beremiz

Etherlab : Merged 2014-2018 changes from jblee and others

2019-11-25, Edouard Tisserant
b98d9e08231f
Parents 1b4b335e19eac9deff128c37
Children 769fefae7c81
Etherlab : Merged 2014-2018 changes from jblee and others
14 files changed, 3728 insertions(+), 660 deletions(-)
  • +523 -101
    etherlab/CommonEtherCATFunction.py
  • +16 -3
    etherlab/ConfigEditor.py
  • +1724 -303
    etherlab/EtherCATManagementEditor.py
  • +210 -25
    etherlab/EthercatCFileGenerator.py
  • +243 -141
    etherlab/EthercatCIA402Slave.py
  • +207 -17
    etherlab/EthercatMaster.py
  • +2 -0
    etherlab/EthercatSlave.py
  • +1 -1
    etherlab/entries_list.xslt
  • +7 -2
    etherlab/entries_list.ysl2
  • +343 -22
    etherlab/etherlab.py
  • +98 -40
    etherlab/plc_cia402node.c
  • +339 -1
    etherlab/plc_etherlab.c
  • +4 -4
    etherlab/pous.xml
  • +11 -0
    etherlab/runtime_etherlab.py
    • --- a/etherlab/CommonEtherCATFunction.py Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/CommonEtherCATFunction.py Mon Nov 25 08:10:45 2019 +0100
    @@ -50,10 +50,9 @@
    return name.getcontent()
    return default
    -# --------------------------------------------------
    +#--------------------------------------------------
    # Remote Exec Etherlab Commands
    -# --------------------------------------------------
    -
    +#--------------------------------------------------
    # --------------------- for master ---------------------------
    MASTER_STATE = """
    @@ -84,18 +83,21 @@
    returnVal = result
    """
    -# ethercat sdos -p (slave position)
    -SLAVE_SDO = """
    +# ethercat upload -p (slave position) -t (type) (index) (sub index)
    +SDO_UPLOAD = """
    import commands
    -result = commands.getoutput("ethercat sdos -p %d")
    -returnVal =result
    -"""
    -
    -# ethercat upload -p (slave position) (main index) (sub index)
    -GET_SLOW_SDO = """
    -import commands
    -result = commands.getoutput("ethercat upload -p %d %s %s")
    -returnVal =result
    +sdo_data = []
    +input_data = "%s"
    +slave_pos = %d
    +command_string = ""
    +for sdo_token in input_data.split(","):
    + if len(sdo_token) > 1:
    + sdo_token = sdo_token.strip()
    + type, idx, subidx = sdo_token.split(" ")
    + command_string = "ethercat upload -p " + str(slave_pos) + " -t " + type + " " + idx + " " + subidx
    + result = commands.getoutput(command_string)
    + sdo_data.append(result)
    +returnVal =sdo_data
    """
    # ethercat download -p (slave position) (main index) (sub index) (value)
    @@ -119,6 +121,25 @@
    returnVal =result
    """
    +# ethercat reg_read -p (slave position) (address) (size)
    +MULTI_REG_READ = """
    +import commands
    +output = []
    +addr, size = range(2)
    +slave_num = %d
    +reg_info_str = "%s"
    +reg_info_list = reg_info_str.split("|")
    +for slave_idx in range(slave_num):
    + for reg_info in reg_info_list:
    + param = reg_info.split(",")
    + result = commands.getoutput("ethercat reg_read -p "
    + + str(slave_idx) + " "
    + + param[addr] + " "
    + + param[size])
    + output.append(str(slave_idx) + "," + param[addr] + "," + result)
    +returnVal = output
    +"""
    +
    # ethercat sii_write -p (slave position) - (contents)
    SII_WRITE = """
    import subprocess
    @@ -143,6 +164,12 @@
    returnVal =result
    """
    +# ethercat pdos
    +PDOS = """
    +import commands
    +result = commands.getoutput("ethercat pdos -p 0")
    +returnVal =result
    +"""
    # --------------------------------------------------
    # Common Method For EtherCAT Management
    @@ -152,14 +179,40 @@
    # ----- Data Structure for ethercat management ----
    SlaveState = ""
    + # SDO base data type for Ethercatmaster
    + BaseDataTypes = {
    + "bool": ["BOOLEAN", "BOOL", "BIT"],
    + "uint8": ["BYTE", "USINT", "BIT1", "BIT2", "BIT3", "BIT4", "BIT5", "BIT6",
    + "BIT7", "BIT8", "BITARR8", "UNSIGNED8"],
    + "uint16": ["BITARR16", "UNSIGNED16", "UINT"],
    + "uint32": ["BITARR32", "UNSIGNED24", "UINT24", "UNSIGNED32", "UDINT"],
    + "uint64": ["UNSINED40", "UINT40", "UNSIGNED48", "UINT48", "UNSIGNED56",
    + "UINT56", "UNSIGNED64", "ULINT"],
    + "int8": ["INTEGER8", "SINT"],
    + "int16": ["INTEGER16", "INT"],
    + "int32": ["INTEGER24", "INT24", "INTEGER32", "DINT"],
    + "int64": ["INTEGER40", "INT40", "INTEGER48", "INT48", "INTEGER56", "INT56",
    + "INTEGER64", "LINT"],
    + "float": ["REAL", "REAL32"],
    + "double": ["LREAL", "REAL64"],
    + "string": ["VISUBLE_STRING", "STRING(n)"],
    + "octet_string": ["OCTET_STRING"],
    + "unicode_string": ["UNICODE_STRING"]
    + }
    +
    # category of SDO data
    DatatypeDescription, CommunicationObject, ManufacturerSpecific, \
    ProfileSpecific, Reserved, AllSDOData = range(6)
    - # store the execution result of "ethercat sdos" command into SaveSDOData.
    - SaveSDOData = []
    -
    - # Flags for checking "write" permission of OD entries
    + # SDO data informations: index, sub-index, type, bit size, category-name
    + SDOVariables = []
    + SDOSubEntryData = []
    +
    + # defalut value of SDO data in XML
    + # Not Used
    + DefaultValueDic = {}
    +
    + # Flags for checking "write" permission of OD entries
    CheckPREOP = False
    CheckSAFEOP = False
    CheckOP = False
    @@ -241,15 +294,6 @@
    # -------------------------------------------------------------------------------
    # Used SDO Management
    # -------------------------------------------------------------------------------
    - def GetSlaveSDOFromSlave(self):
    - """
    - Get SDO objects information of current slave using "ethercat sdos -p %d" command.
    - Command example : "ethercat sdos -p 0"
    - @return return_val : execution results of "ethercat sdos" command (need to be parsed later)
    - """
    - _error, return_val = self.Controler.RemoteExec(SLAVE_SDO % (self.Controler.GetSlavePos()), return_val=None)
    - return return_val
    -
    def SDODownload(self, data_type, idx, sub_idx, value):
    """
    Set an SDO object value to user-specified value using "ethercat download" command.
    @@ -258,11 +302,14 @@
    @param idx : index of the SDO entry
    @param sub_idx : subindex of the SDO entry
    @param value : value of SDO entry
    - """
    - _error, _return_val = self.Controler.RemoteExec(
    - SDO_DOWNLOAD % (data_type, self.Controler.GetSlavePos(), idx, sub_idx, value),
    - return_val=None)
    -
    + """
    + valid_type = self.GetValidDataType(data_type)
    + _error, return_val = self.Controler.RemoteExec(
    + SDO_DOWNLOAD%(valid_type, self.Controler.GetSlavePos(),
    + idx, sub_idx, value), return_val = None)
    +
    + return return_val
    +
    def BackupSDODataSet(self):
    """
    Back-up current SDO entry information to restore the SDO data
    @@ -282,12 +329,316 @@
    for dummy in range(6):
    self.SaveSDOData.append([])
    + def GetAllSDOValuesFromSlave(self):
    + """
    + Get SDO values of All SDO entries.
    + @return return_val: list of result of "SDO_UPLOAD"
    + """
    + entry_infos = ""
    + alldata_idx = len(self.SDOVariables)
    + counter = 0
    + for category in self.SDOVariables:
    + counter +=1
    + # for avoid redundant repetition
    + if counter == alldata_idx:
    + continue
    +
    + for entry in category:
    + valid_type = self.GetValidDataType(entry["type"])
    + for_command_string = "%s %s %s ," % \
    + (valid_type, entry["idx"], entry["subIdx"])
    + entry_infos += for_command_string
    +
    + error, return_val = self.Controler.RemoteExec(SDO_UPLOAD%(entry_infos, self.Controler.GetSlavePos()), return_val = None)
    +
    + return return_val
    +
    + def GetSDOValuesFromSlave(self, entries_info):
    + """
    + Get SDO values of some SDO entries.
    + @param entries_info: dictionary of SDO entries that is wanted to know the value.
    + @return return_val: list of result of "SDO_UPLOAD"
    + """
    + entry_infos = ""
    +
    + entries_info_list = entries_info.items()
    + entries_info_list.sort()
    +
    + for (idx, subIdx), entry in entries_info_list:
    + valid_type = self.GetValidDataType(entry["type"])
    + for_command_string = "%s %s %s ," % \
    + (valid_type, str(idx), str(subIdx))
    + entry_infos += for_command_string
    +
    + error, return_val = self.Controler.RemoteExec(SDO_UPLOAD%(entry_infos, self.Controler.GetSlavePos()), return_val = None)
    +
    + return return_val
    +
    + def ExtractObjects(self):
    + """
    + Extract object type items from imported ESI xml.
    + And they are stuctured as dictionary.
    + @return objects: dictionary of objects
    + """
    + objects = {}
    +
    + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
    + type_infos = slave.getType()
    + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
    +
    + if device is not None :
    + for dictionary in device.GetProfileDictionaries():
    + dictionary.load()
    + for object in dictionary.getObjects().getObject():
    + object_index = ExtractHexDecValue(object.getIndex().getcontent())
    + objects[(object_index)] = object
    +
    + return objects
    +
    + def ExtractAllDataTypes(self):
    + """
    + Extract all data types from imported ESI xml.
    + @return dataTypes: dictionary of datatypes
    + """
    + dataTypes = {}
    +
    + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
    + type_infos = slave.getType()
    + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
    +
    + for dictionary in device.GetProfileDictionaries():
    + dictionary.load()
    +
    + datatypes = dictionary.getDataTypes()
    + if datatypes is not None:
    +
    + for datatype in datatypes.getDataType():
    + dataTypes[datatype.getName()] = datatype
    + return dataTypes
    +
    + def IsBaseDataType(self, datatype):
    + """
    + Check if the datatype is a base data type.
    + @return baseTypeFlag: true if datatype is a base data type, unless false
    + """
    + baseTypeFlag = False
    + for baseDataTypeList in self.BaseDataTypes.values():
    + if datatype in baseDataTypeList:
    + baseTypeFlag = True
    + break
    + return baseTypeFlag
    +
    + def GetBaseDataType(self, datatype):
    + """
    + Get a base data type corresponding the datatype.
    + @param datatype: Some data type (string format)
    + @return base data type
    + """
    + if self.IsBaseDataType(datatype):
    + return datatype
    + elif not datatype.find("STRING") == -1:
    + return datatype
    + else:
    + datatypes = self.ExtractAllDataTypes()
    + base_datatype = datatypes[datatype].getBaseType()
    + return self.GetBaseDataType(base_datatype)
    +
    + def GetValidDataType(self, datatype):
    + """
    + Convert the datatype into a data type that is possible to download/upload
    + in etherlab master stack.
    + @param datatype: Some data type (string format)
    + @return base_type: vaild data type
    + """
    + base_type = self.GetBaseDataType(datatype)
    +
    + if re.match("STRING\([0-9]*\)", datatype) is not None:
    + return "string"
    + else:
    + for key, value in self.BaseDataTypes.items():
    + if base_type in value:
    + return key
    + return base_type
    +
    + # Not Used
    + def GetAllEntriesList(self):
    + """
    + Get All entries information that includes index, sub-index, name,
    + type, bit size, PDO mapping, and default value.
    + @return self.entries: dictionary of entry
    + """
    + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
    + type_infos = slave.getType()
    + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
    + self.entries = device.GetEntriesList()
    + datatypes = self.ExtractAllDataTypes()
    + objects = self.ExtractObjects()
    + entries_list = self.entries.items()
    + entries_list.sort()
    +
    + # append sub entries
    + for (index, subidx), entry in entries_list:
    + # entry_* is string type
    + entry_type = entry["Type"]
    + entry_index = entry["Index"]
    +
    + try:
    + object_info = objects[index].getInfo()
    + except:
    + continue
    +
    + if object_info is not None:
    + obj_content = object_info.getcontent()
    +
    + typeinfo = datatypes.get(entry_type, None)
    + bitsize = typeinfo.getBitSize()
    + type_content = typeinfo.getcontent()
    +
    + # ArrayInfo type
    + if type_content is not None and type_content["name"] == "ArrayInfo":
    + for arrayinfo in type_content["value"]:
    + element_num = arrayinfo.getElements()
    + first_subidx = arrayinfo.getLBound()
    + for offset in range(element_num):
    + new_subidx = int(first_subidx) + offset
    + entry_subidx = hex(new_subidx)
    + if obj_content["value"][new_subidx]["name"] == "SubItem":
    + subitem = obj_content["value"][new_subidx]["value"]
    + subname = subitem[new_subidx].getName()
    + if subname is not None:
    + entry_name = "%s - %s" % \
    + (ExtractName(objects[index].getName()), subname)
    + else:
    + entry_name = ExtractName(objects[index].getName())
    + self.entries[(index, new_subidx)] = {
    + "Index": entry_index,
    + "SubIndex": entry_subidx,
    + "Name": entry_name,
    + "Type": typeinfo.getBaseType(),
    + "BitSize": str(bitsize/element_num),
    + "Access": entry["Access"],
    + "PDOMapping": entry["PDOMapping"]}
    + try:
    + value_info = subitem[new_subidx].getInfo().getcontent()\
    + ["value"][0]["value"][0]
    + self.AppendDefaultValue(index, new_subidx, value_info)
    + except:
    + pass
    +
    + try:
    + value_info = subitem[subidx].getInfo().getcontent()\
    + ["value"][0]["value"][0]
    + self.AppendDefaultValue(index, subidx, value_info)
    + except:
    + pass
    +
    + # EnumInfo type
    + elif type_content is not None and type_content["name"] == "EnumInfo":
    + self.entries[(index, subidx)]["EnumInfo"] = {}
    +
    + for enuminfo in type_content["value"]:
    + text = enuminfo.getText()
    + enum = enuminfo.getEnum()
    + self.entries[(index, subidx)]["EnumInfo"][str(enum)] = text
    +
    + self.entries[(index, subidx)]["DefaultValue"] = "0x00"
    +
    + # another types
    + else:
    + if subidx == 0x00:
    + tmp_subidx = 0x00
    +
    + try:
    + if obj_content["value"][tmp_subidx]["name"] == "SubItem":
    + sub_name = entry["Name"].split(" - ")[1]
    + for num in range(len(obj_content["value"])):
    + if sub_name == \
    + obj_content["value"][num]["value"][num].getName():
    + subitem_content = obj_content["value"][tmp_subidx]\
    + ["value"][tmp_subidx]
    + value_info = subitem_content.getInfo().getcontent()\
    + ["value"][0]["value"][0]
    + tmp_subidx += 1
    + break
    + else:
    + value_info = None
    +
    + else:
    + value_info = \
    + obj_content["value"][tmp_subidx]["value"][tmp_subidx]
    +
    + self.AppendDefaultValue(index, subidx, value_info)
    +
    + except:
    + pass
    +
    + return self.entries
    +
    + # Not Used
    + def AppendDefaultValue(self, index, subidx, value_info=None):
    + """
    + Get the default value from the ESI xml
    + @param index: entry index
    + @param subidx: entry sub index
    + @param value_info: dictionary of infomation about default value
    +
    + """
    + # there is not default value.
    + if value_info == None:
    + return
    +
    + raw_value = value_info["value"]
    +
    + # default value is hex binary type.
    + if value_info["name"] == "DefaultData":
    + raw_value_bit = list(hex(raw_value).split("0x")[1])
    +
    + datatype = self.GetValidDataType(self.entries[(index, subidx)]["Type"])
    + if datatype is "string" or datatype is "octet_string":
    +
    + if "L" in raw_value_bit:
    + raw_value_bit.remove("L")
    +
    + default_value = "".join(raw_value_bit).decode("hex")
    +
    + elif datatype is "unicode_string":
    + default_value = "".join(raw_value_bit).decode("hex").\
    + decode("utf-8")
    +
    + else:
    + bit_num = len(raw_value_bit)
    + # padding
    + if not bit_num%2 == 0:
    + raw_value_bit.insert(0, "0")
    +
    + default_value_bit = []
    +
    + # little endian -> big endian
    + for num in range(bit_num):
    + if num%2 == 0:
    + default_value_bit.insert(0, raw_value_bit[num])
    + default_value_bit.insert(1, raw_value_bit[num+1])
    +
    + default_value = "0x%s" % "".join(default_value_bit)
    +
    + # default value is string type.
    + # this case is not tested yet.
    + elif value_info["name"] == "DefaultString":
    + default_value = raw_value
    +
    + # default value is Hex or Dec type.
    + elif value_info["name"] == "DefaultValue":
    + default_value = "0x" + hex(ExtractHexDecValue(raw_value))
    +
    + self.entries[(index, subidx)]["DefaultValue"] = default_value
    +
    # -------------------------------------------------------------------------------
    # Used PDO Monitoring
    # -------------------------------------------------------------------------------
    def RequestPDOInfo(self):
    """
    - Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method).
    + Load slave information from RootClass (XML data) and parse the information
    + (calling SlavePDOData() method).
    """
    # Load slave information from ESI XML file (def EthercatMaster.py)
    slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
    @@ -314,6 +665,13 @@
    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
    entries = pdo.getEntry()
    pdo_name = ExtractName(pdo.getName())
    + excludes = pdo.getExclude()
    + exclude_list = []
    + Sm = pdo.getSm()
    +
    + if excludes :
    + for exclude in excludes:
    + exclude_list.append(ExtractHexDecValue(exclude.getcontent()))
    # Initialize entry number count
    count = 0
    @@ -329,13 +687,15 @@
    "entry_index": index,
    "subindex": subindex,
    "name": ExtractName(entry.getName()),
    - "bitlen": entry.getBitLen(),
    - "type": entry.getDataType().getcontent()
    + "bitlen": entry.getBitLen()
    }
    + if entry.getDataType() is not None:
    + entry_infos["type"] = entry.getDataType().getcontent()
    self.TxPDOInfo.append(entry_infos)
    count += 1
    - categorys = {"pdo_index": pdo_index, "name": pdo_name, "number_of_entry": count}
    + categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "sm" : Sm,
    + "number_of_entry" : count, "exclude_list" : exclude_list}
    self.TxPDOCategory.append(categorys)
    # Parsing RxPDO entries
    @@ -344,6 +704,13 @@
    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
    entries = pdo.getEntry()
    pdo_name = ExtractName(pdo.getName())
    + excludes = pdo.getExclude()
    + exclude_list = []
    + Sm = pdo.getSm()
    +
    + if excludes :
    + for exclude in excludes:
    + exclude_list.append(ExtractHexDecValue(exclude.getcontent()))
    # Initialize entry number count
    count = 0
    @@ -359,14 +726,16 @@
    "entry_index": index,
    "subindex": subindex,
    "name": ExtractName(entry.getName()),
    - "bitlen": str(entry.getBitLen()),
    - "type": entry.getDataType().getcontent()
    + "bitlen": str(entry.getBitLen())
    }
    + if entry.getDataType() is not None:
    + entry_infos["type"] = entry.getDataType().getcontent()
    self.RxPDOInfo.append(entry_infos)
    count += 1
    - categorys = {"pdo_index": pdo_index, "name": pdo_name, "number_of_entry": count}
    - self.RxPDOCategory.append(categorys)
    + categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "sm" : Sm,
    + "number_of_entry" : count, "exclude_list" : exclude_list}
    + self.RxPDOCategory.append(categorys)
    def GetTxPDOCategory(self):
    """
    @@ -404,10 +773,10 @@
    """
    Initialize PDO management data structure.
    """
    - self.TxPDOInfos = []
    - self.TxPDOCategorys = []
    - self.RxPDOInfos = []
    - self.RxPDOCategorys = []
    + self.TxPDOInfo = []
    + self.TxPDOCategory = []
    + self.RxPDOInfo = []
    + self.RxPDOCategory = []
    # -------------------------------------------------------------------------------
    # Used EEPROM Management
    @@ -496,11 +865,11 @@
    smartview_infos[cfg] = str(int(bootstrap_data[4*iter+2:4*(iter+1)]+bootstrap_data[4*iter:4*iter+2], 16))
    # get protocol (profile) types supported by mailbox; <Device>-<Mailbox>
    - mb = device.getMailbox()
    - if mb is not None:
    - for mailbox_protocol in mailbox_protocols:
    - if getattr(mb, "get%s" % mailbox_protocol)() is not None:
    - smartview_infos["supported_mailbox"] += "%s, " % mailbox_protocol
    + with device.getMailbox() as mb:
    + if mb is not None:
    + for mailbox_protocol in mailbox_protocols:
    + if getattr(mb, "get%s" % mailbox_protocol)() is not None:
    + smartview_infos["supported_mailbox"] += "%s, " % mailbox_protocol
    smartview_infos["supported_mailbox"] = smartview_infos["supported_mailbox"].strip(", ")
    # get standard configuration of mailbox; <Device>-<Sm>
    @@ -515,24 +884,24 @@
    pass
    # get device identity from <Device>-<Type>
    - # vendor ID; by default, pre-defined value in self.ModulesLibrary
    - # if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID.
    + # vendor ID; by default, pre-defined value in self.ModulesLibrary
    + # if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID.
    for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
    for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]:
    if available_device[0] == type_infos["device_type"]:
    smartview_infos["vendor_id"] = "0x" + "{:0>8x}".format(vendor_id)
    - # product code;
    + # product code;
    if device.getType().getProductCode() is not None:
    product_code = device.getType().getProductCode()
    smartview_infos["product_code"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(product_code))
    - # revision number;
    + # revision number;
    if device.getType().getRevisionNo() is not None:
    revision_no = device.getType().getRevisionNo()
    smartview_infos["revision_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(revision_no))
    - # serial number;
    + # serial number;
    if device.getType().getSerialNo() is not None:
    serial_no = device.getType().getSerialNo()
    smartview_infos["serial_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(serial_no))
    @@ -548,14 +917,14 @@
    @param decnum : decimal value
    @return hex_data : hexadecimal representation of input value in decimal
    """
    - value = "%x" % decnum
    + value = "%x" % int(decnum, 16)
    value_len = len(value)
    if (value_len % 2) == 0:
    hex_len = value_len
    else:
    hex_len = (value_len // 2) * 2 + 2
    - hex_data = ("{:0>"+str(hex_len)+"x}").format(decnum)
    + hex_data = ("{:0>"+str(hex_len)+"x}").format(int(decnum, 16))
    return hex_data
    @@ -750,7 +1119,7 @@
    data = ""
    for eeprom_element in device.getEeprom().getcontent():
    if eeprom_element["name"] == "BootStrap":
    - data = "{:0>16x}".format(eeprom_element)
    + data = "{:0>16x}".format(int(eeprom_element,16))
    eeprom += self.GenerateEEPROMList(data, 0, 16)
    # get Standard Mailbox for EEPROM offset 0x0030-0x0037; <Device>-<sm>
    @@ -794,11 +1163,11 @@
    # get supported mailbox protocols for EEPROM offset 0x0038-0x0039;
    data = 0
    - mb = device.getMailbox()
    - if mb is not None:
    - for bit, mbprot in enumerate(mailbox_protocols):
    - if getattr(mb, "get%s" % mbprot)() is not None:
    - data += 1 << bit
    + with device.getMailbox() as mb:
    + if mb is not None:
    + for bit, mbprot in enumerate(mailbox_protocols):
    + if getattr(mb, "get%s" % mbprot)() is not None:
    + data += 1 << bit
    data = "{:0>4x}".format(data)
    eeprom.append(data[2:4])
    eeprom.append(data[0:2])
    @@ -808,11 +1177,12 @@
    eeprom.append("00")
    # get EEPROM size for EEPROM offset 0x007c-0x007d;
    + # Modify by jblee because of update IDE module (minidom -> lxml)
    data = ""
    - for eeprom_element in device.getEeprom().getcontent():
    - if eeprom_element["name"] == "ByteSize":
    - eeprom_size = int(str(eeprom_element))
    - data = "{:0>4x}".format(int(eeprom_element)//1024*8-1)
    + for eeprom_element in device.getEeprom().getchildren():
    + if eeprom_element.tag == "ByteSize":
    + eeprom_size = int(objectify.fromstring(eeprom_element.tostring()).text)
    + data = "{:0>4x}".format(eeprom_size/1024*8-1)
    if data == "":
    eeprom.append("00")
    @@ -822,7 +1192,7 @@
    eeprom.append(data[0:2])
    # Version for EEPROM 0x007e-0x007f;
    - # According to "EtherCAT Slave Device Description(V0.3.0)"
    + # According to "EtherCAT Slave Device Description(V0.3.0)"
    eeprom.append("01")
    eeprom.append("00")
    @@ -915,7 +1285,7 @@
    vendor_specific_data += "{:0>2x}".format(ord(data[character]))
    data = ""
    - # element2-1; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<GroupType>
    + # element2-1; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<GroupType>
    data = device.getGroupType()
    if data is not None and isinstance(data, text):
    for vendor_spec_string in vendor_spec_strings:
    @@ -978,6 +1348,7 @@
    vendor_specific_data += "{:0>2x}".format(len(data))
    for character in range(len(data)):
    vendor_specific_data += "{:0>2x}".format(ord(data[character]))
    +
    data = ""
    # element4; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Name(LcId is "1033" or "1"?)>
    @@ -1183,42 +1554,41 @@
    # word 3 : Physical Layer Port info. and CoE Details
    eeprom.append("01") # Physical Layer Port info - assume 01
    # CoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<CoE>
    - coe_details = 0
    - mb = device.getMailbox()
    coe_details = 1 # sdo enabled
    - if mb is not None:
    - coe = mb.getCoE()
    - if coe is not None:
    - for bit, flag in enumerate(["SdoInfo", "PdoAssign", "PdoConfig",
    - "PdoUpload", "CompleteAccess"]):
    - if getattr(coe, "get%s" % flag)() is not None:
    - coe_details += 1 << bit
    - eeprom.append("{:0>2x}".format(coe_details))
    + with device.getMailbox() as mb
    + if mb is not None:
    + coe = mb.getCoE()
    + if coe is not None:
    + for bit, flag in enumerate(["SdoInfo", "PdoAssign", "PdoConfig",
    + "PdoUpload", "CompleteAccess"]):
    + if getattr(coe, "get%s" % flag)() is not None:
    + coe_details += 1 << bit
    + eeprom.append("{:0>2x}".format(coe_details))
    - # word 4 : FoE Details and EoE Details
    - # FoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<FoE>
    - if mb is not None and mb.getFoE() is not None:
    - eeprom.append("01")
    - else:
    - eeprom.append("00")
    - # EoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<EoE>
    - if mb is not None and mb.getEoE() is not None:
    - eeprom.append("01")
    - else:
    - eeprom.append("00")
    + # word 4 : FoE Details and EoE Details
    + # FoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<FoE>
    + if mb is not None and mb.getFoE() is not None:
    + eeprom.append("01")
    + else:
    + eeprom.append("00")
    + # EoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<EoE>
    + if mb is not None and mb.getEoE() is not None:
    + eeprom.append("01")
    + else:
    + eeprom.append("00")
    - # word 5 : SoE Channels(reserved) and DS402 Channels
    - # SoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<SoE>
    - if mb is not None and mb.getSoE() is not None:
    - eeprom.append("01")
    - else:
    - eeprom.append("00")
    - # DS402Channels; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<CoE>: DS402Channels
    - ds402ch = False
    - if mb is not None:
    - coe = mb.getCoE()
    - if coe is not None:
    - ds402ch = coe.getDS402Channels()
    + # word 5 : SoE Channels(reserved) and DS402 Channels
    + # SoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<SoE>
    + if mb is not None and mb.getSoE() is not None:
    + eeprom.append("01")
    + else:
    + eeprom.append("00")
    + # DS402Channels; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<CoE>: DS402Channels
    + ds402ch = False
    + if mb is not None:
    + coe = mb.getCoE()
    + if coe is not None:
    + ds402ch = coe.getDS402Channels()
    eeprom.append("01" if ds402ch in [True, 1] else "00")
    # word 6 : SysmanClass(reserved) and Flags
    @@ -1546,6 +1916,24 @@
    return_val=None)
    return return_val
    + def MultiRegRead(self, slave_num, reg_infos):
    + """
    +
    + @slave_num:
    + @param addr_info:
    + @return return_val:
    + """
    + reg_info_str = ""
    + for reg_info in reg_infos:
    + reg_info_str = reg_info_str + "%s|" % reg_info
    + reg_info_str = reg_info_str.strip("|")
    +
    + _error, return_val = self.Controler.RemoteExec(\
    + MULTI_REG_READ%(slave_num, reg_info_str),
    + return_val = None)
    +
    + return return_val
    +
    def RegWrite(self, address, data):
    """
    Write data to slave ESC register using "ethercat reg_write -p %d %s %s" command.
