def create_esi_db(self, db_name):
try:
if os.path.exists(db_name):
os.remove(db_name)
YoUtil.debug_print('DB file deleted:',db_name)
self.con = sqlite3.connect(db_name)
cur = self.con.cursor()
YoUtil.debug_print('SQLite version: ',cur.fetchone())
with self.con:
cur.execute("CREATE TABLE IF NOT EXISTS Vendors(VendorId INT, Name TEXT, Path TEXT, App TEXT)")
cur.execute("CREATE TABLE IF NOT EXISTS Devices(VendorId INT, productCode INT, revisionNumber INT, Name TEXT, Xml TEXT)")
files_pair = self.get_ESI_files()
for pair in files_pair:
esi_path = pair[1]
vendor_id,vendor_name = self.get_ESI_info(esi_path)
if vendor_id!= 0:
with self.con:
cur.execute("INSERT INTO Vendors (VendorId,Name,Path,App) VALUES(?,?,?,?)",(vendor_id,vendor_name,esi_path,pair[0]))
device_list = self.get_ESI_devices()
for device in device_list:
with self.con:
cur.execute("INSERT INTO Devices (VendorId,productCode,revisionNumber,Name) VALUES(?,?,?,?)",(vendor_id,device[0],device[1],device[2]))
return True
except sqlite3.Error as e:
print('DB Error: ',e)
return False
finally:
if self.con:
self.con.close()
def __init__(self, xml_slave):
self.InitCmds = list()
self.Mailbox = None
self.DC = None
self.name_in_res = YoUtil.get_xml_node_as_text(xml_slave,
'Info/NameInResource')
self.device_name = YoUtil.get_xml_node_as_text(xml_slave, 'Info/Name')
self.ProductName = YoUtil.get_xml_node_as_text(xml_slave,
'Info/ProductName')
self.vendor_id = YoUtil.get_xml_node_as_int(xml_slave, 'Info/VendorId')
self.productCode = YoUtil.get_xml_node_as_int(xml_slave,
'Info/ProductCode')
self.revisionNo = YoUtil.get_xml_node_as_int(xml_slave,
'Info/RevisionNo')
self.ProcessData_Send_BitStart = YoUtil.get_xml_node_as_int(
xml_slave, 'ProcessData/Send/BitStart')
self.ProcessData_Send_BitLength = YoUtil.get_xml_node_as_int(
xml_slave, 'ProcessData/Send/BitLength')
self.ProcessData_Recv_BitStart = YoUtil.get_xml_node_as_int(
xml_slave, 'ProcessData/Recv/BitStart')
self.ProcessData_Recv_BitLength = YoUtil.get_xml_node_as_int(
xml_slave, 'ProcessData/Recv/BitLength')
self.load_initCmds(xml_slave)
self.load_mailbox(xml_slave)
self.load_DC(xml_slave)
def tostring(self, type, indent=0):
ret = ("Slave ('%s','%s', (0x%x,0x%x,0x%x) -> '%s') " %
(YoUtil.str_strip(
self.name_in_res), YoUtil.str_strip(
self.device_name), self.vendor_id, self.productCode,
self.revisionNo, YoUtil.str_strip(self.ProductName))) + '\n'
ret += YoUtil.get_indent(indent + 1) + 'ProcessData '
if self.ProcessData_Send_BitStart != None:
ret += ('Send BitStart=%d, BitLength=%d' %
(self.ProcessData_Send_BitStart,
self.ProcessData_Send_BitLength))
if self.ProcessData_Recv_BitStart != None:
ret += (', Recv BitStart=%d, BitLength=%d' %
(self.ProcessData_Recv_BitStart,
self.ProcessData_Recv_BitLength))
ret += '\n'
if self.DC != None:
ret += self.DC.tostring(indent + 1)
if self.Mailbox != None:
ret += '\n' + self.Mailbox.tostring(indent + 1)
if type >= 1:
ret += ("%sInitCmds count= %d" %
(YoUtil.get_indent(indent + 1), len(self.InitCmds))) + '\n'
self.InitCmds = sorted(self.InitCmds, key=attrgetter('Ado'))
for initCmd in self.InitCmds:
str = initCmd.tostring(indent + 2)
ret += (str)
return ret
def esi_folders():
'''
