--- a/etherlab/etherlab.py Tue Feb 07 19:45:45 2012 +0100
+++ b/etherlab/etherlab.py Wed Feb 15 00:38:26 2012 +0100
@@ -5,9 +5,176 @@
+from plugger import PlugTemplate from PLCControler import UndoBuffer, LOCATION_PLUGIN, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
from ConfigEditor import ConfigEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE
+#-------------------------------------------------- +#-------------------------------------------------- + ("ControlWord", 0x6040, 0x00, "UINT", "Q"), + ("StatusWord", 0x6041, 0x00, "UINT", "I"), + ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"), + ("ErrorCode", 0x603f, 0x00, "UINT", "I"), +class _EthercatDS402SlavePlug: + XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?> + <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema"> + <xsd:element name="EtherlabDS402Slave"> + <xsd:attribute name="Node_Type" type="xsd:string" use="optional"/> + def _GetChildBySomething(self, something, toks): + def GetParamsAttributes(self, path = None): + infos = PlugTemplate.GetParamsAttributes(self, path = None) + if element["name"] == "EtherlabDS402Slave": + for child in element["children"]: + if child["name"] == "Node_Type": + child["type"] = [module[0] for module in self.PlugParent.GetModulesByProfile(402)] + def GetAllChannels(self): + AllChannels = PlugTemplate.GetAllChannels(self) + for slave_pos in self.PlugParent.GetSlaves(): + if slave_pos[0] not in AllChannels: + AllChannels.append(slave_pos[0]) + def GetCurrentLocation(self): + @return: Tupple containing plugin IEC location of current plugin : %I0.0.4.5 => (0,0,4,5) + return self.PlugParent.GetCurrentLocation() + (self.BaseParams.getIEC_Channel(), 0) + def GetSlaveInfos(self): + slave_type = self.EtherlabDS402Slave.getNode_Type() + for module_type, vendor_id, product_code, revision_number in self.PlugParent.GetModulesByProfile(402): + if module_type == slave_type: + return {"device_type": module_type, + "vendor": GenerateHexDecValue(vendor_id), + "product_code": GenerateHexDecValue(product_code, 16), + "revision_number": GenerateHexDecValue(revision_number, 16)} + def GetVariableLocationTree(self): + slave_infos = self.GetSlaveInfos() + if slave_infos is not None: + vars = self.PlugParent.GetDeviceLocationTree(self.GetCurrentLocation(), slave_infos) + return {"name": self.BaseParams.getName(), + "type": LOCATION_PLUGIN, + "location": self.GetFullIEC_Channel(), + def PlugGenerate_C(self, buildpath, locations): + @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() + location_str = "_".join(map(lambda x:str(x), current_location)) + slave_pos = current_location[-2:] + slave_infos = self.GetSlaveInfos() + if slave_infos is not None: + device = self.PlugParent.GetModuleInfos(slave_infos) + _("No information found for DS402 node \"%s\" at location %s!") % ( + slave_infos["device_type"], ".".join(current_location))) + slave_idx = self.PlugParent.FileGenerator.DeclareSlave(slave_pos, slave_infos) + plc_ds402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_ds402node.c") + plc_ds402node_file = open(plc_ds402node_filepath, 'r') + plc_ds402node_code = plc_ds402node_file.read() + plc_ds402node_file.close() + "location": location_str, + "located_variables_declaration": [], + "extern_pdo_entry_configuration": [], + "retrieve_variables": [], + "publish_variables": [], + for variable in NODE_VARIABLES: + var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable)) + var_infos["location"] = location_str + var_infos["slave"] = slave_idx + var_infos["var_size"] = self.PlugParent.GetSizeOfType(var_infos["var_type"]) + var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos + var_infos["real_var"] = "__DS402Node_%(location)s.