    @@ -1567,6 +1955,40 @@
    _error, _return_val = self.Controler.RemoteExec(RESCAN % (self.Controler.GetSlavePos()), return_val=None)
    # -------------------------------------------------------------------------------
    + # Used DC Configuration
    + #-------------------------------------------------------------------------------
    + def LoadESIData(self):
    + return_data = []
    + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
    + type_infos = slave.getType()
    + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
    + if device.getDc() is not None:
    + for OpMode in device.getDc().getOpMode():
    + temp_data = {
    + "desc" : OpMode.getDesc() if OpMode.getDesc() is not None else "Unused",
    + "assign_activate" : OpMode.getAssignActivate() \
    + if OpMode.getAssignActivate() is not None else "#x0000",
    + "cycletime_sync0" : OpMode.getCycleTimeSync0().getcontent() \
    + if OpMode.getCycleTimeSync0() is not None else None,
    + "shifttime_sync0" : OpMode.getShiftTimeSync0().getcontent() \
    + if OpMode.getShiftTimeSync0() is not None else None,
    + "cycletime_sync1" : OpMode.getShiftTimeSync1().getcontent() \
    + if OpMode.getShiftTimeSync1() is not None else None,
    + "shifttime_sync1" : OpMode.getShiftTimeSync1().getcontent() \
    + if OpMode.getShiftTimeSync1() is not None else None
    + }
    +
    + if OpMode.getCycleTimeSync0() is not None:
    + temp_data["cycletime_sync0_factor"] = OpMode.getCycleTimeSync0().getFactor()
    +
    + if OpMode.getCycleTimeSync1() is not None:
    + temp_data["cycletime_sync1_factor"] = OpMode.getCycleTimeSync1().getFactor()
    +
    + return_data.append(temp_data)
    +
    + return return_data
    +
    + #-------------------------------------------------------------------------------
    # Common Use Methods
    # -------------------------------------------------------------------------------
    def CheckConnect(self, cyclic_flag):
    --- a/etherlab/ConfigEditor.py Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/ConfigEditor.py Mon Nov 25 08:10:45 2019 +0100
    @@ -149,6 +149,9 @@
    self.VariablesGrid.SetItemText(item, str(idx), 0)
    else:
    value = entry.get(colname, "")
    + # add jblee
    + if value is None:
    + value = ""
    if colname == "Access":
    value = GetAccessValue(value, entry.get("PDOMapping", ""))
    self.VariablesGrid.SetItemText(item, value, col)
    @@ -617,9 +620,7 @@
    self.MasterStateEditor = wx.ScrolledWindow(prnt, style=wx.TAB_TRAVERSAL | wx.HSCROLL | wx.VSCROLL)
    self.MasterStateEditor.Bind(wx.EVT_SIZE, self.OnResize)
    - self.MasterStateEditor_Panel_Main_Sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5)
    - self.MasterStateEditor_Panel_Main_Sizer.AddGrowableCol(0)
    - self.MasterStateEditor_Panel_Main_Sizer.AddGrowableRow(0)
    + self.MasterStateEditor_Panel_Main_Sizer = wx.BoxSizer(wx.VERTICAL)
    self.MasterStateEditor_Panel = MasterStatePanelClass(self.MasterStateEditor, self.Controler)
    @@ -628,6 +629,18 @@
    self.MasterStateEditor.SetSizer(self.MasterStateEditor_Panel_Main_Sizer)
    return self.MasterStateEditor
    + def OnResize2(self, event):
    + self.MasterStateEditor.GetBestSize()
    + xstart, ystart = self.MasterStateEditor.GetViewStart()
    + window_size = self.MasterStateEditor.GetClientSize()
    + maxx, maxy = self.MasterStateEditor.GetMinSize()
    + posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT))
    + posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT))
    + self.MasterStateEditor.Scroll(posx, posy)
    + self.MasterStateEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT,
    + maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy)
    + event.Skip()
    +
    def _create_EthercatMasterEditor(self, prnt):
    self.EthercatMasterEditor = wx.ScrolledWindow(prnt,
    style=wx.TAB_TRAVERSAL | wx.HSCROLL | wx.VSCROLL)
    --- a/etherlab/EtherCATManagementEditor.py Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/EtherCATManagementEditor.py Mon Nov 25 08:10:45 2019 +0100
    @@ -71,11 +71,15 @@
    panels = [
    ("Slave State", SlaveStatePanelClass, []),
    ("SDO Management", SDOPanelClass, []),
    - ("PDO Monitoring", PDOPanelClass, []),
    + ("PDO Mapping", PDOPanelClass, [
    + ("Rx PDO", RxPDOPanelClass),
    + ("Tx PDO", TxPDOPanelClass)]),
    + ("MDP Setting", MDPPanel, []),
    ("ESC Management", EEPROMAccessPanel, [
    - ("Smart View", SlaveSiiSmartView),
    - ("Hex View", HexView)]),
    - ("Register Access", RegisterAccessPanel, [])
    + ("Smart View", SlaveSiiSmartView),
    + ("Hex View", HexView)]),
    + ("Register Access", RegisterAccessPanel, []),
    + ("DC Configuration", DCConfigPanel, [])
    ]
    for pname, pclass, subs in panels:
    self.AddPage(pclass(self, self.Controler), pname)
    @@ -230,7 +234,9 @@
    Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button)
    @param event : wx.EVT_BUTTON object
    """
    - check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
    + # Check whether beremiz connected or not.
    + # If this method is called cyclically, set the cyclic flag true
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
    if check_connect_flag:
    state_dic = ["INIT", "PREOP", "SAFEOP", "OP"]
    @@ -255,7 +261,12 @@
    Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec).
    @param event : wx.TIMER object
    """
    - check_connect_flag = self.Controler.CommonMethod.CheckConnect(True)
    + if self.IsShownOnScreen() is False:
    + return
    +
    + # Check whether beremiz connected or not.
    + # If this method is called cyclically, set the cyclic flag true
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = True)
    if check_connect_flag:
    returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave()
    line = returnVal.split("\n")
    @@ -285,9 +296,15 @@
    - start slave state monitoring thread
    @param event : wx.EVT_BUTTON object
    """
    - self.SlaveStateThread = wx.Timer(self)
    - # set timer period (1000 ms)
    - self.SlaveStateThread.Start(1000)
    + # Check whether beremiz connected or not.
    + # If this method is called cyclically, set the cyclic flag true
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
    + if check_connect_flag:
    + self.SlaveStateThread = wx.Timer(self)
    + # set timer period (2000 ms)
    + self.SlaveStateThread.Start(2000)
    + else:
    + pass
    def CurrentStateThreadStop(self, event):
    """
    @@ -318,143 +335,218 @@
    self.Controler = controler
    + self.SDOMonitorEntries = {}
    + #----------------------------- SDO Monitor -------------------------------#
    + self.RBList = ["ON","OFF"]
    +
    + self.SDOMonitorRB = wx.RadioBox(self, label=_("monitoring"),
    + choices=self.RBList, majorDimension=2)
    +
    + self.SDOMonitorRB.SetSelection(1)
    + self.Bind(wx.EVT_RADIOBOX, self.OnRadioBox, self.SDOMonitorRB)
    +
    + self.SDOMonitorGrid = wx.grid.Grid(self,size=wx.Size(850,150),style=wx.EXPAND
    + |wx.ALIGN_CENTER_HORIZONTAL
    + |wx.ALIGN_CENTER_VERTICAL)
    + self.SDOMonitorGrid.Bind(gridlib.EVT_GRID_CELL_LEFT_DCLICK,
    + self.onMonitorGridDoubleClick)
    +
    + #----------------------------- SDO Entries ----------------------------#
    + self.SDOUpdateBtn = wx.Button(self, label=_("update"))
    + self.SDOUpdateBtn.Bind(wx.EVT_BUTTON, self.OnSDOUpdate)
    +
    + self.SDOTraceThread = None
    + self.SDOMonitoringFlag = False
    + self.SDOValuesList = []
    + # Default SDO Page Number
    + self.SDOPageNum = 2
    +
    + #----------------------------- Sizer --------------------------------------#
    self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL)
    - self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
    -
    - self.SDOUpdate = wx.Button(self, label=_('update'))
    - self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate)
    -
    - self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler)
    - self.SDOManagementInnerMainSizer.Add(self.SDOUpdate)
    - self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND)
    -
    - self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer)
    -
    + self.SDOInfoBox = wx.StaticBox(self, label=_("SDO Entries"))
    + self.SDOMonitorBox = wx.StaticBox(self, label=_("SDO Monitor"))
    +
    + self.SDONoteBook = SDONoteBook(self, controler=self.Controler)
    + self.SDOInfoBoxSizer = wx.StaticBoxSizer(self.SDOInfoBox, orient=wx.VERTICAL)
    + self.SDOMonitorBoxSizer = wx.StaticBoxSizer(self.SDOMonitorBox,
    + orient=wx.VERTICAL)
    + self.SDOInfoBoxSizer.Add(self.SDOUpdateBtn)
    +
    + self.SDOInfoBoxSizer.Add(self.SDONoteBook, wx.ALL|wx.EXPAND)
    + self.SDOMonitorBoxSizer.Add(self.SDOMonitorRB)
    + self.SDOMonitorBoxSizer.Add(self.SDOMonitorGrid)
    + self.SDOManagementMainSizer.AddMany([self.SDOInfoBoxSizer,
    + self.SDOMonitorBoxSizer])
    self.SetSizer(self.SDOManagementMainSizer)
    -
    - def SDOInfoUpdate(self, event):
    - """
    - Evenet handler for SDO "update" button.
    - - Load SDO data from current slave
    - @param event : wx.EVT_BUTTON object
    +
    + #----------------------------- fill the contents --------------------------#
    + #self.entries = self.Controler.CTNParent.CTNParent.GetEntriesList()
    +
    + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
    + type_infos = slave.getType()
    + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
    + self.entries = device.GetEntriesList()
    +
    + self.Controler.CommonMethod.SDOVariables = []
    + self.Controler.CommonMethod.SDOSubEntryData = []
    + self.Controler.CommonMethod.ClearSDODataSet()
    + self.SDOParserXML(self.entries)
    + self.SDONoteBook.CreateNoteBook()
    + self.CreateSDOMonitorGrid()
    + self.Refresh()
    +
    + def OnSDOUpdate(self, event):
    + SlavePos = self.Controler.GetSlavePos()
    + num = self.SDOPageNum - 1
    + if num < 0:
    + for i in range(len(self.Controler.CommonMethod.SDOVariables)):
    + data = self.Controler.GetCTRoot()._connector.GetSDOEntriesData(
    + self.Controler.CommonMethod.SDOVariables[i], SlavePos)
    + self.Controler.CommonMethod.SDOVariables[i] = data
    + else :
    + SDOUploadEntries = self.Controler.CommonMethod.SDOVariables[num]
    + data = self.Controler.GetCTRoot()._connector.GetSDOEntriesData(SDOUploadEntries, SlavePos)
    + self.Controler.CommonMethod.SDOVariables[num] = data
    +
    + self.SDONoteBook.CreateNoteBook()
    + self.Refresh()
    +
    + def OnRadioBox(self, event):
    """
    - self.Controler.CommonMethod.SaveSDOData = []
    - self.Controler.CommonMethod.ClearSDODataSet()
    - self.SDOFlag = False
    -
    - # Check whether beremiz connected or not.
    - check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
    - if check_connect_flag:
    - self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave()
    - # SDOFlag is "False", user click "Cancel" button
    - self.SDOFlag = self.SDOParser()
    -
    - if self.SDOFlag:
    - self.CallSDONoteBook.CreateNoteBook()
    - self.Refresh()
    -
    - def SDOParser(self):
    - """
    - Parse SDO data set that obtain "SDOInfoUpdate" Method
    - @return True or False
    + There are two selections that are on and off.
    + If the on is selected, the monitor thread begins to run.
    + If the off is selected, the monitor thread gets off.
    + @param event: wx.EVT_RADIOBOX object
    """
    -
    - slaveSDO_progress = wx.ProgressDialog(_("Slave SDO Monitoring"), _("Now Uploading..."),
    - maximum=len(self.SDOs.splitlines()),
    - parent=self,
    - style=wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME |
    - wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME |
    - wx.PD_AUTO_HIDE | wx.PD_SMOOTH)
    -
    - # If keep_going flag is False, SDOParser method is stop and return "False".
    - keep_going = True
    - count = 0
    -
    - # SDO data example
    - # SDO 0x1000, "Device type"
    - # 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474
    - for details_line in self.SDOs.splitlines():
    - count += 1
    - line_token = details_line.split("\"")
    - # len(line_token[2]) case : SDO 0x1000, "Device type"
    - if len(line_token[2]) == 0:
    - title_name = line_token[1]
    - # else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474
    - else:
    - # line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474']
    - token_head, name, token_tail = line_token
    -
    - # token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', '']
    - token_head = token_head.split(",")
    - ful_idx, access, type, size, _empty = token_head
    - # ful_idx.split(":") = ['0x1000', '00']
    - idx, sub_idx = ful_idx.split(":")
    -
    - # token_tail = ['', '0x00020192', '131474']
    - token_tail = token_tail.split(",")
    - try:
    - _empty, hex_val, _dec_val = token_tail
    -
    - # SDO data is not return "dec value"
    - # line example :
    - # 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ----
    - except Exception:
    - _empty, hex_val = token_tail
    -
    - name_after_check = self.StringTest(name)
    -
    - # convert hex type
    - sub_idx = "0x" + sub_idx
    -
    - if type == "octet_string":
    - hex_val = ' ---- '
    -
    - # SResult of SlaveSDO data parsing. (data type : dictionary)
    - self.Data = {'idx': idx.strip(), 'subIdx': sub_idx.strip(), 'access': access.strip(),
    - 'type': type.strip(), 'size': size.strip(), 'name': name_after_check.strip("\""),
    - 'value': hex_val.strip(), "category": title_name.strip("\"")}
    -
    - category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]
    -
    - for count in range(len(category_divide_value)):
    - if int(idx, 0) < category_divide_value[count]:
    - self.Controler.CommonMethod.SaveSDOData[count].append(self.Data)
    - break
    -
    - self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data)
    -
    - if count >= len(self.SDOs.splitlines()) // 2:
    - (keep_going, _skip) = slaveSDO_progress.Update(count, "Please waiting a moment!!")
    - else:
    - (keep_going, _skip) = slaveSDO_progress.Update(count)
    -
    - # If user click "Cancel" loop suspend immediately
    - if not keep_going:
    - break
    -
    - slaveSDO_progress.Destroy()
    - return keep_going
    -
    - def StringTest(self, check_string):
    + on, off = range(2)
    +
    + if event.GetInt() == on:
    + CheckThreadFlag = self.SDOMonitoringThreadOn()
    + if not CheckThreadFlag:
    + self.SDOMonitorRB.SetSelection(off)
    + elif event.GetInt() == off:
    + self.SDOMonitoringThreadOff()
    +
    + def SDOMonitoringThreadOn(self):
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
    + if check_connect_flag:
    + self.SetSDOTraceValues(self.SDOMonitorEntries)
    + self.Controler.GetCTRoot()._connector.GetSDOData()
    + self.SDOTraceThread = Thread(target=self.SDOMonitorThreadProc)
    + self.SDOMonitoringFlag = True
    + self.SDOTraceThread.start()
    + return check_connect_flag
    +
    + def SDOMonitoringThreadOff(self):
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
    + if check_connect_flag:
    + self.SDOMonitoringFlag = False
    + if self.SDOTraceThread is not None:
    + self.SDOTraceThread.join()
    + self.SDOTraceThread = None
    + self.Controler.GetCTRoot()._connector.StopSDOThread()
    +
    + def SetSDOTraceValues(self, SDOMonitorEntries):
    + SlavePos = self.Controler.GetSlavePos()
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = True)
    + if check_connect_flag:
    + self.Controler.GetCTRoot()._connector.SetSDOTraceValues(SDOMonitorEntries, SlavePos)
    +
    + def SDOMonitorThreadProc(self):
    + while self.SDOMonitoringFlag and self.Controler.GetCTRoot()._connector.PLCStatus != "Started":
    + self.SDOValuesList = self.Controler.GetCTRoot()._connector.GetSDOData()
    + LocalData = self.SDOValuesList[0].items()
    + LocalData.sort()
    + if self.SDOValuesList[1] != self.Controler.GetSlavePos():
    + continue
    + row = 0
    + for (idx, subidx), data in LocalData:
    + self.SDOMonitorGrid.SetCellValue(row, 6, str(data["value"]))
    + row += 1
    + time.sleep(0.5)
    +
    + def CreateSDOMonitorGrid(self):
    + """
    + It creates SDO Monitor table and specifies cell size and labels.
    """
    - Test value 'name' is alphanumeric
    - @param check_string : input data for check
    - @return result : output data after check
    + self.SDOMonitorGrid.CreateGrid(0,7)
    + SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 70),
    + (4, 40), (5, 450), (6, 85)]
    +
    + for (index, size) in SDOCellSize:
    + self.SDOMonitorGrid.SetColSize(index, size)
    +
    + self.SDOMonitorGrid.SetRowLabelSize(0)
    +
    + SDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Access"),
    + (3, "Type"), (4, "Size"), (5, "Name"), (6, "Value")]
    +
    + for (index, label) in SDOTableLabel:
    + self.SDOMonitorGrid.SetColLabelValue(index, label)
    + self.SDOMonitorGrid.SetColLabelAlignment(index, wx.ALIGN_CENTER)
    +
    + def onMonitorGridDoubleClick(self, event):
    + """
    + Event Handler for double click on the SDO entries table.
    + It adds the entry into the SDO monitor table.
    + If the entry is already in the SDO monitor table,
    + then it's removed from the SDO monitor table.
    + @pram event: gridlib.EVT_GRID_CELL_LEFT_DCLICK object
    + """
    + row = event.GetRow()
    + idx = self.SDOMonitorGrid.GetCellValue(row, 0)
    + subIdx = self.SDOMonitorGrid.GetCellValue(row, 1)
    +
    + del self.SDOMonitorEntries[(idx, subIdx)]
    + self.SDOMonitorGrid.DeleteRows(row, 1)
    + # add jblee
    + self.SetSDOTraceValues(self.SDOMonitorEntries)
    + self.SDOMonitorGrid.Refresh()
    +
    + def SDOParserXML(self, entries):
    """
    - # string.printable is print this result
    - # '0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ
    - # !"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c
    - allow_range = string.printable
    - result = check_string
    - for i in range(0, len(check_string)):
    - # string.isalnum() is check whether string is alphanumeric or not
    - if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range:
    - result = check_string[:len(check_string) - i]
    - break
    - return result
    -
    -
    -# -------------------------------------------------------------------------------
    + Parse SDO data set that obtain "ESI file"
    + @param entries: SDO entry list
    + """
    + entries_list = entries.items()
    + entries_list.sort()
    + self.ForDefaultValueFlag = False
    + self.CompareValue = ""
    + self.sub_entry_value_list = []
    +
    + for (index, subidx), entry in entries_list:
    + # exclude entry that isn't in the objects
    + check_mapping = entry["PDOMapping"]
    + if check_mapping is "T" or check_mapping is "R":
    + if "PDO index" not in entry.keys():
    + continue
    +
    + idx = "0" + entry["Index"].strip("#")
    + #subidx = hex(int(entry["SubIndex"], 0))
    + try :
    + subidx = "0x" + entry["SubIndex"]
    + except :
    + subidx = "0x0"
    + datatype = entry["Type"]
    +
    + try :
    + default_value = entry["DefaultData"]
    + except :
    + default_value = " --- "
    + # Result of SlaveSDO data parsing. (data type : dictionary)
    + self.Data = {'idx':idx, 'subIdx':subidx, 'access':entry["Access"],
    + 'type':datatype, 'size': str(entry["BitSize"]),
    + 'name':entry["Name"], 'value':default_value}
    + category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]
    +
    + for count in range(len(category_divide_value)) :
    + if int(idx, 0) < category_divide_value[count]:
    + self.Controler.CommonMethod.SDOVariables[count].append(self.Data)
    + break
    +
    + self.Controler.CommonMethod.SDOSubEntryData = self.sub_entry_value_list
    +
    +#-------------------------------------------------------------------------------
    # For SDO Notebook (divide category)
    # -------------------------------------------------------------------------------
    class SDONoteBook(wx.Notebook):
    @@ -494,17 +586,35 @@
    self.DeleteAllPages()
    + self.Controler.CommonMethod.SDOVariables[5] = []
    + for i in range(4):
    + self.Controler.CommonMethod.SDOVariables[5] += self.Controler.CommonMethod.SDOVariables[i]
    +
    for txt, count in page_texts:
    - self.Data = self.Controler.CommonMethod.SaveSDOData[count]
    - self.Win = SlaveSDOTable(self, self.Data)
    + self.Data = self.Controler.CommonMethod.SDOVariables[count]
    + self.SubEntryData = self.Controler.CommonMethod.SDOSubEntryData
    + self.Win = SlaveSDOTable(self, self.Data, self.SubEntryData)
    self.AddPage(self.Win, txt)
    + # add jblee
    + def OnPageChanged(self, event):
    + old = event.GetOldSelection()
    + new = event.GetSelection()
    + sel = self.GetSelection()
    + self.parent.SDOPageNum = new
    + event.Skip()
    +
    + def OnPageChanging(self, event):
    + old = event.GetOldSelection()
    + new = event.GetSelection()
    + sel = self.GetSelection()
    + event.Skip()
    # -------------------------------------------------------------------------------
    # For SDO Grid (fill index, subindex, etc...)
    # -------------------------------------------------------------------------------
    class SlaveSDOTable(wx.grid.Grid):
    - def __init__(self, parent, data):
    + def __init__(self, parent, data, fixed_value):
    """
    Constructor
    @param parent: Reference to the parent SDOPanelClass class
    @@ -518,30 +628,31 @@
    self.SDOFlag = True
    if data is None:
    self.SDOs = []
    - else:
    + self.sub_entry_value = []
    + else :
    self.SDOs = data
    -
    - self.CreateGrid(len(self.SDOs), 8)
    - SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 55),
    - (4, 40), (5, 200), (6, 250), (7, 85)]
    -
    + self.sub_entry_value = fixed_value
    +
    + self.CreateGrid(len(self.SDOs), 7)
    + SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 70),
    + (4, 40), (5, 400), (6, 135)]
    +
    for (index, size) in SDOCellSize:
    self.SetColSize(index, size)
    self.SetRowLabelSize(0)
    SDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Access"),
    - (3, "Type"), (4, "Size"), (5, "Category"),
    - (6, "Name"), (7, "Value")]
    + (3, "Type"), (4, "Size"), (5, "Name"), (6, "Value")]
    for (index, label) in SDOTableLabel:
    self.SetColLabelValue(index, label)
    - self.SetColLabelAlignment(index, wx.ALIGN_CENTRE)
    + self.SetColLabelAlignment(index, wx.ALIGN_CENTER)
    attr = wx.grid.GridCellAttr()
    - # for SDO download
    - self.Bind(wx.grid.EVT_GRID_CELL_LEFT_DCLICK, self.SDOModifyDialog)
    + # for SDO download and monitoring
    + self.Bind(gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.onGridDoubleClick)
    for i in range(7):
    self.SetColAttr(i, attr)
    @@ -554,56 +665,45 @@
    """
    Cell is filled by new parsing data
    """
    - sdo_list = ['idx', 'subIdx', 'access', 'type', 'size', 'category', 'name', 'value']
    + sdo_list = ['idx', 'subIdx', 'access', 'type', 'size', 'name', 'value']
    + count = 0
    for row_idx in range(len(self.SDOs)):
    for col_idx in range(len(self.SDOs[row_idx])):
    - self.SetCellValue(row_idx, col_idx, self.SDOs[row_idx][sdo_list[col_idx]])
    +
    + # the top entries that have sub index is shaded.
    + if int(self.SDOs[row_idx]['subIdx'], 16) == 0x00:
    + try:
    + if int(self.SDOs[row_idx + 1]['subIdx'], 16) is not 0x00:
    + self.SetCellBackgroundColour(row_idx, col_idx, \
    + wx.LIGHT_GREY)
    + except:
    + pass
    +
    + if self.SDOs[row_idx][sdo_list[col_idx]] == "modifying":
    + if len(self.sub_entry_value) == count:
    + continue
    + self.SetCellValue(row_idx, col_idx, self.sub_entry_value[count])
    + count += 1
    + else :
    + self.SetCellValue(row_idx, col_idx, \
    + self.SDOs[row_idx][sdo_list[col_idx]])
    +
    self.SetReadOnly(row_idx, col_idx, True)
    if col_idx < 5:
    self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE)
    def CheckSDODataAccess(self, row):
    """
    - CheckSDODataAccess method is checking that access data has "w"
    - Access field consist 6 char, if mean
    - rw rw rw
    - (preop) (safeop) (op)
    - Example Access field : rwrwrw, rwrw--
    + check that access field has "rw"
    @param row : Selected cell by user
    @return Write_flag : If data has "w", flag is true
    """
    - write_flag = False
    check = self.SDOs[row]['access']
    - if check[1:2] == 'w':
    - self.Controler.CommonMethod.Check_PREOP = True
    - write_flag = True
    - if check[3:4] == 'w':
    - self.Controler.CommonMethod.Check_SAFEOP = True
    - write_flag = True
    - if check[5:] == 'w':
    - self.Controler.CommonMethod.Check_OP = True
    - write_flag = True
    -
    - return write_flag
    -
    - def DecideSDODownload(self, state):
    - """
    - compare current state and "access" field,
    - result notify SDOModifyDialog method
    - @param state : current slave state
    - @return True or False
    - """
    - # Example of 'state' parameter : "0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100)"
    - state = state[self.Controler.GetSlavePos()].split(" ")[2]
    - if state == "PREOP" and self.Controler.CommonMethod.Check_PREOP:
    + if check == "rw":
    return True
    - elif state == "SAFEOP" and self.Controler.CommonMethod.Check_SAFEOP:
    - return True
    - elif state == "OP" and self.Controler.CommonMethod.Check_OP:
    - return True
    -
    - return False
    -
    + else:
    + return False
    +
    def ClearStateFlag(self):
    """
    Initialize StateFlag
    @@ -613,51 +713,112 @@
    self.Controler.CommonMethod.Check_SAFEOP = False
    self.Controler.CommonMethod.Check_OP = False
    - def SDOModifyDialog(self, event):
    + def onGridDoubleClick (self, event):
    """
    Create dialog for SDO value modify
    - if user enter data, perform command "ethercat download"
    - @param event : wx.grid.EVT_GRID_CELL_LEFT_DCLICK object
    + if user enter data, perform command "ethercat download"
    + @param event : gridlib.EVT_GRID_CELL_LEFT_DCLICK object
    """
    self.ClearStateFlag()
    -
    - # CheckSDODataAccess is checking that OD(Object Dictionary) has "w"
    - if event.GetCol() == 7 and self.CheckSDODataAccess(event.GetRow()):
    - dlg = wx.TextEntryDialog(
    - self,
    - _("Enter hex or dec value (if enter dec value, it automatically conversed hex value)"),
    - "SDOModifyDialog",
    - style=wx.OK | wx.CANCEL)
    -
    - start_value = self.GetCellValue(event.GetRow(), event.GetCol())
    +
    + # CheckSDODataAccess is checking that OD(Object Dictionary) has "w"
    + if event.GetCol() == 6 and self.CheckSDODataAccess(event.GetRow()) :
    + dlg = wx.TextEntryDialog (self,
    + "Enter hex or dec value (if enter dec value, " \
    + + "it automatically conversed hex value)",
    + "SDOModifyDialog", style = wx.OK | wx.CANCEL)
    +
    + start_value = self.GetCellValue(event.GetRow(), event.GetCol())
    dlg.SetValue(start_value)
    -
    +
    if dlg.ShowModal() == wx.ID_OK:
    - try:
    - int(dlg.GetValue(), 0)
    - # check "Access" field
    - if self.DecideSDODownload(self.Controler.CommonMethod.SlaveState[self.Controler.GetSlavePos()]):
    + # Check whether beremiz connected or not.