gets the list of folders that holds ESI files
'''
pr1 = pr()
esi = EsiUtil()
folders = esi.get_ESI_folders()
YoUtil.print_list(folders, 1)
def cmd_slave_list():
if len(sys.argv) >= 3:
cfg = Config(sys.argv[2])
cfg.load_config()
lst = cfg.get_slaves()
YoUtil.print_list(lst, 1)
else:
print_usage()
def cmd_load_config_full():
if len(sys.argv) >= 3:
cfg = Config(sys.argv[2])
cfg.load_config()
master = cfg.get_master()
lst += cfg.get_slaves()
YoUtil.print_list(lst, 1)
else:
print_usage()
def tostring(self, type, indent=0):
ret = ("Master name='%s' " % (YoUtil.str_strip(self.name))) + '\n'
ret += ("%sInitCmds count= %d" %
(YoUtil.get_indent(indent + 1), len(self.InitCmds))) + '\n'
self.InitCmds = sorted(self.InitCmds, key=attrgetter('Ado'))
for initCmd in self.InitCmds:
str = initCmd.tostring(indent + 2)
ret += (str)
return ret
def load(self):
YoUtil.debug_print('loading ->', self.path)
self.tree = ET()
self.tree.parse(self.path)
root = self.tree.getroot()
xml_list = root.findall('Workspace/Targets/item')
if xml_list != None:
#YoUtil.debug_print('lst',xml_list)
for xml_node in xml_list:
tm = target_model(xml_node)
self.target_list.append(tm)
def get_ESI_devices(self):
ret = list()
#devices
if self.xml_esi!= None:
YoUtil.debug_print('read devices of esi=',self.esi_path)
xml_list_device = self.xml_esi.findall('Descriptions/Devices/Device')
YoUtil.debug_print('num of devices in esi=',len(xml_list_device))
for xml_device in xml_list_device:
pc = None
rev=None
name=None
xml_type = xml_device.find('Type')
if xml_type != None:
msg1 = ''
if 'ProductCode' in xml_type.attrib.keys():
pc = YoUtil.get_int(xml_type.attrib['ProductCode'])
msg1 = msg1+'ProductCode='+hex(pc)
if 'RevisionNo' in xml_type.attrib.keys():
rev = YoUtil.get_int(xml_type.attrib['RevisionNo'])
msg1= msg1+' RevisionNo:'+hex(rev)
if len(msg1)>0:
YoUtil.debug_print(msg1,'')
if pc != None:
ret.append((pc,rev,name))
return ret
def __init__(self, xml_device):
self.xml_node = xml_device
self.product_code = None
self.revision = None
self.name = None
xml_type = xml_device.find('Type')
if xml_type!= None:
if 'ProductCode' in xml_type.attrib.keys():
self.product_code = YoUtil.get_int(xml_type.attrib['ProductCode'])
if 'RevisionNo' in xml_type.attrib.keys():
self.revision = YoUtil.get_int(xml_type.attrib['RevisionNo'])
xml_name = xml_device.find('Name')
if xml_name!=None:
self.name = xml_name.text
def get_ESI_files(self, vendor_id=None, productCode=None): esi_folders = self.get_ESI_folders() esi_files = list() for pair in esi_folders: folder = pair[1] files = YoUtil.get_list_of_files(folder,'.xml') for file in files: full_path = os.path.join(folder,file) esi_files.append((pair[0],full_path)) if vendor_id==None and productCode==None: return esi_files ret = list() for pair in esi_files: file_path = pair[1] esi_file = EsiFile(file_path) if esi_file != None: esi_file.load_vendor() if esi_file.id == vendor_id: if productCode == None: ret.append((pair[0],esi_file.path)) else: esi_file.load_devices() for d in esi_file.devices: if d != None: if d.product_code == productCode: ret.append((pair[0],file_path)) break return ret
def __init__(self, xml_initCmd):
self.Transition = list()
