beremiz

Adding support to enable CIA402 slave digital inputs

2012-10-19, Laurent Bessard
579af800b359
Parents 0f7ab170c862
Children ae263886ae92
Adding support to enable CIA402 slave digital inputs
2 files changed, 61 insertions(+), 17 deletions(-)
  • +53 -17
    etherlab/etherlab.py
  • +8 -0
    etherlab/plc_cia402node.c
    • --- a/etherlab/etherlab.py Thu Oct 18 01:23:35 2012 +0200
    +++ b/etherlab/etherlab.py Fri Oct 19 12:43:42 2012 +0200
    @@ -171,6 +171,17 @@
    ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
    ]
    + DEFAULT_RETRIEVE = " __CIA402Node_%(location)s.axis->%(name)s = __CIA402Node_%(location)s.%(name)s;"
    + DEFAULT_PUBLISH = " __CIA402Node_%(location)s.%(name)s = __CIA402Node_%(location)s.axis->%(name)s;"
    +
    + EXTRA_NODE_VARIABLES = [
    + ("DigitalInputs", [
    + {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"),
    + "publish": None}
    + ])
    + ]
    + EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])
    +
    class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
    @@ -180,7 +191,8 @@
    </xsd:complexType>
    </xsd:element>
    </xsd:schema>
    - """ % AxisXSD
    + """ % ("\n".join(['<xsd:attribute name="Enable%s" type="xsd:boolean" use="optional" default="false"/>' % category
    + for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
    NODE_PROFILE = 402
    EditorType = CIA402NodeEditor
    @@ -257,9 +269,45 @@
    "entry_variables": [],
    "init_axis_params": [],
    "init_entry_variables": [],
    + "extra_variables_retrieve": [],
    + "extra_variables_publish": []
    }
    - for variable in NODE_VARIABLES:
    + variables = NODE_VARIABLES[:]
    +
    + 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)
    + elif param["value"] is not None:
    + param_infos = {
    + "location": location_str,
    + "param_name": param["name"],
    + }
    + if param["type"] == "boolean":
    + param_infos["param_value"] = {True: "true", False: "false"}[param["value"]]
    + else:
    + param_infos["param_value"] = str(param["value"])
    + str_completion["init_axis_params"].append(
    + " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)
    +
    + for variable in variables:
    var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable))
    var_infos["location"] = location_str
    var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"])
    @@ -276,24 +324,12 @@
    self.GetSlavePos(), var_infos["index"], var_infos["subindex"],
    var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
    - params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
    - for param in params["children"]:
    - if param["value"] is not None and param["name"] != "DynamicPDOs":
    - param_infos = {
    - "location": location_str,
    - "param_name": param["name"],
    - }
    - if param["type"] == "boolean":
    - param_infos["param_value"] = {True: "true", False: "false"}[param["value"]]
    - else:
    - param_infos["param_value"] = str(param["value"])
    - str_completion["init_axis_params"].append(
    - " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)
    -
    for element in ["extern_located_variables_declaration",
    "entry_variables",
    "init_axis_params",
    - "init_entry_variables"]:
    + "init_entry_variables",
    + "extra_variables_retrieve",
    + "extra_variables_publish"]:
    str_completion[element] = "\n".join(str_completion[element])
    Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str)
    --- a/etherlab/plc_cia402node.c Thu Oct 18 01:23:35 2012 +0200
    +++ b/etherlab/plc_cia402node.c Fri Oct 19 12:43:42 2012 +0200
    @@ -104,8 +104,12 @@
    return;
    }
    + // Default variables retrieve
    __CIA402Node_%(location)s.axis->PowerFeedback = __CIA402Node_%(location)s.state == __OperationEnabled;
    __CIA402Node_%(location)s.axis->ActualPosition = (IEC_LREAL)(*(__CIA402Node_%(location)s.ActualPosition)) * __CIA402Node_%(location)s.axis->RatioDenominator / __CIA402Node_%(location)s.axis->RatioNumerator;
    +
    + // Extra variables retrieve
    +%(extra_variables_retrieve)s
    }
    void __publish_%(location)s()
    @@ -135,10 +139,14 @@
    break;
    }
    + // Default variables publish
    if (__CIA402Node_%(location)s.axis->CSP && *(__CIA402Node_%(location)s.ModesOfOperationDisplay) == 0x08) {
    *(__CIA402Node_%(location)s.TargetPosition) = (IEC_DINT)(__CIA402Node_%(location)s.axis->PositionSetPoint * __CIA402Node_%(location)s.axis->RatioNumerator / __CIA402Node_%(location)s.axis->RatioDenominator);
    }
    else {
    *(__CIA402Node_%(location)s.TargetPosition) = *(__CIA402Node_%(location)s.ActualPosition);
    }
    +
    + // Extra variables publish
    +%(extra_variables_publish)s
    }