %d){\n"%(nodename, align)+
" %s_CalCount++;\n"%(nodename)+
" align_tick(-1);\n"+
" }else{\n"+
" align_tick(%d);\n"%(align_ratio)+
" }\n"+
"}\n")
format_dict["post_sync_register"] += (
"%s_Data.post_sync = %s_post_sync;\n"%(nodename,nodename))
format_dict["nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n '%(
nodename,
child_data.getNodeId())
# Include generated OD headers
format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)
# Declare CAN channels according user filled config
format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(
nodename,
child.GetCanDevice(),
child_data.getCAN_Baudrate())
format_dict["nodes_open"] += 'NODE_OPEN(%s)\n '%(nodename)
format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n '%(nodename)
format_dict["nodes_stop"] += 'NODE_STOP(%s)\n '%(nodename)
filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")
cf_main = open(filename).read() % format_dict
cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)
f = open(cf_main_path,'w')
f.write(cf_main)
f.close()
res = [(cf_main_path, local_canfestival_config.getCFLAGS(CanFestivalPath))],local_canfestival_config.getLDFLAGS(CanFestivalPath), True
if can_driver is not None:
can_driver_path = os.path.join(CanFestivalPath,"drivers",can_driver,can_driver_name)
if os.path.exists(can_driver_path):
res += ((can_driver_name, file(can_driver_path,"rb")),)
return res