%(name)s" % var_infos + var_infos.update(slave_infos) + variables[(var_infos["index"], var_infos["subindex"])] = var_infos["name"] + str_completion["entry_variables"].append(" IEC_%(var_type)s %(name)s;" % var_infos) + ConfigureVariable(var_infos, str_completion) + str_completion["extern_pdo_entry_configuration"].append( + "extern unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % var_infos) + if var_infos["var_type"] == "BOOL": + str_completion["extern_pdo_entry_configuration"].append( + "extern unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % var_infos) + self.PlugParent.FileGenerator.DeclareVariable( + slave_pos, var_infos["index"], var_infos["subindex"], + var_infos["var_type"], var_infos["dir"], var_infos["var_name"], False) + for element in ["located_variables_declaration", + "extern_pdo_entry_configuration", + str_completion[element] = "\n".join(str_completion[element]) + Gen_DS402Nodefile_path = os.path.join(buildpath, "ds402node_%s.c"%location_str) + ds402nodefile = open(Gen_DS402Nodefile_path, 'w') + ds402nodefile.write(plc_ds402node_code % str_completion) + for location in locations: + loc = location["LOC"][len(current_location):] + if variables.get(loc, None) is None: + self.PlugParent.FileGenerator.DeclareVariable( + slave_pos, loc[0], loc[1], location["IEC_TYPE"], location["DIR"], location["NAME"]) + return [(Gen_DS402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))],"",True TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L",
"USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L",
"BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"}
@@ -16,7 +183,7 @@
"USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64",
"BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"}
-VARCLASSCONVERSION = {"ro": LOCATION_VAR_INPUT, "wo": LOCATION_VAR_OUTPUT, "rw": LOCATION_VAR_MEMORY}+VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY} #--------------------------------------------------
@@ -86,6 +253,8 @@
EditorType = ConfigEditor
+ PlugChildsTypes = [("EthercatDS402Slave", _EthercatDS402SlavePlug, "Ethercat DS402 Slave")] filepath = self.ConfigFileName()
@@ -128,6 +297,9 @@
slaves = self.GetSlaves()
+ for PlugInstance in self.IterChilds(): + slaves.append((PlugInstance.BaseParams.getIEC_Channel(), 0)) new_pos = (slaves[-1][0] + 1, 0)
@@ -151,6 +323,9 @@
def SetSlavePos(self, slave_pos, alias=None, position=None):
+ for PlugInstance in self.IterChilds(): + if PlugInstance.BaseParams.getIEC_Channel() == alias: + return _("Slave with alias \"%d\" already exists!" % alias) slave = self.GetSlave(slave_pos)
slave_info = slave.getInfo()
@@ -197,9 +372,50 @@
def GetModuleInfos(self, type_infos):
return self.PlugParent.GetModuleInfos(type_infos)
+ def GetModulesByProfile(self, profile_type): + return self.PlugParent.GetModulesByProfile(profile_type) def GetSlaveTypesLibrary(self):
return self.PlugParent.GetModulesLibrary()
+ def GetDeviceLocationTree(self, current_location, type_infos): + device = self.GetModuleInfos(type_infos) + for sync_manager in device.getSm(): + sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) + sync_manager_direction = sync_manager_control_byte & 0x0c + if sync_manager_direction: + sync_managers.append(LOCATION_VAR_OUTPUT) + sync_managers.append(LOCATION_VAR_INPUT) + entries = device.GetEntriesList().items() + for (index, subindex), entry in entries: + var_size = self.GetSizeOfType(entry["Type"]) + if var_size is not None: + var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None) + if var_class is not None: + if var_class == LOCATION_VAR_INPUT: + vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]), + "IEC_type": entry["Type"], + "var_name": "%s_%4.4x_%2.2x" % (type_infos["device_type"], index, subindex), + "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location + def GetVariableLocationTree(self):
'''See PlugTemplate.GetVariableLocationTree() for a description.'''