    + # If this method is called cyclically, set the cyclic flag true
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
    + if check_connect_flag:
    + try :
    + input_val = hex(int(dlg.GetValue(), 0))
    # Request "SDODownload"
    - self.Controler.CommonMethod.SDODownload(
    - self.SDOs[event.GetRow()]['type'],
    - self.SDOs[event.GetRow()]['idx'],
    - self.SDOs[event.GetRow()]['subIdx'],
    - dlg.GetValue())
    -
    - self.SetCellValue(event.GetRow(), event.GetCol(), hex(int(dlg.GetValue(), 0)))
    - else:
    - self.Controler.CommonMethod.CreateErrorDialog(_('You cannot SDO download this state'))
    - # Error occured process of "int(variable)"
    - # User input is not hex, dec value
    - except ValueError:
    - self.Controler.CommonMethod.CreateErrorDialog(_('You can input only hex, dec value'))
    -
    -
    -# -------------------------------------------------------------------------------
    -# For PDO Monitoring Panel
    + return_val = self.Controler.CommonMethod.SDODownload(
    + self.SDOs[event.GetRow()]["type"],
    + self.SDOs[event.GetRow()]["idx"],
    + self.SDOs[event.GetRow()]["subIdx"],
    + dlg.GetValue())
    + if return_val is "":
    + SDOUploadEntry = {"idx" : self.SDOs[event.GetRow()]["idx"],
    + "subIdx" : self.SDOs[event.GetRow()]["subIdx"],
    + "size" : self.SDOs[event.GetRow()]["size"]
    + }
    + data = self.Controler.GetCTRoot()._connector.GetSDOEntryData(
    + SDOUploadEntry, self.Controler.GetSlavePos())
    + hex_val = hex(data)[:-1]
    +
    + # download data check
    + if input_val == hex_val:
    + display_val = "%s(%d)" % (hex_val, data)
    + self.SetCellValue(event.GetRow(), event.GetCol(),
    + display_val)
    + else :
    + self.Controler.CommonMethod.CreateErrorDialog(\
    + 'SDO Value not completely download, please try again')
    + else:
    + self.Controler.GetCTRoot().logger.write_error(return_val)
    +
    + # Error occured process of "int(variable)"
    + # User input is not hex, dec value
    + except ValueError:
    + self.Controler.CommonMethod.CreateErrorDialog(\
    + 'You can input only hex, dec value')
    + else:
    + SDOPanel = self.parent.parent
    + row = event.GetRow()
    +
    + idx = self.SDOs[row]["idx"]
    + subIdx = self.SDOs[row]["subIdx"]
    + SDOPanel.SDOMonitorEntries[(idx, subIdx)] = {
    + "access": self.SDOs[row]["access"],
    + "type": self.SDOs[row]["type"],
    + "size": self.SDOs[row]["size"],
    + "name": self.SDOs[row]["name"],
    + # add jblee
    + "value": ""}
    +
    + del_rows = SDOPanel.SDOMonitorGrid.GetNumberRows()
    +
    + try:
    + SDOPanel.SDOMonitorGrid.DeleteRows(0, del_rows)
    + except:
    + pass
    +
    + SDOPanel.SDOMonitorGrid.AppendRows(len(SDOPanel.SDOMonitorEntries))
    + SDOPanel.SetSDOTraceValues(SDOPanel.SDOMonitorEntries)
    +
    + SME_list = SDOPanel.SDOMonitorEntries.items()
    + SME_list.sort()
    +
    + gridRow = 0
    + for (idx, subIdx), entry in SME_list:
    + SDOPanel.SDOMonitorGrid.SetCellValue(gridRow, 0, str(idx))
    + SDOPanel.SDOMonitorGrid.SetCellValue(gridRow, 1, str(subIdx))
    + for col, key in [(2, "access"),
    + (3, "type"),
    + (4, "size"),
    + (5, "name")]:
    + SDOPanel.SDOMonitorGrid.SetCellValue(gridRow, col, entry[key])
    + for col in range(7):
    + SDOPanel.SDOMonitorGrid.SetReadOnly(gridRow, col, True)
    + if col < 5 :
    + SDOPanel.SDOMonitorGrid.SetCellAlignment(\
    + gridRow, col, wx.ALIGN_CENTER, wx.ALIGN_CENTER)
    + gridRow += 1
    +
    + SDOPanel.SDOMonitorGrid.Refresh()
    +
    +#-------------------------------------------------------------------------------
    +# For PDO Mapping Panel
    # PDO Class UI : Panel -> Choicebook (RxPDO, TxPDO) ->
    # Notebook (PDO Index) -> Grid (PDO entry)
    -# -------------------------------------------------------------------------------
    +#-------------------------------------------------------------------------------
    class PDOPanelClass(wx.Panel):
    def __init__(self, parent, controler):
    """
    @@ -667,16 +828,152 @@
    """
    wx.Panel.__init__(self, parent, -1)
    self.Controler = controler
    -
    - self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL)
    - self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
    -
    - self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler)
    - self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL)
    -
    - self.PDOMonitoringEditorMainSizer.Add(self.PDOMonitoringEditorInnerMainSizer)
    -
    - self.SetSizer(self.PDOMonitoringEditorMainSizer)
    + sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20)
    + line = wx.StaticText(self, -1, "\n In order to control Ethercat device, user must select proper PDO set.\
    + \n Each PDO sets describe operation modes (CSP, CSV, CST) supported by Ethercat devices.\
    + \n\n PDOs have two types, RxPDO and TxPDO.\
    + \n - RxPDO refers to the Receive Process Data Object. It means the control parameters which sent from controller to the EtherCAT Slave device.\
    + \n In general, ControlWord (0x6040), Modes of Operations (0x6060), and TargetPosition (0x607A) are regarded as RxPDO.\
    + \n - TxPDO refers to the Transmit Process Data Object. It used to report status of EtherCAT Slave device to the controller in order to calibrate their next actuation.\
    + \n StatusWord (0x6041), Modes of Operation Display (0x6061), and ActualPosition (0x607A) include in TxPDO.\
    + \n\n PDO Mapping feature provides available RxPDO and TxPDO sets which defined in Ethercat slave description XML.\
    + \n If there is no selection of PDO set, first set (0x1600, 0x1A00) will be chosen as default configuration.")
    +
    + sizer.Add(line)
    + self.SetSizer(sizer)
    +
    +class RxPDOPanelClass(wx.Panel):
    + def __init__(self, parent, controler):
    + """
    + Constructor
    + @param parent: Reference to the parent EtherCATManagementTreebook class
    + @param controler: _EthercatSlaveCTN class in EthercatSlave.py
    + """
    + wx.Panel.__init__(self, parent, -1)
    + self.Controler = controler
    +
    + # add jblee
    + #self.PDOIndexList = ["RxPDO"]
    + self.PDOIndexList = []
    + self.LoadPDOSelectData()
    +
    + #HSAHN ADD. 2015.7.26 PDO Select Function ADD
    + self.Controler.CommonMethod.RequestPDOInfo()
    + self.PDOcheckBox = []
    + self.rx_pdo_entries = self.Controler.CommonMethod.GetRxPDOCategory()
    + if len(self.rx_pdo_entries):
    + for i in range(len(self.rx_pdo_entries)):
    + self.PDOcheckBox.append(wx.CheckBox(self, label=str(hex(self.rx_pdo_entries[i]['pdo_index'])), size=(120,15)))
    + if not self.Controler.SelectedRxPDOIndex and self.rx_pdo_entries[i]['sm'] is not None:
    + self.PDOcheckBox[-1].SetValue(True)
    + self.Controler.SelectedRxPDOIndex.append(int(self.PDOcheckBox[-1].GetLabel(), 0))
    + self.InitSavePDO()
    + elif self.rx_pdo_entries[i]['pdo_index'] in self.Controler.SelectedRxPDOIndex:
    + self.PDOIndexList.append(str(hex(self.rx_pdo_entries[i]['pdo_index'])))
    + self.PDOcheckBox[-1].SetValue(True)
    +
    + for cb in self.PDOcheckBox:
    + self.Bind(wx.EVT_CHECKBOX, self.PDOSelectCheck, cb)
    +
    + self.PDOListBox = wx.StaticBox(self, label=_("PDO Mapping Select"))
    + self.PDOListBoxSizer = wx.StaticBoxSizer(self.PDOListBox, orient=wx.HORIZONTAL)
    + self.RxPDOListBox = wx.StaticBox(self, label=_("RxPDO"))
    + self.RxPDOListBoxSizer = wx.StaticBoxSizer(self.RxPDOListBox, orient=wx.VERTICAL)
    + self.RxPDOListBoxInnerSizer = wx.FlexGridSizer(cols=3, hgap=5, rows=10, vgap=5)
    + self.RxPDOListBoxInnerSizer.AddMany(self.PDOcheckBox[0:len(self.rx_pdo_entries)])
    + self.RxPDOListBoxSizer.Add(self.RxPDOListBoxInnerSizer)
    + self.PDOListBoxSizer.Add(self.RxPDOListBoxSizer)
    + self.PDOWarningText = wx.StaticText(self, -1,
    + " *Warning*\n\n By default configuration, \n\n first mapping set is selected. \n\n Choose the PDO mapping!",
    + size=(220, -1))
    + self.PDOListBoxSizer.Add(self.PDOWarningText)
    +
    + self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL)
    + self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
    +
    +
    + self.CallPDOChoicebook = PDONoteBook(self, controler=self.Controler, name="Rx")
    + self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL)
    +
    + self.PDOInformationBox = wx.StaticBox(self, label=_("RxPDO Mapping List"))
    + self.PDOInformationBoxSizer = wx.StaticBoxSizer(self.PDOInformationBox, orient=wx.VERTICAL)
    + self.PDOInformationBoxSizer.Add(self.PDOMonitoringEditorInnerMainSizer)
    +
    + self.PDOMonitoringEditorMainSizer.Add(self.PDOListBoxSizer)
    + self.PDOMonitoringEditorMainSizer.Add(self.PDOInformationBoxSizer)
    + self.SetSizer(self.PDOMonitoringEditorMainSizer)
    +
    + # add jblee
    + self.PDOExcludeCheck()
    + else:
    + sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20)
    + line = wx.StaticText(self, -1, "\n This device does not support RxPDO.")
    +
    + sizer.Add(line)
    + self.SetSizer(sizer)
    +
    + def LoadPDOSelectData(self):
    + RxPDOData = self.Controler.BaseParams.getRxPDO()
    + RxPDOs = []
    + if RxPDOData != "None":
    + RxPDOs = RxPDOData.split()
    + if RxPDOs :
    + for RxPDO in RxPDOs :
    + self.Controler.SelectedRxPDOIndex.append(int(RxPDO, 0))
    +
    + def PDOSelectCheck(self, event):
    + # add jblee for Save User Select
    + cb = event.GetEventObject()
    + # prevent duplicated check
    + if cb.GetValue() and int(cb.GetLabel(), 0) not in self.Controler.SelectedRxPDOIndex:
    + self.Controler.SelectedRxPDOIndex.append(int(cb.GetLabel(), 0))
    + self.PDOIndexList.append(cb.GetLabel())
    + else:
    + self.Controler.SelectedRxPDOIndex.remove(int(cb.GetLabel(), 0))
    + self.PDOIndexList.remove(cb.GetLabel())
    +
    + data = ""
    + for PDOIndex in self.PDOIndexList:
    + data = data + " " + PDOIndex
    +
    + self.Controler.BaseParams.setRxPDO(data)
    + self.Controler.GetCTRoot().CTNRequestSave()
    +
    + self.PDOExcludeCheck()
    +
    + def InitSavePDO(self):
    + for PDOIndex in self.Controler.SelectedRxPDOIndex:
    + self.PDOIndexList.append(str(hex(PDOIndex)))
    +
    + data = ""
    + for PDOIndex in self.PDOIndexList:
    + data = data + " " + PDOIndex
    +
    + self.Controler.BaseParams.setRxPDO(data)
    +
    + # 2016.06.21
    + # add jblee for check exclude pdo list
    + def PDOExcludeCheck(self):
    + #files = os.listdir(self.Controler.CTNPath())
    + #filepath = os.path.join(self.Controler.CTNPath(), "DataForPDO.txt")
    + CurIndexs = self.Controler.SelectedRxPDOIndex
    + for CB in self.PDOcheckBox:
    + if len(CB.GetLabel().split()) > 1:
    + CB.Enable()
    + CB.SetLabel(CB.GetLabel().split()[0])
    +
    + for pdo in self.rx_pdo_entries:
    + for CurIndex in CurIndexs:
    + if pdo["pdo_index"] == CurIndex:
    + ex_list = pdo["exclude_list"]
    + for ex_item in ex_list:
    + for CB in self.PDOcheckBox:
    + if CB.GetLabel() == hex(ex_item):
    + CB.SetLabel(CB.GetLabel() + " (Excluded)")
    + CB.Disable()
    +
    + def RefreshPDOInfo(self):
    + pass
    def PDOInfoUpdate(self):
    """
    @@ -684,28 +981,142 @@
    """
    self.Controler.CommonMethod.RequestPDOInfo()
    self.CallPDOChoicebook.Destroy()
    - self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler)
    + self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler, name="Rx")
    self.Refresh()
    -
    -# -------------------------------------------------------------------------------
    -# For PDO Choicebook (divide Tx, Rx PDO)
    -# -------------------------------------------------------------------------------
    -class PDOChoicebook(wx.Choicebook):
    +class TxPDOPanelClass(wx.Panel):
    def __init__(self, parent, controler):
    """
    Constructor
    - @param parent: Reference to the parent PDOPanelClass class
    + @param parent: Reference to the parent EtherCATManagementTreebook class
    @param controler: _EthercatSlaveCTN class in EthercatSlave.py
    """
    - wx.Choicebook.__init__(self, parent, id=-1, size=(500, 500), style=wx.CHB_DEFAULT)
    + wx.Panel.__init__(self, parent, -1)
    self.Controler = controler
    - RxWin = PDONoteBook(self, controler=self.Controler, name="Rx")
    - TxWin = PDONoteBook(self, controler=self.Controler, name="Tx")
    - self.AddPage(RxWin, "RxPDO")
    - self.AddPage(TxWin, "TxPDO")
    -
    + # add jblee
    + self.PDOIndexList = []
    + self.LoadPDOSelectData()
    +
    + #HSAHN ADD. 2015.7.26 PDO Select Function ADD
    + self.Controler.CommonMethod.RequestPDOInfo()
    + self.PDOcheckBox = []
    + self.tx_pdo_entries = self.Controler.CommonMethod.GetTxPDOCategory()
    + if len(self.tx_pdo_entries):
    + for i in range(len(self.tx_pdo_entries)):
    + self.PDOcheckBox.append(wx.CheckBox(self, label=str(hex(self.tx_pdo_entries[i]['pdo_index'])), size=(120,15)))
    + if not self.Controler.SelectedTxPDOIndex and self.tx_pdo_entries[i]['sm'] is not None:
    + self.PDOcheckBox[-1].SetValue(True)
    + self.Controler.SelectedTxPDOIndex.append(int(self.PDOcheckBox[-1].GetLabel(), 0))
    + self.InitSavePDO()
    + elif self.tx_pdo_entries[i]['pdo_index'] in self.Controler.SelectedTxPDOIndex:
    + self.PDOIndexList.append(str(hex(self.tx_pdo_entries[i]['pdo_index'])))
    + self.PDOcheckBox[-1].SetValue(True)
    + for cb in self.PDOcheckBox:
    + self.Bind(wx.EVT_CHECKBOX, self.PDOSelectCheck, cb)
    +
    + self.PDOListBox = wx.StaticBox(self, label=_("PDO Mapping Select"))
    + self.PDOListBoxSizer = wx.StaticBoxSizer(self.PDOListBox, orient=wx.HORIZONTAL)
    + self.TxPDOListBox = wx.StaticBox(self, label=_("TxPDO"))
    + self.TxPDOListBoxSizer = wx.StaticBoxSizer(self.TxPDOListBox, orient=wx.VERTICAL)
    + self.TxPDOListBoxInnerSizer = wx.FlexGridSizer(cols=3, hgap=5, rows=10, vgap=5)
    + self.TxPDOListBoxInnerSizer.AddMany(self.PDOcheckBox[0:len(self.tx_pdo_entries)])
    + self.TxPDOListBoxSizer.Add(self.TxPDOListBoxInnerSizer)
    + self.PDOListBoxSizer.Add(self.TxPDOListBoxSizer)
    + self.PDOWarningText = wx.StaticText(self, -1,
    + " *Warning*\n\n By default configuration, \n\n first mapping set is selected. \n\n Choose the PDO mapping!",
    + size=(220, -1))
    + self.PDOListBoxSizer.Add(self.PDOWarningText)
    +
    + self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL)
    + self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
    +
    + self.CallPDOChoicebook = PDONoteBook(self, controler=self.Controler, name="Tx")
    + self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL)
    +
    + self.PDOInformationBox = wx.StaticBox(self, label=_("TxPDO Mapping List"))
    + self.PDOInformationBoxSizer = wx.StaticBoxSizer(self.PDOInformationBox, orient=wx.VERTICAL)
    + self.PDOInformationBoxSizer.Add(self.PDOMonitoringEditorInnerMainSizer)
    +
    + self.PDOMonitoringEditorMainSizer.Add(self.PDOListBoxSizer)
    + self.PDOMonitoringEditorMainSizer.Add(self.PDOInformationBoxSizer)
    + self.SetSizer(self.PDOMonitoringEditorMainSizer)
    +
    + # add jblee
    + self.PDOExcludeCheck()
    + else:
    + sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20)
    + line = wx.StaticText(self, -1, "\n This device does not support TxPDO.")
    +
    + sizer.Add(line)
    + self.SetSizer(sizer)
    +
    + def LoadPDOSelectData(self):
    + TxPDOData = self.Controler.BaseParams.getTxPDO()
    + TxPDOs = []
    + if TxPDOData != "None":
    + TxPDOs = TxPDOData.split()
    + if TxPDOs :
    + for TxPDO in TxPDOs :
    + self.Controler.SelectedTxPDOIndex.append(int(TxPDO, 0))
    +
    + def PDOSelectCheck(self, event):
    + # add jblee for Save User Select
    + cb = event.GetEventObject()
    + # prevent duplicated check
    + if cb.GetValue() and int(cb.GetLabel(), 0) not in self.Controler.SelectedTxPDOIndex:
    + self.Controler.SelectedTxPDOIndex.append(int(cb.GetLabel(), 0))
    + self.PDOIndexList.append(cb.GetLabel())
    + else:
    + self.Controler.SelectedTxPDOIndex.remove(int(cb.GetLabel(), 0))
    + self.PDOIndexList.remove(cb.GetLabel())
    +
    + data = ""
    + for PDOIndex in self.PDOIndexList:
    + data = data + " " + PDOIndex
    +
    + self.Controler.BaseParams.setTxPDO(data)
    + self.Controler.GetCTRoot().CTNRequestSave()
    +
    + self.PDOExcludeCheck()
    +
    + def InitSavePDO(self):
    + for PDOIndex in self.Controler.SelectedTxPDOIndex:
    + self.PDOIndexList.append(str(hex(PDOIndex)))
    +
    + data = ""
    + for PDOIndex in self.PDOIndexList:
    + data = data + " " + PDOIndex
    +
    + self.Controler.BaseParams.setTxPDO(data)
    +
    + # 2016.06.21
    + # add jblee for check exclude pdo list
    + def PDOExcludeCheck(self):
    + CurIndexs = self.Controler.SelectedTxPDOIndex
    + for CB in self.PDOcheckBox:
    + if len(CB.GetLabel().split()) > 1:
    + CB.Enable()
    + CB.SetLabel(CB.GetLabel().split()[0])
    +
    + for pdo in self.tx_pdo_entries:
    + for CurIndex in CurIndexs:
    + if pdo["pdo_index"] == CurIndex:
    + ex_list = pdo["exclude_list"]
    + for ex_item in ex_list:
    + for CB in self.PDOcheckBox:
    + if CB.GetLabel() == hex(ex_item):
    + CB.SetLabel(CB.GetLabel() + " (Excluded)")
    + CB.Disable()
    +
    + def PDOInfoUpdate(self):
    + """
    + Call RequestPDOInfo method and create Choicebook
    + """
    + self.Controler.CommonMethod.RequestPDOInfo()
    + self.CallPDOChoicebook.Destroy()
    + self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler, name="Tx")
    + self.Refresh()
    # -------------------------------------------------------------------------------
    # For PDO Notebook (divide PDO index)
    @@ -718,14 +1129,12 @@
    @param name: identifier whether RxPDO or TxPDO
    @param controler: _EthercatSlaveCTN class in EthercatSlave.py
    """
    - wx.Notebook.__init__(self, parent, id=-1, size=(640, 400))
    + wx.Notebook.__init__(self, parent, id=-1, size=(600, 400))
    self.Controler = controler
    count = 0
    page_texts = []
    - self.Controler.CommonMethod.RequestPDOInfo()
    -
    if name == "Tx":
    # obtain pdo_info and pdo_entry
    # pdo_info include (PDO index, name, number of entry)
    @@ -820,6 +1229,183 @@
    self.SetRowSize(row_idx, 25)
    start_value += 1
    +#-------------------------------------------------------------------------------
    +# For MDP Main Panel
    +#-------------------------------------------------------------------------------
    +class MDPPanel(wx.Panel):
    + def __init__(self, parent, controler):
    + """
    + Constructor
    + @param parent: Reference to the parent EtherCATManagementTreebook class
    + @param controler: _EthercatSlaveCTN class in EthercatSlave.py
    + """
    + wx.Panel.__init__(self, parent, -1)
    + self.parent = parent
    + self.Controler = controler
    +
    + sizer = wx.FlexGridSizer(cols=3, hgap=20, rows=1, vgap=20)
    +
    + # Include Module ListBox
    + leftInnerSizer = wx.FlexGridSizer(cols=1, hgap=10,rows=2, vgap=10)
    + # Include Add, Delete Button
    + middleInnerSizer = wx.FlexGridSizer(cols=1, hgap=10,rows=2, vgap=10)
    + # Include Slot ListBox
    + rightInnerSizer = wx.FlexGridSizer(cols=1, hgap=10,rows=2, vgap=10)
    +
    + # Get Module Name as Array
    + # MDPArray = {SlaveName, [data0, data1, ...], SlotIndexIncrement, SlotPdoIncrement}
    + # data = [ModuleName, ModuleInfo, [PDOInfo1, PDOInfo2, ...]]
