class BaseDev(QWidget):
base_address = 0
has_target = False
has_status = False
offset = 1
def __init__(self,
model,
name,
index,
addr,
has_status=False,
target=None,
value_offset=1):
QWidget.__init__(self)
self.index = index
self.name = name
self.model = model
self.offset = value_offset
self.has_status = has_status
self.has_target = target is not None
self.base_address = addr
self._namelabel = QLabel(name)
self._namelabel.setMinimumWidth(120)
self._namelabel.setMaximumWidth(120)
# self._groupbox = QGroupBox(name)
self._groupbox = QFrame()
# self._groupbox.setFlat(False)
# self._groupbox.setCheckable(False)
self._hlayout = QHBoxLayout()
self._hlayout.addWidget(self._namelabel)
self._hlayout.addWidget(self._groupbox)
self._hlayout.setSpacing(0)
# inside of the groupbox there is a vbox with 1 or 2 hboxes
self._inner_vbox = QVBoxLayout()
self._groupbox.setLayout(self._inner_vbox)
# upper inner hbox
self._inner_hbox1 = QHBoxLayout()
self._inner_vbox.addLayout(self._inner_hbox1)
# fill upper hbox
self.valueWidget = QLineEdit('0b123456789abcdef0')
self.valueWidget.setMaximumWidth(120)
self._inner_hbox1.addWidget(self.valueWidget)
if self.has_target:
self.targetWidget = QLineEdit()
self.targetWidget.setPlaceholderText(target)
self.targetWidget.setMaximumWidth(120)
self.targetWidget.returnPressed.connect(lambda *a: model.targeter(
index,
(self.targetWidget.text(), self.targetWidget.setText(''))[0]))
self._inner_hbox1.addWidget(self.targetWidget)
self.goButton = QPushButton('Go')
self.goButton.clicked.connect(lambda *a: model.targeter(
index,
(self.targetWidget.text(), self.targetWidget.setText(''))[0]))
self._inner_hbox1.addWidget(self.goButton)
self.stopButton = QPushButton('Stop')
self.stopButton.clicked.connect(lambda *a: model.stopper(index))
self._inner_hbox1.addWidget(self.stopButton)
# now (conditionally) the second hbox
if has_status:
self._inner_hbox2 = QHBoxLayout()
self._inner_vbox.addLayout(self._inner_hbox2)
self.statvalueWidget = QLineEdit('statval')
self.statvalueWidget.setMaximumWidth(120)
self._inner_hbox2.addWidget(self.statvalueWidget)
self.statusWidget = QLineEdit('Statusstring if available')
self.statusWidget.setMaximumWidth(10000)
self._inner_hbox2.addWidget(self.statusWidget)
self.resetButton = QPushButton('Reset')
self.resetButton.clicked.connect(lambda *a: model.resetter(index))
self._inner_hbox1.addWidget(self.resetButton)
# self._inner_hbox2.addStretch(0.1)
# allow space for resizing
self._inner_hbox1.addStretch(1)
self._inner_vbox.setSpacing(0)
self._inner_vbox.setContentsMargins(0, 0, 0, 0)
self._hlayout.setContentsMargins(0, 0, 0, 0)
self.setLayout(self._hlayout)
self.show()
class BaseDev(QWidget):
has_target = False
has_status = False
def __init__(self, model, name, addr):
super(BaseDev, self).__init__()
self.name = name
self.model = model
self.addr = addr
self._namelabel = QLabel(name)
self._namelabel.setMinimumWidth(120)
self._namelabel.setMaximumWidth(120)
# self._groupbox = QGroupBox(name)
self._groupbox = QFrame()
# self._groupbox.setFlat(False)
# self._groupbox.setCheckable(False)
self._hlayout = QHBoxLayout()
