beremiz

Rewrite CIA402 node specific code generating part

2013-06-24, Laurent Bessard
91c10856adaa
Parents e6946c298a42
Children 6bbe93799956
Rewrite CIA402 node specific code generating part
2 files changed, 167 insertions(+), 148 deletions(-)
  • +158 -139
    etherlab/EthercatCIA402Slave.py
  • +9 -9
    etherlab/plc_cia402node.c
    • --- a/etherlab/EthercatCIA402Slave.py Wed Apr 02 15:03:32 2014 +0200
    +++ b/etherlab/EthercatCIA402Slave.py Mon Jun 24 09:23:28 2013 +0200
    @@ -8,26 +8,33 @@
    from EthercatSlave import _EthercatSlaveCTN, _CommonSlave
    from ConfigEditor import CIA402NodeEditor
    -#------------------------------------------
    -#from CommonSlave import _CommonSlave
    -#------------------------------------------
    -
    +# Definition of node variables that have to be mapped in PDO
    +# [(name, index, subindex, type,
    +# direction for master ('I': input, 'Q': output)),...]
    NODE_VARIABLES = [
    - ("ControlWord", 0x6040, 0x00, "UINT", "Q"),
    - ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
    - ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"),
    - ("TargetTorque", 0x6071, 0x00, "INT", "Q"),
    - ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
    - ("StatusWord", 0x6041, 0x00, "UINT", "I"),
    - ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
    - ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
    - ("ActualVelocity", 0x606c, 0x00, "DINT", "I"),
    - ("ActualTorque", 0x6077, 0x00, "INT", "I"),
    + ("ControlWord", 0x6040, 0x00, "UINT", "Q"),
    + ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
    + ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"),
    + ("TargetTorque", 0x6071, 0x00, "INT", "Q"),
    + ("ModesOfOperation", 0x6060, 0x00, "SINT", "Q"),
    + ("StatusWord", 0x6041, 0x00, "UINT", "I"),
    + ("ModesOfOperationDisplay", 0x6061, 0x00, "SINT", "I"),
    + ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
    + ("ActualVelocity", 0x606c, 0x00, "DINT", "I"),
    + ("ActualTorque", 0x6077, 0x00, "INT", "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;"
    -
    +# Definition of optional node variables that can be added to PDO mapping.
    +# A checkbox will be displayed for each section in node configuration panel to
    +# enable them
    +# [(section_name,
    +# [{'description', (name, index, subindex, type,
    +# direction for master ('I': input, 'Q': output)),
    +# 'retrieve', string_template_for_retrieve_variable (None: not retrieved,
    +# default string template if not defined),
    +# 'publish', string_template_for_publish_variable (None: not published,
    +# default string template if not defined),
    +# },...]
    EXTRA_NODE_VARIABLES = [
    ("ErrorCode", [
    {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),
    @@ -52,25 +59,15 @@
    "publish": None},
    ]),
    ]
    -EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])
    -
    -BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s->,%(input_name)s, %(input_value)s);"
    -BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s->%(output_name)s));"
    -BLOCK_FUNCTION_TEMPLATE = """
    -extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
    -void __%(blocktype)s_%(location)s(MC_%(ucase_blocktype)s *data__) {
    -__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
    -ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
    -%(extract_inputs)s
    -ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
    -%(return_outputs)s
    -}
    -"""
    +# List of parameters name in no configuration panel for optional variable
    +# sections
    +EXTRA_NODE_VARIABLES_DICT = {
    + "Enable" + name: params
    + for name, params in EXTRA_NODE_VARIABLES}
    -BLOCK_FUNTION_DEFINITION_TEMPLATE = " __CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"
    -
    -GLOBAL_INSTANCES = [
    +# List of block to define to interface MCL to fieldbus for specific functions
    +FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [
    {"blocktype": "GetTorqueLimit",
    "inputs": [],
    "outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
    @@ -94,8 +91,10 @@
    </xsd:complexType>
    </xsd:element>
    </xsd:schema>
    - """ % ("\n".join(['<xsd:attribute name="Enable%s" type="xsd:boolean" use="optional" default="false"/>' % category
    - for category, variables in EXTRA_NODE_VARIABLES]) + 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
    @@ -106,7 +105,7 @@
    "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
    "method" : "_getCIA402AxisRef",
    "push": True},
    - ]
    + ]
    #--------------------------------------------------
    # class code
    @@ -146,12 +145,15 @@
    def CTNGlobalInstances(self):
    current_location = self.GetCurrentLocation()
    - return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location))),
    - "EtherLab%s" % block_infos["blocktype"], "") for block_infos in GLOBAL_INSTANCES]
    + return [("%s_%s" % (block_infos["blocktype"],
    + "_".join(map(str, current_location))),
    + "EtherLab%s" % block_infos["blocktype"], "")
    + for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES]
    def _getCIA402AxisRef(self):
    - data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
    - "location", "AXIS_REF", self.CTNName(), "")))
    + data = wx.TextDataObject(str(
    + ("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