    + # PDOInfo = {Index, Name, BitSize, Access, PDOMapping, SubIndex, Type}
    + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
    + type_infos = slave.getType()
    + MDPArray = self.Controler.CTNParent.CTNParent.GetMDPInfos(type_infos)
    +
    + NameSet = []
    + if MDPArray:
    + for info in MDPArray[0][1]:
    + NameSet.append(info[0])
    +
    + # Module ListBox
    + self.ModuleLabel = wx.StaticText(self, -1, "Module")
    + self.ModuleListBox = wx.ListBox(self, size = (150, 200), choices = NameSet)
    + #self.ModuleListBox = wx.ListBox(self, size = (150, 200), choices = [])
    + self.Bind(wx.EVT_LISTBOX_DCLICK, self.OnModuleListBoxDCClick, self.ModuleListBox)
    +
    + # Button
    + self.AddButton = wx.Button(self, label=_(" Add Module "))
    + self.DeleteButton = wx.Button(self, label=_("Delete Module"))
    +
    + # Button Event Mapping
    + self.AddButton.Bind(wx.EVT_BUTTON, self.OnAddButton)
    + self.DeleteButton.Bind(wx.EVT_BUTTON, self.OnDeleteButton)
    +
    + # Slot ListBox
    + self.SlotLabel = wx.StaticText(self, -1, "Slot")
    + self.SlotListBox = wx.ListBox(self, size = (150, 200))
    + self.Bind(wx.EVT_LISTBOX_DCLICK, self.OnSlotListBoxDCClick, self.SlotListBox)
    + self.SelectModule = []
    +
    + # Add Object Each Sizer
    + leftInnerSizer.AddMany([self.ModuleLabel, self.ModuleListBox])
    + middleInnerSizer.Add(self.AddButton, 0, wx.TOP, 100)
    + middleInnerSizer.Add(self.DeleteButton, 0, wx.BOTTOM, 120)
    + rightInnerSizer.AddMany([self.SlotLabel, self.SlotListBox])
    +
    + sizer.AddMany([leftInnerSizer, middleInnerSizer, rightInnerSizer])
    +
    + self.SetSizer(sizer)
    +
    + self.InitMDPSet()
    +
    + def InitMDPSet(self):
    + files = os.listdir(self.Controler.CTNPath())
    + filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
    + try:
    + moduleDataFile = open(filepath, 'r')
    + lines = moduleDataFile.readlines()
    +
    + for line in lines:
    + if line == "\n":
    + continue
    + module_pos = line.split()[-1]
    + name_len_limit = len(line) - len(module_pos) - 2
    + module_name = line[0:name_len_limit]
    +
    + self.SelectModule.append((module_name, int(module_pos)))
    +
    + localModuleInfo = []
    + count = 1
    + for (item, pos) in self.SelectModule:
    + slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
    + localModuleInfo.append(slotString)
    + count += 1
    + self.SlotListBox.SetItems(localModuleInfo)
    +
    + except:
    + moduleDataFile = open(filepath, 'w')
    +
    + moduleDataFile.close()
    +
    + def OnAddButton(self, event):
    + files = os.listdir(self.Controler.CTNPath())
    + filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
    + moduleDataFile = open(filepath, 'w')
    +
    + selectNum = self.ModuleListBox.GetSelection()
    + if selectNum >= 0:
    + selectStr = self.ModuleListBox.GetString(selectNum)
    + self.SelectModule.append((selectStr, selectNum))
    + localModuleInfo = []
    + count = 1
    + for (item, pos) in self.SelectModule:
    + slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
    + localModuleInfo.append(slotString)
    + count += 1
    + self.SlotListBox.SetItems(localModuleInfo)
    +
    + moduleDataFile.close()
    +
    + def OnDeleteButton(self, event):
    + files = os.listdir(self.Controler.CTNPath())
    + filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
    + moduleDataFile = open(filepath, 'w')
    +
    + selectNum = self.SlotListBox.GetSelection()
    + if selectNum >= 0:
    + selectStr = self.SlotListBox.GetString(selectNum)
    + self.SelectModule.pop(selectNum)
    + localModuleInfo = []
    + count = 1
    + for (item, pos) in self.SelectModule:
    + moduleDataFile.write(item + " " + str(pos) + "\n")
    + slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
    + localModuleInfo.append(slotString)
    + count += 1
    + self.SlotListBox.SetItems(localModuleInfo)
    +
    + moduleDataFile.close()
    +
    + def OnModuleListBoxDCClick(self, event):
    + files = os.listdir(self.Controler.CTNPath())
    + filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
    + moduleDataFile = open(filepath, 'w')
    +
    + selectNum = self.ModuleListBox.GetSelection()
    + if selectNum >= 0:
    + selectStr = self.ModuleListBox.GetString(selectNum)
    + self.SelectModule.append((selectStr, selectNum))
    + localModuleInfo = []
    + count = 1
    + for (item, pos) in self.SelectModule:
    + moduleDataFile.write(item + " " + str(pos) + "\n")
    + slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
    + localModuleInfo.append(slotString)
    + module = self.Controler.CTNParent.CTNParent.GetSelectModule(pos)
    + self.Controler.CommonMethod.SavePDOData(module)
    + count += 1
    + self.SlotListBox.SetItems(localModuleInfo)
    +
    + moduleDataFile.close()
    +
    + def OnSlotListBoxDCClick(self, event):
    + files = os.listdir(self.Controler.CTNPath())
    + filepath = os.path.join(self.Controler.CTNPath(), "DataForMDP.txt")
    + moduleDataFile = open(filepath, 'w')
    +
    + selectNum = self.SlotListBox.GetSelection()
    + if selectNum >= 0:
    + selectStr = self.SlotListBox.GetString(selectNum)
    + self.SelectModule.pop(selectNum)
    + localModuleInfo = []
    + count = 1
    + for (item, pos) in self.SelectModule:
    + moduleDataFile.write(item + " " + str(pos) + "\n")
    + slotString = "Slot %d %s : " % (count, item.split()[1]) + item.split()[0]
    + localModuleInfo.append(slotString)
    + count += 1
    + self.SlotListBox.SetItems(localModuleInfo)
    +
    + moduleDataFile.close()
    # -------------------------------------------------------------------------------
    # For EEPROM Access Main Panel
    @@ -858,22 +1444,24 @@
    self.parent = parent
    self.Controler = controler
    - self.PDIType = {
    - 0: ['none', '00000000'],
    - 4: ['Digital I/O', '00000100'],
    - 5: ['SPI Slave', '00000101'],
    - 7: ['EtherCAT Bridge (port3)', '00000111'],
    - 8: ['uC async. 16bit', '00001000'],
    - 9: ['uC async. 8bit', '00001001'],
    - 10: ['uC sync. 16bit', '00001010'],
    - 11: ['uC sync. 8bit', '00001011'],
    - 16: ['32 Digtal Input and 0 Digital Output', '00010000'],
    - 17: ['24 Digtal Input and 8 Digital Output', '00010001'],
    - 18: ['16 Digtal Input and 16 Digital Output', '00010010'],
    - 19: ['8 Digtal Input and 24 Digital Output', '00010011'],
    - 20: ['0 Digtal Input and 32 Digital Output', '00010100'],
    - 128: ['On-chip bus', '11111111']
    - }
    + # PDI Type 1, 13 unknown Type, Fix Future
    + self.PDIType = {0 :['none', '00000000'],
    + 1 :['unknown', '00000000'],
    + 4 :['Digital I/O', '00000100'],
    + 5 :['SPI Slave', '00000101'],
    + 7 :['EtherCAT Bridge (port3)', '00000111'],
    + 8 :['uC async. 16bit', '00001000'],
    + 9 :['uC async. 8bit', '00001001'],
    + 10 :['uC sync. 16bit', '00001010'],
    + 11 :['uC sync. 8bit', '00001011'],
    + 13 :['unknown', '00000000'],
    + 16 :['32 Digtal Input and 0 Digital Output', '00010000'],
    + 17 :['24 Digtal Input and 8 Digital Output', '00010001'],
    + 18 :['16 Digtal Input and 16 Digital Output','00010010'],
    + 19 :['8 Digtal Input and 24 Digital Output', '00010011'],
    + 20 :['0 Digtal Input and 32 Digital Output', '00010100'],
    + 128:['On-chip bus', '11111111']
    + }
    sizer = wx.FlexGridSizer(cols=1, hgap=5, rows=2, vgap=5)
    button_sizer = wx.FlexGridSizer(cols=2, hgap=5, rows=1, vgap=5)
    @@ -935,7 +1523,8 @@
    @param event : wx.EVT_BUTTON object
    """
    # Check whether beremiz connected or not.
    - check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
    + # If this method is called cyclically, set the cyclic flag true
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
    if check_connect_flag:
    self.SiiBinary = self.Controler.CommonMethod.LoadData()
    self.SetEEPROMData()
    @@ -1257,7 +1846,8 @@
    @param event : wx.EVT_BUTTON object
    """
    # Check whether beremiz connected or not.
    - check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
    + # If this method is called cyclically, set the cyclic flag true
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
    if check_connect_flag:
    # load from EEPROM data and parsing
    self.SiiBinary = self.Controler.CommonMethod.LoadData()
    @@ -1274,7 +1864,8 @@
    """
    # Check whether beremiz connected or not,
    # and whether status is "Started" or not.
    - check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
    + # If this method is called cyclically, set the cyclic flag true
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
    if check_connect_flag:
    status, _log_count = self.Controler.GetCTRoot()._connector.GetPLCstatus()
    if status is not PlcStatus.Started:
    @@ -1439,7 +2030,7 @@
    # flag for compact view
    self.CompactFlag = False
    - # main grid의 rows and cols
    + # main grid rows and cols
    self.MainRow = [512, 512, 512, 512]
    self.MainCol = 4
    @@ -1675,7 +2266,8 @@
    @param event: wx.EVT_BUTTON object
    """
    # Check whether beremiz connected or not.
    - check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
    + # If this method is called cyclically, set the cyclic flag true
    + check_connect_flag = self.Controler.CommonMethod.CheckConnect(cyclic_flag = False)
    if check_connect_flag:
    self.LoadData()
    self.BasicSetData()
    @@ -2059,8 +2651,7 @@
    @param parent: wx.ScrollWindow object
    @Param controler: _EthercatSlaveCTN class in EthercatSlave.py
    """
    - wx.Panel.__init__(self, parent, -1, (0, 0),
    - size=wx.DefaultSize, style=wx.SUNKEN_BORDER)
    + wx.Panel.__init__(self, parent)
    self.Controler = controler
    self.parent = parent
    self.StaticBox = {}
    @@ -2070,21 +2661,25 @@
    # ----------------------- Main Sizer and Update Button --------------------------------------------
    self.MasterStateSizer = {"main": wx.BoxSizer(wx.VERTICAL)}
    for key, attr in [
    - ("innerMain", [1, 10, 2, 10]),
    - ("innerTopHalf", [2, 10, 1, 10]),
    - ("innerBottomHalf", [2, 10, 1, 10]),
    - ("innerMasterState", [2, 10, 3, 10]),
    - ("innerDeviceInfo", [4, 10, 3, 10]),
    - ("innerFrameInfo", [4, 10, 5, 10])]:
    + ("innerTop", [2, 10, 1, 10]),
    + ("innerMiddle", [1, 10, 1, 10]),
    + ("innerBottom", [1, 10, 1, 10]),
    + ("innerMasterState", [2, 10, 3, 10]),
    + ("innerDeviceInfo", [4, 10, 3, 10]),
    + ("innerFrameInfo", [4, 10, 5, 10]),
    + ("innerSlaveInfo", [1, 10, 2, 10])]:
    self.MasterStateSizer[key] = wx.FlexGridSizer(cols=attr[0], hgap=attr[1], rows=attr[2], vgap=attr[3])
    - self.UpdateButton = wx.Button(self, label=_('Update'))
    - self.UpdateButton.Bind(wx.EVT_BUTTON, self.OnButtonClick)
    -
    - for key, label in [
    - ('masterState', 'EtherCAT Master State'),
    - ('deviceInfo', 'Ethernet Network Card Information'),
    - ('frameInfo', 'Network Frame Information')]:
    + self.MSUpdateButton = wx.Button(self, label=_("Update"))
    + self.MSUpdateButton.Bind(wx.EVT_BUTTON, self.OnMSUpdateButtonClick)
    + self.SIUpdateButton = wx.Button(self, label=_("Update"))
    + self.SIUpdateButton.Bind(wx.EVT_BUTTON, self.OnSIUpdateButtonClick)
    +
    + for key, label in [
    + ("masterState", "EtherCAT Master State"),
    + ("deviceInfo", "Ethernet Network Card Information"),
    + ("frameInfo", "Network Frame Information"),
    + ("slaveInfo", "Slave Information")]:
    self.StaticBox[key] = wx.StaticBox(self, label=_(label))
    self.MasterStateSizer[key] = wx.StaticBoxSizer(self.StaticBox[key])
    @@ -2114,10 +2709,12 @@
    # ----------------------- Network Frame Information -----------------------------------------------
    for key, label in [
    - ('Tx frame rate [1/s]', 'Tx Frame Rate [1/s]:'),
    - ('Rx frame rate [1/s]', 'Tx Rate [kByte/s]:'),
    - ('Loss rate [1/s]', 'Loss Rate [1/s]:'),
    - ('Frame loss [%]', 'Frame Loss [%]:')]:
    + ("Tx frame rate [1/s]", "Tx Frame Rate [1/s]:"),
    + ("Tx rate [KByte/s]", "Tx Rate [KByte/s]:"),
    + ("Rx frame rate [1/s]", "Rx Frame Rate [1/s]:"),
    + ("Rx rate [KByte/s]", "Rx Rate [KByte/s]:"),
    + ("Loss rate [1/s]", "Loss Rate [1/s]:"),
    + ("Frame loss [%]", "Frame Loss [%]:")]:
    self.StaticText[key] = wx.StaticText(self, label=_(label))
    self.MasterStateSizer['innerFrameInfo'].Add(self.StaticText[key])
    self.TextCtrl[key] = {}
    @@ -2127,21 +2724,30 @@
    self.MasterStateSizer['frameInfo'].AddSizer(self.MasterStateSizer['innerFrameInfo'])
    + # ------------------------------- Slave Information -----------------------------------------------
    + self.SITreeListCtrl = SITreeListCtrl(self, self.Controler)
    + self.MasterStateSizer["innerSlaveInfo"].AddMany([self.SIUpdateButton,
    + self.SITreeListCtrl])
    + self.MasterStateSizer["slaveInfo"].AddSizer(
    + self.MasterStateSizer["innerSlaveInfo"])
    +
    # --------------------------------- Main Sizer ----------------------------------------------------
    + self.MasterStateSizer["main"].Add(self.MSUpdateButton)
    for key, sub, in [
    - ('innerTopHalf', ['masterState', 'deviceInfo']),
    - ('innerBottomHalf', ['frameInfo']),
    - ('innerMain', ['innerTopHalf', 'innerBottomHalf'])
    - ]:
    + ("innerTop", [
    + "masterState", "deviceInfo"]),
    + ("innerMiddle", [
    + "frameInfo"]),
    + ("innerBottom", [
    + "slaveInfo"]),
    + ("main", [
    + "innerTop", "innerMiddle", "innerBottom"])]:
    for key2 in sub:
    self.MasterStateSizer[key].AddSizer(self.MasterStateSizer[key2])
    - self.MasterStateSizer['main'].AddSizer(self.UpdateButton)
    - self.MasterStateSizer['main'].AddSizer(self.MasterStateSizer['innerMain'])
    -
    - self.SetSizer(self.MasterStateSizer['main'])
    -
    - def OnButtonClick(self, event):
    + self.SetSizer(self.MasterStateSizer["main"])
    +
    + def OnMSUpdateButtonClick(self, event):
    """
    Handle the event of the 'Update' button.
    Update the data of the master state.
    @@ -2159,3 +2765,818 @@
    self.TextCtrl[key].SetValue(self.MasterState[key][0])
    else:
    self.Controler.CommonMethod.CreateErrorDialog(_('PLC not connected!'))
    +
    + def OnSIUpdateButtonClick(self, event):
    + """
    + Handle the event of the radio box in the slave information
    + @param event: wx.EVT_RADIOBOX object
    + """
    + if self.Controler.GetCTRoot()._connector is not None:
    + self.SITreeListCtrl.UpdateSI()
    +
    + else :
    + self.Controler.CommonMethod.CreateErrorDialog('PLC not connected!')
    +
    +
    +#-------------------------------------------------------------------------------
    +# For Slave Information Panel
    +#-------------------------------------------------------------------------------
    +class SITreeListCtrl(wx.Panel):
    +
    + EC_Addrs = ["0x0300", "0x0302", "0x0304", "0x0306", "0x0301", "0x0303", "0x0305",
    + "0x0307", "0x0308", "0x0309", "0x030A", "0x030B", "0x030C", "0x030D",
    + "0x0310", "0x0311", "0x0312", "0x0313", "0x0442", "0x0443"]
    +
    + def __init__(self, parent, controler):
    + """
    + Constructor
    + @param parent: Reference to the MasterStatePanel class
    + @param Controler: _EthercatCTN class in EthercatMaster.py
    + """
    +
    + wx.Panel.__init__(self, parent, -1, size=wx.Size(750, 350))
    +
    + self.Controler=controler
    +
    + self.Tree = wx.gizmos.TreeListCtrl(self, -1, size=wx.Size(750,350),
    + style=wx.TR_HAS_BUTTONS
    + |wx.TR_HIDE_ROOT
    + |wx.TR_ROW_LINES
    + |wx.TR_COLUMN_LINES
    + |wx.TR_FULL_ROW_HIGHLIGHT)
    + for label, width in [
    + ("name", 400),
    + ("position", 100),
    + ("state", 100),
    + ("error", 100)]:
    + self.Tree.AddColumn(label, width=width)
    +
    + self.Tree.SetMainColumn(0)
    +
    + def UpdateSI(self):
    + """
    + Update the data of the slave information.
    + """
    + position, not_used, state, not_used, name = range(5)
    +
    + slave_node = []
    + slave_info_list = []
    + error_counter= []
    +
    + # get slave informations (name, position, state)
    + slaves_infos = self.Controler.CommonMethod.GetSlaveStateFromSlave()
    + slave_info_lines = slaves_infos.splitlines()
    +
    + for line in slave_info_lines:
    + slave_info_list.append(line.split(None,4))
    +
    + slave_num = len(slave_info_lines)
    +
    + reg_info = []
    + for ec in self.EC_Addrs:
    + reg_info.append(ec + ",0x001")
    +
    + # get error counts of slaves
    + err_count_list = self.Controler.CommonMethod.MultiRegRead(slave_num, reg_info)
    +
    + self.Tree.DeleteAllItems()
    +
    + root = self.Tree.AddRoot("")
    + ec_list_idx = 0
    +
    + for slave_idx in range(slave_num):
    + slave_node = self.Tree.AppendItem(root, "")
    +
    + # set name, postion, state
    + col_num = 0
    + for info_idx in [name, position, state]:
    + self.Tree.SetItemText(slave_node,
    + slave_info_list[slave_idx][info_idx], col_num)
    + col_num += 1
    +
    + error_counter = {}
    + ec_idx = 0
    +
    + # set error counter's name and default value
    + for ec, sub_ecs in [("Port Error Counters 0/1/2/3",[
    + "Invaild Frame Counter 0/1/2/3",
    + "RX Error Counter 0/1/2/3"]),
    + ("Forward RX Error Counter 0/1/2/3", []),
    + ("ECAT Processing Unit Error Counter", []),
    + ("PDI Error Counter", []),
    + ("Lost Link Counter 0/1/2/3", []),
    + ("Watchdog Counter Process Data", []),
    + ("Watchdog Counter PDI", [])]:
    + ec_sub_idx = 0
    + ec_name = ec
    + tree_node = self.Tree.AppendItem(slave_node, "%s" % ec)
    +
    + if ec_name.find("0/1/2/3") > 0:
    + num_ports = 4
    + err_count = [0, 0, 0, 0]
    + else:
    + num_ports = 1
    + err_count = [0]
    +
    + error_counter[(ec_idx, ec_sub_idx)] = {
    + "name": ec_name,
    + "tree_node": tree_node,
    + "num_ports": num_ports,
    + "err_count": err_count}
    +
    + for sub_ec in sub_ecs:
    + ec_sub_idx += 1
    + ec_name = sub_ec
    + tree_node = self.Tree.AppendItem(\
    + error_counter[(ec_idx, 0)]["tree_node"],
    + "%s" % sub_ec)
    +
    + if ec_name.find("0/1/2/3") > 0:
    + num_ports = 4
    + err_count = [0, 0, 0, 0]
    + else:
    + num_ports = 1
    + err_count = [0]
    +
    + error_counter[(ec_idx, ec_sub_idx)] = {
    + "name": ec_name,
    + "tree_node": tree_node,
    + "num_ports": num_ports,
    + "err_count": err_count}
    +
    + for port_num in range(num_ports):
    + try:
    + error_counter[(ec_idx, ec_sub_idx)]["err_count"][port_num] += \
    + int(err_count_list[ec_list_idx].split(",")[2], 16)
    + except:
    + error_counter[(ec_idx, ec_sub_idx)]["err_count"][port_num] = -1
    +
    + ec_list_idx += 1
    +
    + if ec_sub_idx > 0:
    + for port_num in range(num_ports):
    + err_sum = 0
    + for sub_idx in range(1, ec_sub_idx+1):
    + err_sum += error_counter[(ec_idx, sub_idx)]\
    + ["err_count"][port_num]
    + error_counter[(ec_idx, 0)]["err_count"][port_num] = err_sum
    +
    + else:
    + for port_num in range(num_ports):
    + try:
    + error_counter[(ec_idx, ec_sub_idx)]["err_count"][port_num] += \
    + int(err_count_list[ec_list_idx].split(",")[2], 16)
    + except:
    + error_counter[(ec_idx, ec_sub_idx)]["err_count"][port_num] = -1
    + ec_list_idx += 1
    +
    + ec_idx += 1
    +
    + # set texts in "error" column.
    + ec_info_list = error_counter.items()
    + ec_info_list.sort()
    +
    + err_checker = "none"
    +
    + for (idx, sub_idx), ec_info in ec_info_list:
    + ec_text = ""
    + for port_num in range(ec_info["num_ports"]):
    + if ec_info["err_count"][port_num] != 0:
    + err_checker = "occurred"
    +
    + if ec_info["err_count"][port_num] < 0:
    + ec_text = "reg I/O error"
    + else:
    + ec_text = ec_text + "%d/" % ec_info["err_count"][port_num]
    +
    + ec_text = ec_text.strip("/")
    +
    + self.Tree.SetItemText(ec_info["tree_node"], ec_text, col_num)
    +
    + self.Tree.SetItemText(slave_node, err_checker, col_num)
    +
    +class DCConfigPanel(wx.Panel):
    + def __init__(self, parent, controler):
    + """
    + Constructor
    + @param parent: Reference to the MasterStatePanel class
    + @param Controler: _EthercatCTN class in EthercatMaster.py
    + """
    +
    + wx.Panel.__init__(self, parent, -1, size=wx.Size(750, 350))
    +
    + self.Controler = controler
    + self.parent = parent
    +
    + self.ESI_DC_Data = self.Controler.CommonMethod.LoadESIData()
    +
    + # initialize SlaveStatePanel UI dictionaries
    + self.StaticBoxDic = {}
    + self.StaticTextDic = {}
    + self.TextCtrlDic = {}
    + self.ComboBoxDic = {}
    + self.CheckBoxDic = {}
    + self.RadioButtonDic = {}
    + OperationModeComboList = []
    + Sync1CycleComboList = []
    +
    + for ESI_Data in self.ESI_DC_Data:
    + OperationModeComboList.append(ESI_Data["desc"])
    +
    + UnitComboList = [ "/100", "/ 50", "/ 40", "/ 30", "/ 25", "/ 20", "/16",
    + "/ 10", "/ 8", "/ 5", "/ 4", "/ 3", "/ 2", "x 1", "x 2", "x 3", "x 4",
    + "x 5", "x 8", "x 10", "x 16", "x 20", "x 25", "x 30", "x 40", "x 50",
    + "x 100"
    + ]
    +
    + UnitComboListPlus = [ "/100", "/ 50", "/ 40", "/ 30", "/ 25", "/ 20", "/16",
    + "/ 10", "/ 8", "/ 5", "/ 4", "/ 3", "/ 2", "x 0", "x 1", "x 2", "x 3",
    + "x 4", "x 5", "x 8", "x 10", "x 16", "x 20", "x 25", "x 30", "x 40",
    + "x 50", "x 100"
    + ]
    +
    + for i in range(1024):
    + Sync1CycleComboList.append("x " + str(i + 1))
    +
    + # iniitalize BoxSizer and FlexGridSizer
    + self.SizerDic = {
    + "DCConfig_main_sizer" : wx.BoxSizer(wx.VERTICAL),
    + "DCConfig_inner_main_sizer" : wx.FlexGridSizer(cols=1, hgap=50, rows=2, vgap=10),
    + "CyclicMode_InnerSizer" : wx.FlexGridSizer(cols=1, hgap=5, rows=2, vgap=5),
    + "SyncMode_InnerSizer" : wx.FlexGridSizer(cols=2, hgap=5, rows=1, vgap=5),
    + "OperationMode_InnerSizer" : wx.FlexGridSizer(cols=2, hgap=100, rows=2, vgap=10),
    + "CheckEnable_InnerSizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10),
    + "Sync0_InnerSizer" : wx.FlexGridSizer(cols=1, hgap=15, rows=3, vgap=10),
    + "Sync0_CycleTimeSizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=2, vgap=5),
    + "Sync0_ShiftTimeSizer" : wx.FlexGridSizer(cols=2, hgap=20, rows=2, vgap=5),
    + "Sync1_InnerSizer" : wx.FlexGridSizer(cols=1, hgap=15, rows=3, vgap=10),
    + "Sync1_CycleTimeSizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=2, vgap=5),
    + "Sync1_ShiftTimeSizer" : wx.FlexGridSizer(cols=2, hgap=20, rows=2, vgap=5)
    + }
    +
    + # initialize StaticBox and StaticBoxSizer
    + for box_name, box_label in [
    + ("CyclicModeBox", "Cyclic Mode"),
    + ("Sync0Box", "Sync0"),
    + ("Sync0CycleTimeBox", "Cycle Time (us):"),
    + ("Sync0ShiftTimeBox", "Shift Time (us):"),
    + ("Sync1Box", "Sync1"),
    + ("Sync1CycleTimeBox", "Cycle Time (us):"),
    + ("Sync1ShiftTimeBox", "Shift Time (us):")
    + ]:
    + self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label))
    + self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name])
    +
    + for statictext_name, statictext_label in [
    + ("MainLabel", "Distributed Clock"),
    + ("OperationModeLabel", "Operation Mode:"),
    + ("SyncUnitCycleLabel", "Sync Unit Cycle (us)"),
    + ("Sync0ShiftTimeUserDefinedLabel", "User Defined"),
    + ("Sync1ShiftTimeUserDefinedLabel", "User Defined"),
    + ("BlankObject", ""),
    + ("BlankObject1", "")
    + ]:
    + self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))
    +
    + for textctl_name in [
    + ("SyncUnitCycle_Ctl"),
    + ("Sync0CycleTimeUserDefined_Ctl"),
    + ("Sync0ShiftTimeUserDefined_Ctl"),
    + ("Sync1CycleTimeUserDefined_Ctl"),
    + ("Sync1ShiftTimeUserDefined_Ctl"),
    + ]:
    + self.TextCtrlDic[textctl_name] = wx.TextCtrl(
    + self, size=wx.Size(130, 24), style=wx.TE_READONLY)
    +
    + for checkbox_name, checkbox_label in [
    + ("DCEnable", "Enable"),
    + ("Sync0Enable", "Enable Sync0"),
    + ("Sync1Enable", "Enable Sync1")
    + ]:
    + self.CheckBoxDic[checkbox_name] = wx.CheckBox(self, -1, checkbox_label)
    +
    + for combobox_name, combobox_list, size in [
    + ("OperationModeChoice", OperationModeComboList, 250),
    + ("Sync0UnitCycleChoice", UnitComboList, 130),
    + ("Sync1UnitCycleChoice", UnitComboList, 130)
    + ]:
    + self.ComboBoxDic[combobox_name] = wx.ComboBox(self, size=wx.Size(size, 24),
    + choices = combobox_list, style = wx.CB_DROPDOWN | wx.CB_READONLY)
    +
    + for radiobutton_name, radiobutton_label in [
    + ("Sync0CycleTimeUnitRadioButton", "Sync Unit Cycle"),
    + ("Sync0CycleTimeUserDefinedRadioButton", "User Defined"),
    + ("Sync1CycleTimeUnitRadioButton", "Sync Unit Cycle"),
    + ("Sync1CycleTimeUserDefinedRadioButton", "User Defined")
    + ]:
    + self.RadioButtonDic[radiobutton_name] = wx.RadioButton(
    + self, label = radiobutton_label, style = wx.RB_SINGLE)
    +
    +
    + self.ApplyButton = wx.Button(self, label="Apply")
    +
    + # binding event
    + self.Bind(wx.EVT_CHECKBOX, self.CheckDCEnable, self.CheckBoxDic["DCEnable"])
    + #self.Bind(wx.EVT_COMBOBOX, self.SelectOperationMode, self.ComboBoxDic["OperationModeChoice"])
    + #self.Bind(wx.EVT_COMBOBOX, self.SelectUnitCycle, self.ComboBoxDic["Sync0UnitChoice"])
    + self.Bind(wx.EVT_RADIOBUTTON, self.SelectSync0CycleTime,
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"])
    + self.Bind(wx.EVT_RADIOBUTTON, self.SelectSync0CycleTime,
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"])
    + self.Bind(wx.EVT_RADIOBUTTON, self.SelectSync1CycleTime,
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"])
    + self.Bind(wx.EVT_RADIOBUTTON, self.SelectSync1CycleTime,
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"])
    + self.Bind(wx.EVT_CHECKBOX, self.CheckSync0Enable, self.CheckBoxDic["Sync0Enable"])
    + self.Bind(wx.EVT_CHECKBOX, self.CheckSync1Enable, self.CheckBoxDic["Sync1Enable"])
    + self.Bind(wx.EVT_BUTTON, self.OnClickApplyButton, self.ApplyButton)
    +
    + # sync1 shifttime box contents
    + self.SizerDic["Sync1_ShiftTimeSizer"].AddMany([
    + self.StaticTextDic["Sync1ShiftTimeUserDefinedLabel"],
    + self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"]
    + ])
    +
    + # sync1 shifttime box
    + self.SizerDic["Sync1ShiftTimeBox"].Add(self.SizerDic["Sync1_ShiftTimeSizer"])
    +
    + # sync1 cycletime box contents
    + self.SizerDic["Sync1_CycleTimeSizer"].AddMany([
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"],
    + self.ComboBoxDic["Sync1UnitCycleChoice"],
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"],
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"]
    + ])
    +
    + # sync0 cycletime box
    + self.SizerDic["Sync1CycleTimeBox"].Add(self.SizerDic["Sync1_CycleTimeSizer"])
    +
    + self.SizerDic["Sync1_InnerSizer"].AddMany([
    + self.CheckBoxDic["Sync1Enable"], self.SizerDic["Sync1CycleTimeBox"],
    + self.SizerDic["Sync1ShiftTimeBox"]
    + ])
    +
    + # sync1 box
    + self.SizerDic["Sync1Box"].Add(self.SizerDic["Sync1_InnerSizer"])
    +
    + # sync0 shifttime box contents
    + self.SizerDic["Sync0_ShiftTimeSizer"].AddMany([
    + self.StaticTextDic["Sync0ShiftTimeUserDefinedLabel"],
    + self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"]
    + ])
    +
    + # sync0 shifttime box
    + self.SizerDic["Sync0ShiftTimeBox"].Add(self.SizerDic["Sync0_ShiftTimeSizer"])
    +
    + # sync0 cycletime box contents
    + self.SizerDic["Sync0_CycleTimeSizer"].AddMany([
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"],
    + self.ComboBoxDic["Sync0UnitCycleChoice"],
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"],
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"]
    + ])
    +
    + # sync0 cycletime box
    + self.SizerDic["Sync0CycleTimeBox"].Add(self.SizerDic["Sync0_CycleTimeSizer"])
    +
    + self.SizerDic["Sync0_InnerSizer"].AddMany([
    + self.CheckBoxDic["Sync0Enable"], self.SizerDic["Sync0CycleTimeBox"],
    + self.SizerDic["Sync0ShiftTimeBox"]
    + ])
    +
    + # sync0 box
    + self.SizerDic["Sync0Box"].Add(self.SizerDic["Sync0_InnerSizer"])
    +
    + # sync0, sync1 box
    + self.SizerDic["SyncMode_InnerSizer"].AddMany([
    + self.SizerDic["Sync0Box"], self.SizerDic["Sync1Box"]
    + ])
    +
    + # CyclicMode Box
    + self.SizerDic["CheckEnable_InnerSizer"].AddMany([
    + self.StaticTextDic["SyncUnitCycleLabel"],
    + self.TextCtrlDic["SyncUnitCycle_Ctl"]
    + ])
    +
    + self.SizerDic["OperationMode_InnerSizer"].AddMany([
    + self.StaticTextDic["OperationModeLabel"],
    + self.ComboBoxDic["OperationModeChoice"],
    + self.CheckBoxDic["DCEnable"], self.SizerDic["CheckEnable_InnerSizer"]
    + ])
    +
    + self.SizerDic["CyclicMode_InnerSizer"].AddMany([
    + self.SizerDic["OperationMode_InnerSizer"],
    + self.SizerDic["SyncMode_InnerSizer"]
    + ])
    +
    + self.SizerDic["CyclicModeBox"].Add(self.SizerDic["CyclicMode_InnerSizer"])
    +
    + # Main Sizer
    + self.SizerDic["DCConfig_inner_main_sizer"].AddMany([
    + self.StaticTextDic["MainLabel"], self.ApplyButton,
    + self.SizerDic["CyclicModeBox"]
    + ])
    +
    + self.SizerDic["DCConfig_main_sizer"].Add(self.SizerDic["DCConfig_inner_main_sizer"])
    +
    + self.SetSizer(self.SizerDic["DCConfig_main_sizer"])
    +
    + self.Centre()
    +
    + self.UIOnOffSet(False)
    + self.LoadProjectDCData()
    +
    + def UIOnOffSet(self, activate):
    + if activate :
    + for object in self.RadioButtonDic:
    + self.RadioButtonDic[object].Enable()
    +
    + for object in self.ComboBoxDic:
    + if object == "OperationModeChoice":
    + continue
    + self.ComboBoxDic[object].Enable()
    +
    + for object in self.TextCtrlDic:
    + if object in ["SyncUnitCycle_Ctl", "InputReference_Ctl"]:
    + continue
    + self.TextCtrlDic[object].Enable()
    +
    + for object in self.CheckBoxDic:
    + if object == "DCEnable":
    + continue
    + self.CheckBoxDic[object].Enable()
    +
    + # initial set or DC enable uncheck
    + else :
    + for object in self.RadioButtonDic:
    + self.RadioButtonDic[object].Disable()
    +
    + for object in self.ComboBoxDic:
    + if object == "OperationModeChoice":
    + continue
    + self.ComboBoxDic[object].Disable()
    +
    + for object in self.TextCtrlDic:
    + if object == "SyncUnitCycle_Ctl":
    + continue
    + self.TextCtrlDic[object].Disable()
    +
    + for object in self.CheckBoxDic:
    + if object == "DCEnable":
    + continue
    + self.CheckBoxDic[object].Disable()
    +
    + for data in self.ESI_DC_Data:
    + index = self.Controler.ExtractHexDecValue(data["assign_activate"])
    + if index == 0:
    + config_name = data["desc"]
    + self.ComboBoxDic["OperationModeChoice"].SetStringSelection(config_name)
    +
    + def CheckSync0Enable(self, evt):
    + if evt.GetInt():
    + self.ComboBoxDic["Sync0UnitCycleChoice"].Enable()