self._hlayout.addWidget(self._namelabel)
self._hlayout.addWidget(self._groupbox)
self._hlayout.setSpacing(0)
# inside of the groupbox there is a vbox with 1 or 2 hboxes
self._inner_vbox = QVBoxLayout()
self._groupbox.setLayout(self._inner_vbox)
# upper inner hbox
self._inner_hbox1 = QHBoxLayout()
self._inner_vbox.addLayout(self._inner_hbox1)
# fill upper hbox
self.valueWidget = QLineEdit('0b123456789abcdef0')
self.valueWidget.setMaximumWidth(120)
self._inner_hbox1.addWidget(self.valueWidget)
if self.has_target:
self.targetWidget = QLineEdit()
self.targetWidget.setPlaceholderText('')
self.targetWidget.setMaximumWidth(120)
self.targetWidget.returnPressed.connect(self._go_clicked)
self._inner_hbox1.addWidget(self.targetWidget)
self.goButton = QPushButton('Go')
self.goButton.clicked.connect(self._go_clicked)
self._inner_hbox1.addWidget(self.goButton)
self.stopButton = QPushButton('Stop')
self.stopButton.clicked.connect(self._stop_clicked)
self._inner_hbox1.addWidget(self.stopButton)
# now (conditionally) the second hbox
if self.has_status:
self._inner_hbox2 = QHBoxLayout()
self._inner_vbox.addLayout(self._inner_hbox2)
self.statvalueWidget = QLineEdit('statval')
self.statvalueWidget.setMaximumWidth(120)
self._inner_hbox2.addWidget(self.statvalueWidget)
self.statusWidget = QLineEdit('Statusstring if available')
self.statusWidget.setMaximumWidth(10000)
self._inner_hbox2.addWidget(self.statusWidget)
self.resetButton = QPushButton('Reset')
self.resetButton.clicked.connect(self._reset_clicked)
self._inner_hbox1.addWidget(self.resetButton)
# self._inner_hbox2.addStretch(0.1)
# allow space for resizing
self._inner_hbox1.addStretch(1)
self._inner_vbox.setSpacing(0)
self._inner_vbox.setContentsMargins(0, 0, 0, 0)
self._hlayout.setContentsMargins(0, 0, 0, 0)
self.setLayout(self._hlayout)
self.show()
def _go_clicked(self):
self.model.targeter(self.index, self.targetWidget.text())
self.targetWidget.setText('')
def _stop_clicked(self):
self.model.stopper(self.index)
def _reset_clicked(self):
self.resetter(self.index)
def _update(self):
pass
def _str2bin(self, value):
return int(value)
def _bin2str(self, value):
return str(value)
def _status(self, value):
return "no status decoder implemented"
class MainWindow(QMainWindow):
i = 0
def __init__(self, parent=None):
QMainWindow.__init__(self, parent)
# scroll area Widget contents - layout
self.scrollLayout = QFormLayout()
self.scrollLayout.setContentsMargins(0, 0, 0, 0)
# scroll area Widget contents
self.scrollWidget = QWidget()
self.scrollWidget.setLayout(self.scrollLayout)
# scroll area
self.scrollArea = QScrollArea()
self.scrollArea.setWidgetResizable(True)
self.scrollArea.setWidget(self.scrollWidget)
# main layout
self.mainLayout = QVBoxLayout()
self.mainLayout.setSpacing(0)
# add all main to the main vLayout
self.mainLayout.addWidget(self.scrollArea)
# central Widget
self.centralWidget = QWidget()
self.centralWidget.setLayout(self.mainLayout)
# set central Widget
self.setCentralWidget(self.centralWidget)
try:
self._bus = ModbusTcpClient('drum.panda.frm2')
self._bus.connect()
self._sync()
print("Modbus synced!")
