from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
from MotionLibrary import Headers, AxisXSD
from EthercatSlave import _EthercatSlaveCTN
from ConfigEditor import CIA402NodeEditor
("ControlWord", 0x6040, 0x00, "UINT", "Q"),
("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"),
("TargetTorque", 0x6071, 0x00, "INT", "Q"),
("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
("StatusWord", 0x6041, 0x00, "UINT", "I"),
("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
("ActualPosition", 0x6064, 0x00, "DINT", "I"),
("ActualVelocity", 0x606c, 0x00, "DINT", "I"),
("ActualTorque", 0x6077, 0x00, "INT", "I"),
DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);"
DEFAULT_PUBLISH = " *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;"
{"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),
{"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"),
{"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"),
{"description": ("TouchProbeFunction", 0x60B8, 0x00, "UINT", "Q"),
{"description": ("TouchProbeStatus", 0x60B9, 0x00, "UINT", "I"),
{"description": ("TouchProbePos1PosValue", 0x60BA, 0x00, "DINT", "I"),
{"description": ("TouchProbePos1NegValue", 0x60BB, 0x00, "DINT", "I"),
EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])
BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s->,%(input_name)s, %(input_value)s);"
BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s->%(output_name)s));"
BLOCK_FUNCTION_TEMPLATE = """
extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
void __%(blocktype)s_%(location)s(MC_%(ucase_blocktype)s *data__) {
__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
BLOCK_FUNTION_DEFINITION_TEMPLATE = " __CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"
{"blocktype": "GetTorqueLimit",
"outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
{"name": "TorqueLimitNeg", "type": "UINT"}]},
{"blocktype": "SetTorqueLimit",
"inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
{"name": "TorqueLimitNeg", "type": "UINT"}],
#--------------------------------------------------
#--------------------------------------------------
class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
<xsd:element name="CIA402SlaveParams">
""" % ("\n".join(['<xsd:attribute name="Enable%s" type="xsd:boolean" use="optional" default="false"/>' % category
for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
EditorType = CIA402NodeEditor
{"bitmap" : "CIA402AxisRef",
"tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
"method" : "_getCIA402AxisRef",
def SetParamsAttribute(self, path, value):
if path == "CIA402SlaveParams.Type":
path = "SlaveParams.Type"
elif path == "CIA402SlaveParams.Alias":
path = "SlaveParams.Alias"
return _EthercatSlaveCTN.SetParamsAttribute(self, path, value)
def GetVariableLocationTree(self):
axis_name = self.CTNName()
current_location = self.GetCurrentLocation()
children = [{"name": "%s Axis Ref" % (axis_name),
"type": LOCATION_VAR_INPUT,
"location": "%%IW%s.0" % (".".join(map(str, current_location))),
children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), current_location, axis_name))
return {"name": axis_name,
"type": LOCATION_CONFNODE,
"location": self.GetFullIEC_Channel(),
def CTNGlobalInstances(self):
current_location = self.GetCurrentLocation()
return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location)), None),
"EtherLab%s" % block_infos["blocktype"], "") for block_infos in GLOBAL_INSTANCES]
def _getCIA402AxisRef(self):
data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
"location", "AXIS_REF", self.CTNName(), "")))
dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
def CTNGenerate_C(self, buildpath, locations):
current_location = self.GetCurrentLocation()
location_str = "_".join(map(lambda x:str(x), current_location))
plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c")
plc_cia402node_file = open(plc_cia402node_filepath, 'r')
plc_cia402node_code = plc_cia402node_file.read()
plc_cia402node_file.close()
"slave_pos": self.GetSlavePos(),
"location": location_str,
"extern_located_variables_declaration": [],
"fieldbus_interface_declaration": [],
"fieldbus_interface_definition": [],
"init_entry_variables": [],
"extra_variables_retrieve": [],
"extra_variables_publish": []
for blocktype_infos in GLOBAL_INSTANCES:
"blocktype": blocktype_infos["blocktype"],
"ucase_blocktype": blocktype_infos["blocktype"].upper(),
"location": "_".join(map(str, current_location))
texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts
inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())},
{"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\
[{"input_name": input["name"].upper(),
"input_value": "__GET_VAR(data__->%s)" % input["name"].upper()}
for input in blocktype_infos["inputs"]]
for input_infos in inputs:
input_infos.update(texts)
input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos)
texts["extract_inputs"] = "\n".join(input_texts)
outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \
[{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]]
for output_infos in outputs:
output_infos.update(texts)
output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos)
texts["return_outputs"] = "\n".join(output_texts)
str_completion["fieldbus_interface_declaration"].append(
BLOCK_FUNCTION_TEMPLATE % texts)
str_completion["fieldbus_interface_definition"].append(
BLOCK_FUNTION_DEFINITION_TEMPLATE % texts)
variables = NODE_VARIABLES[:]
params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
for param in params["children"]:
if param["name"] in EXTRA_NODE_VARIABLES_DICT:
extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"])
for variable_infos in extra_variables:
"location": location_str,
"name": variable_infos["description"][0]
variables.append(variable_infos["description"])
retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE)
publish_template = variable_infos.get("publish", DEFAULT_PUBLISH)
if retrieve_template is not None:
str_completion["extra_variables_retrieve"].append(
retrieve_template % var_infos)
if publish_template is not None:
str_completion["extra_variables_publish"].append(
publish_template % var_infos)
elif param["value"] is not None:
"location": location_str,
"param_name": param["name"],
if param["type"] == "boolean":
param_infos["param_value"] = {True: "1", False: "0"}[param["value"]]
param_infos["param_value"] = str(param["value"])
str_completion["init_axis_params"].append(
" __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)
for variable in variables:
var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable))
var_infos["location"] = location_str
var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"])
var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos
str_completion["extern_located_variables_declaration"].append(
"IEC_%(var_type)s *%(var_name)s;" % var_infos)
str_completion["entry_variables"].append(
" IEC_%(var_type)s *%(name)s;" % var_infos)
str_completion["init_entry_variables"].append(
" __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos)
self.CTNParent.FileGenerator.DeclareVariable(
self.GetSlavePos(), var_infos["index"], var_infos["subindex"],
var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
for element in ["extern_located_variables_declaration",
"fieldbus_interface_declaration",
"fieldbus_interface_definition",
"extra_variables_retrieve",
"extra_variables_publish"]:
str_completion[element] = "\n".join(str_completion[element])
Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str)
cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
cia402nodefile.write(plc_cia402node_code % str_completion)
return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True