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].Enable()
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].Enable()
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Enable()
    + self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].Enable()
    + else :
    + self.ComboBoxDic["Sync0UnitCycleChoice"].Disable()
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].Disable()
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].Disable()
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Disable()
    + self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].Disable()
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(False)
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(False)
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].SetValue("")
    + self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].SetValue("")
    +
    + def CheckSync1Enable(self, evt):
    + if evt.GetInt():
    + self.ComboBoxDic["Sync1UnitCycleChoice"].Enable()
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].Enable()
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].Enable()
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Enable()
    + self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].Enable()
    + else :
    + self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].Disable()
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].Disable()
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
    + self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].Disable()
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(False)
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(False)
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].SetValue("")
    + self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].SetValue("")
    +
    + def CheckDCEnable(self, evt):
    + ns_mode = 1
    + task_cycle_ns = self.GetInterval(ns_mode)
    + sync0_cycle_factor = None
    + sync1_cycle_factor = None
    +
    + #task_cycle_ns = self.Controler.GetCTRoot()._Ticktime
    + if (task_cycle_ns > 0):
    + self.UIOnOffSet(evt.GetInt())
    +
    + if evt.GetInt():
    + # default select DC enable sync0
    + default_list_num = 0
    + config_name = self.ESI_DC_Data[default_list_num]["desc"]
    + assign_act = self.ESI_DC_Data[default_list_num]["assign_activate"]
    + sync0_cycle_time_ns = self.ESI_DC_Data[default_list_num]["cycletime_sync0"]
    + if sync0_cycle_time_ns == 0 :
    + sync0_cycle_factor = self.ESI_DC_Data[default_list_num]["cycletime_sync0_factor"]
    + sync0_shift_time_ns = self.ESI_DC_Data[default_list_num]["shifttime_sync0"]
    + sync1_cycle_time_ns = self.ESI_DC_Data[default_list_num]["cycletime_sync1"]
    + if sync1_cycle_time_ns == 0 :
    + sync1_cycle_factor = self.ESI_DC_Data[default_list_num]["cycletime_sync1_factor"]
    + sync1_shift_time_ns = self.ESI_DC_Data[default_list_num]["shifttime_sync1"]
    +
    + cal_assign_act = self.Controler.ExtractHexDecValue(assign_act)
    + sync0_cycle_time_us = str(int(sync0_cycle_time_ns) / 1000)
    + sync0_shift_time_us = str(int(sync0_shift_time_ns) / 1000)
    + sync1_cycle_time_us = str(int(sync1_cycle_time_ns) / 1000)
    + sync1_shift_time_us = str(int(sync1_shift_time_ns) / 1000)
    +
    + task_cycle_to_us = str(int(task_cycle_ns) / 1000)
    +
    + # DC sync0 mode
    + if cal_assign_act == 768:
    + # Disable About Sync1 Objects
    + self.CheckBoxDic["Sync1Enable"].SetValue(False)
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].Disable()
    + self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].Disable()
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
    + self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].Disable()
    +
    + else :
    + self.CheckBoxDic["Sync1Enable"].SetValue(True)
    + if sync1_cycle_factor is not None:
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(True)
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(False)
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
    + self.SetSyncUnitCycle(sync1_cycle_factor,
    + self.ComboBoxDic["Sync1UnitCycleChoice"])
    + else :
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(False)
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(True)
    + self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].SetValue(sync1_cycle_time_us)
    +
    + self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].SetValue(sync1_shift_time_us)
    +
    + # Set Sync0 Objects
    + self.CheckBoxDic["Sync0Enable"].SetValue(True)
    + if sync0_cycle_factor is not None:
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(True)
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(False)
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Disable()
    + self.SetSyncUnitCycle(sync0_cycle_factor,
    + self.ComboBoxDic["Sync0UnitCycleChoice"])
    + else :
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(False)
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(True)
    + self.ComboBoxDic["Sync0UnitCycleChoice"].Disable()
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].SetValue(sync0_cycle_time_us)
    +
    + self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].SetValue(sync0_shift_time_us)
    +
    + self.ComboBoxDic["OperationModeChoice"].SetStringSelection(config_name)
    + self.TextCtrlDic["SyncUnitCycle_Ctl"].SetValue(task_cycle_to_us)
    + else :
    + self.CheckBoxDic["Sync0Enable"].SetValue(False)
    + self.CheckBoxDic["Sync1Enable"].SetValue(False)
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(False)
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(False)
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(False)
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(False)
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].SetValue("")
    + self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].SetValue("")
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].SetValue("")
    + self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].SetValue("")
    +
    + else :
    + self.UIOnOffSet(False)
    + #error_str = "DC Enable is not possble, please set task interval"
    + error_str = "Can't Set DC Enable"
    + self.Controler.CommonMethod.CreateErrorDialog(error_str)
    +
    + def SetSyncUnitCycle(self, factor, object):
    + # factor > 0 ==> * factor, factor < 0 ==> / factor
    + factor_to_int = int(factor)
    + if factor_to_int > 0:
    + lists = object.GetStrings()
    +
    + for token in lists:
    + temp = token.split(" ")
    + if (temp[0] == "x") and (int(temp[1]) == factor_to_int):
    + object.SetStringSelection(token)
    + return True
    +
    + else :
    + lists = object.GetStrings()
    +
    + for token in lists:
    + temp = token.split(" ")
    + if (temp[0] == "/") and (int(temp[1]) == factor_to_int):
    + object.SetStringSelection(token)
    + return True
    +
    + return False
    +
    + def GetInterval(self, mode):
    + project_infos = self.Controler.GetCTRoot().GetProjectInfos()
    + for project_info_list in project_infos["values"]:
    + if project_info_list["name"] == "Resources" :
    + token = project_info_list["values"][0]["tagname"]
    +
    + tasks, instances = self.Controler.GetCTRoot().GetEditedResourceInfos(token)
    + try:
    + task_cycle_ns = self.ParseTime(tasks[0]["Interval"])
    + except :
    + task_cycle_ns = 0
    + task_cycle_us = int(task_cycle_ns) / 1000
    +
    + # mode == 1 ==> return ns
    + # mode == 2 ==> return us
    +
    + if mode == 1:
    + return task_cycle_ns
    + if mode == 2:
    + return str(task_cycle_us)
    +
    + def ParseTime(self, input):
    + # input example : 't#1ms'
    + # temp.split('#') -> ['t', '1ms']
    + temp = input.split('#')
    +
    + # temp[1] : '1ms'
    + # temp[-2:] : 'ms'
    + # temp[:-2] : '1'
    + if temp[1][-2:] == "ms":
    + # convert nanosecond unit
    + result = int(temp[1][:-2]) * 1000000
    + elif temp[1][-2:] == "us":
    + result = int(temp[1][:-2]) * 1000
    +
    + return str(result)
    +
    + def SelectSync0CycleTime(self, evt):
    + selected_object = evt.GetEventObject()
    +
    + if selected_object.GetLabel() == "User Defined" :
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(False)
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Enable()
    + self.ComboBoxDic["Sync0UnitCycleChoice"].Disable()
    + elif selected_object.GetLabel() == "Sync Unit Cycle" :
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(False)
    + self.ComboBoxDic["Sync0UnitCycleChoice"].Enable()
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Disable()
    +
    + def SelectSync1CycleTime(self, evt):
    + selected_object = evt.GetEventObject()
    +
    + if selected_object.GetLabel() == "User Defined" :
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(False)
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Enable()
    + self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
    + elif selected_object.GetLabel() == "Sync Unit Cycle" :
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(False)
    + self.ComboBoxDic["Sync1UnitCycleChoice"].Enable()
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
    +
    + def GetCycle(self, period, section):
    + temp = section.split(" ")
    +
    + if temp[0] == "x":
    + result = int(period) * int(temp[1])
    + elif temp[0] == "/" :
    + result = int(period) / int(temp[1])
    + else :
    + result = ""
    +
    + return result
    +
    + def OnClickApplyButton(self, evt):
    + us_mode = 2
    + dc_enable = self.CheckBoxDic["DCEnable"].GetValue()
    + dc_desc = self.ComboBoxDic["OperationModeChoice"].GetStringSelection()
    + dc_assign_activate = self.ESI_DC_Data[0]["assign_activate"]
    + dc_assign_activate_mod = dc_assign_activate.split('x')[1]
    +
    + if self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].GetValue():
    + temp = self.ComboBoxDic["Sync0UnitCycleChoice"].GetStringSelection()
    + dc_sync0_cycle = "1_" + str(self.GetCycle(self.GetInterval(us_mode), temp))
    + elif self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].GetValue():
    + dc_sync0_cycle = "2_" + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].GetValue()
    + else :
    + dc_sync0_cycle = ""
    +
    + if self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].GetValue():
    + temp = self.ComboBoxDic["Sync1UnitCycleChoice"].GetStringSelection()
    + dc_sync1_cycle = "1_" + self.GetCycle(self.GetInterval(us_mode), temp)
    + elif self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].GetValue():
    + dc_sync1_cycle = "2_" + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].GetValue()
    + else :
    + dc_sync1_cycle = ""
    +
    + dc_sync0_shift = self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].GetValue()
    + dc_sync1_shift = self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].GetValue()
    +
    + self.Controler.BaseParams.setDC_Enable(dc_enable)
    + self.Controler.BaseParams.setDC_Desc(dc_desc)
    + self.Controler.BaseParams.setDC_Assign_Activate(dc_assign_activate_mod)
    + if dc_sync0_cycle:
    + self.Controler.BaseParams.setDC_Sync0_Cycle_Time(dc_sync0_cycle)
    + if dc_sync0_shift:
    + self.Controler.BaseParams.setDC_Sync0_Shift_Time(dc_sync0_shift)
    + if dc_sync1_cycle:
    + self.Controler.BaseParams.setDC_Sync1_Cycle_Time(dc_sync1_cycle)
    + if dc_sync1_shift:
    + self.Controler.BaseParams.setDC_Sync1_Shift_Time(dc_sync1_shift)
    + project_infos = self.Controler.GetCTRoot().CTNRequestSave()
    +
    + def GetSymbol(self, period, cycle):
    + cmp1 = int(period)
    + cmp2 = int(cycle)
    +
    + if cmp1 == cmp2 :
    + return "x 1"
    + elif cmp2 > cmp1 :
    + temp = cmp2 / cmp1
    + result = "x " + str(temp)
    + else :
    + temp = cmp1 / cmp2
    + result = "/ " + str(temp)
    +
    + return result
    +
    + def SetSyncCycle(self, period, sync0_cycle, sync1_cycle):
    + if sync0_cycle != "None":
    + self.CheckBoxDic["Sync0Enable"].SetValue(True)
    + temp = sync0_cycle.split("_")
    + if temp[0] == "1":
    + symbol = self.GetSymbol(period, temp[1])
    + self.ComboBoxDic["Sync0UnitCycleChoice"].SetStringSelection(symbol)
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].Disable()
    + self.RadioButtonDic["Sync0CycleTimeUnitRadioButton"].SetValue(True)
    + else :
    + self.TextCtrlDic["Sync0CycleTimeUserDefined_Ctl"].SetValue(temp[1])
    + self.ComboBoxDic["Sync0UnitCycleChoice"].Disable()
    + self.RadioButtonDic["Sync0CycleTimeUserDefinedRadioButton"].SetValue(True)
    +
    + if sync1_cycle != "None":
    + self.CheckBoxDic["Sync1Enable"].SetValue(True)
    + temp = sync1_cycle.split("_")
    + if temp[0] == "1":
    + symbol = self.GetSymbol(period, temp[1])
    + self.ComboBoxDic["Sync1UnitChoice"].SetStringSelection(symbol)
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].SetValue(True)
    + else :
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].SetValue(temp[1])
    + self.ComboBoxDic["Sync1UnitChoice"].Disable()
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].SetValue(True)
    +
    + def LoadProjectDCData(self):
    + ns_mode = 1
    + task_cycle_ns = self.GetInterval(ns_mode)
    + task_cycle_to_us = int(task_cycle_ns) / 1000
    + dc_enable = self.Controler.BaseParams.getDC_Enable()
    + dc_desc = self.Controler.BaseParams.getDC_Desc()
    + dc_assign_activate = self.Controler.BaseParams.getDC_Assign_Activate()
    + dc_sync0_cycle = self.Controler.BaseParams.getDC_Sync0_Cycle_Time()
    + dc_sync0_shift = self.Controler.BaseParams.getDC_Sync0_Shift_Time()
    + dc_sync1_cycle = self.Controler.BaseParams.getDC_Sync1_Cycle_Time()
    + dc_sync1_shift = self.Controler.BaseParams.getDC_Sync1_Shift_Time()
    +
    + self.UIOnOffSet(dc_enable)
    +
    + if dc_enable:
    + self.CheckBoxDic["DCEnable"].SetValue(dc_enable)
    + self.ComboBoxDic["OperationModeChoice"].SetStringSelection(dc_desc)
    + self.TextCtrlDic["SyncUnitCycle_Ctl"].SetValue(str(task_cycle_to_us))
    + self.SetSyncCycle(str(task_cycle_to_us), dc_sync0_cycle, dc_sync1_cycle)
    + if dc_sync0_shift != "None":
    + self.TextCtrlDic["Sync0ShiftTimeUserDefined_Ctl"].SetValue(dc_sync0_shift)
    + if dc_sync1_shift != "None":
    + self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].SetValue(dc_sync1_shift)
    +
    + if dc_assign_activate == "300":
    + self.CheckBoxDic["Sync1Enable"].SetValue(False)
    + self.RadioButtonDic["Sync1CycleTimeUnitRadioButton"].Disable()
    + self.ComboBoxDic["Sync1UnitCycleChoice"].Disable()
    + self.RadioButtonDic["Sync1CycleTimeUserDefinedRadioButton"].Disable()
    + self.TextCtrlDic["Sync1CycleTimeUserDefined_Ctl"].Disable()
    + self.TextCtrlDic["Sync1ShiftTimeUserDefined_Ctl"].Disable()
    +
    +
    +
    +
    +
    +
    +
    +
    +
    +
    --- a/etherlab/EthercatCFileGenerator.py Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/EthercatCFileGenerator.py Mon Nov 25 08:10:45 2019 +0100
    @@ -70,6 +70,37 @@
    }
    """
    +SLAVE_OUTPUT_PDO_DEFAULT_VALUE_BIT = """
    + {
    + uint8_t value[%(data_size)d];
    + if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
    + SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);
    + goto ecat_failed;
    + }
    + %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value, %(subindex)d);
    + }
    +"""
    +
    +
    +SLAVE_INPUT_PDO_DEFAULT_VALUE = """
    + {
    + uint8_t value[%(data_size)d];
    + if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
    + SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for input PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);
    + goto ecat_failed;
    + }
    + %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);
    + }
    +"""
    +
    +DC_VARIABLE ="""
    +#define DC_ENABLE %(dc_flag)d
    +"""
    +
    +CONFIG_DC = """
    + ecrt_slave_config_dc (slave%(slave)d, 0x0%(assign_activate)ld, %(sync0_cycle_time)d, %(sync0_shift_time)d, %(sync1_cycle_time)d, %(sync1_shift_time)d);
    +"""
    +
    def ConfigureVariable(entry_infos, str_completion):
    entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)
    @@ -192,10 +223,15 @@
    "pdos_configuration_declaration": "",
    "slaves_declaration": "",
    "slaves_configuration": "",
    + # add jblee
    + "slaves_input_pdos_default_values_extraction": "",
    "slaves_output_pdos_default_values_extraction": "",
    "slaves_initialization": "",
    "retrieve_variables": [],
    "publish_variables": [],
    + #-----------This Code templete for dc -------------------#
    + "dc_variable" : "",
    + "config_dc": ""
    }
    # Initialize variable storing variable mapping state
    @@ -208,6 +244,9 @@
    # Initialize dictionary storing alias auto-increment position values
    alias = {}
    + # add jblee
    + slotNumber = 1
    +
    # Generating code for each slave
    for (slave_idx, slave_alias, slave) in self.Slaves:
    type_infos = slave.getType()
    @@ -244,11 +283,14 @@
    # If device support CanOpen over Ethernet, adding code for calling
    # init commands when initializing slave in master code template strings
    initCmds = []
    +
    for initCmd in device_coe.getInitCmd():
    initCmds.append({
    "Index": ExtractHexDecValue(initCmd.getIndex()),
    "Subindex": ExtractHexDecValue(initCmd.getSubIndex()),
    - "Value": initCmd.getData().getcontent()})
    + #"Value": initCmd.getData().getcontent()})
    + "Value": int(initCmd.getData().text, 16)})
    +
    initCmds.extend(slave.getStartupCommands())
    for initCmd in initCmds:
    index = initCmd["Index"]
    @@ -314,12 +356,106 @@
    pdos_index = []
    exclusive_pdos = {}
    selected_pdos = []
    - for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
    - [(pdo, "Outputs") for pdo in device.getRxPdo()]):
    +
    + # add jblee
    + TxPdoData = []
    + RxPdoData = []
    + PdoData = []
    +
    + # add jblee
    + if len(device.getTxPdo() + device.getRxPdo()) > 0:
    + for pdo in device.getTxPdo():
    + PdoData.append((pdo, "Inputs"))
    + for pdo in device.getRxPdo():
    + PdoData.append((pdo, "Outputs"))
    +
    + # mod jblee
    + #for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
    + # [(pdo, "Outputs") for pdo in device.getRxPdo()]):
    + #for pdo, pdo_type in (TxPdoData + RxPdoData):
    + data_files = os.listdir(self.Controler.CTNPath())
    + PDODataList = []
    + MDPData = []
    + RxPDOData = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getRxPDO()
    + TxPDOData = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getTxPDO()
    + PDOList = RxPDOData.split() + TxPDOData.split()
    + for PDOIndex in PDOList:
    + if PDOIndex in ["RxPDO", "TxPDO", "None"]:
    + continue
    + PDODataList.append(int(PDOIndex, 0))
    + # add jblee for DC Configuration
    + dc_enable = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Enable()
    + sync0_cycle_time = 0
    + sync0_shift_time = 0
    + sync1_cycle_time = 0
    + sync1_shift_time = 0
    + if dc_enable :
    + sync0_cycle_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync0_Cycle_Time()
    + if sync0_cycle_token != "None":
    + sync0_cycle_time = int(sync0_cycle_token.split("_")[1]) * 1000
    + sync0_shift_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync0_Shift_Time()
    + if sync0_shift_token != "None":
    + sync0_shift_time = int(sync0_shift_token) * 1000
    + sync1_cycle_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync1_Cycle_Time()
    + if sync1_cycle_token != "None":
    + sync1_cycle_time = int(sync1_cycle_token.split("_")[1]) * 1000
    + sync1_shift_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync1_Shift_Time()
    + if sync1_shift_token != "None":
    + sync1_shift_time = int(sync1_shift_token) * 1000
    +
    + dc_config_data = {
    + "slave" : slave_idx,
    + "assign_activate" : int(self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Assign_Activate()),
    + "sync0_cycle_time" : sync0_cycle_time,
    + "sync0_shift_time" : sync0_shift_time,
    + "sync1_cycle_time" : sync1_cycle_time,
    + "sync1_shift_time" : sync1_shift_time,
    + }
    +
    + if dc_enable and not str_completion["dc_variable"] :
    + str_completion["dc_variable"] += DC_VARIABLE % {"dc_flag" : dc_enable}
    + str_completion["config_dc"] += CONFIG_DC % dc_config_data
    +
    + for data_file in data_files:
    + slave_path = os.path.join(self.Controler.CTNPath(), data_file)
    + if os.path.isdir(slave_path):
    + CheckConfNodePath = os.path.join(slave_path, "baseconfnode.xml")
    + confNodeFile = open(CheckConfNodePath, 'r')
    + checklines = confNodeFile.readlines()
    + confNodeFile.close()
    + # checklines(ex) : <BaseParams xmlns:xsd="http://www.w3.org/2001/XMLSchema" IEC_Channel="0" Name="EthercatSlave_0"/>
    + # checklines[1].split() : [<BaseParams, xmlns:xsd="http://www.w3.org/2001/XMLSchema",
    + # IEC_Channel="0", Name="EthercatSlave_0"/>]
    + # checklines[1].split()[2] : IEC_Channel="0"
    + # checklines[1].split()[2].split("\"") = [IEC_Channel=, 0, ]
    + pos_check = int(checklines[1].split()[2].split("\"")[1])
    + if slave_idx == pos_check:
    + MDPDataFilePath = os.path.join(slave_path, "DataForMDP.txt")
    + if os.path.isfile(MDPDataFilePath):
    + MDPDataFile = open(MDPDataFilePath, 'r')
    + MDPData = MDPDataFile.readlines()
    + MDPDataFile.close()
    +
    + for MDPLine in MDPData:
    + if MDPLine == "\n":
    + continue
    + module_pos = int(MDPLine.split()[-1])
    + module = self.Controler.CTNParent.GetSelectModule(module_pos)
    + for pdo in module.getTxPdo():
    + PdoData.append((pdo, "Inputs"))
    + PDODataList.append(ExtractHexDecValue(pdo.getIndex().getcontent()))
    + for pdo in module.getRxPdo():
    + PdoData.append((pdo, "Outputs"))
    + PDODataList.append(ExtractHexDecValue(pdo.getIndex().getcontent()))
    +
    + for pdo, pdo_type in PdoData:
    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
    pdos_index.append(pdo_index)
    + if PDODataList and (pdo_index in PDODataList):
    + continue
    +
    excluded_list = pdo.getExclude()
    if len(excluded_list) > 0:
    exclusion_list = [pdo_index]
    @@ -330,12 +466,14 @@
    exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])
    entries = pdo.getEntry()
    +
    pdo_mapping_match = {
    "index": pdo_index,
    "matching": 0,
    "count": len(entries),
    "assigned": pdo.getSm() is not None
    }
    +
    exclusion_scope.append(pdo_mapping_match)
    for entry in entries:
    @@ -364,30 +502,57 @@
    for pdo in exclusion_scope[start_excluding_index:]
    if PdoAssign or not pdo["assigned"]])
    - for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
    - [(pdo, "Outputs") for pdo in device.getRxPdo()]):
    - entries = pdo.getEntry()
    -
    + # mod jblee
    + #for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
    + # [(pdo, "Outputs") for pdo in device.getRxPdo()]):
    + #for pdo, pdo_type in (TxPdoData + RxPdoData):
    + entry_check_list = []
    + index_padding = 1
    + for pdo, pdo_type in PdoData:
    + entries = pdo.getEntry()
    +
    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
    if pdo_index in excluded_pdos:
    continue
    -
    - pdo_needed = pdo_index in selected_pdos
    + if PDODataList and (pdo_index not in PDODataList):
    + continue
    +
    + #pdo_needed = pdo_index in selected_pdos
    + pdo_needed = pdo_index in PDODataList
    - entries_infos = []
    + if len(MDPData) > 0:
    + pdo_index += index_padding
    + index_padding += 1
    + entries_infos = []
    for entry in entries:
    index = ExtractHexDecValue(entry.getIndex().getcontent())
    subindex = ExtractHexDecValue(entry.getSubIndex())
    +
    + # add jblee
    + if len(MDPData) > 0:
    + increse = self.Controler.CTNParent.GetMDPInfos(type_infos)
    + if increse and index != 0:
    + index += int(increse[0][2]) * slotNumber
    +
    entry_infos = {
    "index": index,
    "subindex": subindex,
    "name": ExtractName(entry.getName()),
    "bitlen": entry.getBitLen(),
    }
    +
    + entry_infos.update(type_infos)
    + #temp_data = " {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos
    + check_data = "{0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}" % entry_infos
    + if entry_check_list and check_data in entry_check_list:
    + if (entry_infos["index"] == 0) or (entry_infos["name"] == None):
    + pass
    + else:
    entry_infos.update(type_infos)
    entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
    -
    + entry_check_list.append(check_data)
    +
    entry_declaration = slave_variables.get((index, subindex), None)
    if entry_declaration is not None and not entry_declaration["mapped"]:
    pdo_needed = True
    @@ -421,9 +586,26 @@
    ConfigureVariable(entry_infos, str_completion)
    - str_completion["slaves_output_pdos_default_values_extraction"] += \
    - SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
    + if entry_infos["data_type"] == "BIT" :
    + str_completion["slaves_output_pdos_default_values_extraction"] += \
    + SLAVE_OUTPUT_PDO_DEFAULT_VALUE_BIT % entry_infos
    + else :
    + str_completion["slaves_output_pdos_default_values_extraction"] += \
    + SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
    + elif pdo_type == "Inputs" and entry.getDataType() is not None and device_coe is not None:
    + data_type = entry.getDataType().getcontent()
    + entry_infos["dir"] = "I"
    + entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
    + entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
    + entry_infos["var_type"] = data_type
    + entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
    +
    + ConfigureVariable(entry_infos, str_completion)
    +
    + str_completion["slaves_input_pdos_default_values_extraction"] += \
    + SLAVE_INPUT_PDO_DEFAULT_VALUE % entry_infos
    +
    if pdo_needed:
    for excluded in pdo.getExclude():
    excluded_index = ExtractHexDecValue(excluded.getcontent())
    @@ -448,6 +630,9 @@
    "entries_number": len(entries_infos),
    "fixed": pdo.getFixed() is True})
    + # for MDP
    + slotNumber += 1
    +
    if PdoConfig and PdoAssign:
    dynamic_pdos = {}
    dynamic_pdos_number = 0
    @@ -541,8 +726,8 @@
    pdo_offset = 0
    entry_offset = 0
    + slotNumber = 1
    for sync_manager_infos in sync_managers:
    -
    for pdo_infos in sync_manager_infos["pdos"]:
    pdo_infos["offset"] = entry_offset
    pdo_entries = pdo_infos["entries"]
    @@ -564,17 +749,17 @@
    pdos_infos[element] = "\n".join(pdos_infos[element])
    str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos
    -
    - for (index, subindex), entry_declaration in slave_variables.iteritems():
    - if not entry_declaration["mapped"]:
    - message = _("Entry index 0x{a1:.4x}, subindex 0x{a2:.2x} not mapped for device {a3}").\
    - format(a1=index, a2=subindex, a3=type_infos["device_type"])
    - self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
    -
    - for element in ["used_pdo_entry_offset_variables_declaration",
    - "used_pdo_entry_configuration",
    - "located_variables_declaration",
    - "retrieve_variables",
    +
    + #for (index, subindex), entry_declaration in slave_variables.iteritems():
    + # if not entry_declaration["mapped"]:
    + # message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \
    + # (index, subindex, type_infos["device_type"])
    + # self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
    +
    + for element in ["used_pdo_entry_offset_variables_declaration",
    + "used_pdo_entry_configuration",
    + "located_variables_declaration",
    + "retrieve_variables",
    "publish_variables"]:
    str_completion[element] = "\n".join(str_completion[element])
    --- a/etherlab/EthercatCIA402Slave.py Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/EthercatCIA402Slave.py Mon Nov 25 08:10:45 2019 +0100
    @@ -201,11 +201,69 @@
    ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())),
    "location", "AXIS_REF", self.CTNName(), ""))
    + # add jblee
    + """
    + def LoadPDOSelectData(self):
    + ReadData = []
    + files = os.listdir(self.CTNPath())
    + filepath = os.path.join(self.CTNPath(), "DataForPDO.txt")
    + if os.path.isfile(filepath):
    + PDODataRead = open(filepath, 'r')
    + ReadData = PDODataRead.readlines()
    + PDODataRead.close()
    +
    + if len(ReadData) > 1:
    + for data in ReadData[0].split() :
    + if data == "RxPDO":
    + continue
    + self.SelectedRxPDOIndex.append(int(data, 0))
    +
    + for data in ReadData[1].split() :
    + if data == "TxPDO":
    + continue
    + self.SelectedTxPDOIndex.append(int(data, 0))
    + """
    +
    + def LoadPDOSelectData(self):
    + RxPDOData = self.BaseParams.getRxPDO()
    + RxPDOs = []
    + if RxPDOData != "None":
    + RxPDOs = RxPDOData.split()
    + if RxPDOs :
    + for RxPDO in RxPDOs :
    + self.SelectedRxPDOIndex.append(int(RxPDO, 0))
    +
    + TxPDOData = self.BaseParams.getTxPDO()
    + TxPDOs = []
    + if TxPDOData != "None":
    + TxPDOs = TxPDOData.split()
    + if TxPDOs :
    + for TxPDO in TxPDOs :
    + self.SelectedTxPDOIndex.append(int(TxPDO, 0))
    +
    + def LoadDefaultPDOSet(self):
    + ReturnData = []
    + rx_pdo_entries = self.CommonMethod.GetRxPDOCategory()
    + if len(rx_pdo_entries):
    + for i in range(len(rx_pdo_entries)):
    + if rx_pdo_entries[i]['sm'] is not None:
    + ReturnData.append(rx_pdo_entries[i]['pdo_index'])
    +
    + tx_pdo_entries = self.CommonMethod.GetTxPDOCategory()
    + if len(tx_pdo_entries):
    + for i in range(len(tx_pdo_entries)):
    + if tx_pdo_entries[i]['sm'] is not None:
    + ReturnData.append(tx_pdo_entries[i]['pdo_index'])
    +
    + if ReturnData :
    + return ReturnData
    + else :
    + return [5632, 6656]
    +
    def CTNGenerate_C(self, buildpath, locations):
    current_location = self.GetCurrentLocation()
    location_str = "_".join(map(str, current_location))
    - slave_pos = self.GetSlavePos()
    # Open CIA402 node code template file
    plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0],
    @@ -213,160 +271,204 @@
    plc_cia402node_file = open(plc_cia402node_filepath, 'r')
    plc_cia402node_code = plc_cia402node_file.read()
    plc_cia402node_file.close()
    -
    - # Init list of generated strings for each code template file section
    - fieldbus_interface_declaration = []
    - fieldbus_interface_definition = []
    - init_axis_params = []
    - extra_variables_retrieve = []
    - extra_variables_publish = []
    - extern_located_variables_declaration = []
    - entry_variables = []
    - init_entry_variables = []
    -
    - # Fieldbus interface code sections
    + # HSAHN 150726
    + # add "default_variables_retrieve": [], "default_variables_publish": [],
    + # As PDO mapping object, it will add auto-complete code.