print(self.ReadWord(0x20), self.ReadWord(0x21))
except Exception as err:
print("Modbus failed: %r, using demo mode!" % err)
self._bus = None
self._sync()
widgets = []
widgets.append(
BaseDev(self, 'mtt motor inputs', 0, has_status=True, addr=34))
widgets.append(
BaseDev(self, 'spare inputs', 1, has_status=True, addr=44))
widgets.append(
BaseDev(self,
'spare outputs',
2,
has_status=True,
target='0x%04x' % self.ReadWord(60),
addr=59))
widgets.append(
BaseDev(self,
'enable_word',
3,
target='0x%04x' % self.ReadWord(73),
addr=73))
widgets.append(BaseDev(self, 'cycle_counter', 4, addr=74))
widgets.append(
BaseDev(self,
'handle_cw',
5,
has_status=True,
target='%d' % self.ReadWord(51),
addr=50))
widgets.append(
BaseDev(self,
'handle_ccw',
6,
has_status=True,
target='%d' % self.ReadWord(54),
addr=53))
widgets.append(BaseDev(self, 'enc1', 7, has_status=True, addr=46))
widgets.append(BaseDev(self, 'enc2', 8, has_status=True, addr=48))
widgets.append(
BaseDev(self,
'arm_switch',
9,
has_status=True,
target='%d' % self.ReadWord(63),
addr=62))
widgets.append(BaseDev(self, 'encoder1', 10, has_status=False,
addr=65))
widgets.append(
BaseDev(self,
'arm',
11,
has_status=True,
target='%f' % self.ReadFloat(70),
value_offset=2,
addr=68))
widgets.append(
BaseDev(self,
'magnet',
12,
has_status=True,
target='%d' % self.ReadWord(57),
addr=56))
widgets.append(
BaseDev(self,
'air',
13,
has_status=True,
target='%d' % self.ReadWord(60),
addr=59))
for w in widgets:
self.addWidget(w)
widgets.sort(key=lambda w: w.index)
self.widgets = widgets
self.startTimer(225) # in ms !
def resetter(self, index):
w = self.widgets[index]
if w.has_status:
addr = w.base_address + w.offset
if w.has_target:
addr += w.offset
print(addr)
self.reset(addr)
else:
print("resetter: device %d has no status" % index)
def stopper(self, index):
w = self.widgets[index]
if w.has_target:
addr = w.base_address
if w.name == 'enable_word':
print("stopper: DISABLING %d" % (addr))
self.WriteWord(addr, 0)
else:
addr += w.offset
if w.has_target:
addr += w.offset
print("stopper: stopping on addr %d" % (addr))
self.stop(addr)
else:
print("stopper: cannot stop - no target %d" % index)
def targeter(self, index, valuestr):
w = self.widgets[index]
if w.has_target:
v = str(valuestr).strip()
if not v:
return # ignore empty values (no value entered into the box?)
addr = w.base_address
if w.offset == 2:
v = float(v)
addr += w.offset
print("targeter: setting addr %d to %f" % (addr, v))
self.WriteFloat(addr, v)
else:
if v.startswith('0x') or v.startswith('0X'):
v = int(v[2:], 16)
elif v.startswith(('x', 'X', '$')):
v = int(v[1:], 16)
else:
v = int(v)
if w.name != 'enable_word':
addr += w.offset
print("targeter: setting addr %d to %r" % (addr, valuestr))
self.WriteWord(addr, v)
else:
print("targeter: device fas no target %d:%r" % (index, valuestr))
def ReadWord(self, addr):
return self._registers[int(addr)]
def WriteWord(self, addr, value):
self._bus.write_register(int(addr | 0x4000), int(value))
self._sync()
def ReadDWord(self, addr):
return unpack(
'<I',
pack('<HH', self._registers[int(addr)],
self._registers[int(addr) + 1]))
def WriteDWord(self, addr, value):