@@ -212,41 +428,8 @@
type_infos = slave.getType()
- device = self.GetModuleInfos(type_infos)- for sync_manager in device.getSm():- sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())- sync_manager_direction = sync_manager_control_byte & 0x0c- if sync_manager_direction:- sync_managers.append(LOCATION_VAR_OUTPUT)- sync_managers.append(LOCATION_VAR_INPUT)- entries = device.GetEntriesList().items()- for (index, subindex), entry in entries:- var_size = self.GetSizeOfType(entry["Type"])- if var_size is not None:- var_class = VARCLASSCONVERSION.get(entry["Access"], LOCATION_VAR_MEMORY)- if var_class == LOCATION_VAR_INPUT:- vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]),- "IEC_type": entry["Type"],- "var_name": "%s_%4.4x_%2.2x" % (type_infos["device_type"], index, subindex),- "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location + + vars = self.GetDeviceLocationTree(current_location + slave_pos, type_infos) groups.append({"name": "%s (%d,%d)" % ((type_infos["device_type"],) + slave_pos),
"location": ".".join(map(str, current_location + slave_pos)) + ".x",
@@ -282,6 +465,27 @@
self.ConfigBuffer.CurrentSaved()
+ def _Generate_C(self, buildpath, locations): + current_location = self.GetCurrentLocation() + # define a unique name for the generated C file + location_str = "_".join(map(lambda x:str(x), current_location)) + Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str) + self.FileGenerator = _EthercatCFileGenerator(self) + LocationCFilesAndCFLAGS, LDFLAGS, extra_files = PlugTemplate._Generate_C(self, buildpath, locations) + self.FileGenerator.GenerateCFile(Gen_Ethercatfile_path, location_str, self.EtherlabNode) + LocationCFilesAndCFLAGS.append( + [(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))], + LDFLAGS.append("-lethercat -lrtdm") + return LocationCFilesAndCFLAGS, LDFLAGS, extra_files def PlugGenerate_C(self, buildpath, locations):
@@ -296,21 +500,22 @@
@return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
current_location = self.GetCurrentLocation()
- # define a unique name for the generated C file- location_str = "_".join(map(lambda x:str(x), current_location))- Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str)- file_generator = _EthercatCFileGenerator(self, Gen_Ethercatfile_path)+ slaves = self.GetSlaves() + for slave_pos in slaves: + slave = self.GetSlave(slave_pos) + self.FileGenerator.DeclareSlave(slave_pos, slave.getType()) for location in locations:
loc = location["LOC"][len(current_location):]
- file_generator.DeclareVariable(loc[:2], loc[2], loc[3], location["IEC_TYPE"], location["DIR"], location["NAME"])+ if slave_pos in slaves: + self.FileGenerator.DeclareVariable( + slave_pos, loc[2], loc[3], location["IEC_TYPE"], location["DIR"], location["NAME"]) - file_generator.GenerateCFile()- return [(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))], "-lethercat -lrtdm", True #-------------------------------------------------------------------------------
# Current Buffering Management Functions
#-------------------------------------------------------------------------------
@@ -378,81 +583,96 @@
+SLAVE_INITIALIZATION_TEMPLATE = """ + uint8_t value[] = {%(data)s}; + if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) { + fprintf(stderr, "Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code); def ConfigureVariable(entry_infos, str_completion):
- data_type = DATATYPECONVERSION.get(entry_infos["var_type"], None)+ entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None) + if entry_infos["data_type"] is None: raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]
+ if not entry_infos.has_key("real_var"): + entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] + str_completion["located_variables_declaration"].append( + "IEC_%(var_type)s %(real_var)s;" % entry_infos) + str_completion["located_variables_declaration"].append( + "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos) - str_completion["located_variables_declaration"].extend(- ["IEC_%(var_type)s beremiz%(var_name)s;" % entry_infos,- "IEC_%(var_type)s *%(var_name)s = &beremiz%(var_name)s;" % entry_infos])+ if entry_infos["data_type"] == "BIT": + if entry_infos["dir"] == "I": + str_completion["retrieve_variables"].append( + (" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + + "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos) + elif entry_infos["dir"] == "Q": + str_completion["publish_variables"].append( + (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + + "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos)