self.Comment = None
self.Cmd = None
self.Adp = None
self.Ado = None
self.Index = None
self.SubIndex = None
self.Data = None
self.Cnt = None
self.CompleteAccess = None
xml_transitions = xml_initCmd.findall('Transition')
for xml_transition in xml_transitions:
self.Transition.append(xml_transition.text)
xml_comment = xml_initCmd.find('Comment')
if xml_comment != None:
self.Comment = xml_comment.text
xml_ado = xml_initCmd.find('Ado')
if xml_ado != None:
self.Ado = YoUtil.get_int(xml_ado.text)
xml_adp = xml_initCmd.find('Adp')
if xml_adp != None:
self.Adp = YoUtil.get_int(xml_adp.text)
xml_Index = xml_initCmd.find('Index')
if xml_Index != None:
self.Index = YoUtil.get_int(xml_Index.text)
xml_SubIndex = xml_initCmd.find('SubIndex')
if xml_SubIndex != None:
self.SubIndex = YoUtil.get_int(xml_SubIndex.text)
xml_Data = xml_initCmd.find('Data')
if xml_Data != None:
self.Data = xml_Data.text
xml_Cmd = xml_initCmd.find('Cmd')
if xml_Cmd != None:
self.Cmd = xml_Cmd.text
xml_Cnt = xml_initCmd.find('Cnt')
if xml_Cnt != None:
self.Cnt = xml_Cnt.text
if 'CompleteAccess' in xml_initCmd.attrib:
self.CompleteAccess = xml_initCmd.attrib['CompleteAccess']
def Main():
print("ECatConfigUtil -> ")
YoUtil.print_list(sys.argv, 1)
numofParams = len(sys.argv)
if numofParams > 1:
cmd = sys.argv[1].lower()
command_options = {
'slaves': cmd_slave_list,
'full': cmd_load_config_full,
}
if cmd in command_options.keys():
command_options[cmd]()
else:
print_usage(cmd)
else:
print_usage()
def find_esi(vendor, product):
'''
finds ESI files can fileter by [vendor] and [product]
'''
pr1 = pr()
esi = EsiUtil()
vendor_id = None
productCode = None
if vendor != None:
vendor_id = YoUtil.get_int(vendor)
if product != None:
productCode = YoUtil.get_int(product)
files = esi.get_ESI_files(vendor_id, productCode)
if files != None and len(files) > 0:
YoUtil.print_list(files, 1)
else:
pr1.print('ESI not found !')
def tostring(self, indent=0):
if self.Ado != None:
ret = YoUtil.get_indent(
indent
) + 'InitCmd Ado,Adp=(0x%4.4x,0x%4.4x) [%s] - "%s" - Data=[%s] Cnt=[%s] Cmd=[%s] CompleteAccess=[%s]' % (
self.Ado, self.Adp, self.get_transitions(),
YoUtil.str_strip(self.Comment), self.Data,
YoUtil.str_strip(self.Cnt), YoUtil.str_strip(
self.Cmd), YoUtil.str_strip(self.CompleteAccess)) + '\n'
elif self.Index != None:
ret = YoUtil.get_indent(
indent
) + 'InitCmd Index=(0x%4.4x.%d) [%s] - "%s" - Data=[%s] Cnt=[%s] Cmd=[%s] CompleteAccess=[%s]' % (
self.Index, self.SubIndex, self.get_transitions(),
YoUtil.str_strip(self.Comment), self.Data,
YoUtil.str_strip(self.Cnt), YoUtil.str_strip(
self.Cmd), YoUtil.str_strip(self.CompleteAccess)) + '\n'
return ret
def get_ESI_folders(self):
ret = list()
userESIPath = YoUtil.get_elmo_user_ESI_path()
ret.append(('ElmoUserESI', userESIPath))
ret.append(
('EASESI',
'C:/Dev/eas/View/ElmoMotionControl.View.Main/EtherCATSlaveLib'))
ret.append(('TwinCAT', 'C:/TwinCAT/3.1/Config/Io/EtherCAT'))
return ret
def __init__(self, xml_mailbox):
self.Protocols = list()
self.CoEInitCmds = None
self.Send_Start = None
self.Send_Length = None
self.Recv_Start = None
self.Recv_Length = None
self.Recv_PollTime = None
self.Recv_StatusBitAddr = None
