beremiz

Adding block library for SDO download and SDO upload

2012-10-25, Laurent Bessard
8e4992e0f147
Parents ae263886ae92
Children 8421bd1f8b06
Adding block library for SDO download and SDO upload
5 files changed, 401 insertions(+), 0 deletions(-)
  • +26 -0
    etherlab/etherlab.py
  • +42 -0
    etherlab/etherlab_ext.c
  • +7 -0
    etherlab/extension.py
  • +276 -0
    etherlab/pous.xml
  • +50 -0
    etherlab/runtime_etherlab.py
    • --- a/etherlab/etherlab.py Fri Oct 19 16:37:54 2012 +0200
    +++ b/etherlab/etherlab.py Thu Oct 25 19:55:02 2012 +0200
    @@ -5,6 +5,7 @@
    import wx
    from xmlclass import *
    +from POULibrary import POULibrary
    from ConfigTreeNode import ConfigTreeNode
    from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
    from ConfigEditor import NodeEditor, CIA402NodeEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE
    @@ -56,6 +57,31 @@
    """
    #--------------------------------------------------
    +# Etherlab Specific Blocks Library
    +#--------------------------------------------------
    +
    +def GetLocalPath(filename):
    + return os.path.join(os.path.split(__file__)[0], filename)
    +
    +class EtherlabLibrary(POULibrary):
    + def GetLibraryPath(self):
    + return GetLocalPath("pous.xml")
    +
    + def Generate_C(self, buildpath, varlist, IECCFLAGS):
    + etherlab_ext_file = open(GetLocalPath("etherlab_ext.c"), 'r')
    + etherlab_ext_code = etherlab_ext_file.read()
    + etherlab_ext_file.close()
    +
    + Gen_etherlabfile_path = os.path.join(buildpath, "etherlab_ext.c")
    + ethelabfile = open(Gen_etherlabfile_path,'w')
    + ethelabfile.write(etherlab_ext_code)
    + ethelabfile.close()
    +
    + runtimefile_path = os.path.join(os.path.split(__file__)[0], "runtime_etherlab.py")
    + return ((["etherlab_ext"], [(Gen_etherlabfile_path, IECCFLAGS)], True), "",
    + ("runtime_etherlab.py", file(GetLocalPath("runtime_etherlab.py"))))
    +
    +#--------------------------------------------------
    # Ethercat Node
    #--------------------------------------------------
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/etherlab/etherlab_ext.c Thu Oct 25 19:55:02 2012 +0200
    @@ -0,0 +1,42 @@
    +#include "iec_types_all.h"
    +
    +#define FREE 0
    +#define ACQUIRED 1
    +#define ANSWERED 2
    +
    +long SDOLock = FREE;
    +extern long AtomicCompareExchange(long* atomicvar,long compared, long exchange);
    +
    +int AcquireSDOLock() {
    + return AtomicCompareExchange(&SDOLock, FREE, ACQUIRED) == FREE;
    +}
    +
    +void SDOAnswered() {
    + AtomicCompareExchange(&SDOLock, ACQUIRED, ANSWERED);
    +}
    +
    +int HasAnswer() {
    + return SDOLock == ANSWERED;
    +}
    +
    +void ReleaseSDOLock() {
    + AtomicCompareExchange(&SDOLock, ANSWERED, FREE);
    +}
    +
    +int __init_etherlab_ext()
    +{
    + SDOLock = FREE;
    + return 0;
    +}
    +
    +void __cleanup_etherlab_ext()
    +{
    +}
    +
    +void __retrieve_etherlab_ext()
    +{
    +}
    +
    +void __publish_etherlab_ext()
    +{
    +}
    --- a/etherlab/extension.py Fri Oct 19 16:37:54 2012 +0200
    +++ b/etherlab/extension.py Thu Oct 25 19:55:02 2012 +0200
    @@ -1,5 +1,12 @@
    import features
    +def GetEtherLabLibClass():
    + from etherlab import EtherlabLibrary
    + return EtherlabLibrary
    +
    +features.libraries.append(
    + ('Etherlab', GetEtherLabLibClass))
    +
    def GetEtherLabClass():
    from etherlab import RootClass
    return RootClass
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/etherlab/pous.xml Thu Oct 25 19:55:02 2012 +0200
    @@ -0,0 +1,276 @@