    + # add "modeofop_homing_method", "modeofop_computation_mode" by jblee
    + str_completion = {
    + "slave_pos": self.GetSlavePos(),
    + "location": location_str,
    + "MCL_headers": Headers,
    + "extern_located_variables_declaration": [],
    + "fieldbus_interface_declaration": [],
    + "fieldbus_interface_definition": [],
    + "entry_variables": [],
    + "init_axis_params": [],
    + "init_entry_variables": [],
    + "default_variables_retrieve": [],
    + "default_variables_publish": [],
    + "extra_variables_retrieve": [],
    + "extra_variables_publish": [],
    + "modeofop_homing_method": [],
    + "modeofop_computation_mode": []
    + }
    +
    for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES:
    - blocktype = blocktype_infos["blocktype"]
    - ucase_blocktype = blocktype.upper()
    - blockname = "_".join([ucase_blocktype, location_str])
    -
    - extract_inputs = "\n".join([
    - """\
    - __SET_VAR(%s->, %s,, %s);""" % (blockname, input_name, input_value)
    - for (input_name, input_value) in
    - [("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [
    - (input["name"].upper(),
    - "__GET_VAR(data__->%s)" % input["name"].upper())
    - for input in blocktype_infos["inputs"]
    - ]])
    + texts = {
    + "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"]]
    + input_texts = []
    + 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"]]
    + output_texts = []
    + 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)
    - return_outputs = "\n".join([
    - """\
    - __SET_VAR(data__->,%(output_name)s,,
    - __GET_VAR(%(blockname)s->%(output_name)s));""" % {
    - "output_name": output_name,
    - "blockname": blockname
    - }
    - for output_name in ["DONE", "BUSY", "ERROR"] + [
    - output["name"].upper()
    - for output in blocktype_infos["outputs"]]
    - ])
    -
    - loc_dict = {
    - "ucase_blocktype": ucase_blocktype,
    - "blocktype": blocktype,
    - "blockname": blockname,
    - "location_str": location_str,
    - "extract_inputs": extract_inputs,
    - "return_outputs": return_outputs,
    - }
    -
    - fieldbus_interface_declaration.append("""
    -extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
    -void __%(blocktype)s_%(location_str)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();
    -__SET_VAR(%(blockname)s->, POS,, AxsPub.axis->NetworkPosition);
    -%(extract_inputs)s
    -ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
    -%(return_outputs)s
    -}""" % loc_dict)
    -
    - fieldbus_interface_definition.append("""\
    - AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\
    -""" % loc_dict)
    -
    - # Get a copy list of default variables to map
    variables = NODE_VARIABLES[:]
    - # Set AxisRef public struct members value
    - node_params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
    - for param in node_params["children"]:
    - param_name = param["name"]
    +#HSAHN
    +#2015. 7. 24 PDO Variable
    + #if PDO is not selected, use 1st PDO set
    + self.LoadPDOSelectData()
    + if not self.SelectedRxPDOIndex and not self.SelectedTxPDOIndex :
    + self.SelectedPDOIndex = self.LoadDefaultPDOSet()
    + else :
    + self.SelectedPDOIndex = self.SelectedRxPDOIndex + self.SelectedTxPDOIndex
    - # Param is optional variables section enable flag
    - extra_node_variable_infos = EXTRA_NODE_VARIABLES_DICT.get(param_name)
    - if extra_node_variable_infos is not None:
    - param_name = param_name.replace("Enable", "") + "Enabled"
    -
    - if not param["value"]:
    - continue
    -
    - # Optional variables section is enabled
    - for variable_infos in extra_node_variable_infos:
    - var_name = variable_infos["description"][0]
    + add_idx = []
    + for i in range(len(ADD_NODE_VARIABLES)):
    + add_idx.append(ADD_NODE_VARIABLES[i]['index'])
    - # Add each variables defined in section description to the
    - # list of variables to map
    - variables.append(variable_infos["description"])
    + self.CommonMethod.RequestPDOInfo()
    + pdo_info = self.CommonMethod.GetRxPDOCategory() + self.CommonMethod.GetTxPDOCategory()
    + pdo_entry = self.CommonMethod.GetRxPDOInfo() + self.CommonMethod.GetTxPDOInfo()
    + list_index = 0
    + ModeOfOpFlag = False
    + ModeOfOpDisplayFlag = False
    + for i in range(len(pdo_info)):
    + #if pdo_index is in the SelectedPDOIndex: put the PDO mapping information intto the "used" object
    + if pdo_info[i]['pdo_index'] in self.SelectedPDOIndex:
    + used = pdo_entry[list_index:list_index + pdo_info[i]['number_of_entry']]
    + for used_data in used:
    + # 24672 -> 0x6060, Mode of Operation
    + if used_data['entry_index'] == 24672:
    + ModeOfOpFlag = True
    + # 24673 -> 0x6061, Mode of Operation Display
    + elif used_data["entry_index"] == 24673:
    + ModeOfOpDisplayFlag = True
    - # Add code to publish or retrive variable
    - coded = [
    - ("retrieve",
    - extra_variables_retrieve,
    - " AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"),
    - ("publish",
    - extra_variables_publish,
    - " *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")
    - ]
    - for var_exchange_dir, _str_list, default_template in coded:
    - template = variable_infos.get(var_exchange_dir, default_template)
    - if template is not None:
    - extra_variables_publish.append(template % locals())
    -
    - # Set AxisRef public struct member value if defined
    - if param["value"] is not None:
    - param_value = ({True: "1", False: "0"}[param["value"]]
    - if param["type"] == "boolean"
    - else str(param["value"]))
    + if used_data['entry_index'] in add_idx:
    + idx = add_idx.index(used_data['entry_index'])
    + adder = list([ADD_NODE_VARIABLES[idx]['name'], ADD_NODE_VARIABLES[idx]['index'], \
    + ADD_NODE_VARIABLES[idx]['sub-index'], ADD_NODE_VARIABLES[idx]['type'], \
    + ADD_NODE_VARIABLES[idx]['direction']])
    + variables.append(adder)
    + if ADD_NODE_VARIABLES[idx]['direction'] == "Q":
    + parsed_string = ADD_NODE_VARIABLES[idx]['name'].replace("Target", "")
    + # add jblee
    + check_q_data = " *(AxsPub.Target%s) = AxsPub.axis->Raw%sSetPoint;" %(parsed_string, parsed_string)
    + if check_q_data not in str_completion["default_variables_publish"]:
    + str_completion["default_variables_publish"].append(check_q_data)
    + elif ADD_NODE_VARIABLES[idx]['direction'] == "I":
    + parsed_string = ADD_NODE_VARIABLES[idx]['name'].replace("Actual", "")
    + # add jblee
    + check_i_data = " AxsPub.axis->ActualRaw%s = *(AxsPub.Actual%s);" %(parsed_string, parsed_string)
    + if check_i_data not in str_completion["default_variables_retrieve"]:
    + str_completion["default_variables_retrieve"].append(check_i_data)
    + list_index += pdo_info[i]['number_of_entry']
    +#HSAHN END
    - init_axis_params.append("""\
    - AxsPub.axis->%(param_name)s = %(param_value)s;""" % {
    - "param_value": param_value,
    - "param_name": param_name,
    - })
    + params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
    + for param in params["children"]:
    + if param["name"] in EXTRA_NODE_VARIABLES_DICT:
    + if param["value"]:
    + extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"])
    + for variable_infos in extra_variables:
    + var_infos = {
    + "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)
    - # Add each variable in list of variables to map to master list of
    - # variables to add to network configuration
    - for name, index, subindex, var_type, dir in variables:
    - var_size = self.GetSizeOfType(var_type)
    - loc_dict = {
    - "var_size": var_size,
    - "var_type": var_type,
    - "name:": name,
    - "location_str": location_str,
    - "index": index,
    - "subindex": subindex,
    - }
    - var_name = """\
    -__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % loc_dict
    - loc_dict["var_name"] = var_name
    + #elif param["value"] is not None:
    + if param["value"] is not None:
    + param_infos = {
    + "location": location_str,
    + "param_name": param["name"],
    + }
    + if param["type"] == "boolean":
    + param_infos["param_value"] = {True: "1", False: "0"}[param["value"]]
    + param_infos["param_name"] = param["name"].replace("Enable", "") + "Enabled"
    + if param["value"] == False:
    + continue
    + else:
    + param_infos["param_value"] = str(param["value"])
    + # param_name = param_name.replace("Enable", "") + "Enabled"
    + str_completion["init_axis_params"].append(
    + " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)
    +
    + check_variable = []
    + for variable in variables:
    + # add jblee
    + if variable in check_variable:
    + continue
    - extern_located_variables_declaration.append(
    - "IEC_%(var_type)s *%(var_name)s;" % loc_dict)
    - entry_variables.append(
    - " IEC_%(var_type)s *%(name)s;" % loc_dict)
    - init_entry_variables.append(
    - " AxsPub.%(name)s = %(var_name)s;" % loc_dict)
    + 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
    - self.CTNParent.FileGenerator.DeclareVariable(
    - slave_pos, index, subindex, var_type, dir, var_name)
    + # add jblee
    + if var_infos["index"] in [24672] and ModeOfOpFlag:
    + str_completion["modeofop_homing_method"].append(MODEOFOP_HOMING_METHOD_TEMPLATE)
    + str_completion["modeofop_computation_mode"].append(MODEOFOP_COMPUTATION_MODE_TEMPLATE)
    +
    + # add jblee
    + if var_infos["index"] in [24672, 24673] and (not ModeOfOpFlag or not ModeOfOpDisplayFlag):
    + continue
    - # Add newline between string in list of generated strings for sections
    - [fieldbus_interface_declaration, fieldbus_interface_definition,
    - init_axis_params, extra_variables_retrieve, extra_variables_publish,
    - extern_located_variables_declaration, entry_variables,
    - init_entry_variables] = map("\n".join, [
    - fieldbus_interface_declaration, fieldbus_interface_definition,
    - init_axis_params, extra_variables_retrieve, extra_variables_publish,
    - extern_located_variables_declaration, entry_variables,
    - init_entry_variables])
    + 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"])
    - # Write generated content to CIA402 node file
    - Gen_CIA402Nodefile_path = os.path.join(buildpath,
    - "cia402node_%s.c" % location_str)
    + # add jblee
    + check_variable.append(variable)
    +
    + for element in ["extern_located_variables_declaration",
    + "fieldbus_interface_declaration",
    + "fieldbus_interface_definition",
    + "entry_variables",
    + "init_axis_params",
    + "init_entry_variables",
    + "default_variables_retrieve",
    + "default_variables_publish",
    + "extra_variables_retrieve",
    + "extra_variables_publish",
    + "modeofop_homing_method",
    + "modeofop_computation_mode"]:
    + 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 % locals())
    + cia402nodefile.write(plc_cia402node_code % str_completion)
    cia402nodefile.close()
    return [(Gen_CIA402Nodefile_path, '"-I%s"' % os.path.abspath(self.GetCTRoot().GetIECLibPath()))], "", True
    --- a/etherlab/EthercatMaster.py Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/EthercatMaster.py Mon Nov 25 08:10:45 2019 +0100
    @@ -243,20 +243,20 @@
    config_filepath = self.ConfigFileName()
    config_is_saved = False
    self.Config = None
    - if os.path.isfile(config_filepath):
    - config_xmlfile = open(config_filepath, 'r')
    - try:
    - self.Config, error = \
    - EtherCATConfigParser.LoadXMLString(config_xmlfile.read())
    - if error is None:
    - config_is_saved = True
    - except Exception as e:
    - error = str(e)
    - config_xmlfile.close()
    + # if os.path.isfile(config_filepath):
    + # config_xmlfile = open(config_filepath, 'r')
    + # try:
    + # self.Config, error = \
    + # EtherCATConfigParser.LoadXMLString(config_xmlfile.read())
    + # if error is None:
    + # config_is_saved = True
    + # except Exception as e:
    + # error = str(e)
    + # config_xmlfile.close()
    - if error is not None:
    - self.GetCTRoot().logger.write_error(
    - _("Couldn't load %s network configuration file.") % self.CTNName())
    + # if error is not None:
    + # self.GetCTRoot().logger.write_error(
    + # _("Couldn't load %s network configuration file.") % self.CTNName())
    if self.Config is None:
    self.Config = EtherCATConfigParser.CreateElement("EtherCATConfig")
    @@ -282,12 +282,28 @@
    if self.ProcessVariables is None:
    self.ProcessVariables = ProcessVariablesParser.CreateElement("ProcessVariables")
    - if config_is_saved and process_is_saved:
    + #if config_is_saved and process_is_saved:
    + if process_is_saved:
    self.CreateBuffer(True)
    else:
    self.CreateBuffer(False)
    self.OnCTNSave()
    + if os.path.isfile(config_filepath):
    + config_xmlfile = open(config_filepath, 'r')
    + try:
    + self.Config, error = \
    + EtherCATConfigParser.LoadXMLString(config_xmlfile.read())
    + if error is None:
    + config_is_saved = True
    + except Exception, e:
    + error = e.message
    + config_xmlfile.close()
    +
    + if error is not None:
    + self.GetCTRoot().logger.write_error(
    + _("Couldn't load %s network configuration file.") % CTNName)
    +
    # ----------- call ethercat mng. function --------------
    self.CommonMethod = _CommonSlave(self)
    @@ -306,7 +322,7 @@
    type_infos = dialog.GetValueInfos()
    device, _module_extra_params = self.GetModuleInfos(type_infos)
    if device is not None:
    - if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():
    + if HAS_MCL and str(_EthercatCIA402SlaveCTN.NODE_PROFILE) in device.GetProfileNumbers():
    ConfNodeType = "EthercatCIA402Slave"
    else:
    ConfNodeType = "EthercatSlave"
    @@ -577,14 +593,62 @@
    return infos
    return None
    - def GetSlaveVariables(self, slave_pos=None, limits=None, device=None):
    + def GetSlaveVariables(self, slave_pos=None, limits=None, device=None, module=None):
    + # add jblee
    + files = os.listdir(self.CTNPath())
    + moduleNames = []
    + modulePos = 1
    + for file in files:
    + filepath = os.path.join(self.CTNPath(), file)
    + if os.path.isdir(filepath):
    + MDPFilePath = os.path.join(filepath, "DataForMDP.txt")
    + CheckConfNodePath = os.path.join(filepath, "baseconfnode.xml")
    +
    + try :
    + moduleDataFile = open(MDPFilePath, 'r')
    + confNodeFile = open(CheckConfNodePath, 'r')
    +
    + lines = moduleDataFile.readlines()
    + checklines = confNodeFile.readlines()
    +
    + moduleDataFile.close()
    + confNodeFile.close()
    +
    + module_info = self.GetModuleEntryList()
    + # checklines(ex) : <BaseParams xmlns:xsd="http://www.w3.org/2001/XMLSchema" IEC_Channel="0" Name="EthercatSlave_0"/>
    + # checklines[1].split() : [<BaseParams, xmlns:xsd="http://www.w3.org/2001/XMLSchema"
    + # IEC_Channel="0", Name="EthercatSlave_0"/>]
    + # checklines[1].split()[2] : IEC_Channel="0"
    + # checklines[1].split()[2].split("\"") = [IEC_Channel=, 0, ]
    + pos_check = int(checklines[1].split()[2].split("\"")[1])
    +
    + if slave_pos != pos_check:
    + continue
    +
    + for line in lines:
    + if line == "\n":
    + continue
    + # module_name : ST-1214, ST-2314, ...
    + # if user add module => ST-1214 3EA, ST-2314 3EA
    + # each result_module_name :
    + # (ST-1214, Module 1), (ST-1214, Module 2), (ST-1214, Module 3)
    + # (ST-2314, Module 4), (ST-2314, Module 5), (ST-2314, Module 6)
    + module_name = line.split()[0]
    + result_module_name = module_name + ", Module %d" % modulePos
    + moduleNames.append(result_module_name)
    + modulePos += 1
    + except :
    + pass
    +
    if device is None and slave_pos is not None:
    slave = self.GetSlave(slave_pos)
    if slave is not None:
    type_infos = slave.getType()
    device, _module_extra_params = self.GetModuleInfos(type_infos)
    if device is not None:
    + # Test OD
    entries = device.GetEntriesList(limits)
    + #entries = self.CTNParent.GetEntriesList()
    entries_list = entries.items()
    entries_list.sort()
    entries = []
    @@ -602,6 +666,49 @@
    current_entry["children"].append(entry)
    else:
    entries.append(entry)
    +
    + increment = self.CTNParent.GetModuleIncrement()[0]
    + count = 1
    + #print module_info
    + # moduleNameAndPos : (ST-1214, Module 1), (ST-1214, Module 2), ... ,
    + # moduleNameAndPos.split(",") : ["ST-1214", " Module 1"]
    + # moduleNameAndPos.split(",")[0] : "ST-1214"
    + for moduleNameAndPos in moduleNames:
    + moduleName = moduleNameAndPos.split(",")[0]
    + modulePosName = moduleNameAndPos.split(",")[1]
    + idx_increment = int(increment) * count
    +
    + for MDP_entry in module_info.get(moduleName):
    + LocalMDPEntry = []
    + #print MDP_entry
    + local_idx = MDP_entry["Index"]
    + if ExtractHexDecValue(local_idx) == 0: #and local_idx[0] == "#":
    + temp_index = ExtractHexDecValue(local_idx)
    + else :
    + temp_index = ExtractHexDecValue(MDP_entry["Index"]) + idx_increment
    + #temp_index = ExtractHexDecValue(MDP_entry["Index"]) + idx_increment
    + entry_index = hex(temp_index)
    + entry_subidx = MDP_entry["SubIndex"]
    + entry_name = MDP_entry["Name"] + ", " + " " + \
    + moduleName + " - " + modulePosName
    + entry_type = MDP_entry["Type"]
    + entry_bitsize = MDP_entry["BitSize"]
    + entry_access = MDP_entry["Access"]
    + mapping_type = MDP_entry["PDOMapping"]
    +
    + LocalMDPEntry.append({
    + "Index": entry_index,
    + "SubIndex": entry_subidx,
    + "Name": entry_name,
    + "Type": entry_type,
    + "BitSize": entry_bitsize,
    + "Access": entry_access,
    + "PDOMapping": mapping_type,
    + "children": ""})
    + entries.append(LocalMDPEntry[0])
    + count += 1
    +
    + #print entries
    return entries
    return []
    @@ -634,6 +741,10 @@
    def GetModuleInfos(self, type_infos):
    return self.CTNParent.GetModuleInfos(type_infos)
    + # add jblee
    + def GetModuleEntryList(self):
    + return self.CTNParent.GetModuleEntryList()
    +
    def GetSlaveTypesLibrary(self, profile_filter=None):
    return self.CTNParent.GetModulesLibrary(profile_filter)
    @@ -643,6 +754,53 @@
    def GetDeviceLocationTree(self, slave_pos, current_location, device_name):
    slave = self.GetSlave(slave_pos)
    vars = []
    +
    + # add jblee
    + files = os.listdir(self.CTNPath())
    + moduleNames = []
    + modulePos = 1
    + for file in files:
    + filepath = os.path.join(self.CTNPath(), file)
    + if os.path.isdir(filepath):
    + MDPFilePath = os.path.join(filepath, "DataForMDP.txt")
    + CheckConfNodePath = os.path.join(filepath, "baseconfnode.xml")
    +
    + try :
    + moduleDataFile = open(MDPFilePath, 'r')
    + confNodeFile = open(CheckConfNodePath, 'r')
    +
    + lines = moduleDataFile.readlines()
    + checklines = confNodeFile.readlines()
    +
    + moduleDataFile.close()
    + confNodeFile.close()
    +
    + module_info = self.GetModuleEntryList()
    + # checklines(ex) : <BaseParams xmlns:xsd="http://www.w3.org/2001/XMLSchema" IEC_Channel="0" Name="EthercatSlave_0"/>
    + # checklines[1].split() : [<BaseParams, xmlns:xsd="http://www.w3.org/2001/XMLSchema"
    + # IEC_Channel="0", Name="EthercatSlave_0"/>]
    + # checklines[1].split()[2] : IEC_Channel="0"
    + # checklines[1].split()[2].split("\"") = [IEC_Channel=, 0, ]
    + pos_check = int(checklines[1].split()[2].split("\"")[1])
    +
    + if slave_pos != pos_check:
    + continue
    +
    + for line in lines:
    + if line == "\n":
    + continue
    + # module_name : ST-1214, ST-2314, ...