self.Send_Start = YoUtil.get_xml_node_as_int(xml_mailbox, 'Send/Start')
self.Send_Length = YoUtil.get_xml_node_as_int(xml_mailbox,
'Send/Length')
self.Recv_Start = YoUtil.get_xml_node_as_int(xml_mailbox, 'Recv/Start')
self.Recv_Length = YoUtil.get_xml_node_as_int(xml_mailbox,
'Recv/Length')
self.Recv_PollTime = YoUtil.get_xml_node_as_int(
xml_mailbox, 'Recv/PollTime')
self.Recv_StatusBitAddr = YoUtil.get_xml_node_as_int(
xml_mailbox, 'Recv/StatusBitAddr')
xml_Protocol_list = xml_mailbox.findall('Protocol')
if xml_Protocol_list != None:
for xml_protocol in xml_Protocol_list:
self.Protocols.append(xml_protocol.text)
xml_initCmd_list = xml_mailbox.findall('CoE/InitCmds/InitCmd')
if xml_initCmd_list != None:
self.CoEInitCmds = list()
for xml_initCmd in xml_initCmd_list:
initcmd = InitCmd(xml_initCmd)
self.CoEInitCmds.append(initcmd)
def load_vendor(self):
xml_esi = self.tree.getroot()
if xml_esi!= None:
xml_vendor = xml_esi.find('Vendor')
if xml_vendor!= None:
xml_id = xml_vendor.find('Id')
if xml_id != None:
self.id = YoUtil.get_int(xml_id.text)
else:
self.id=None
xml_name = xml_vendor.find('Name')
if xml_name != None:
self.vendor_name = xml_name.text
def decode_slave_InitCmds(self, slave_name):
#print('decode_slave_InitCmds')
ret = list()
xml_slave = self.get_xml_slave_by_name(slave_name)
if xml_slave != None:
print('Slave found:')
print(YoUtil.get_xml_content(xml_slave))
pass
# get the list of InitCmds
# build the list
# get the list of mailbox\CoE\InitCmds
# build the list
return ret
def tostring(self, ident=0):
ret = YoUtil.get_indent(ident) + 'Mailbox'
ret += '\n' + YoUtil.get_indent(ident + 1) + 'Protocols: '
ret += YoUtil.list_to_comma_separated(self.Protocols) + ' '
ret += '\n' + YoUtil.get_indent(ident + 1) + (
"Send: Start=%d Length= %d, Recv: Start=%d, Length=%d" %
(self.Send_Start, self.Send_Length, self.Recv_Start,
self.Recv_Length))
if self.Recv_PollTime != None:
ret += (", PollTime=%d") % (self.Recv_PollTime)
if self.Recv_StatusBitAddr != None:
ret += (", StatusBitAddr=%d") % (self.Recv_StatusBitAddr)
if self.CoEInitCmds != None:
self.CoEInitCmds = sorted(self.CoEInitCmds,
key=attrgetter('Index'))
ret += (
"\n%sCoE InitCmds count= %d" %
(YoUtil.get_indent(ident + 1), len(self.CoEInitCmds))) + '\n'
for initCmd in self.CoEInitCmds:
str = initCmd.tostring(ident + 2)
ret += (str)
return ret
def cmd_find(esi):
cmd = sys.argv[2].lower()
if cmd == 'esi':
files = esi.get_ESI_files()
YoUtil.print_list(files,1)
elif cmd == 'vendor':
vendor_id = YoUtil.get_int(sys.argv[3])
files = esi.get_ESI_files_by_vendor(vendor_id)
YoUtil.print_list(files,1)
elif cmd == 'createdb':
if esi.create_esi_db('esi.db') == True:
print('ESI DB created successfully')
else:
print('failed to create ESI DB ')
elif cmd == 'device_esi':
vendor_id = YoUtil.get_int(sys.argv[3])
productCode = YoUtil.get_int(sys.argv[4])
revisionNumber = None
if len(sys.argv) > 5:
revisionNumber = YoUtil.get_int(sys.argv[5])
files = esi.get_devices(vendor_id,productCode,revisionNumber)
YoUtil.print_list(files,1)
else:
print_usage('find')
def load(self):
YoUtil.debug_print('loading ->', self.path)
self.tree = ET()
self.tree.parse(self.path)
root = self.tree.getroot()