low, high = unpack('<HH', pack('<I', int(value)))
self._bus.write_registers(int(addr | 0x4000), [low, high])
self._sync()
def ReadFloat(self, addr):
return unpack(
'<f',
pack('<HH', self._registers[int(addr) + 1],
self._registers[int(addr)]))
def WriteFloat(self, addr, value):
low, high = unpack('<HH', pack('<f', float(value)))
self._bus.write_registers(int(addr | 0x4000), [high, low])
self._sync()
def _sync(self):
if self._bus:
self._registers = self._bus.read_holding_registers(0x4000,
75).registers[:]
# print(self._registers)
else:
self._registers = [self.i] * 75
self.i += 1
def reset(self, addr):
self.WriteWord(addr, 0x0fff & self.ReadWord(addr))
def stop(self, addr):
self.WriteWord(addr, 0x1000 | (0x0fff & self.ReadWord(addr)))
def timerEvent(self, event):
self._sync()
w = self.widgets
# 1: %MB68: cycle counter
val = self.ReadWord(34)
stat = self.ReadWord(35)
w[0].valueWidget.setText(bin(65536 | val)[3:])
w[0].statvalueWidget.setText('0x%04x' % stat)
w[0].statusWidget.setText('mtt motor inputs')
# 10: %MB96: spare inputs
val = self.ReadWord(44)
stat = self.ReadWord(45)
w[1].valueWidget.setText(bin(65536 | val)[3:])
w[1].statvalueWidget.setText('0x%04x' % stat)
w[1].statusWidget.setText('spare inputs')
# 17: %MB136: spare outputs
val = self.ReadWord(59)
target = self.ReadWord(60)
stat = self.ReadWord(61)
stati = Stati(stat)
w[2].valueWidget.setText('%d' % val)
w[2].statvalueWidget.setText('0x%04x' % stat)
w[2].statusWidget.setText(', '.join(stati))
w[2].targetWidget.setPlaceholderText('%d' % target)
# 19: %MB146: enable code word
val = self.ReadWord(73)
w[3].valueWidget.setText('0x%04x' % val)
w[3].targetWidget.setPlaceholderText('0x%04x' % val)
# 20: %MB148: cycle counter
val = self.ReadWord(74)
w[4].valueWidget.setText('0x%04x' % val)
# 13: %MB112: liftclamp
val = self.ReadWord(50)
target = self.ReadWord(51)
stat = self.ReadWord(52)
stati = Stati(stat)
if (stat & 0x9000) == 0x9000:
stati.append('ERR:Movement timed out')
if stat & 0x0800:
stati.append('ERR:liftclamp switches in Error')
if stat & 0x0004:
stati.append('No Air pressure')
if stat & 0x0002:
stati.append('ERR:Actuator Wire shorted!')
if stat & 0x0001:
stati.append('ERR:Actuator Wire open!')
w[5].valueWidget.setText('%d' % val)
w[5].statvalueWidget.setText('0x%04x' % stat)
w[5].statusWidget.setText(', '.join(stati))
w[5].targetWidget.setPlaceholderText('%d' % target)
# 13: %MB112: liftclamp
val = self.ReadWord(53)
target = self.ReadWord(54)
stat = self.ReadWord(55)
stati = Stati(stat)
if (stat & 0x9000) == 0x9000:
stati.append('ERR:Movement timed out')
if stat & 0x0800:
stati.append('ERR:liftclamp switches in Error')
if stat & 0x0004:
stati.append('No Air pressure')
if stat & 0x0002:
stati.append('ERR:Actuator Wire shorted!')
if stat & 0x0001:
stati.append('ERR:Actuator Wire open!')
w[6].valueWidget.setText('%d' % val)
w[6].statvalueWidget.setText('0x%04x' % stat)
w[6].statusWidget.setText(', '.join(stati))
w[6].targetWidget.setPlaceholderText('%d' % target)
# 7: %MB192: enc1
val = self.ReadWord(46)
stat = self.ReadWord(47)
stati = Stati(stat)
if stat & 0x0002:
stati.append('ERR:Underflow!')
if stat & 0x0001:
stati.append('ERR:Overflow!')