    + # if user add module => ST-1214 3EA, ST-2314 3EA
    + # each result_module_name :
    + # (ST-1214, Module 1), (ST-1214, Module 2), (ST-1214, Module 3)
    + # (ST-2314, Module 4), (ST-2314, Module 5), (ST-2314, Module 6)
    + module_name = line.split()[0]
    + result_module_name = module_name + ", Module %d" % modulePos
    + moduleNames.append(result_module_name)
    + modulePos += 1
    + except :
    + pass
    +
    if slave is not None:
    type_infos = slave.getType()
    @@ -681,6 +839,39 @@
    "children": [],
    })
    + # add jblee for MDP
    + if not entries :
    + increment = self.CTNParent.GetModuleIncrement()[0]
    + count = 1
    + for moduleNameAndPos in moduleNames:
    + moduleName = moduleNameAndPos.split(",")[0]
    + idx_increment = int(increment) * count
    + for MDP_entry in module_info.get(moduleName):
    + local_idx = MDP_entry["Index"]
    + if ExtractHexDecValue(local_idx) != 0 and local_idx[0] == "#":
    + index = ExtractHexDecValue(local_idx) + idx_increment
    + else :
    + index = ExtractHexDecValue(MDP_entry["Index"])
    + subindex = int(MDP_entry["SubIndex"])
    + var_class = VARCLASSCONVERSION.get(MDP_entry["PDOMapping"], None)
    + if var_class is not None:
    + if var_class == LOCATION_VAR_INPUT:
    + var_dir = "%I"
    + else:
    + var_dir = "%Q"
    + var_size = self.GetSizeOfType(MDP_entry["Type"])
    + result_name = MDP_entry["Name"] + ", " + moduleNameAndPos
    + vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, result_name),
    + "type": var_class,
    + "size": var_size,
    + "IEC_type": MDP_entry["Type"],
    + "var_name": "%s_%4.4x_%2.2x" % ("_".join(moduleName.split()), index, subindex),
    + "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location +
    + (index, subindex)))),
    + "description": "",
    + "children": []})
    + count += 1
    +
    return vars
    def CTNTestModified(self):
    @@ -688,7 +879,6 @@
    def OnCTNSave(self, from_project_path=None):
    config_filepath = self.ConfigFileName()
    -
    config_xmlfile = open(config_filepath, "w")
    config_xmlfile.write(etree.tostring(
    self.Config,
    --- a/etherlab/EthercatSlave.py Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/EthercatSlave.py Mon Nov 25 08:10:45 2019 +0100
    @@ -73,6 +73,8 @@
    def __init__(self):
    # ----------- call ethercat mng. function --------------
    self.CommonMethod = _CommonSlave(self)
    + self.SelectedRxPDOIndex = []
    + self.SelectedTxPDOIndex = []
    def GetIconName(self):
    return "Slave"
    --- a/etherlab/entries_list.xslt Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/entries_list.xslt Mon Nov 25 08:10:45 2019 +0100
    @@ -1,1 +1,1 @@
    -<xsl:stylesheet xmlns:func="http://exslt.org/functions" xmlns:dyn="http://exslt.org/dynamic" xmlns:str="http://exslt.org/strings" xmlns:math="http://exslt.org/math" xmlns:exsl="http://exslt.org/common" extension-element-prefixes="ns" xmlns:yml="http://fdik.org/yml" xmlns:set="http://exslt.org/sets" version="1.0" xmlns:ns="entries_list_ns" exclude-result-prefixes="ns" xmlns:regexp="http://exslt.org/regular-expressions" xmlns:xsl="http://www.w3.org/1999/XSL/Transform"><xsl:output method="xml"/><xsl:variable name="space" select="' '"/><xsl:param name="autoindent" select="4"/><xsl:param name="min_index"/><xsl:param name="max_index"/><xsl:template match="text()"><xsl:param name="_indent" select="0"/></xsl:template><xsl:template match="Device"><xsl:param name="_indent" select="0"/><xsl:apply-templates select="Profile/Dictionary/Objects/Object"><xsl:with-param name="_indent" select="$_indent + (1) * $autoindent"/></xsl:apply-templates><xsl:for-each select="RxPdo"><xsl:call-template name="pdo_entries"><xsl:with-param name="direction" select="'Receive'"/></xsl:call-template></xsl:for-each><xsl:for-each select="TxPdo"><xsl:call-template name="pdo_entries"><xsl:with-param name="direction" select="'Transmit'"/></xsl:call-template></xsl:for-each></xsl:template><xsl:template match="Object"><xsl:param name="_indent" select="0"/><xsl:variable name="index"><xsl:value-of select="ns:HexDecValue(Index/text())"/></xsl:variable><xsl:variable name="entry_name"><xsl:value-of select="ns:EntryName(Name)"/></xsl:variable><xsl:choose><xsl:when test="$index &gt;= $min_index and $index &lt;= $max_index"><xsl:variable name="datatype_name"><xsl:value-of select="Type/text()"/></xsl:variable><xsl:choose><xsl:when test="ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]"><xsl:apply-templates select="ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]"><xsl:with-param name="_indent" select="$_indent + (1) * $autoindent"/><xsl:with-param name="index"><xsl:value-of select="$index"/></xsl:with-param><xsl:with-param name="entry_name"><xsl:value-of select="$entry_name"/></xsl:with-param></xsl:apply-templates></xsl:when><xsl:otherwise><xsl:variable name="subindex"><xsl:text>0</xsl:text></xsl:variable><xsl:variable name="entry"><xsl:value-of select="ns:AddEntry($index, $subindex, $entry_name, $datatype_name, BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())"/></xsl:variable></xsl:otherwise></xsl:choose></xsl:when></xsl:choose></xsl:template><xsl:template match="DataType"><xsl:param name="_indent" select="0"/><xsl:param name="index"/><xsl:param name="entry_name"/><xsl:for-each select="SubItem"><xsl:variable name="subindex"><xsl:value-of select="ns:HexDecValue(SubIdx/text())"/></xsl:variable><xsl:variable name="subentry_name"><xsl:value-of select="$entry_name"/><xsl:text> - </xsl:text><xsl:value-of select="ns:EntryName(DisplayName, Name/text())"/></xsl:variable><xsl:variable name="entry"><xsl:value-of select="ns:AddEntry($index, $subindex, $subentry_name, Type/text(), BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())"/></xsl:variable></xsl:for-each></xsl:template><xsl:template name="pdo_entries"><xsl:param name="_indent" select="0"/><xsl:param name="direction"/><xsl:variable name="pdo_index"><xsl:value-of select="ns:HexDecValue(Index/text())"/></xsl:variable><xsl:variable name="pdo_name"><xsl:value-of select="ns:EntryName(Name)"/></xsl:variable><xsl:for-each select="Entry"><xsl:variable name="index"><xsl:value-of select="ns:HexDecValue(Index/text())"/></xsl:variable><xsl:choose><xsl:when test="$index &gt;= $min_index and $index &lt;= $max_index"><xsl:variable name="subindex"><xsl:value-of select="ns:HexDecValue(SubIndex/text())"/></xsl:variable><xsl:variable name="subentry_name"><xsl:value-of select="ns:EntryName(Name)"/></xsl:variable><xsl:variable name="access"><xsl:choose><xsl:when test="$direction='Transmit'"><xsl:text>ro</xsl:text></xsl:when><xsl:otherwise><xsl:text>wo</xsl:text></xsl:otherwise></xsl:choose></xsl:variable><xsl:variable name="pdo_mapping"><xsl:choose><xsl:when test="$direction='Transmit'"><xsl:text>T</xsl:text></xsl:when><xsl:otherwise><xsl:text>R</xsl:text></xsl:otherwise></xsl:choose></xsl:variable><xsl:variable name="entry"><xsl:value-of select="ns:AddEntry($index, $subindex, $subentry_name, DataType/text(), BitLen/text(), $access, $pdo_mapping, $pdo_index, $pdo_name, $direction)"/></xsl:variable></xsl:when></xsl:choose></xsl:for-each></xsl:template></xsl:stylesheet>
    \ No newline at end of file
    +<xsl:stylesheet xmlns:func="http://exslt.org/functions" xmlns:dyn="http://exslt.org/dynamic" xmlns:str="http://exslt.org/strings" xmlns:math="http://exslt.org/math" xmlns:exsl="http://exslt.org/common" extension-element-prefixes="ns" xmlns:yml="http://fdik.org/yml" xmlns:set="http://exslt.org/sets" version="1.0" xmlns:ns="entries_list_ns" exclude-result-prefixes="ns" xmlns:regexp="http://exslt.org/regular-expressions" xmlns:xsl="http://www.w3.org/1999/XSL/Transform"><xsl:output method="xml"/><xsl:variable name="space" select="' '"/><xsl:param name="autoindent" select="4"/><xsl:param name="min_index"/><xsl:param name="max_index"/><xsl:template match="text()"><xsl:param name="_indent" select="0"/></xsl:template><xsl:template match="Device"><xsl:param name="_indent" select="0"/><xsl:apply-templates select="Profile/Dictionary/Objects/Object"><xsl:with-param name="_indent" select="$_indent + (1) * $autoindent"/></xsl:apply-templates><xsl:for-each select="RxPdo"><xsl:call-template name="pdo_entries"><xsl:with-param name="direction" select="'Receive'"/></xsl:call-template></xsl:for-each><xsl:for-each select="TxPdo"><xsl:call-template name="pdo_entries"><xsl:with-param name="direction" select="'Transmit'"/></xsl:call-template></xsl:for-each></xsl:template><xsl:template match="Object"><xsl:param name="_indent" select="0"/><xsl:variable name="index"><xsl:value-of select="ns:HexDecValue(Index/text())"/></xsl:variable><xsl:variable name="entry_name"><xsl:value-of select="ns:EntryName(Name)"/></xsl:variable><xsl:choose><xsl:when test="$index &gt;= $min_index and $index &lt;= $max_index"><xsl:variable name="datatype_name"><xsl:value-of select="Type/text()"/></xsl:variable><xsl:variable name="default_value"><xsl:value-of select="Info/DefaultData/text()"/></xsl:variable><xsl:choose><xsl:when test="ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]"><xsl:apply-templates select="ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]"><xsl:with-param name="_indent" select="$_indent + (1) * $autoindent"/><xsl:with-param name="index"><xsl:value-of select="$index"/></xsl:with-param><xsl:with-param name="entry_name"><xsl:value-of select="$entry_name"/></xsl:with-param><xsl:with-param name="sub_default_value"><xsl:value-of select="Info"/></xsl:with-param></xsl:apply-templates></xsl:when><xsl:otherwise><xsl:variable name="subindex"><xsl:text>0</xsl:text></xsl:variable><xsl:variable name="sub_entry_flag"><xsl:text>0</xsl:text></xsl:variable><xsl:variable name="entry"><xsl:value-of select="ns:AddEntry($index, $subindex, $entry_name, $datatype_name, BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text(), $default_value, $sub_entry_flag)"/></xsl:variable></xsl:otherwise></xsl:choose></xsl:when></xsl:choose></xsl:template><xsl:template match="DataType"><xsl:param name="_indent" select="0"/><xsl:param name="index"/><xsl:param name="entry_name"/><xsl:param name="sub_default_value"/><xsl:for-each select="SubItem"><xsl:variable name="subindex"><xsl:value-of select="ns:HexDecValue(SubIdx/text())"/></xsl:variable><xsl:variable name="subentry_name"><xsl:value-of select="$entry_name"/><xsl:text> - </xsl:text><xsl:value-of select="ns:EntryName(DisplayName, Name/text())"/></xsl:variable><xsl:variable name="sub_entry_flag"><xsl:text>1</xsl:text></xsl:variable><xsl:variable name="entry"><xsl:value-of select="ns:AddEntry($index, $subindex, $subentry_name, Type/text(), BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text(), $sub_default_value, $sub_entry_flag)"/></xsl:variable></xsl:for-each></xsl:template><xsl:template name="pdo_entries"><xsl:param name="_indent" select="0"/><xsl:param name="direction"/><xsl:variable name="pdo_index"><xsl:value-of select="ns:HexDecValue(Index/text())"/></xsl:variable><xsl:variable name="pdo_name"><xsl:value-of select="ns:EntryName(Name)"/></xsl:variable><xsl:for-each select="Entry"><xsl:variable name="index"><xsl:value-of select="ns:HexDecValue(Index/text())"/></xsl:variable><xsl:choose><xsl:when test="$index &gt;= $min_index and $index &lt;= $max_index"><xsl:variable name="subindex"><xsl:value-of select="ns:HexDecValue(SubIndex/text())"/></xsl:variable><xsl:variable name="subentry_name"><xsl:value-of select="ns:EntryName(Name)"/></xsl:variable><xsl:variable name="access"><xsl:choose><xsl:when test="$direction='Transmit'"><xsl:text>ro</xsl:text></xsl:when><xsl:otherwise><xsl:text>wo</xsl:text></xsl:otherwise></xsl:choose></xsl:variable><xsl:variable name="pdo_mapping"><xsl:choose><xsl:when test="$direction='Transmit'"><xsl:text>T</xsl:text></xsl:when><xsl:otherwise><xsl:text>R</xsl:text></xsl:otherwise></xsl:choose></xsl:variable><xsl:variable name="entry"><xsl:value-of select="ns:AddEntry($index, $subindex, $subentry_name, DataType/text(), BitLen/text(), $access, $pdo_mapping, $pdo_index, $pdo_name, $direction)"/></xsl:variable></xsl:when></xsl:choose></xsl:for-each></xsl:template></xsl:stylesheet>
    \ No newline at end of file
    --- a/etherlab/entries_list.ysl2 Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/entries_list.ysl2 Mon Nov 25 08:10:45 2019 +0100
    @@ -38,17 +38,20 @@
    choose {
    when "$index >= $min_index and $index <= $max_index" {
    variable "datatype_name" > «Type/text()»
    + variable "default_value" > «Info/DefaultData/text()»
    choose {
    when "ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]" {
    apply "ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]" {
    with "index" > «$index»
    with "entry_name" > «$entry_name»
    + with "sub_default_value" > «Info/SubItem/Info/DefaultData/text()»
    }
    }
    otherwise {
    variable "subindex" > 0
    + variable "sub_entry_flag" > 0
    variable "entry" {
    - > «ns:AddEntry($index, $subindex, $entry_name, $datatype_name, BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())»
    + > «ns:AddEntry($index, $subindex, $entry_name, $datatype_name, BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text(), $default_value, $sub_entry_flag)»
    }
    }
    }
    @@ -59,11 +62,13 @@
    template "DataType" {
    param "index";
    param "entry_name";
    + param "sub_default_value"
    foreach "SubItem" {
    variable "subindex" > «ns:HexDecValue(SubIdx/text())»
    variable "subentry_name" > «$entry_name» - «ns:EntryName(DisplayName, Name/text())»
    + variable "sub_entry_flag" > 1
    variable "entry" {
    - > «ns:AddEntry($index, $subindex, $subentry_name, Type/text(), BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())»
    + > «ns:AddEntry($index, $subindex, $subentry_name, Type/text(), BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text(), $sub_default_value, $sub_entry_flag)»
    }
    }
    }
    --- a/etherlab/etherlab.py Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/etherlab.py Mon Nov 25 08:10:45 2019 +0100
    @@ -39,6 +39,13 @@
    return etree.XPath(xpath)
    +EtherCATBaseParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATBase.xsd"))
    +
    +
    +def EtherCATBase_XPath(xpath):
    + return etree.XPath(xpath)
    +
    +
    def HexDecValue(context, *args):
    return str(ExtractHexDecValue(args[0][0]))
    @@ -59,6 +66,18 @@
    ("PDO name", str, ""),
    ("PDO type", str, "")]
    +# Read DefaultValue from ESI file
    +# Add by jblee 151229
    +ENTRY_INFOS_KEYS_FOR_DV = [
    + ("Index", lambda x: "#x%4.4X" % int(x), "#x0000"),
    + ("SubIndex", str, "0"),
    + ("Name", str, ""),
    + ("Type", str, ""),
    + ("BitSize", int, 0),
    + ("Access", str, ""),
    + ("PDOMapping", str, ""),
    + ("DefaultValue", str, ""),
    + ("Sub_entry_flag", str, "0")]
    class EntryListFactory(object):
    @@ -67,11 +86,17 @@
    def AddEntry(self, context, *args):
    index, subindex = map(lambda x: int(x[0]), args[:2])
    - new_entry_infos = {
    + if len(args) > 9:
    + new_entry_infos = {
    key: translate(arg[0]) if len(arg) > 0 else default
    for (key, translate, default), arg
    in zip(ENTRY_INFOS_KEYS, args)}
    -
    + else:
    + new_entry_infos = {
    + key: translate(arg[0]) if len(arg) > 0 else default
    + for (key, translate, default), arg
    + in zip(ENTRY_INFOS_KEYS_FOR_DV, args)}
    +
    if (index, subindex) != (0, 0):
    entry_infos = self.Entries.get((index, subindex))
    if entry_infos is not None:
    @@ -88,7 +113,8 @@
    cls = EtherCATInfoParser.GetElementClass("DeviceType")
    if cls:
    -
    + cls.DataTypes = None
    +
    profile_numbers_xpath = EtherCATInfo_XPath("Profile/ProfileNo")
    def GetProfileNumbers(self):
    @@ -102,25 +128,151 @@
    return None
    setattr(cls, "getCoE", getCoE)
    + # Modify by jblee
    + def ExtractDataTypes(self):
    + #self.DataTypes = {}
    + #self.DT = {}
    + DT = {}
    + objects = []
    +
    + # get Profile Field
    + for profile in self.getProfile():
    + # get each (ProfileNo, Dictionary) Field as child
    + for child in profile.getchildren():
    + # child.text is not None -> ProfileNo, is None -> Dictionary
    + if child.text is None:
    + # get each (DataTypes, Objects) Field
    + dataTypes = child.getDataTypes()
    + objects = child.getObjects()
    +
    + for dataType in dataTypes.getDataType():
    + #if dataType.getName() is not None:
    + # print dataType.getName(), dataType
    + DT[dataType.getName()] = dataType
    +
    + return DT, objects
    + setattr(cls, "ExtractDataTypes", ExtractDataTypes)
    +
    def GetEntriesList(self, limits=None):
    + DataTypes, objects = self.ExtractDataTypes()
    +
    entries = {}
    - factory = EntryListFactory(entries)
    + # get each Object Field
    + for object in objects:
    + # Object Field mendatory : Index, Name, Type, BitSize
    + # Frequently Use : Info, Flags
    + # Info Field -> DefaultData, SubItem
    + # Flags Field -> Access, Category, PdoMapping
    + object_index = object.getIndex().getcontent()
    + index = ExtractHexDecValue(object_index)
    + if limits is None or limits[0] <= index <= limits[1]:
    + object_type = object.getType()
    + object_name = ExtractName(object.getName())
    + object_size = object.getBitSize()
    + defaultData = ""
    + object_access = ""
    + object_PDOMapping_data = ""
    +
    + object_type_infos = DataTypes.get(object_type, None)
    + subItem_infos = object_type_infos.getchildren()
    + countSubIndex = 0
    + if len(subItem_infos) > 2:
    + for subItem_info in subItem_infos:
    + if subItem_info.tag == "SubItem" :
    + subItemName = subItem_info.getName()
    + subIdx = subItem_info.getSubIdx()
    + if subIdx is not None:
    + object_subidx = ExtractHexDecValue(subIdx)
    + else:
    + object_subidx = ExtractHexDecValue(countSubIndex)
    + subType = subItem_info.getType()
    + subBitSize = subItem_info.getBitSize()
    + subFlags = subItem_info.getFlags()
    + subAccess = ""
    + subPDOMapping_data = ""
    + if subFlags is not None:
    + subAccess = subFlags.getAccess().getcontent()
    + subPDOMapping = subFlags.getPdoMapping()
    + if subPDOMapping is not None:
    + subPDOMapping_data = subFlags.getPdoMapping().upper()
    - entries_list_xslt_tree = etree.XSLT(
    - entries_list_xslt, extensions={
    - ("entries_list_ns", "AddEntry"): factory.AddEntry,
    - ("entries_list_ns", "HexDecValue"): HexDecValue,
    - ("entries_list_ns", "EntryName"): EntryName})
    - entries_list_xslt_tree(self, **dict(zip(
    - ["min_index", "max_index"],
    - map(lambda x: etree.XSLT.strparam(str(x)),
    - limits if limits is not None else [0x0000, 0xFFFF])
    - )))
    + entries[(index, object_subidx)] = {
    + "Index": object_index,
    + "SubIndex": subIdx,
    + "Name": "%s - %s" %
    + (object_name.decode("utf-8"),
    + subItemName.decode("utf-8")),
    + "Type": subType,
    + "BitSize": subBitSize,
    + "Access": subAccess,
    + "PDOMapping": subPDOMapping_data}
    +
    + countSubIndex += 1
    +
    + info = object.getInfo()
    + # subItemTest : check subItem
    + countSubIndex = 0
    + if info is not None:
    + subItems = info.getchildren()
    + if len(subItems) > 1:
    + for subItem in subItems:
    + defaultdata_subidx = ExtractHexDecValue(countSubIndex)
    + defaultData = subItem.getchildren()[1].findtext("DefaultData")
    + entry = entries.get((index, defaultdata_subidx), None)
    + if entry is not None:
    + entry["DefaultData"] = defaultData
    + countSubIndex += 1
    + else :
    + info = object.getInfo()
    + if info is not None:
    + subItems = info.getchildren()
    + if len(subItems) <= 1:
    + defaultData = subItems[0].text
    +
    + object_flag = object.getFlags()
    + object_access = object_flag.getAccess().getcontent()
    + object_PDOMapping = object_flag.getPdoMapping()
    + if object_PDOMapping is not None:
    + object_PDOMapping_data = object_flag.getPdoMapping().upper()
    + entries[(index, 0)] = {
    + "Index": object_index,
    + "SubIndex": "0",
    + "Name": object_name,
    + "Type": object_type,
    + "BitSize": object_size,
    + "DefaultData" : defaultData,
    + "Access": object_access,
    + "PDOMapping": object_PDOMapping_data}
    +
    + for TxPdo in self.getTxPdo():
    + ExtractPdoInfos(TxPdo, "Transmit", entries, limits)
    + for RxPdo in self.getRxPdo():
    + ExtractPdoInfos(RxPdo, "Receive", entries, limits)
    +
    return entries
    setattr(cls, "GetEntriesList", GetEntriesList)
    +# def GetEntriesList(self, limits=None):
    +# entries = {}
    +
    +# factory = EntryListFactory(entries)
    +
    +# entries_list_xslt_tree = etree.XSLT(
    +# entries_list_xslt, extensions = {
    +# ("entries_list_ns", "AddEntry"): factory.AddEntry,
    +# ("entries_list_ns", "HexDecValue"): HexDecValue,
    +# ("entries_list_ns", "EntryName"): EntryName})
    +# entries_list_xslt_tree(self, **dict(zip(
    +# ["min_index", "max_index"],
    +# map(lambda x: etree.XSLT.strparam(str(x)),
    +# limits if limits is not None else [0x0000, 0xFFFF])
    +# )))
    +#
    +# return entries
    +# setattr(cls, "GetEntriesList", GetEntriesList)
    +
    def GetSyncManagers(self):
    sync_managers = []
    for sync_manager in self.getSm():
    @@ -155,6 +307,40 @@
    SortGroupItems(item)
    group["children"].sort(GroupItemCompare)
    +def ExtractPdoInfos(pdo, pdo_type, entries, limits=None):
    + pdo_index = pdo.getIndex().getcontent()
    + pdo_name = ExtractName(pdo.getName())
    + exclude = pdo.getExclude()
    + for pdo_entry in pdo.getEntry():
    + entry_index = pdo_entry.getIndex().getcontent()
    + entry_subindex = pdo_entry.getSubIndex()
    + index = ExtractHexDecValue(entry_index)
    + subindex = ExtractHexDecValue(entry_subindex)
    + object_size = pdo_entry.getBitLen()
    +
    + if limits is None or limits[0] <= index <= limits[1]:
    + entry = entries.get((index, subindex), None)
    + if entry is not None:
    + entry["PDO index"] = pdo_index
    + entry["PDO name"] = pdo_name
    + entry["PDO type"] = pdo_type
    + else:
    + entry_type = pdo_entry.getDataType()
    + if entry_type is not None:
    + if pdo_type == "Transmit":
    + access = "ro"
    + pdomapping = "T"
    + else:
    + access = "wo"
    + pdomapping = "R"
    + entries[(index, subindex)] = {
    + "Index": entry_index,
    + "SubIndex": entry_subindex,
    + "Name": ExtractName(pdo_entry.getName()),
    + "Type": entry_type.getcontent(),
    + "BitSize": object_size,
    + "Access": access,
    + "PDOMapping": pdomapping}
    class ModulesLibrary(object):
    @@ -211,10 +397,21 @@
    groups_xpath = EtherCATInfo_XPath("Descriptions/Groups/Group")
    devices_xpath = EtherCATInfo_XPath("Descriptions/Devices/Device")
    + module_xpath = EtherCATBase_XPath("Descriptions/Modules/Module")
    def LoadModules(self):
    self.Library = {}
    -
    + # add by jblee for Modular Device Profile
    + self.MDPList = []
    + self.ModuleList = []
    + self.MDPEntryList = {}
    + dtDic = {}
    + self.idxIncrement = 0
    + self.slotIncrement = 0
    + # add by jblee for PDO Mapping
    + self.DataTypes = {}
    + self.ObjectDictionary = {}
    +
    files = os.listdir(self.Path)
    for file in files:
    filepath = os.path.join(self.Path, file)
    @@ -224,9 +421,9 @@
    xmlfile = open(filepath, 'r')
    try:
    self.modules_infos, error = EtherCATInfoParser.LoadXMLString(xmlfile.read())
    - if error is not None:
    - self.GetCTRoot().logger.write_warning(
    - XSDSchemaErrorMessage % (filepath + error))
    + # if error is not None:
    + # self.GetCTRoot().logger.write_warning(
    + # XSDSchemaErrorMessage % (filepath + error))
    except Exception as exc:
    self.modules_infos, error = None, text(exc)
    xmlfile.close()
    @@ -241,6 +438,9 @@
    for group in self.groups_xpath(self.modules_infos):
    group_type = group.getType()
    + # add for XmlToEeprom Func by jblee.