    +<?xml version="1.0" encoding="UTF-8"?>
    +<project xmlns="http://www.plcopen.org/xml/tc6.xsd"
    + xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd"
    + xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    + xmlns:xhtml="http://www.w3.org/1999/xhtml">
    + <fileHeader companyName="EtherlabMaster"
    + productName="EtherlabMaster"
    + productVersion="1"
    + creationDateTime="2012-10-22T12:12:45"/>
    + <contentHeader name="EtherlabMaster SDO Blocks"
    + modificationDateTime="2012-10-25T19:53:33">
    + <coordinateInfo>
    + <fbd>
    + <scaling x="0" y="0"/>
    + </fbd>
    + <ld>
    + <scaling x="0" y="0"/>
    + </ld>
    + <sfc>
    + <scaling x="0" y="0"/>
    + </sfc>
    + </coordinateInfo>
    + </contentHeader>
    + <types>
    + <dataTypes/>
    + <pous>
    + <pou name="EtherLabSDOUpload" pouType="functionBlock">
    + <interface>
    + <inputVars>
    + <variable name="EXECUTE">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="POS">
    + <type>
    + <INT/>
    + </type>
    + </variable>
    + <variable name="INDEX">
    + <type>
    + <UINT/>
    + </type>
    + </variable>
    + <variable name="SUBINDEX">
    + <type>
    + <USINT/>
    + </type>
    + </variable>
    + <variable name="VARTYPE">
    + <type>
    + <string/>
    + </type>
    + </variable>
    + </inputVars>
    + <outputVars>
    + <variable name="ACK">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="VALID">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="VALUE">
    + <type>
    + <string/>
    + </type>
    + </variable>
    + </outputVars>
    + <localVars>
    + <variable name="PY0">
    + <type>
    + <derived name="python_eval"/>
    + </type>
    + </variable>
    + <variable name="PY1">
    + <type>
    + <derived name="python_eval"/>
    + </type>
    + </variable>
    + <variable name="EXECUTE0">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="STATE">
    + <type>
    + <INT/>
    + </type>
    + <initialValue>
    + <simpleValue value="0"/>
    + </initialValue>
    + </variable>
    + </localVars>
    + </interface>
    + <body>
    + <ST>
    +<![CDATA[{extern int AcquireSDOLock();}
    +{extern int HasAnswer();}
    +{extern void ReleaseSDOLock();}
    +CASE STATE OF
    + 0:
    + IF EXECUTE AND NOT EXECUTE0 THEN
    + STATE := 1;
    + ACK := 0;
    + VALID := 0;
    + VALUE := 'None';
    + END_IF;
    + 1:
    + {if (AcquireSDOLock()) __SET_VAR(data__->,STATE, 2)}
    + 2:
    + IF PY0.ACK THEN
    + STATE := 3;
    + END_IF;
    + 3:
    + {if (HasAnswer()) __SET_VAR(data__->,STATE, 4)}
    + 4:
    + IF PY1.ACK THEN
    + ACK := 1;
    + VALUE := PY1.RESULT;
    + VALID := NE(VALUE, 'None');
    + STATE := 0;
    + {ReleaseSDOLock();}
    + END_IF;
    +ELSE
    + STATE := 0;
    +END_CASE;
    +
    +EXECUTE0 := EXECUTE;
    +PY0(TRIG := STATE = 2,
    + CODE := CONCAT('EthercatSDOUpload(',
    + INT_TO_STRING(POS),
    + ',',
    + UINT_TO_STRING(INDEX),
    + ',',
    + USINT_TO_STRING(SUBINDEX),
    + ',"',
    + VARTYPE,
    + '")'));
    +PY1(TRIG := STATE = 4,
    + CODE := 'GetResult()');
    +]]>
    + </ST>
    + </body>
    + </pou>
    + <pou name="EtherLabSDODownload" pouType="functionBlock">
    + <interface>
    + <inputVars>
    + <variable name="EXECUTE">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="POS">
    + <type>
    + <INT/>
    + </type>
    + </variable>
    + <variable name="INDEX">
    + <type>
    + <UINT/>
    + </type>
    + </variable>
    + <variable name="SUBINDEX">
    + <type>
    + <USINT/>
    + </type>
    + </variable>
    + <variable name="VARTYPE">
    + <type>