- str_completion["used_pdo_entry_offset_variables_declaration"].extend(- ["static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos,- "static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos])+ if entry_infos["dir"] == "I": + str_completion["retrieve_variables"].append( + (" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + + "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos) + elif entry_infos["dir"] == "Q": + str_completion["publish_variables"].append( + (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + + "%(real_var)s);") % entry_infos) +def ConfigurePDO(entry_infos, str_completion): + str_completion["used_pdo_entry_offset_variables_declaration"].append( + "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) + if entry_infos["var_type"] == "BOOL": + str_completion["used_pdo_entry_offset_variables_declaration"].append( + "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos) str_completion["used_pdo_entry_configuration"].append(
(" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " +
"0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " +
"&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos)
- if entry_infos["dir"] == "I":- str_completion["retrieve_variables"].append(- (" beremiz%(name)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + - "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos)- elif entry_infos["dir"] == "Q":- str_completion["publish_variables"].append(- (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + - "slave%(slave)d_%(index).4x_%(subindex).2x_bit, beremiz%(var_name)s);") % entry_infos)- entry_infos["data_type"] = data_type- str_completion["used_pdo_entry_offset_variables_declaration"].append(- "static unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) str_completion["used_pdo_entry_configuration"].append(
(" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " +
"%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos)
- if entry_infos["dir"] == "I":- str_completion["retrieve_variables"].append(- (" beremiz%(var_name)s = EC_READ_%(data_type)s(domain1_pd + " + - "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos)- elif entry_infos["dir"] == "Q":- str_completion["publish_variables"].append(- (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + - "beremiz%(var_name)s);") % entry_infos) class _EthercatCFileGenerator:
- def __init__(self, controler, filepath):+ def __init__(self, controler): self.Controler = controler
- self.FilePath = filepath- def DeclareVariable(self, slave_identifier, index, subindex, iec_type, dir, name):+ def DeclareSlave(self, slave_identifier, slave): + self.Slaves.append((slave_identifier, slave)) + return self.Slaves.index((slave_identifier, slave)) + def DeclareVariable(self, slave_identifier, index, subindex, iec_type, dir, name, configure=True): slave_variables = self.UsedVariables.setdefault(slave_identifier, {})
entry_infos = slave_variables.get((index, subindex), None)
slave_variables[(index, subindex)] = {
"infos": (iec_type, dir, name),
+ "configure": configure, elif entry_infos["infos"] != (iec_type, dir, name):
raise ValueError, _("Definition conflict for location \"%s\"") % name
- def GenerateCFile(self):- current_location = self.Controler.GetCurrentLocation()- # define a unique name for the generated C file- location_str = "_".join(map(lambda x:str(x), current_location))+ def GenerateCFile(self, filepath, location_str, etherlab_node_infos): plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")
plc_etherlab_file = open(plc_etherlab_filepath, 'r')
@@ -461,14 +681,15 @@
"location": location_str,
- "configure_pdos": int(self.Controler.EtherlabNode.getConfigurePDOs()),- "master_number": self.Controler.EtherlabNode.getMasterNumber(),+ "configure_pdos": int(etherlab_node_infos.getConfigurePDOs()), + "master_number": etherlab_node_infos.getMasterNumber(), "located_variables_declaration": [],
"used_pdo_entry_offset_variables_declaration": [],
"used_pdo_entry_configuration": [],
"pdos_configuration_declaration": "",
"slaves_declaration": "",
"slaves_configuration": "",
+ "slaves_initialization": "", "retrieve_variables": [],
@@ -477,216 +698,236 @@
for entry_infos in slave_entries.itervalues():
entry_infos["mapped"] = False
