beremiz

Preliminary CANopen slave generation support

2008-06-24, etisserant
121b18748de0
Parents f9c6c9e36725
Children 648449a9d778
Preliminary CANopen slave generation support
2 files changed, 143 insertions(+), 134 deletions(-)
  • +104 -130
    plugins/canfestival/canfestival.py
  • +39 -4
    plugins/canfestival/config_utils.py
    • --- a/plugins/canfestival/canfestival.py Mon Jun 23 18:22:40 2008 +0200
    +++ b/plugins/canfestival/canfestival.py Tue Jun 24 19:02:11 2008 +0200
    @@ -19,17 +19,10 @@
    # SLAVE
    #--------------------------------------------------
    -class _NodeEdit(objdictedit):
    - " Overload some of CanFestival Node Editor methods "
    - def OnCloseFrame(self, event):
    - " Do reset _NodeListPlug.View when closed"
    - self._onclose()
    - event.Skip()
    -
    class _SlavePlug(NodeManager):
    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
    - <xsd:element name="CanFestivalNode">
    + <xsd:element name="CanFestivalSlaveNode">
    <xsd:complexType>
    <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>
    <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>
    @@ -40,7 +33,7 @@
    """
    def GetSlaveODPath(self):
    - os.path.join(self.PlugPath(), 'slave.od')
    + return os.path.join(self.PlugPath(), 'slave.od')
    def __init__(self):
    # TODO change netname when name change
    @@ -65,7 +58,90 @@
    self._View = None
    def _onsave():
    self.GetPlugRoot().SaveProject()
    - self._View = _NodeEdit(self.GetPlugRoot().AppFrame, self)
    + self._View = objdictedit(self.GetPlugRoot().AppFrame, self)
    + # TODO redefine BusId when IEC channel change
    + self._View.SetBusId(self.GetCurrentLocation())
    + self._View._onclose = _onclose
    + self._View._onsave = _onsave
    + self._View.Show()
    +
    + PluginMethods = [
    + {"bitmap" : os.path.join("images", "NetworkEdit"),
    + "name" : "Edit slave",
    + "tooltip" : "Edit CanOpen slave with ObjdictEdit",
    + "method" : "_OpenView"},
    + ]
    +
    + def OnPlugClose(self):
    + if self._View:
    + self._View.Close()
    +
    + def PlugTestModified(self):
    + return self.ChangesToSave or self.OneFileHasChanged()
    +
    + def OnPlugSave(self):
    + return self.SaveCurrentInFile(self.GetSlaveODPath())
    +
    + def PlugGenerate_C(self, buildpath, locations, logger):
    + """
    + Generate C code
    + @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)
    + @param locations: List of complete variables locations \
    + [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
    + "NAME" : name of the variable (generally "__IW0_1_2" style)
    + "DIR" : direction "Q","I" or "M"
    + "SIZE" : size "X", "B", "W", "D", "L"
    + "LOC" : tuple of interger for IEC location (0,1,2,...)
    + }, ...]
    + @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
    + """
    + current_location = self.GetCurrentLocation()
    + # define a unique name for the generated C file
    + prefix = "_".join(map(str, current_location))
    + Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
    + # Create a new copy of the model
    + slave = self.GetCurrentNodeCopy()
    + slave.SetNodeName("OD_%s"%prefix)
    + # allow access to local OD from Slave PLC
    + pointers = config_utils.LocalODPointers(locations, current_location, slave)
    + res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)
    + if res :
    + raise Exception, res
    + self.ExportCurrentToEDSFile(os.path.join(buildpath, "Slave_%s.eds"%prefix))
    + return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False
    +
    +#--------------------------------------------------
    +# MASTER
    +#--------------------------------------------------
    +
    +class _NodeListPlug(NodeList):
    + XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
    + <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
    + <xsd:element name="CanFestivalNode">
    + <xsd:complexType>
    + <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>
    + <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>
    + <xsd:attribute name="NodeId" type="xsd:string" use="required"/>
    + <xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>
    + </xsd:complexType>
    + </xsd:element>
    + </xsd:schema>
    + """
    +
    + def __init__(self):
    + manager = NodeManager()
    + # TODO change netname when name change
    + NodeList.__init__(self, manager, self.BaseParams.getName())
    + self.LoadProject(self.PlugPath())
    +
    + _View = None
    + def _OpenView(self, logger):