    + <string/>
    + </type>
    + </variable>
    + <variable name="VALUE">
    + <type>
    + <string/>
    + </type>
    + </variable>
    + </inputVars>
    + <outputVars>
    + <variable name="ACK">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="ERROR">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + </outputVars>
    + <localVars>
    + <variable name="PY0">
    + <type>
    + <derived name="python_eval"/>
    + </type>
    + </variable>
    + <variable name="PY1">
    + <type>
    + <derived name="python_eval"/>
    + </type>
    + </variable>
    + <variable name="EXECUTE0">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="STATE">
    + <type>
    + <INT/>
    + </type>
    + <initialValue>
    + <simpleValue value="0"/>
    + </initialValue>
    + </variable>
    + </localVars>
    + </interface>
    + <body>
    + <ST>
    +<![CDATA[{extern int AcquireSDOLock();}
    +{extern int HasAnswer();}
    +{extern void ReleaseSDOLock();}
    +CASE STATE OF
    + 0:
    + IF EXECUTE AND NOT EXECUTE0 THEN
    + STATE := 1;
    + ACK := 0;
    + ERROR := 0;
    + END_IF;
    + 1:
    + {if (AcquireSDOLock()) __SET_VAR(data__->,STATE, 2)}
    + 2:
    + IF PY0.ACK THEN
    + STATE := 3;
    + END_IF;
    + 3:
    + {if (HasAnswer()) __SET_VAR(data__->,STATE, 4)}
    + 4:
    + IF PY1.ACK THEN
    + ACK := 1;
    + VALUE := PY1.RESULT;
    + ERROR := EQ(PY1.RESULT, 'False');
    + STATE := 0;
    + {ReleaseSDOLock();}
    + END_IF;
    +ELSE
    + STATE := 0;
    +END_CASE;
    +EXECUTE0 := EXECUTE;
    +PY0(TRIG := STATE = 2,
    + CODE := CONCAT('EthercatSDODownload(',
    + INT_TO_STRING(POS),
    + ',',
    + UINT_TO_STRING(INDEX),
    + ',',
    + USINT_TO_STRING(SUBINDEX),
    + ',"',
    + VARTYPE,
    + '",',
    + VALUE,
    + ')'));
    +PY1(TRIG := STATE = 4,
    + CODE := 'GetResult()');
    +]]>
    + </ST>
    + </body>
    + </pou>
    + </pous>
    + </types>
    + <instances>
    + <configurations/>
    + </instances>
    +</project>
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/etherlab/runtime_etherlab.py Thu Oct 25 19:55:02 2012 +0200
    @@ -0,0 +1,50 @@
    +import subprocess,sys,ctypes
    +from threading import Thread
    +
    +SDOAnswered = PLCBinary.SDOAnswered
    +SDOAnswered.restype = None
    +SDOAnswered.argtypes = []
    +
    +SDOThread = None
    +Result = None
    +
    +def SDOThreadProc(*params):
    + global Result
    + if params[0] == "upload":
    + command = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
    + else:
    + command = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
    +
    + proc = subprocess.Popen(command % params[1:], stdout=subprocess.PIPE, shell=True)
    + res = proc.wait()
    + output = proc.communicate()[0]
    +
    + if params[0] == "upload":
    + Result = None
    + if res == 0:
    + if params[2] in ["float", "double"]:
    + Result = float(output)
    + elif params[2] in ["string", "octet_string", "unicode_string"]:
    + Result = output
    + else:
    + hex_value, dec_value = output.split()
    + if int(hex_value, 16) == int(dec_value):
    + Result = int(dec_value)
    + else:
    + Result = res == 0
    +
    + SDOAnswered()
    +
    +def EthercatSDOUpload(pos, index, subindex, var_type):
    + global SDOThread
    + SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex])
    + SDOThread.start()
    +
    +def EthercatSDODownload(pos, index, subindex, var_type, value):
    + global SDOThread
    + SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value])
    + SDOThread.start()
    +
    +def GetResult():
    + global Result
    + return Result