- for slave_idx, slave_pos in enumerate(self.Controler.GetSlaves()):+ for slave_idx, (slave_pos, type_infos) in enumerate(self.Slaves): + device = self.Controler.GetModuleInfos(type_infos) - slave = self.Controler.GetSlave(slave_pos)- type_infos = slave.getType()+ slave_variables = self.UsedVariables.get(slave_pos, {}) + device_entries = device.GetEntriesList() - device = self.Controler.GetModuleInfos(type_infos)- slave_variables = self.UsedVariables.get(slave_pos, {})- device_entries = device.GetEntriesList()+ if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0: - if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0:- 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)))+ 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(): + index = ExtractHexDecValue(initCmd.getIndex()) + subindex = ExtractHexDecValue(initCmd.getSubIndex()) + entry = device_entries.get((index, subindex), None) + data_size = entry["BitSize"] / 8 + data = ("%%.%dx" % (data_size * 2)) % initCmd.getData().getcontent() + data_str = ",".join(["0x%s" % data[i:i+2] for i in xrange(0, data_size * 2, 2)]) + init_cmd_infos.update(type_infos) + str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos + "pdos_entries_infos": [], + pdos_infos.update(type_infos) - 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- "pdos_entries_infos": [],+ for sync_manager_idx, sync_manager in enumerate(device.getSm()): + "index": sync_manager_idx, + "name": sync_manager.getcontent(), - pdos_infos.update(type_infos)- for sync_manager_idx, sync_manager in enumerate(device.getSm()):- "index": sync_manager_idx, - "name": sync_manager.getcontent(),- sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())- sync_manager_direction = sync_manager_control_byte & 0x0c- sync_manager_watchdog = sync_manager_control_byte & 0x40- if sync_manager_direction:- sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"- sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"- if sync_manager_watchdog:- sync_manager_infos["watchdog"] = "EC_WD_ENABLE"- sync_manager_infos["watchdog"] = "EC_WD_DISABLE"- sync_managers.append(sync_manager_infos)- for only_mandatory in [True, False]:- for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +- [(pdo, "Outputs") for pdo in device.getRxPdo()]):- entries = pdo.getEntry()- pdo_needed = pdo.getMandatory()- if only_mandatory != pdo_needed:- pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())- pdos_index.append(pdo_index)- index = ExtractHexDecValue(entry.getIndex().getcontent())- subindex = ExtractHexDecValue(entry.getSubIndex())- "name": ExtractName(entry.getName()),- "bitlen": entry.getBitLen(),- entry_infos.update(type_infos)- entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)- entry_declaration = slave_variables.get((index, subindex), None)- if entry_declaration is not None and not entry_declaration["mapped"]:- entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"])))- entry_declaration["mapped"] = True- if entry_infos["var_type"] != entry.getDataType().getcontent():- raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"]- if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or - entry_infos["dir"] == "Q" and pdo_type != "Outputs"):- raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]- ConfigureVariable(entry_infos, str_completion)- for sm_idx, sync_manager in enumerate(sync_managers):- if sync_manager["name"] == pdo_type:- raise ValueError, _("No sync manager available for %s pdo!") % pdo_type- sync_managers[sm]["pdos_number"] += 1- sync_managers[sm]["pdos"].append(- "name": ExtractName(pdo.getName()),- "entries": entries_infos,- "entries_number": len(entries_infos),- "fixed": pdo.getFixed() == True})+ sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) + sync_manager_direction = sync_manager_control_byte & 0x0c + sync_manager_watchdog = sync_manager_control_byte & 0x40 + if sync_manager_direction: + sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" + sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" + if sync_manager_watchdog: + sync_manager_infos["watchdog"] = "EC_WD_ENABLE" + sync_manager_infos["watchdog"] = "EC_WD_DISABLE"
- dynamic_pdos_number = 0- for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), - ("Outputs", 0x1a00, 0x1C00)]:- for sync_manager in sync_managers:- if sync_manager["name"] == category:- category_infos = dynamic_pdos.setdefault(category, {})- category_infos["sync_manager"] = sync_manager- category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] - if not pdo["fixed"] and pdo["type"] == category]- category_infos["current_index"] = min_index- category_infos["max_index"] = max_index- for (index, subindex), entry_declaration in slave_variables.iteritems():+ sync_managers.append(sync_manager_infos) + for only_mandatory in [True, False]: + for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + + [(pdo, "Outputs") for pdo in device.getRxPdo()]): + entries = pdo.getEntry() - if not entry_declaration["mapped"]:- entry = device_entries.get((index, subindex), None)- raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \- (index, subindex, type_infos["device_type"])+ pdo_needed = pdo.getMandatory() + if only_mandatory != pdo_needed: + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) + pdos_index.append(pdo_index) + index = ExtractHexDecValue(entry.getIndex().getcontent()) + subindex = ExtractHexDecValue(entry.getSubIndex())