    + self.LcId_data = group.getchildren()[1]
    + self.Image16x14_data = group.getchildren()[2]
    vendor_category["groups"].setdefault(
    group_type,
    @@ -248,8 +448,9 @@
    "name": ExtractName(group.getName(), group_type),
    "parent": group.getParentGroup(),
    "order": group.getSortOrder(),
    - # "value": group.getcontent()["value"],
    "devices": [],
    + # add jblee for support Moduler Device Profile (MDP)
    + "modules": []})
    })
    for device in self.devices_xpath(self.modules_infos):
    @@ -259,13 +460,98 @@
    vendor_category["groups"][device_group]["devices"].append(
    (device.getType().getcontent(), device))
    - else:
    + # ------------------ Test Section --------------------#
    + slots = device.getSlots()
    + if slots is not None:
    + for slot in slots.getSlot():
    + self.idxIncrement = slot.getSlotIndexIncrement()
    + self.slotIncrement = slot.getSlotPdoIncrement()
    + for child in slot.getchildren():
    + if child.tag == "ModuleClass":
    + child_class = child.getClass()
    + child_name = child.getName()
    +
    + # -------------------- Test Section ----------------------------------#
    + LocalMDPList = []
    + for module in self.module_xpath(self.modules_infos):
    + module_type = module.getType().getModuleClass()
    + module_name = module.getName()
    + LocalMDPData = ExtractName(module_name) + " (" + module_type + ")"
    +
    + self.ModuleList.append(module)
    + try :
    + module_pdos = module.getTxPdo()
    + module_pdos += module.getRxPdo()
    + for module_pdo in module_pdos:
    + device_name = ExtractName(module_name)
    + pdo_index = module_pdo.getIndex().getcontent()
    + pdo_name = ExtractName(module_pdo.getName())
    + pdo_entry = module_pdo.getEntry()
    + if module_pdo.tag == "TxPdo":
    + mapping_type = "T"
    + else :
    + mapping_type = "R"
    - self.GetCTRoot().logger.write_error(
    - _("Couldn't load {a1} XML file:\n{a2}").format(a1=filepath, a2=error))
    + LocalMDPEntry = []
    + for entry in pdo_entry:
    + entry_index = entry.getIndex().getcontent()
    + entry_subidx = entry.getSubIndex()
    + entry_name = ExtractName(entry.getName())
    + entry_bitsize = entry.getBitLen()
    + try :
    + entry_type = entry.getDataType().getcontent()
    + except :
    + entry_type = ""
    +
    + LocalMDPEntry.append({
    + "Index": entry_index,
    + "SubIndex": entry_subidx,
    + "Name": "%s - %s" % (pdo_name, entry_name),
    + "Type": entry_type,
    + "BitSize": entry_bitsize,
    + "Access": "",
    + "PDOMapping": mapping_type})
    +
    + self.MDPEntryList[device_name] = LocalMDPEntry
    +
    + LocalMDPList.append([LocalMDPData, module, LocalMDPEntry])
    + except :
    + LocalMDPList.append([LocalMDPData, module, []])
    +
    + if LocalMDPList:
    + vendor_category["groups"][device_group]["modules"].append(
    + (device.getType().getcontent(), LocalMDPList, self.idxIncrement, self.slotIncrement))
    + #self.MDPList.append([device.getType().getcontent(), LocalMDPList,
    + # self.idxIncrement, self.slotIncrement])
    +
    + # --------------------------------------------------------------------- #
    +
    + # else:
    + # self.GetCTRoot().logger.write_error(
    + # _("Couldn't load {a1} XML file:\n{a2}").format(a1=filepath, a2=error))
    return self.Library
    + # add jblee
    + def GetMDPList(self):
    + return self.MDPList
    +
    + # add jblee
    + def GetSelectModule(self, idx):
    + return self.ModuleList[idx]
    +
    + # add jblee
    + def GetModuleEntryList(self):
    + return self.MDPEntryList
    +
    + # add jblee
    + def GetModuleIncrement(self):
    + return (self.idxIncrement, self.slotIncrement)
    +
    + # add jblee
    + #def GetEntriesList(self):
    + # return self.ObjectDictionary
    +
    def GetModulesLibrary(self, profile_filter=None):
    if self.Library is None:
    self.LoadModules()
    @@ -332,6 +618,18 @@
    return device_infos, self.GetModuleExtraParams(vendor, product_code, revision_number)
    return None, None
    + # add jblee for MDP
    + def GetMDPInfos(self, module_infos):
    + vendor = ExtractHexDecValue(module_infos["vendor"])
    + vendor_infos = self.Library.get(vendor)
    + if vendor_infos is not None:
    + for group_name, group_infos in vendor_infos["groups"].iteritems():
    + return group_infos["modules"]
    + #for device_type, module_list, idx_inc, slot_inc in group_infos["modules"]:
    + # return module_list, idx_inc, slot_inc
    +
    + #return None, None, None
    +
    def ImportModuleLibrary(self, filepath):
    if os.path.isfile(filepath):
    shutil.copy(filepath, self.Path)
    @@ -452,8 +750,31 @@
    def GetModulesLibrary(self, profile_filter=None):
    return self.ModulesLibrary.GetModulesLibrary(profile_filter)
    + # add jblee
    + def GetMDPList(self):
    + return self.ModulesLibrary.GetMDPList()
    +
    + # add jblee
    + def GetSelectModule(self, idx):
    + return self.ModulesLibrary.GetSelectModule(idx)
    +
    + # add jblee
    + def GetModuleEntryList(self):
    + return self.ModulesLibrary.GetModuleEntryList()
    +
    + # add jblee
    + def GetModuleIncrement(self):
    + return self.ModulesLibrary.GetModuleIncrement()
    +
    + # add jblee
    + #def GetEntriesList(self, limits = None):
    + # return self.ModulesLibrary.GetEntriesList()
    +
    def GetVendors(self):
    return self.ModulesLibrary.GetVendors()
    def GetModuleInfos(self, module_infos):
    return self.ModulesLibrary.GetModuleInfos(module_infos)
    +
    + def GetMDPInfos(self, module_infos):
    + return self.ModulesLibrary.GetMDPInfos(module_infos)
    --- a/etherlab/plc_cia402node.c Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/plc_cia402node.c Mon Nov 25 08:10:45 2019 +0100
    @@ -3,6 +3,8 @@
    Template C code used to produce target Ethercat C CIA402 code
    Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
    + RTES Lab : CRKim, JBLee, youcu
    + Higen Motor : Donggu Kang
    Distributed under the terms of the GNU Lesser General Public License as
    published by the Free Software Foundation; either version 2 of the License, or
    @@ -33,7 +35,25 @@
    xxxx xxxx x0xx 1111 | Fault reaction active
    xxxx xxxx x0xx 1000 | Fault
    */
    +
    +//ssh_add
    +/* From CiA402, Page 63 Statusword for homing mode
    +
    + Table 106 - Definition of bit 10, bit 12, bit 13
    +
    +xx00 x0xx xxxx xxxx | Homing procedure is in progress
    +xx00 x1xx xxxx xxxx | Homing procedure is interrupted or not started
    +xx01 x0xx xxxx xxxx | Homing is attained, but target is not reached
    +xx01 x1xx xxxx xxxx | Homing procedure is completed successfully
    +xx10 x0xx xxxx xxxx | Homing error occurred, velocity is not 0
    +xx10 x1xx xxxx xxxx | Homing error occurred, velocity is 0
    +xx11 xxxx xxxx xxxx | reserved
    +*/
    +
    #define FSAFromStatusWord(SW) (SW & 0x006f)
    +//ssh_add
    +#define HomingStatusWord(SW) (SW & 0x3400)
    +#define FaultFromStatusWord(SW) (SW & 0x0008)
    #define NotReadyToSwitchOn 0b00000000 FSA_sep 0b00100000
    #define SwitchOnDisabled 0b01000000 FSA_sep 0b01100000
    #define ReadyToSwitchOn 0b00100001
    @@ -43,7 +63,16 @@
    #define FaultReactionActive 0b00001111 FSA_sep 0b00101111
    #define Fault 0b00001000 FSA_sep 0b00101000
    -// SatusWord bits :
    +//ssh_add
    +#define HomingInProgress 0b0000000000000000
    +#define HomingNotRunning 0b0000010000000000
    +#define HomingNotReached 0b0001000000000000
    +#define Homing_Completed 0b0001010000000000
    +#define HomingErrorInVelo 0b0010000000000000
    +#define HomingErrorNotVelo 0b0010010000000000
    +#define HomingReserved 0b0011000000000000 FSA_sep 0b0011010000000000
    +
    +// StatusWord bits :
    #define SW_ReadyToSwitchOn 0x0001
    #define SW_SwitchedOn 0x0002
    #define SW_OperationEnabled 0x0004
    @@ -56,6 +85,10 @@
    #define SW_TargetReached 0x0400
    #define SW_InternalLimitActive 0x0800
    +//ssh_add
    +#define SW_HomingAttained 0x1000
    +#define SW_HomingError 0x2000
    +
    // ControlWord bits :
    #define SwitchOn 0x0001
    #define EnableVoltage 0x0002
    @@ -64,11 +97,15 @@
    #define FaultReset 0x0080
    #define Halt 0x0100
    +//ssh_add
    +//#define Homing_OperationStart 0x0010
    +#define Homing_OperationStart_Origin 0x0010
    +#define Homing_OperationStart_Edit 0x001F
    -IEC_INT beremiz__IW%(location_str)s = %(slave_pos)s;
    -IEC_INT *__IW%(location_str)s = &beremiz__IW%(location_str)s;
    -IEC_INT beremiz__IW%(location_str)s_402;
    -IEC_INT *__IW%(location_str)s_402 = &beremiz__IW%(location_str)s_402;
    +IEC_INT beremiz__IW%(location)s = %(slave_pos)s;
    +IEC_INT *__IW%(location)s = &beremiz__IW%(location)s;
    +IEC_INT beremiz__IW%(location)s_402;
    +IEC_INT *__IW%(location)s_402 = &beremiz__IW%(location)s_402;
    %(MCL_headers)s
    @@ -104,7 +141,7 @@
    axis_s* axis;
    } __CIA402Node;
    -#define AxsPub __CIA402Node_%(location_str)s
    +#define AxsPub __CIA402Node_%(location)s
    static __CIA402Node AxsPub;
    @@ -112,25 +149,24 @@
    %(fieldbus_interface_declaration)s
    -int __init_%(location_str)s()
    +int __init_%(location)s()
    {
    __FirstTick = 1;
    %(init_entry_variables)s
    - *(AxsPub.ModesOfOperation) = 0x08;
    return 0;
    }
    -void __cleanup_%(location_str)s()
    +void __cleanup_%(location)s()
    {
    }
    -void __retrieve_%(location_str)s()
    +void __retrieve_%(location)s()
    {
    if (__FirstTick) {
    - *__IW%(location_str)s_402 = __MK_Alloc_AXIS_REF();
    + *__IW%(location)s_402 = __MK_Alloc_AXIS_REF();
    AxsPub.axis =
    - __MK_GetPublic_AXIS_REF(*__IW%(location_str)s_402);
    - AxsPub.axis->NetworkPosition = beremiz__IW%(location_str)s;
    + __MK_GetPublic_AXIS_REF(*__IW%(location)s_402);
    + AxsPub.axis->NetworkPosition = beremiz__IW%(location)s;
    %(init_axis_params)s
    %(fieldbus_interface_definition)s
    __FirstTick = 0;
    @@ -146,15 +182,13 @@
    AxsPub.axis->PowerFeedback = FSA == OperationEnabled;
    }
    #undef FSA_sep
    - AxsPub.axis->ActualRawPosition = *(AxsPub.ActualPosition);
    - AxsPub.axis->ActualRawVelocity = *(AxsPub.ActualVelocity);
    - AxsPub.axis->ActualRawTorque = *(AxsPub.ActualTorque);
    +%(default_variables_retrieve)s
    // Extra variables retrieve
    %(extra_variables_retrieve)s
    }
    -void __publish_%(location_str)s()
    +void __publish_%(location)s()
    {
    IEC_BOOL power =
    ((*(AxsPub.StatusWord) & SW_VoltageEnabled) != 0)
    @@ -181,37 +215,61 @@
    CW |= SwitchOn | EnableVoltage | QuickStop | EnableOperation;
    }
    break;
    - case Fault :
    - /* TODO reset fault only when MC_Reset */
    - CW &= ~(SwitchOn | EnableVoltage | QuickStop | EnableOperation);
    - CW |= FaultReset;
    - break;
    + //ssh_check
    +// case Fault :
    +// /* TODO reset fault only when MC_Reset */
    +// AxsPub.axis->DriveFault = 1;
    +// CW &= ~(SwitchOn | EnableVoltage | QuickStop | EnableOperation);
    +// CW |= FaultReset;
    +// break;
    default:
    break;
    }
    + //ssh_add
    + if(FaultFromStatusWord(*(AxsPub.StatusWord)) == SW_Fault)
    + AxsPub.axis->DriveFault = 1;
    + else{
    + AxsPub.axis->DriveFault = 0;
    + AxsPub.axis->DriveFaultReset = 0;
    + }
    + if(AxsPub.axis->DriveFaultReset){
    + CW &= ~(SwitchOn | EnableVoltage | QuickStop | EnableOperation);
    + CW |= FaultReset;
    + }
    +
    + //ssh_add
    + switch (HomingStatusWord(*(AxsPub.StatusWord))) {
    + case HomingInProgress:
    + break;
    + case HomingNotRunning:
    + break;
    + case HomingNotReached:
    + break;
    + case Homing_Completed:
    + if(!AxsPub.axis->HomingCompleted)
    + AxsPub.axis->HomingCompleted = 1;
    + break;
    + case HomingErrorInVelo:
    + case HomingErrorNotVelo:
    + if(!AxsPub.axis->HomingCompleted)
    + AxsPub.axis->HomingCompleted = 1;
    + break;
    + case HomingReserved:
    + break;
    + }
    #undef FSA_sep
    - *(AxsPub.ControlWord) = CW;
    +
    + //ssh_add
    +%(modeofop_homing_method)s
    +
    + *(AxsPub.ControlWord) = CW;
    +
    // CIA402 node modes of operation computation according to axis motion mode
    - switch (AxsPub.axis->AxisMotionMode) {
    - case mc_mode_cst:
    - *(AxsPub.ModesOfOperation) = 0x0a;
    - break;
    - case mc_mode_csv:
    - *(AxsPub.ModesOfOperation) = 0x09;
    - break;
    - default:
    - *(AxsPub.ModesOfOperation) = 0x08;
    - break;
    - }
    +%(modeofop_computation_mode)s
    // Default variables publish
    - *(AxsPub.TargetPosition) =
    - AxsPub.axis->RawPositionSetPoint;
    - *(AxsPub.TargetVelocity) =
    - AxsPub.axis->RawVelocitySetPoint;
    - *(AxsPub.TargetTorque) =
    - AxsPub.axis->RawTorqueSetPoint;
    +%(default_variables_publish)s
    // Extra variables publish
    %(extra_variables_publish)s
    --- a/etherlab/plc_etherlab.c Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/plc_etherlab.c Mon Nov 25 08:10:45 2019 +0100
    @@ -32,6 +32,43 @@
    %(used_pdo_entry_configuration)s
    {}
    };
    +
    +// Distributed Clock variables;
    +%(dc_variable)s
    +unsigned long long comp_period_ns = 500000ULL;
    +
    +int comp_count = 1;
    +int comp_count_max;
    +
    +#define DC_FILTER_CNT 1024
    +
    +// EtherCAT slave-time-based DC Synchronization variables.
    +static uint64_t dc_start_time_ns = 0LL;
    +static uint64_t dc_time_ns = 0;
    +static uint8_t dc_started = 0;
    +static int32_t dc_diff_ns = 0;
    +static int32_t prev_dc_diff_ns = 0;
    +static int64_t dc_diff_total_ns = 0LL;
    +static int64_t dc_delta_total_ns = 0LL;
    +static int dc_filter_idx = 0;
    +static int64_t dc_adjust_ns;
    +static int64_t system_time_base = 0LL;
    +
    +static uint64_t dc_first_app_time = 0LL;
    +
    +unsigned long long frame_period_ns = 0ULL;
    +
    +int debug_count = 0;
    +int slave_dc_used = 0;
    +
    +void dc_init(void);
    +uint64_t system_time_ns(void);
    +RTIME system2count(uint64_t time);
    +void sync_distributed_clocks(void);
    +void update_master_clock(void);
    +RTIME calculate_sleeptime(uint64_t wakeup_time);
    +uint64_t calculate_first(void);
    +
    /*****************************************************************************/
    %(pdos_configuration_declaration)s
    @@ -50,7 +87,7 @@
    LogMessage(level, sbuf, slen);\
    }
    -/* Beremiz plugin functions */
    +/* EtherCAT plugin functions */
    int __init_%(location)s(int argc,char **argv)
    {
    uint32_t abort_code;
    @@ -81,10 +118,34 @@
    ecrt_master_set_send_interval(master, common_ticktime__);
    // slaves initialization
    +/*
    %(slaves_initialization)s
    +*/
    + // configure DC SYNC0/1 Signal
    +%(config_dc)s
    +
    + // select reference clock
    +#if DC_ENABLE
    + {
    + int ret;
    +
    + ret = ecrt_master_select_reference_clock(master, slave0);
    + if (ret <0) {
    + fprintf(stderr, "Failed to select reference clock : %%s\n",
    + strerror(-ret));
    + return ret;
    + }
    + }
    +#endif
    // extracting default value for not mapped entry in output PDOs
    +/*
    %(slaves_output_pdos_default_values_extraction)s
    +*/
    +
    +#if DC_ENABLE
    + dc_init();
    +#endif
    if (ecrt_master_activate(master)){
    SLOGF(LOG_CRITICAL, "EtherCAT Master activation failed");
    @@ -126,17 +187,20 @@
    }
    +/*
    static RTIME _last_occur=0;
    static RTIME _last_publish=0;
    RTIME _current_lag=0;
    RTIME _max_jitter=0;
    static inline RTIME max(RTIME a,RTIME b){return a>b?a:b;}
    +*/
    void __publish_%(location)s(void)
    {
    %(publish_variables)s
    ecrt_domain_queue(domain1);
    {
    + /*
    RTIME current_time = rt_timer_read();
    // Limit spining max 1/5 of common_ticktime
    RTIME maxdeadline = current_time + (common_ticktime__ / 5);
    @@ -162,7 +226,281 @@
    //Consuming security margin ?
    _last_occur = current_time; //Drift forward
    }
    + */
    }
    +
    +#if DC_ENABLE
    + if (comp_count == 0)
    + sync_distributed_clocks();
    +#endif
    +
    ecrt_master_send(master);
    first_sent = 1;
    +
    +#if DC_ENABLE
    + if (comp_count == 0)
    + update_master_clock();
    +
    + comp_count++;
    +
    + if (comp_count == comp_count_max)
    + comp_count = 0;
    +#endif
    +
    }
    +
    +/* Test Function For Parameter (SDO) Set */
    +
    +/*
    +void GetSDOData(void){
    + uint32_t abort_code, test_value;
    + size_t result_size;
    + uint8_t value[4];
    +
    + abort_code = 0;
    + result_size = 0;
    + test_value = 0;
    +
    + if (ecrt_master_sdo_upload(master, 0, 0x1000, 0x0, (uint8_t *)value, 4, &result_size, &abort_code)) {
    + SLOGF(LOG_CRITICAL, "EtherCAT failed to get SDO Value");
    + }
    + test_value = EC_READ_S32((uint8_t *)value);
    + SLOGF(LOG_INFO, "SDO Value %%d", test_value);
    +}
    +*/
    +
    +int GetMasterData(void){
    + master = ecrt_open_master(0);
    + if (!master) {
    + SLOGF(LOG_CRITICAL, "EtherCAT master request failed!");
    + return -1;
    + }
    + return 0;
    +}
    +
    +void ReleaseMasterData(void){
    + ecrt_release_master(master);
    +}
    +
    +uint32_t GetSDOData(uint16_t slave_pos, uint16_t idx, uint8_t subidx, int size){
    + uint32_t abort_code, return_value;
    + size_t result_size;
    + uint8_t value[size];
    +
    + abort_code = 0;
    + result_size = 0;
    +
    + if (ecrt_master_sdo_upload(master, slave_pos, idx, subidx, (uint8_t *)value, size, &result_size, &abort_code)) {
    + SLOGF(LOG_CRITICAL, "EtherCAT failed to get SDO Value %%d %%d", idx, subidx);
    + }
    +
    + return_value = EC_READ_S32((uint8_t *)value);
    + //SLOGF(LOG_INFO, "SDO Value %%d", return_value);
    +
    + return return_value;
    +}
    +
    +/*****************************************************************************/
    +
    +void dc_init(void)
    +{
    + slave_dc_used = 1;
    +
    + frame_period_ns = common_ticktime__;
    + if (frame_period_ns <= comp_period_ns) {
    + comp_count_max = comp_period_ns / frame_period_ns;
    + comp_count = 0;
    + } else {
    + comp_count_max = 1;
    + comp_count = 0;
    + }
    +
    + /* Set the initial master time */
    + dc_start_time_ns = system_time_ns();
    + dc_time_ns = dc_start_time_ns;
    +
    + /* by woonggy */
    + dc_first_app_time = dc_start_time_ns;
    +
    + /*
    + * Attention : The initial application time is also used for phase
    + * calculation for the SYNC0/1 interrupts. Please be sure to call it at
    + * the correct phase to the realtime cycle.
    + */
    + ecrt_master_application_time(master, dc_start_time_ns);
    +}
    +
    +/****************************************************************************/
    +
    +/*
    + * Get the time in ns for the current cpu, adjusted by system_time_base.
    + *
    + * \attention Rather than calling rt_timer_read() directly, all application
    + * time calls should use this method instead.
    + *
    + * \ret The time in ns.
    + */
    +uint64_t system_time_ns(void)
    +{
    + RTIME time = rt_timer_read(); // wkk
    +
    + if (unlikely(system_time_base > (SRTIME) time)) {
    + fprintf(stderr, "%%s() error: system_time_base greater than"
    + " system time (system_time_base: %%ld, time: %%llu\n",
    + __func__, system_time_base, time);
    + return time;
    + }
    + else {
    + return time - system_time_base;
    + }
    +}
    +
    +/****************************************************************************/
    +
    +// Convert system time to Xenomai time in counts (via the system_time_base).
    +RTIME system2count(uint64_t time)
    +{
    + RTIME ret;
    +
    + if ((system_time_base < 0) &&
    + ((uint64_t) (-system_time_base) > time)) {
    + fprintf(stderr, "%%s() error: system_time_base less than"
    + " system time (system_time_base: %%I64d, time: %%ld\n",
    + __func__, system_time_base, time);
    + ret = time;
    + }
    + else {
    + ret = time + system_time_base;
    + }
    +
    + return (RTIME) rt_timer_ns2ticks(ret); // wkk
    +}
    +
    +/*****************************************************************************/
    +
    +// Synchronise the distributed clocks
    +void sync_distributed_clocks(void)
    +{
    + uint32_t ref_time = 0;
    + RTIME prev_app_time = dc_time_ns;
    +
    + // get reference clock time to synchronize master cycle
    + if(!ecrt_master_reference_clock_time(master, &ref_time)) {
    + dc_diff_ns = (uint32_t) prev_app_time - ref_time;
    + }
    + // call to sync slaves to ref slave
    + ecrt_master_sync_slave_clocks(master);
    + // set master time in nano-seconds
    + dc_time_ns = system_time_ns();
    + ecrt_master_application_time(master, dc_time_ns);
    +}
    +
    +/*****************************************************************************/
    +
    +/*
    + * Return the sign of a number
    + * ie -1 for -ve value, 0 for 0, +1 for +ve value
    + * \ret val the sign of the value
    + */
    +#define sign(val) \
    + ({ typeof (val) _val = (val); \
    + ((_val > 0) - (_val < 0)); })
    +
    +/*****************************************************************************/
    +
    +/*
    + * Update the master time based on ref slaves time diff
    + * called after the ethercat frame is sent to avoid time jitter in
    + * sync_distributed_clocks()
    + */
    +void update_master_clock(void)
    +{
    + // calc drift (via un-normalised time diff)
    + int32_t delta = dc_diff_ns - prev_dc_diff_ns;
    + prev_dc_diff_ns = dc_diff_ns;
    +
    + // normalise the time diff
    + dc_diff_ns = dc_diff_ns >= 0 ?
    + ((dc_diff_ns + (int32_t)(frame_period_ns / 2)) %%
    + (int32_t)frame_period_ns) - (frame_period_ns / 2) :
    + ((dc_diff_ns - (int32_t)(frame_period_ns / 2)) %%
    + (int32_t)frame_period_ns) - (frame_period_ns / 2) ;
    +
    + // only update if primary master
    + if (dc_started) {
    + // add to totals
    + dc_diff_total_ns += dc_diff_ns;
    + dc_delta_total_ns += delta;
    + dc_filter_idx++;
    +
    + if (dc_filter_idx >= DC_FILTER_CNT) {
    + dc_adjust_ns += dc_delta_total_ns >= 0 ?
    + ((dc_delta_total_ns + (DC_FILTER_CNT / 2)) / DC_FILTER_CNT) :
    + ((dc_delta_total_ns - (DC_FILTER_CNT / 2)) / DC_FILTER_CNT) ;
    +
    + // and add adjustment for general diff (to pull in drift)
    + dc_adjust_ns += sign(dc_diff_total_ns / DC_FILTER_CNT);
    +
    + // limit crazy numbers (0.1%% of std cycle time)
    + if (dc_adjust_ns < -1000) {
    + dc_adjust_ns = -1000;
    + }
    + if (dc_adjust_ns > 1000) {
    + dc_adjust_ns = 1000;
    + }
    + // reset
    + dc_diff_total_ns = 0LL;
    + dc_delta_total_ns = 0LL;
    + dc_filter_idx = 0;
    + }
    + // add cycles adjustment to time base (including a spot adjustment)
    + system_time_base += dc_adjust_ns + sign(dc_diff_ns);
    + }
    + else {
    + dc_started = (dc_diff_ns != 0);
    +
    + if (dc_started) {
    +#if DC_ENABLE && DEBUG_MODE
    + // output first diff
    + fprintf(stderr, "First master diff: %%d\n", dc_diff_ns);
    +#endif
    + // record the time of this initial cycle
    + dc_start_time_ns = dc_time_ns;
    + }
    + }
    +}
    +
    +/*****************************************************************************/
    +
    +/*
    + * Calculate the sleeptime
    + */
    +RTIME calculate_sleeptime(uint64_t wakeup_time)
    +{
    + RTIME wakeup_count = system2count (wakeup_time);
    + RTIME current_count = rt_timer_read();
    +
    + if ((wakeup_count < current_count) || (wakeup_count > current_count + (50 * frame_period_ns))) {
    + fprintf(stderr, "%%s(): unexpected wake time! wc = %%lld\tcc = %%lld\n", __func__, wakeup_count, current_count);
    + }
    +
    + return wakeup_count;
    +}
    +
    +/*****************************************************************************/
    +
    +/*
    + * Calculate the sleeptime
    + */
    +uint64_t calculate_first(void)
    +{
    + uint64_t dc_remainder = 0LL;
    + uint64_t dc_phase_set_time = 0LL;
    +
    + dc_phase_set_time = system_time_ns()+ frame_period_ns * 10;
    + dc_remainder = (dc_phase_set_time - dc_first_app_time) %% frame_period_ns;
    +
    + return dc_phase_set_time + frame_period_ns - dc_remainder;
    +}
    +
    +/*****************************************************************************/
    --- a/etherlab/pous.xml Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/pous.xml Mon Nov 25 08:10:45 2019 +0100
    @@ -110,13 +110,13 @@
    VALUE := 'None';
    END_IF;
    1:
    - {if (AcquireSDOLock()) __SET_VAR(data__->,STATE,, 2)}
    + {if (AcquireSDOLock()) __SET_VAR(data__->,STATE, 2)}
    2:
    IF PY0.ACK THEN
    STATE := 3;
    END_IF;
    3:
    - {if (HasAnswer()) __SET_VAR(data__->,STATE,, 4)}
    + {if (HasAnswer()) __SET_VAR(data__->,STATE, 4)}
    4:
    IF PY1.ACK THEN
    ACK := 1;
    @@ -231,13 +231,13 @@
    ERROR := 0;
    END_IF;
    1:
    - {if (AcquireSDOLock()) __SET_VAR(data__->,STATE,, 2)}
    + {if (AcquireSDOLock()) __SET_VAR(data__->,STATE, 2)}
    2:
    IF PY0.ACK THEN
    STATE := 3;
    END_IF;
    3:
    - {if (HasAnswer()) __SET_VAR(data__->,STATE,, 4)}
    + {if (HasAnswer()) __SET_VAR(data__->,STATE, 4)}
    4:
    IF PY1.ACK THEN
    ACK := 1;
    --- a/etherlab/runtime_etherlab.py Wed Nov 13 11:21:04 2019 +0100
    +++ b/etherlab/runtime_etherlab.py Mon Nov 25 08:10:45 2019 +0100
    @@ -1,3 +1,14 @@
    +#!/usr/bin/env python
    +# -*- coding: utf-8 -*-
    +
    +# this file is part of beremiz
    +#
    +# copyright (c) 2011-2014: laurent bessard, edouard tisserant
    +# rtes lab : crkim, jblee, youcu
    +# higen motor : donggu kang
    +#
    +# see copying file for copyrights details.
    +
    from __future__ import absolute_import
    import os
    import signal