HGKeeper

~~--- a/etherlab/etherlab.py Sat Sep 22 12:07:06 2012 +0200~~

+++ b/etherlab/etherlab.py Sun Sep 23 23:25:57 2012 +0200

@@ -61,16 +61,6 @@

class _EthercatSlaveCTN:

~~- XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>~~

~~- <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">~~

~~- <xsd:element name="SlaveParams">~~

~~- <xsd:complexType>~~

~~- <xsd:attribute name="DynamicPDOs" type="xsd:boolean" use="optional" default="true"/>~~

~~- </xsd:complexType>~~

~~- </xsd:element>~~

~~- </xsd:schema>~~

~~- """~~

NODE_PROFILE = None

EditorType = NodeEditor

@@ -184,7 +174,6 @@

<xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

<xsd:element name="CIA402SlaveParams">

<xsd:complexType>

~~- <xsd:attribute name="DynamicPDOs" type="xsd:boolean" use="optional" default="true"/>~~

</xsd:complexType>

</xsd:element>

@@ -361,7 +350,6 @@

<xsd:element name="EtherlabNode">

<xsd:complexType>

<xsd:attribute name="MasterNumber" type="xsd:integer" use="optional" default="0"/>

~~- <xsd:attribute name="ConfigurePDOs" type="xsd:boolean" use="optional" default="true"/>~~

</xsd:complexType>

</xsd:element>

</xsd:schema>

@@ -655,13 +643,8 @@

slaves = self.GetSlaves()

for slave_pos in slaves:

slave = self.GetSlave(slave_pos)

~~- slave_node = self.GetChildByIECLocation([slave_pos])~~

~~- if slave_node.CTNParams is not None:~~

~~- slave_infos = slave_node.CTNParams[1]~~

~~- else:~~

~~- slave_infos = None~~

if slave is not None:

~~- self.FileGenerator.DeclareSlave(slave_pos, slave.getInfo().getAutoIncAddr(), slave.getType(), slave_infos)~~

+ self.FileGenerator.DeclareSlave(slave_pos, slave.getInfo().getAutoIncAddr(), slave.getType())

for location in locations:

loc = location["LOC"][len(current_location):]

@@ -821,9 +804,9 @@

def __del__(self):

self.Controler = None

~~- def DeclareSlave(self, slave_index, slave_alias, slave, slave_infos):~~

~~- self.Slaves.append((slave_index, slave_alias, slave, slave_infos))~~

+ def DeclareSlave(self, slave_index, slave_alias, slave):

+ self.Slaves.append((slave_index, slave_alias, slave))

def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name):

slave_variables = self.UsedVariables.setdefault(slave_index, {})

@@ -838,14 +821,15 @@

def GenerateCFile(self, filepath, location_str, etherlab_node_infos):

+ # Extract etherlab master code template

plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")

plc_etherlab_file = open(plc_etherlab_filepath, 'r')

plc_etherlab_code = plc_etherlab_file.read()

plc_etherlab_file.close()

+ # Initialize strings for formatting master code template

str_completion = {

"location": location_str,

~~- "configure_pdos": int(etherlab_node_infos.getConfigurePDOs()),~~

"master_number": etherlab_node_infos.getMasterNumber(),

"located_variables_declaration": [],

"used_pdo_entry_offset_variables_declaration": [],

@@ -859,35 +843,48 @@

"publish_variables": [],

}

+ # Initialize variable storing variable mapping state

for slave_entries in self.UsedVariables.itervalues():

for entry_infos in slave_entries.itervalues():

entry_infos["mapped"] = False

+ # Sort slaves by position (IEC_Channel)

self.Slaves.sort()

+ # Initialize dictionary storing alias auto-increment position values

alias = {}

~~- for (slave_idx, slave_alias, type_infos, slave_infos) in self.Slaves:~~

+ # Generating code for each slave

+ for (slave_idx, slave_alias, type_infos) in self.Slaves:

+ # Defining slave alias and auto-increment position

if alias.get(slave_alias) is not None:

alias[slave_alias] += 1

else:

alias[slave_alias] = 0

slave_pos = (slave_alias, alias[slave_alias])

+ # Extract slave device informations

device = self.Controler.GetModuleInfos(type_infos)

if device is not None:

+ # Extract slaves variables to be mapped

slave_variables = self.UsedVariables.get(slave_idx, {})

+ # Extract slave device object dictionary entries

device_entries = device.GetEntriesList()

~~- if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0:~~

+ # Adding code for declaring slave in master code template strings

+ for element in ["vendor", "product_code", "revision_number"]:

+ type_infos[element] = ExtractHexDecValue(type_infos[element])

+ type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))

+ # Extract slave device CoE informations

+ device_coe = device.getCoE()

+ if device_coe is not None:

~~- for element in ["vendor", "product_code", "revision_number"]:~~

~~- type_infos[element] = ExtractHexDecValue(type_infos[element])~~

~~- type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))~~

~~- str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos~~

~~- str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos~~

~~- for initCmd in device.getInitCmd():~~

+ # If device support CanOpen over Ethernet, adding code for calling

+ # init commands when initializing slave in master code template strings

+ for initCmd in device_coe.getInitCmd():

index = ExtractHexDecValue(initCmd.getIndex())

subindex = ExtractHexDecValue(initCmd.getSubIndex())

entry = device_entries.get((index, subindex), None)

@@ -903,7 +900,20 @@

}

init_cmd_infos.update(type_infos)

str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos

+ # Extract slave device PDO configuration capabilities

+ PdoAssign = device_coe.getPdoAssign()

+ PdoConfig = device_coe.getPdoConfig()

+ else:

+ PdoAssign = PdoConfig = False

+ # Test if slave has a configuration or need one

+ if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign:

+ str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos

+ str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos

+ # Initializing

pdos_infos = {

"pdos_entries_infos": [],

"pdos_infos": [],

@@ -989,7 +999,7 @@

ConfigureVariable(entry_infos, str_completion)

~~- elif pdo_type == "Outputs" and entry.getDataType() is not None:~~

+ elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:

entry_infos["dir"] = "Q"

entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)

entry_infos["var_type"] = entry.getDataType().getcontent()

@@ -1024,7 +1034,7 @@

"entries_number": len(entries_infos),

"fixed": pdo.getFixed() == True})

~~- if slave_infos is None or slave_infos.getDynamicPDOs():~~

+ if PdoConfig and PdoAssign:

dynamic_pdos = {}

dynamic_pdos_number = 0

for category, min_index, max_index in [("Inputs", 0x1600, 0x1800),

@@ -1104,11 +1114,11 @@

if pdo["entries_number"] == 255:

dynamic_pdos[pdo_type]["pdos"].pop(0)

pdo_offset = 0

entry_offset = 0

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"]

@@ -1130,7 +1140,13 @@

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%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",

@@ -1216,17 +1232,12 @@

setattr(cls, "ExtractDataTypes", ExtractDataTypes)

~~- def getInitCmd(self):~~

+ def getCoE(self):

mailbox = self.getMailbox()

~~- if mailbox is None:~~

~~- return []~~

~~- coe = mailbox.getCoE()~~

~~- if coe is None:~~

~~- return []~~

~~- return coe.getInitCmd()~~

~~- setattr(cls, "getInitCmd", getInitCmd)~~

+ if mailbox is not None:

+ return mailbox.getCoE()

+ return None

+ setattr(cls, "getCoE", getCoE)

def GetEntriesList(self):

if self.DataTypes is None:

beremiz