w[7].valueWidget.setText(str(val))
w[7].statvalueWidget.setText('0x%04x' % stat)
w[7].statusWidget.setText(', '.join(stati))
# 7: %MB192: arm
val = self.ReadWord(48)
stat = self.ReadWord(49)
stati = Stati(stat)
if stat & 0x0002:
stati.append('ERR:Underflow!')
if stat & 0x0001:
stati.append('ERR:Overflow!')
w[8].valueWidget.setText(str(val))
w[8].statvalueWidget.setText('0x%04x' % stat)
w[8].statusWidget.setText(', '.join(stati))
# 17: %MB136: spare outputs
val = self.ReadWord(62)
target = self.ReadWord(63)
stat = self.ReadWord(64)
stati = Stati(stat)
w[9].valueWidget.setText('%d' % val)
w[9].statvalueWidget.setText('0x%04x' % stat)
w[9].statusWidget.setText(', '.join(stati))
w[9].targetWidget.setPlaceholderText('%d' % target)
# encoder
val = self.ReadFloat(65)
w[10].valueWidget.setText('%f' % val)
# motro
val = self.ReadFloat(68)
target = self.ReadFloat(70)
stat = self.ReadWord(72)
stati = Stati(stat)
w[11].valueWidget.setText('%f' % val)
w[11].statvalueWidget.setText('0x%04x' % stat)
w[11].statusWidget.setText(', '.join(stati))
w[11].targetWidget.setPlaceholderText('%f' % target)
# 13: %MB112: liftclamp
val = self.ReadWord(56)
target = self.ReadWord(57)
stat = self.ReadWord(58)
stati = Stati(stat)
if (stat & 0x9000) == 0x9000:
stati.append('ERR:Movement timed out')
if stat & 0x0800:
stati.append('ERR:liftclamp switches in Error')
if stat & 0x0004:
stati.append('No Air pressure')
if stat & 0x0002:
stati.append('ERR:Actuator Wire shorted!')
if stat & 0x0001:
stati.append('ERR:Actuator Wire open!')
w[12].valueWidget.setText('%d' % val)
w[12].statvalueWidget.setText('0x%04x' % stat)
w[12].statusWidget.setText(', '.join(stati))
w[12].targetWidget.setPlaceholderText('%d' % target)
# 13: %MB112: air
val = self.ReadWord(59)
target = self.ReadWord(60)
stat = self.ReadWord(61)
stati = Stati(stat)
if (stat & 0x9000) == 0x9000:
stati.append('ERR:Movement timed out')
if stat & 0x0800:
stati.append('ERR:liftclamp switches in Error')
if stat & 0x0004:
stati.append('No Air pressure')
if stat & 0x0002:
stati.append('ERR:Actuator Wire shorted!')
if stat & 0x0001:
stati.append('ERR:Actuator Wire open!')
w[13].valueWidget.setText('%d' % val)
w[13].statvalueWidget.setText('0x%04x' % stat)
w[13].statusWidget.setText(', '.join(stati))
w[13].targetWidget.setPlaceholderText('%d' % target)
def addWidget(self, which):
which.setContentsMargins(10, 0, 0, 0)
self.scrollLayout.addRow(which)
l = QFrame()
l.setLineWidth(1)
# l.setMidLineWidth(4)
l.setFrameShape(QFrame.HLine)
l.setContentsMargins(10, 0, 10, 0)
self.scrollLayout.addRow(l)
class MainWindow(QMainWindow):
i = 0
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
# scroll area Widget contents - layout
self.scrollLayout = QFormLayout()
self.scrollLayout.setContentsMargins(0, 0, 0, 0)
# scroll area Widget contents
self.scrollWidget = QWidget()
self.scrollWidget.setLayout(self.scrollLayout)
# scroll area
self.scrollArea = QScrollArea()
self.scrollArea.setWidgetResizable(True)
self.scrollArea.setWidget(self.scrollWidget)
# main layout
self.mainLayout = QVBoxLayout()
self.mainLayout.setSpacing(0)
# add all main to the main vLayout
self.mainLayout.addWidget(self.scrollArea)
# central Widget
self.centralWidget = QWidget()
self.centralWidget.setLayout(self.mainLayout)
# set central Widget
self.setCentralWidget(self.centralWidget)
try:
self._bus = ModbusTcpClient('wechsler.panda.frm2')
self._bus.connect()
self._sync()
print("PLC conforms to spec %.4f" % self.ReadFloat(0))
except Exception:
print("Modbus failed, using demo mode!")