    + if not self._View:
    + def _onclose():
    + self._View = None
    + def _onsave():
    + self.GetPlugRoot().SaveProject()
    + self._View = networkedit(self.GetPlugRoot().AppFrame, self)
    # TODO redefine BusId when IEC channel change
    self._View.SetBusId(self.GetCurrentLocation())
    self._View._onclose = _onclose
    @@ -106,8 +182,7 @@
    def OnPlugSave(self):
    self.SetRoot(self.PlugPath())
    - self.SaveProject()
    - return True
    + return self.SaveProject() is not None
    def PlugGenerate_C(self, buildpath, locations, logger):
    """
    @@ -124,121 +199,13 @@
    """
    current_location = self.GetCurrentLocation()
    # define a unique name for the generated C file
    - prefix = "_".join(map(lambda x:str(x), current_location))
    - Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
    - # Create a new copy of the model with DCF loaded with PDO mappings for desired location
    - master = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(),"OD_%s"%prefix)
    - res = gen_cfile.GenerateFile(Gen_OD_path, master)
    - if res :
    - raise Exception, res
    -
    - file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")
    - dump(master, file)
    - file.close()
    -
    - return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False
    -
    -#--------------------------------------------------
    -# MASTER
    -#--------------------------------------------------
    -
    -class _NetworkEdit(networkedit):
    - " Overload some of CanFestival Network Editor methods "
    - def OnCloseFrame(self, event):
    - " Do reset _NodeListPlug.View when closed"
    - self._onclose()
    - event.Skip()
    -
    -class _NodeListPlug(NodeList):
    - XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
    - <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
    - <xsd:element name="CanFestivalNode">
    - <xsd:complexType>
    - <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>
    - <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>
    - <xsd:attribute name="NodeId" type="xsd:string" use="required"/>
    - <xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>
    - </xsd:complexType>
    - </xsd:element>
    - </xsd:schema>
    - """
    -
    - def __init__(self):
    - manager = NodeManager()
    - # TODO change netname when name change
    - NodeList.__init__(self, manager, self.BaseParams.getName())
    - self.LoadProject(self.PlugPath())
    -
    - _View = None
    - def _OpenView(self, logger):
    - if not self._View:
    - def _onclose():
    - self._View = None
    - def _onsave():
    - self.GetPlugRoot().SaveProject()
    - self._View = _NetworkEdit(self.GetPlugRoot().AppFrame, self)
    - # TODO redefine BusId when IEC channel change
    - self._View.SetBusId(self.GetCurrentLocation())
    - self._View._onclose = _onclose
    - self._View._onsave = _onsave
    - self._View.Show()
    -
    - def _ShowMasterGenerated(self, logger):
    - buildpath = self._getBuildPath()
    - # Eventually create build dir
    - if not os.path.exists(buildpath):
    - logger.write_error("Error: No PLC built\n")
    - return
    -
    - masterpath = os.path.join(buildpath, "MasterGenerated.od")
    - if not os.path.exists(masterpath):
    - logger.write_error("Error: No Master generated\n")
    - return
    -
    - new_dialog = objdictedit(None, [masterpath])
    - new_dialog.Show()
    -
    - PluginMethods = [
    - {"bitmap" : os.path.join("images", "NetworkEdit"),
    - "name" : "Edit network",
    - "tooltip" : "Edit CanOpen Network with NetworkEdit",
    - "method" : "_OpenView"},
    - {"name" : "Show Master",
    - "tooltip" : "Show Master generated by config_utils",
    - "method" : "_ShowMasterGenerated"}
    - ]
    -
    - def OnPlugClose(self):
    - if self._View:
    - self._View.Close()
    -
    - def PlugTestModified(self):
    - return self.ChangesToSave or self.HasChanged()
    -
    - def OnPlugSave(self):
    - self.SetRoot(self.PlugPath())
    - self.SaveProject()
    - return True
    -
    - def PlugGenerate_C(self, buildpath, locations, logger):
    - """
    - Generate C code
    - @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)
    - @param locations: List of complete variables locations \
    - [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
    - "NAME" : name of the variable (generally "__IW0_1_2" style)
    - "DIR" : direction "Q","I" or "M"
    - "SIZE" : size "X", "B", "W", "D", "L"
    - "LOC" : tuple of interger for IEC location (0,1,2,...)
    - }, ...]