- "bitlen": entry["BitSize"],+ "name": ExtractName(entry.getName()), + "bitlen": entry.getBitLen(), entry_infos.update(type_infos)
- entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"])))- entry_declaration["mapped"] = True- if entry_infos["var_type"] != entry["Type"]:- raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"]- if entry_infos["dir"] == "I" and entry["Access"] in ["ro", "rw"]:- elif entry_infos["dir"] == "Q" and entry["Access"] in ["wo", "rw"]:- raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]+ entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) - if not dynamic_pdos.has_key(pdo_type):- raise ValueError, _("No Sync manager defined for %s!") % pdo_type- ConfigureVariable(entry_infos, str_completion)- if len(dynamic_pdos[pdo_type]["pdos"]) > 0:- pdo = dynamic_pdos[pdo_type]["pdos"][0]- while dynamic_pdos[pdo_type]["current_index"] in pdos_index:- dynamic_pdos[pdo_type]["current_index"] += 1- if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:- raise ValueError, _("No more free PDO index available for %s!") % pdo_type- pdos_index.append(dynamic_pdos[pdo_type]["current_index"])+ entry_declaration = slave_variables.get((index, subindex), None) + if entry_declaration is not None and not entry_declaration["mapped"]: + entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"]))) + entry_declaration["mapped"] = True + if entry_infos["var_type"] != entry.getDataType().getcontent(): + raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"] + if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or + entry_infos["dir"] == "Q" and pdo_type != "Outputs"): + raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] + if entry_declaration["configure"]: + ConfigureVariable(entry_infos, str_completion) + ConfigurePDO(entry_infos, str_completion) + for sm_idx, sync_manager in enumerate(sync_managers): + if sync_manager["name"] == pdo_type: + raise ValueError, _("No sync manager available for %s pdo!") % pdo_type - dynamic_pdos_number += 1- pdo = {"slave": slave_idx,- "index": dynamic_pdos[pdo_type]["current_index"],- "name": "Dynamic PDO %d" % dynamic_pdos_number,- dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1- dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)- dynamic_pdos[pdo_type]["pdos"].append(pdo)- pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)- pdo["entries_number"] += 1- if pdo["entries_number"] == 255:- dynamic_pdos[pdo_type]["pdos"].pop(0)+ sync_managers[sm]["pdos_number"] += 1 + sync_managers[sm]["pdos"].append( + "name": ExtractName(pdo.getName()), + "entries": entries_infos, + "entries_number": len(entries_infos), + "fixed": pdo.getFixed() == True}) + dynamic_pdos_number = 0 + for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), + ("Outputs", 0x1a00, 0x1C00)]: + for sync_manager in sync_managers: + if sync_manager["name"] == category: + category_infos = dynamic_pdos.setdefault(category, {}) + category_infos["sync_manager"] = sync_manager + category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] + if not pdo["fixed"] and pdo["type"] == category] + category_infos["current_index"] = min_index + category_infos["max_index"] = max_index + for (index, subindex), entry_declaration in slave_variables.iteritems(): + if not entry_declaration["mapped"]: + entry = device_entries.get((index, subindex), None) + raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \ + (index, subindex, type_infos["device_type"]) + "bitlen": entry["BitSize"], + entry_infos.update(type_infos) + entry_infos.update(dict(zip(["var_type", "dir", "var_name", "real_var"], entry_declaration["infos"]))) + entry_declaration["mapped"] = True + if entry_infos["var_type"] != entry["Type"]: + raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"] + if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: + elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]: + raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] + if not dynamic_pdos.has_key(pdo_type): + raise ValueError, _("No Sync manager defined for %s!") % pdo_type + if entry_declaration["configure"]: + ConfigureVariable(entry_infos, str_completion) + ConfigurePDO(entry_infos, str_completion) + if len(dynamic_pdos[pdo_type]["pdos"]) > 0: + pdo = dynamic_pdos[pdo_type]["pdos"][0] + while dynamic_pdos[pdo_type]["current_index"] in pdos_index: + dynamic_pdos[pdo_type]["current_index"] += 1 + if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: + raise ValueError, _("No more free PDO index available for %s!") % pdo_type + pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