self._bus = None
self._sync()
widgets = []
widgets.append(WriteWord(self, 'last_liftpos', addr=58 / 2))
widgets.append(ReadWord(self, 'analog1', addr=92 / 2))
widgets.append(ReadWord(self, 'analog2', addr=96 / 2))
widgets.append(AnalogInput(self, 'liftpos_analog', addr=146 / 2))
widgets.append(DiscreteInput(self, 'lift_sw', addr=68 / 2))
widgets.append(LIFT(self, 'lift', 104 / 2))
widgets.append(WriteWord(self, 'last_magpos', addr=60 / 2))
widgets.append(DiscreteInput(self, 'magazin_sw', addr=72 / 2))
widgets.append(MAGAZIN(self, 'magazin', addr=110 / 2))
widgets.append(DiscreteInput(self, 'magazin_occ_sw', addr=84 / 2))
widgets.append(DiscreteInput(self, 'magazin_occ', addr=88 / 2))
widgets.append(DiscreteInput(self, 'liftclamp_sw', addr=76 / 2))
widgets.append(CLAMP(self, 'liftclamp', addr=116 / 2))
widgets.append(DiscreteInput(self, 'magazinclamp_sw', addr=80 / 2))
widgets.append(CLAMP(self, 'magazinclamp', addr=122 / 2))
widgets.append(CLAMP(self, 'tableclamp', addr=128 / 2))
widgets.append(CLAMP(self, 'inhibit_relay', addr=134 / 2))
widgets.append(WriteWord(self, 'enable_word', addr=150 / 2))
widgets.append(DiscreteInput(self, 'spare inputs', addr=100 / 2))
widgets.append(DiscreteOutput(self, 'spare outputs', addr=140 / 2))
widgets.append(ReadWord(self, 'cycle_counter', addr=152 / 2))
for w in widgets:
self.addWidget(w)
self.widgets = widgets
self.startTimer(225) # in ms !
def ReadWord(self, addr):
return self._registers[int(addr)]
def WriteWord(self, addr, value):
if self._bus:
self._bus.write_register(int(addr | 0x4000), int(value))
self._sync()
def ReadDWord(self, addr):
return unpack(
'<I',
pack('<HH', self._registers[int(addr)],
self._registers[int(addr) + 1]))
def WriteDWord(self, addr, value):
if self._bus:
low, high = unpack('<HH', pack('<I', int(value)))
self._bus.write_registers(int(addr | 0x4000), [low, high])
self._sync()
def ReadFloat(self, addr):
return unpack(
'<f',
pack('<HH', self._registers[int(addr) + 1],
self._registers[int(addr)]))
def WriteFloat(self, addr, value):
if self._bus:
low, high = unpack('<HH', pack('<f', float(value)))
self._bus.write_registers(int(addr | 0x4000), [high, low])
self._sync()
def _sync(self):
if self._bus:
self._registers = self._bus.read_holding_registers(0x4000,
77).registers[:]
else:
self._registers = [self.i + i for i in range(77)]
self.i += 1
def timerEvent(self, event): # pylint: disable=R0915
self._sync()
for w in self.widgets:
w._update()
return
def addWidget(self, which):
which.setContentsMargins(10, 0, 0, 0)
self.scrollLayout.addRow(which)
l = QFrame()
l.setLineWidth(1)
# l.setMidLineWidth(4)
l.setFrameShape(QFrame.HLine)
l.setContentsMargins(10, 0, 10, 0)
self.scrollLayout.addRow(l)