    + "location", "AXIS_REF", self.CTNName(), "")))
    dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
    dragSource.SetData(data)
    dragSource.DoDragDrop()
    @@ -160,124 +162,141 @@
    current_location = self.GetCurrentLocation()
    location_str = "_".join(map(lambda x:str(x), current_location))
    + slave_pos = self.GetSlavePos()
    + MCL_headers = Headers
    - plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c")
    + # Open CIA402 node code template file
    + plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0],
    + "plc_cia402node.c")
    plc_cia402node_file = open(plc_cia402node_filepath, 'r')
    plc_cia402node_code = plc_cia402node_file.read()
    plc_cia402node_file.close()
    - str_completion = {
    - "slave_pos": self.GetSlavePos(),
    - "location": location_str,
    - "MCL_headers": Headers,
    - "extern_located_variables_declaration": [],
    - "fieldbus_interface_declaration": [],
    - "fieldbus_interface_definition": [],
    - "entry_variables": [],
    - "init_axis_params": [],
    - "init_entry_variables": [],
    - "extra_variables_retrieve": [],
    - "extra_variables_publish": []
    - }
    + # Init list of generated strings for each code template file section
    + fieldbus_interface_declaration = []
    + fieldbus_interface_definition = []
    + init_axis_params = []
    + extra_variables_retrieve = []
    + extra_variables_publish = []
    + extern_located_variables_declaration = []
    + entry_variables = []
    + init_entry_variables = []
    - for blocktype_infos in GLOBAL_INSTANCES:
    - texts = {
    - "blocktype": blocktype_infos["blocktype"],
    - "ucase_blocktype": blocktype_infos["blocktype"].upper(),
    - "location": "_".join(map(str, current_location))
    - }
    - texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts
    + # Fieldbus interface code sections
    + for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES:
    + blocktype = blocktype_infos["blocktype"]
    + ucase_blocktype = blocktype.upper()
    + blockname = "_".join([ucase_blocktype, location_str])
    +
    + extract_inputs = "\n".join(["""\
    + __SET_VAR(%s->, %s, %s);""" % (blockname, input_name, input_value)
    + for (input_name, input_value) in [
    + ("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [
    + (input["name"].upper(),
    + "__GET_VAR(data__->%s)" % input["name"].upper())
    + for input in blocktype_infos["inputs"]]
    + ])
    - inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())},
    - {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\
    - [{"input_name": input["name"].upper(),
    - "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()}
    - for input in blocktype_infos["inputs"]]
    - input_texts = []
    - for input_infos in inputs:
    - input_infos.update(texts)
    - input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos)
    - texts["extract_inputs"] = "\n".join(input_texts)
    - outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \
    - [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]]
    - output_texts = []
    - for output_infos in outputs:
    - output_infos.update(texts)
    - output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos)
    - texts["return_outputs"] = "\n".join(output_texts)
    + return_outputs = "\n".join(["""\
    + __SET_VAR(data__->,%(output_name)s,
    + __GET_VAR(%(blockname)s->%(output_name)s));""" % locals()
    + for output_name in ["DONE", "BUSY", "ERROR"] + [
    + output["name"].upper()
    + for output in blocktype_infos["outputs"]]
    + ])
    +
    + fieldbus_interface_declaration.append("""
    +extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
    +void __%(blocktype)s_%(location_str)s(MC_%(ucase_blocktype)s *data__) {
    +__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
    +ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
    +__SET_VAR(%(blockname)s->, POS, AxsPub.axis->NetworkPosition);
    +%(extract_inputs)s
    +ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
    +%(return_outputs)s
    +}""" % locals())
    - str_completion["fieldbus_interface_declaration"].append(
    - BLOCK_FUNCTION_TEMPLATE % texts)
    -
    - str_completion["fieldbus_interface_definition"].append(
    - BLOCK_FUNTION_DEFINITION_TEMPLATE % texts)
    -
    + fieldbus_interface_definition.append("""\
    + AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\
    +""" % locals())
    +
    + # Get a copy list of default variables to map
    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)
    + # Set AxisRef public struct members value
    + node_params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
    + for param in node_params["children"]:
    + param_name = param["name"]
    +
    + # Param is optional variables section enable flag
    + extra_node_variable_infos = EXTRA_NODE_VARIABLES_DICT.get(param_name)
    + if extra_node_variable_infos is not None:
    +
    + if not param["value"]:
    + continue
    +
    + # Optional variables section is enabled
    + for variable_infos in extra_node_variable_infos:
    + var_name = variable_infos["description"][0]
    +
    + # Add each variables defined in section description to the
    + # list of variables to map
    + variables.append(variable_infos["description"])
    +
    + # Add code to publish or retrive variable
    + for var_exchange_dir, str_list, default_template in [