xml_list = root.findall('GLOBAL_PARAMS/NAME')
if xml_list != None:
#YoUtil.debug_print('xml_list=',xml_list)
for xml_name in xml_list:
res_id = xml_name.get('RES_ID')
#YoUtil.debug_print('Res_ID=',res_id)
if res_id != None:
self.res_id = res_id
xml_list = root.findall('MOTION_DEVICES/NODE')
if xml_list != None:
#YoUtil.debug_print('Nodes xml_list=',xml_list)
for xml_node in xml_list:
self.load_node(xml_node)
xml_list = root.findall('IO_DEVICES/NODE')
if xml_list != None:
#YoUtil.debug_print('Nodes xml_list=',xml_list)
for xml_node in xml_list:
self.load_io(xml_node)
xml_list = root.findall('GENERAL_DEVICES/NODE')
if xml_list != None:
#YoUtil.debug_print('Nodes xml_list=',xml_list)
for xml_node in xml_list:
self.load_general(xml_node)
xml_list = root.findall('VIRTUAL_OBJECTS/VIRTUAL_OBJECT')
if xml_list != None:
#YoUtil.debug_print('Nodes xml_list=',xml_list)
for xml_node in xml_list:
self.load_virtual(xml_node)
def get_ESI_files_by_vendor(self, vendor_id):
files = self.get_ESI_files()
ret = list()
for pair in files:
file_path = pair[1]
xml_esi = self.load_esi(file_path)
if xml_esi!= None:
xml_vendor = xml_esi.find('Vendor')
if xml_vendor!= None:
xml_id = xml_vendor.find('Id')
if xml_id != None:
id = YoUtil.get_int(xml_id.text)
if id == vendor_id:
ret.append(file_path)
return ret
def get_ESI_info(self,esi_path):
esi = EsiFile(esi_path)
vendor_id = 0
vendor_name = None
self.esi_path = esi_path
self.xml_esi = self.load_esi(esi_path)
if self.xml_esi!= None:
xml_vendor = self.xml_esi.find('Vendor')
if xml_vendor!= None:
xml_id = xml_vendor.find('Id')
if xml_id != None:
vendor_id = YoUtil.get_int(xml_id.text)
xml_name = xml_vendor.find('Name')
if xml_name != None:
vendor_name = xml_name.text
return vendor_id,vendor_name
def get_devices(self, vendor_id,productCode,revisionNumber):
ret = list()
files = self.get_ESI_files_by_vendor(vendor_id)
YoUtil.debug_print('num of files=',len(files))
for file_path in files:
xml_esi = self.load_esi(file_path)
if xml_esi!= None:
xml_list_device = xml_esi.findall('Descriptions/Devices/Device')
YoUtil.debug_print('num of devices=',len(xml_list_device))
for xml_device in xml_list_device:
xml_type = xml_device.find('Type')
if xml_type != None:
pc = YoUtil.get_int(xml_type.attrib['ProductCode'])
YoUtil.debug_print('ProductCode=',pc)
if pc == productCode:
ret.append(file_path)
return ret
def __init__(self,xml_dc): self.ReferenceClock = YoUtil.get_xml_node_as_bool(xml_dc,'ReferenceClock') self.CycleTime0 = YoUtil.get_xml_node_as_int(xml_dc,'CycleTime0') self.CycleTime1 = YoUtil.get_xml_node_as_int(xml_dc,'CycleTime1') self.ShiftTime = YoUtil.get_xml_node_as_int(xml_dc,'ShiftTime')
def tostring(self,indent=0): ret = YoUtil.get_indent(indent)+'DC -'+'ReferenceClock='+str(self.ReferenceClock)+' CycleTime0='+str(self.CycleTime0)+' CycleTime1='+str(self.CycleTime1)+' ShiftTime='+str(self.ShiftTime) return ret
def get_ESI_folders(self):
ret = list()
userESIPath= YoUtil.get_elmo_user_ESI_path()
ret.append(('ElmoUserESI',userESIPath))
ret.append(('EASESI','C:\Dev\eas\View\ElmoMotionControl.View.Main\EtherCATSlaveLib'))
return ret
def cmd_esi_folder(esi): YoUtil.print_list(esi.get_ESI_folders(),1)