beremiz

SlaveBootup now set operational state for both local node and network nodes only when all nodes declared in network edit have been initialized.

2008-06-25, etisserant
8e87b69286c0
Parents 8a0727f5fd13
Children acc6a61c493c
SlaveBootup now set operational state for both local node and network nodes only when all nodes declared in network edit have been initialized.
Re-use of node creation dialog from CanFestival for slave node creation.
2 files changed, 67 insertions(+), 15 deletions(-)
  • +65 -13
    plugins/canfestival/canfestival.py
  • +2 -2
    plugins/canfestival/cf_runtime.c
    • --- a/plugins/canfestival/canfestival.py Wed Jun 25 17:01:07 2008 +0200
    +++ b/plugins/canfestival/canfestival.py Wed Jun 25 17:09:24 2008 +0200
    @@ -10,6 +10,8 @@
    from objdictedit import objdictedit
    import canfestival_config
    from plugger import PlugTemplate
    +from commondialogs import CreateNodeDialog
    +import wx
    from gnosis.xml.pickle import *
    from gnosis.xml.pickle.util import setParanoia
    @@ -42,15 +44,33 @@
    if(os.path.isfile(odfilepath)):
    self.OpenFileInCurrent(odfilepath)
    else:
    - self.CreateNewNode("SlaveNode", # Name - will be changed at build time
    - 0x00, # NodeID - will be changed at build time
    - "slave", # Type
    - "", # description
    - "None", # profile
    - "", # prfile filepath
    - "heartbeat", # NMT
    - []) # options
    -
    + self.FilePath = ""
    + dialog = CreateNodeDialog(None, wx.OK)
    + dialog.Type.Enable(False)
    + dialog.GenSYNC.Enable(False)
    + if dialog.ShowModal() == wx.ID_OK:
    + name, id, nodetype, description = dialog.GetValues()
    + profile, filepath = dialog.GetProfile()
    + NMT = dialog.GetNMTManagement()
    + options = dialog.GetOptions()
    + self.CreateNewNode(name, # Name - will be changed at build time
    + id, # NodeID - will be changed at build time
    + "slave", # Type
    + description,# description
    + profile, # profile
    + filepath, # prfile filepath
    + NMT, # NMT
    + options) # options
    + else:
    + self.CreateNewNode("SlaveNode", # Name - will be changed at build time
    + 0x00, # NodeID - will be changed at build time
    + "slave", # Type
    + "", # description
    + "None", # profile
    + "", # prfile filepath
    + "heartbeat", # NMT
    + []) # options
    + dialog.Destroy()
    _View = None
    def _OpenView(self, logger):
    if not self._View:
    @@ -160,7 +180,7 @@
    logger.write_error("Error: No Master generated\n")
    return
    - new_dialog = objdictedit(None, [masterpath])
    + new_dialog = objdictedit(None, filesOpen=[masterpath])
    new_dialog.Show()
    PluginMethods = [
    @@ -227,7 +247,8 @@
    </xsd:element>
    </xsd:schema>
    """
    - PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"),("CanOpenSlave",_SlavePlug, "CanOpen Slave")]
    + PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"),
    + ("CanOpenSlave",_SlavePlug, "CanOpen Slave")]
    def GetParamsAttributes(self, path = None):
    infos = PlugTemplate.GetParamsAttributes(self, path = None)
    for element in infos:
    @@ -251,7 +272,8 @@
    "nodes_open" : "",
    "nodes_close" : "",
    "nodes_send_sync" : "",
    - "nodes_proceed_sync" : ""}
    + "nodes_proceed_sync" : "",
    + "slavebootups" : ""}
    for child in self.IECSortedChilds():
    childlocstr = "_".join(map(str,child.GetCurrentLocation()))
    nodename = "OD_%s" % childlocstr
    @@ -261,10 +283,40 @@
    if child_data is None:
    # Not a slave -> master
    child_data = getattr(child, "CanFestivalNode")
    + # Apply sync setting
    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)
    -
    + # initialize and declare node table for post_SlaveBootup lookup
    +
    + SlaveIDs = child.GetSlaveIDs()
    + for id in SlaveIDs:
    + format_dict["slavebootups"] += """
    +int %s_slave_%d_booted = 0;
    +"""%(nodename, id)
    + format_dict["slavebootups"] += """
    +static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){
    + switch(nodeId){
    +"""%(nodename)
    + for id in SlaveIDs:
    + format_dict["slavebootups"] += """
    + case %d:
    + %s_slave_%d_booted = 1;
    + break;
    +"""%(id, nodename, id)
    + format_dict["slavebootups"] += """
    + default:
    + break;
    + }
    + if( """
    + format_dict["slavebootups"] += " && ".join(["%s_slave_%d_booted"%(nodename, id) for id in SlaveIDs])
    +
    + format_dict["slavebootups"] += """ )
    + Master_post_SlaveBootup(d,nodeId);
    +}
    +%s_Data.post_SlaveBootup = %s_post_SlaveBootup;
    +"""%(nodename,nodename)
    +
    format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)
    format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(
    nodename,
    --- a/plugins/canfestival/cf_runtime.c Wed Jun 25 17:01:07 2008 +0200
    +++ b/plugins/canfestival/cf_runtime.c Wed Jun 25 17:09:24 2008 +0200
    @@ -11,7 +11,6 @@
    static int init_level=0;
    extern int common_ticktime__;
    -
    static void Master_post_SlaveBootup(CO_Data* d, UNS8 nodeId)
    {
    /* Put the master in operational mode */
    @@ -21,6 +20,8 @@
    masterSendNMTstateChange (d, 0, NMT_Start_Node);
    }
    +%(slavebootups)s
    +
    #define NODE_INIT(nodename, nodeid) \
    /* Artificially force sync state to 1 so that it is not started */\
    nodename##_Data.CurrentCommunicationState.csSYNC = -1;\
    @@ -65,7 +66,6 @@
    }
    #define NODE_OPEN(nodename)\
    - nodename##_Data.post_SlaveBootup = Master_post_SlaveBootup;\
    if(!canOpen(&nodename##Board,&nodename##_Data)){\
    printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\
    return -1;\