- for sync_manager_infos in sync_managers:+ dynamic_pdos_number += 1 + pdo = {"slave": slave_idx, + "index": dynamic_pdos[pdo_type]["current_index"], + "name": "Dynamic PDO %d" % dynamic_pdos_number, + dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1 + dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo) + dynamic_pdos[pdo_type]["pdos"].append(pdo) + pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) + pdo["entries_number"] += 1 + if pdo["entries_number"] == 255: + dynamic_pdos[pdo_type]["pdos"].pop(0) - for pdo_infos in sync_manager_infos["pdos"]:- pdo_infos["offset"] = entry_offset- pdo_entries = pdo_infos["entries"]- pdos_infos["pdos_infos"].append(- (" {0x%(index).4x, %(entries_number)d, " + - "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos)- entry_offset += len(pdo_entries)- pdos_infos["pdos_entries_infos"].extend(pdo_entries)- sync_manager_infos["offset"] = pdo_offset- pdos_infos["pdos_sync_infos"].append(- (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + - "slave_%(slave)d_pdos + %(offset)d, %(watchdog)s},") % sync_manager_infos)- pdo_offset += sync_manager_infos["pdos_number"]+ for sync_manager_infos in sync_managers: - for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]:- pdos_infos[element] = "\n".join(pdos_infos[element])+ for pdo_infos in sync_manager_infos["pdos"]: + pdo_infos["offset"] = entry_offset + pdo_entries = pdo_infos["entries"] + pdos_infos["pdos_infos"].append( + (" {0x%(index).4x, %(entries_number)d, " + + "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) + entry_offset += len(pdo_entries) + pdos_infos["pdos_entries_infos"].extend(pdo_entries) - str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos+ sync_manager_infos["offset"] = pdo_offset + pdos_infos["pdos_sync_infos"].append( + (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + + "slave_%(slave)d_pdos + %(offset)d, %(watchdog)s},") % sync_manager_infos) + pdo_offset += sync_manager_infos["pdos_number"] + for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: + pdos_infos[element] = "\n".join(pdos_infos[element]) + str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos for element in ["used_pdo_entry_offset_variables_declaration",
"used_pdo_entry_configuration",
@@ -695,7 +936,7 @@
str_completion[element] = "\n".join(str_completion[element])
- etherlabfile = open(self.FilePath,'w')+ etherlabfile = open(filepath, 'w') etherlabfile.write(plc_etherlab_code % str_completion)
@@ -709,6 +950,21 @@
+ def GetProfileNumbers(self): + for profile in self.getProfile(): + profile_content = profile.getcontent() + if profile_content is None: + for content_element in profile_content["value"]: + if content_element["name"] == "ProfileNo": + profiles.append(content_element["value"]) + setattr(cls, "GetProfileNumbers", GetProfileNumbers) def GetProfileDictionaries(self):
@@ -742,6 +998,18 @@
setattr(cls, "ExtractDataTypes", ExtractDataTypes)
+ mailbox = self.getMailbox() + return coe.getInitCmd() + setattr(cls, "getInitCmd", getInitCmd) def GetEntriesList(self):
if self.DataTypes is None:
@@ -765,11 +1033,15 @@
subidx = ExtractHexDecValue(entry_subidx)
+ subitem_pdomapping = "" subitem_flags = subitem.getFlags()
if subitem_flags is not None:
access = subitem_flags.getAccess()
subitem_access = access.getcontent()
+ pdomapping = subitem_flags.getPdoMapping() + if pdomapping is not None: + subitem_pdomapping = pdomapping.upper() entries[(index, subidx)] = {
"SubIndex": entry_subidx,
@@ -780,16 +1052,21 @@
"Type": subitem.getType(),
"BitSize": subitem.getBitSize(),
"Access": subitem_access,
+ "PDOMapping": subitem_pdomapping, entry_flags = object.getFlags()
if entry_flags is not None:
access = entry_flags.getAccess()
entry_access = access.getcontent()
+ pdomapping = entry_flags.getPdoMapping() + if pdomapping is not None: + entry_pdomapping = pdomapping.upper() @@ -797,6 +1074,7 @@
"BitSize": object.getBitSize(),
+ "PDOMapping": entry_pdomapping, @@ -869,14 +1147,17 @@
if entry_type is not None:
if pdo_type == "Transmit":
entries[(index, subindex)] = {
"SubIndex": entry_subindex,
"Name": ExtractName(pdo_entry.getName()),
"Type": entry_type.getcontent(),
+ "PDOMapping": pdomapping, @@ -1004,3 +1285,15 @@
+ def GetModulesByProfile(self, profile_type): + for vendor_id, vendor in self.ModulesLibrary.iteritems(): + for group_type, group in vendor["groups"].iteritems(): + for device_type, device in group["devices"]: + if profile_type in device.GetProfileNumbers(): + product_code = ExtractHexDecValue(device.getType().getProductCode()) + revision_number = ExtractHexDecValue(device.getType().getRevisionNo()) + modules.append((device_type, vendor_id, product_code, revision_number)) 