    + ("retrieve", extra_variables_retrieve,
    + " AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"),
    + ("publish", extra_variables_publish,
    + " *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")]:
    - 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)
    + template = variable_infos.get(var_exchange_dir,
    + default_template)
    + if template is not None:
    + extra_variables_publish.append(template % locals())
    +
    + # Set AxisRef public struct member value if defined
    elif param["value"] is not None:
    - param_infos = {
    - "location": location_str,
    - "param_name": param["name"],
    - }
    - if param["type"] == "boolean":
    - param_infos["param_value"] = {True: "1", False: "0"}[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)
    + param_value = ({True: "1", False: "0"}[param["value"]]
    + if param["type"] == "boolean"
    + else str(param["value"]))
    +
    + init_axis_params.append("""\
    + AxsPub.axis->%(param_name)s = %(param_value)s;""" % locals())
    - 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"])
    - var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos
    + # Add each variable in list of variables to map to master list of
    + # variables to add to network configuration
    + for name, index, subindex, var_type, dir in variables:
    + var_size = self.GetSizeOfType(var_type)
    + var_name = """\
    +__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % locals()
    - str_completion["extern_located_variables_declaration"].append(
    - "IEC_%(var_type)s *%(var_name)s;" % var_infos)
    - str_completion["entry_variables"].append(
    - " IEC_%(var_type)s *%(name)s;" % var_infos)
    - str_completion["init_entry_variables"].append(
    - " __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos)
    + extern_located_variables_declaration.append(
    + "IEC_%(var_type)s *%(var_name)s;" % locals())
    + entry_variables.append(
    + " IEC_%(var_type)s *%(name)s;" % locals())
    + init_entry_variables.append(
    + " AxsPub.%(name)s = %(var_name)s;" % locals())
    self.CTNParent.FileGenerator.DeclareVariable(
    - self.GetSlavePos(), var_infos["index"], var_infos["subindex"],
    - var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
    + slave_pos, index, subindex, var_type, dir, var_name)
    - for element in ["extern_located_variables_declaration",
    - "fieldbus_interface_declaration",
    - "fieldbus_interface_definition",
    - "entry_variables",
    - "init_axis_params",
    - "init_entry_variables",
    - "extra_variables_retrieve",
    - "extra_variables_publish"]:
    - str_completion[element] = "\n".join(str_completion[element])
    + # Add newline between string in list of generated strings for sections
    + [fieldbus_interface_declaration, fieldbus_interface_definition,
    + init_axis_params, extra_variables_retrieve, extra_variables_publish,
    + extern_located_variables_declaration, entry_variables,
    + init_entry_variables] = map(lambda l: "\n".join(l), [
    + fieldbus_interface_declaration, fieldbus_interface_definition,
    + init_axis_params, extra_variables_retrieve, extra_variables_publish,
    + extern_located_variables_declaration, entry_variables,
    + init_entry_variables])
    - Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str)
    + # Write generated content to CIA402 node file
    + Gen_CIA402Nodefile_path = os.path.join(buildpath,
    + "cia402node_%s.c"%location_str)
    cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
    - cia402nodefile.write(plc_cia402node_code % str_completion)
    + cia402nodefile.write(plc_cia402node_code % locals())
    cia402nodefile.close()
    return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True
    -
    \ No newline at end of file
    --- a/etherlab/plc_cia402node.c Wed Apr 02 15:03:32 2014 +0200
    +++ b/etherlab/plc_cia402node.c Mon Jun 24 09:23:28 2013 +0200
    @@ -56,8 +56,8 @@
    #define Halt 0x0100
    -IEC_INT beremiz__IW%(location)s_0;
    -IEC_INT *__IW%(location)s_0 = &beremiz__IW%(location)s_0;
    +IEC_INT beremiz__IW%(location_str)s_0;
    +IEC_INT *__IW%(location_str)s_0 = &beremiz__IW%(location_str)s_0;
    %(MCL_headers)s
    @@ -68,7 +68,7 @@
    axis_s* axis;
    } __CIA402Node;
    -#define AxsPub __CIA402Node_%(location)s
    +#define AxsPub __CIA402Node_%(location_str)s
    static __CIA402Node AxsPub;
    @@ -76,7 +76,7 @@
    %(fieldbus_interface_declaration)s
    -int __init_%(location)s()
    +int __init_%(location_str)s()
    {
    __FirstTick = 1;
    %(init_entry_variables)s
    @@ -84,16 +84,16 @@
    return 0;
    }
    -void __cleanup_%(location)s()
    +void __cleanup_%(location_str)s()
    {
    }
    -void __retrieve_%(location)s()
    +void __retrieve_%(location_str)s()
    {
    if (__FirstTick) {
    - *__IW%(location)s_0 = __MK_Alloc_AXIS_REF();
    + *__IW%(location_str)s_0 = __MK_Alloc_AXIS_REF();
    AxsPub.axis =
    - __MK_GetPublic_AXIS_REF(*__IW%(location)s_0);
    + __MK_GetPublic_AXIS_REF(*__IW%(location_str)s_0);
    AxsPub.axis->NetworkPosition = %(slave_pos)d;
    %(init_axis_params)s
    %(fieldbus_interface_definition)s
    @@ -118,7 +118,7 @@
    %(extra_variables_retrieve)s
    }
    -void __publish_%(location)s()
    +void __publish_%(location_str)s()
    {
    IEC_BOOL power =
    ((*(AxsPub.StatusWord) & SW_VoltageEnabled) != 0)