    - @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
    - """
    - current_location = self.GetCurrentLocation()
    - # define a unique name for the generated C file
    - prefix = "_".join(map(lambda x:str(x), current_location))
    + prefix = "_".join(map(str, current_location))
    Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
    # Create a new copy of the model with DCF loaded with PDO mappings for desired location
    master, pointers = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(),"OD_%s"%prefix)
    + # allow access to local OD from Master PLC
    + pointers.update(config_utils.LocalODPointers(locations, current_location, master))
    + # Do generate C file.
    res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)
    if res :
    raise Exception, res
    @@ -288,22 +255,29 @@
    for child in self.IECSortedChilds():
    childlocstr = "_".join(map(str,child.GetCurrentLocation()))
    nodename = "OD_%s" % childlocstr
    +
    + # Try to get Slave Node
    + child_data = getattr(child, "CanFestivalSlaveNode", None)
    + if child_data is None:
    + # Not a slave -> master
    + child_data = getattr(child, "CanFestivalNode")
    + if child_data.getSync_TPDOs():
    + format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n '%(nodename)
    + format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n '%(nodename)
    format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)
    format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(
    nodename,
    - child.CanFestivalNode.getCAN_Device(),
    - child.CanFestivalNode.getCAN_Baudrate())
    + child_data.getCAN_Device(),
    + child_data.getCAN_Baudrate())
    format_dict["nodes_declare"] += 'NODE_DECLARE(%s, %s)\n '%(
    nodename,
    - child.CanFestivalNode.getNodeId())
    + child_data.getNodeId())
    format_dict["nodes_init"] += 'NODE_INIT(%s, %s)\n '%(
    nodename,
    - child.CanFestivalNode.getNodeId())
    + child_data.getNodeId())
    format_dict["nodes_open"] += 'NODE_OPEN(%s)\n '%(nodename)
    format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n '%(nodename)
    - format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n '%(nodename)
    - format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n '%(nodename)
    if sys.platform == 'win32':
    if self.CanFestivalInstance.getDebug_mode() and os.path.isfile(os.path.join("%s"%(format_dict["candriver"] + '_DEBUG.dll'))):
    --- a/plugins/canfestival/config_utils.py Mon Jun 23 18:22:40 2008 +0200
    +++ b/plugins/canfestival/config_utils.py Tue Jun 24 19:02:11 2008 +0200
    @@ -341,8 +341,10 @@
    # Get only the part of the location that concern this node
    loc = location["LOC"][len(current_location):]
    # loc correspond to (ID, INDEX, SUBINDEX [,BIT])
    - if len(loc) not in (3, 4):
    + if len(loc) not in (2, 3, 4):
    raise ValueError, "Bad location size : %s"%str(loc)
    + elif len(loc) == 2:
    + continue
    direction = location["DIR"]
    @@ -374,9 +376,8 @@
    else:
    numbit = None
    - entryinfos = node.GetSubentryInfos(index, subindex)
    - if location["IEC_TYPE"] != "BOOL" and entryinfos["type"] != COlocationtype:
    - raise ValueError, "Invalid type \"%s\"-> %d != %d for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, entryinfos["type"] , name)
    + if location["IEC_TYPE"] != "BOOL" and subentry_infos["type"] != COlocationtype:
    + raise ValueError, "Invalid type \"%s\"-> %d != %d for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, subentry_infos["type"] , name)
    typeinfos = node.GetEntryInfos(COlocationtype)
    self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],
    @@ -584,6 +585,40 @@
    dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs)
    return dcfgenerator.GetMasterNode(), dcfgenerator.GetPointedVariables()
    +def LocalODPointers(locations, current_location, slave):
    + IECLocations = {}
    + pointers = {}
    + for location in locations:
    + COlocationtype = IECToCOType[location["IEC_TYPE"]]
    + name = location["NAME"]
    + if name in IECLocations:
    + if IECLocations[name] != COlocationtype:
    + raise ValueError, "Conflict type for location \"%s\"" % name
    + else:
    + # Get only the part of the location that concern this node
    + loc = location["LOC"][len(current_location):]
    + # loc correspond to (ID, INDEX, SUBINDEX [,BIT])
    + if len(loc) not in (2, 3, 4):
    + raise ValueError, "Bad location size : %s"%str(loc)
    + elif len(loc) != 2:
    + continue
    +
    + # Extract and check nodeid
    + index, subindex = loc[:2]
    +
    + # Extract and check index and subindex
    + if not slave.IsEntry(index, subindex):
    + raise ValueError, "No such index/subindex (%x,%x) (variable %s)" % (index, subindex, name)
    +
    + # Get the entry info
    + subentry_infos = slave.GetSubentryInfos(index, subindex)
    + if subentry_infos["type"] != COlocationtype:
    + raise ValueError, "Invalid type \"%s\"-> %d != %d for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, subentry_infos["type"] , name)
    +
    + IECLocations[name] = COlocationtype
    + pointers[(index, subindex)] = name
    + return pointers
    +
    if __name__ == "__main__":
    import os, sys, getopt