beremiz

Adding support for getting CIA402 slave AXIS_REF located variables and disabling dynamic PDO mapping algorithm for drives than doesn't support this functionality

2012-06-10, Laurent Bessard
c485269ec443
Parents c7a2c9362d63
Children c9a1c5bb51cd
Adding support for getting CIA402 slave AXIS_REF located variables and disabling dynamic PDO mapping algorithm for drives than doesn't support this functionality
3 files changed, 536 insertions(+), 82 deletions(-)
  • +106 -78
    etherlab/etherlab.py
  • +0 -0
    etherlab/images/CIA402AxisRef.png
  • +430 -4
    etherlab/images/icons.svg
    • --- a/etherlab/etherlab.py Wed May 23 16:30:41 2012 +0200
    +++ b/etherlab/etherlab.py Sun Jun 10 20:16:17 2012 +0200
    @@ -159,7 +159,7 @@
    NODE_VARIABLES = [
    ("ControlWord", 0x6040, 0x00, "UINT", "Q"),
    ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
    -# ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
    + ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
    ("StatusWord", 0x6041, 0x00, "UINT", "I"),
    ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
    ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
    @@ -179,9 +179,36 @@
    NODE_PROFILE = 402
    EditorType = CIA402NodeEditor
    + ConfNodeMethods = [
    + {"bitmap" : "CIA402AxisRef",
    + "name" : _("Axis Ref"),
    + "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
    + "method" : "_getCIA402AxisRef"},
    + ]
    +
    def GetIconPath(self):
    return os.path.join(CONFNODEFOLDER, "images", "CIA402Slave.png")
    + def GetDeviceLocationTree(self, slave_pos, current_location, device_name):
    + axis_name = self.CTNName()
    + vars = [{"name": "%s Axis Ref" % (axis_name),
    + "type": LOCATION_VAR_INPUT,
    + "size": "W",
    + "IEC_type": "AXIS_REF",
    + "var_name": axis_name,
    + "location": "%IW%s.0" % (".".join(map(str, current_location))),
    + "description": "",
    + "children": []}]
    + vars.extend(_EthercatSlaveCTN.GetDeviceLocationTree(self, slave_pos, current_location, device_name))
    + return vars
    +
    + def _getCIA402AxisRef(self):
    + 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()
    +
    def CTNGenerate_C(self, buildpath, locations):
    """
    Generate C code
    @@ -307,6 +334,7 @@
    <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:attribute name="DynamicPDOs" type="xsd:boolean" use="optional" default="true"/>
    </xsd:complexType>
    </xsd:element>
    </xsd:schema>
    @@ -497,11 +525,10 @@
    def GetDeviceLocationTree(self, slave_pos, current_location, device_name):
    slave = self.GetSlave(slave_pos)
    + vars = []
    if slave is not None:
    type_infos = slave.getType()
    - vars = []
    -
    device = self.GetModuleInfos(type_infos)
    if device is not None:
    sync_managers = []
    @@ -965,85 +992,86 @@
    "entries_number": len(entries_infos),
    "fixed": pdo.getFixed() == True})
    - dynamic_pdos = {}
    - 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
    - break
    -
    - for (index, subindex), entry_declaration in slave_variables.iteritems():
    + if etherlab_node_infos.getDynamicPDOs():
    + dynamic_pdos = {}
    + 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
    + break
    - if not entry_declaration["mapped"]:
    - entry = device_entries.get((index, subindex), None)
    - if entry is None:
    - raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
    - (index, subindex, type_infos["device_type"])
    + for (index, subindex), entry_declaration in slave_variables.iteritems():
    - entry_infos = {
    - "index": index,
    - "subindex": subindex,
    - "name": entry["Name"],
    - "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"]:
    - message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
    - if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
    - self.Controler.GetSizeOfType(entry["Type"])):
    - raise ValueError, message
    + if not entry_declaration["mapped"]:
    + entry = device_entries.get((index, subindex), None)
    + if entry is None:
    + raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
    + (index, subindex, type_infos["device_type"])
    +
    + entry_infos = {
    + "index": index,
    + "subindex": subindex,
    + "name": entry["Name"],
    + "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"]:
    + message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
    + if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
    + self.Controler.GetSizeOfType(entry["Type"])):
    + raise ValueError, message
    + else:
    + self.Controler.GetCTRoot().logger.write_warning(message + "\n")
    +
    + if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
    + pdo_type = "Inputs"
    + elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
    + pdo_type = "Outputs"
    else:
    - self.Controler.GetCTRoot().logger.write_warning(message + "\n")
    -
    - if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
    - pdo_type = "Inputs"
    - elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
    - pdo_type = "Outputs"
    - else:
    - 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
    -
    - ConfigureVariable(entry_infos, str_completion)
    -
    - if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
    - pdo = dynamic_pdos[pdo_type]["pdos"][0]
    - else:
    - 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"])
    + 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
    +
    + ConfigureVariable(entry_infos, str_completion)
    - dynamic_pdos_number += 1
    - pdo = {"slave": slave_idx,
    - "index": dynamic_pdos[pdo_type]["current_index"],
    - "name": "Dynamic PDO %d" % dynamic_pdos_number,
    - "type": pdo_type,
    - "entries": [],
    - "entries_number": 0,
    - "fixed": False}
    - 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)
    + if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
    + pdo = dynamic_pdos[pdo_type]["pdos"][0]
    + else:
    + 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"])
    +
    + dynamic_pdos_number += 1
    + pdo = {"slave": slave_idx,
    + "index": dynamic_pdos[pdo_type]["current_index"],
    + "name": "Dynamic PDO %d" % dynamic_pdos_number,
    + "type": pdo_type,
    + "entries": [],
    + "entries_number": 0,
    + "fixed": False}
    + 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)
    pdo_offset = 0
    entry_offset = 0
    Binary file etherlab/images/CIA402AxisRef.png has changed
    --- a/etherlab/images/icons.svg Wed May 23 16:30:41 2012 +0200
    +++ b/etherlab/images/icons.svg Sun Jun 10 20:16:17 2012 +0200
    @@ -43,9 +43,9 @@
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    @@ -58905,7 +59204,7 @@
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    id="tspan16268"
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    - y="120.42097">%%ImportESI ScanNetwork editSlave editCIA402Slave %%</tspan></text>
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