beremiz

Adding support for selecting a PDO in a list of mutually exclusive configured PDOs in Ethercat Network Configurator

2012-10-17, Laurent Bessard
caae3ad2d03b
Parents b1801bf4365c
Children 0f7ab170c862
Adding support for selecting a PDO in a list of mutually exclusive configured PDOs in Ethercat Network Configurator
3 files changed, 131 insertions(+), 82 deletions(-)
  • +3 -0
    .hgignore
  • +127 -81
    etherlab/etherlab.py
  • +1 -1
    etherlab/plc_cia402node.c
    • --- a/.hgignore Sat Oct 13 22:48:05 2012 +0200
    +++ b/.hgignore Wed Oct 17 19:12:08 2012 +0200
    @@ -5,3 +5,6 @@
    ^\.pydevproject$
    syntax: regexp
    \.pyc$
    +
    +syntax: regexp
    +^ethercat_tests/wago_higen/build$
    \ No newline at end of file
    --- a/etherlab/etherlab.py Sat Oct 13 22:48:05 2012 +0200
    +++ b/etherlab/etherlab.py Wed Oct 17 19:12:08 2012 +0200
    @@ -795,6 +795,15 @@
    (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
    "%(real_var)s);") % entry_infos)
    +def ExclusionSortFunction(x, y):
    + if x["matching"] == y["matching"]:
    + if x["assigned"] and not y["assigned"]:
    + return -1
    + elif not x["assigned"] and y["assigned"]:
    + return 1
    + return cmp(x["count"], y["count"])
    + return -cmp(x["matching"], y["matching"])
    +
    class _EthercatCFileGenerator:
    def __init__(self, controler):
    @@ -947,96 +956,133 @@
    sync_managers.append(sync_manager_infos)
    pdos_index = []
    - excluded_pdos = []
    - 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()
    + exclusive_pdos = {}
    + selected_pdos = []
    + for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
    + [(pdo, "Outputs") for pdo in device.getRxPdo()]):
    +
    + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
    + pdos_index.append(pdo_index)
    +
    + excluded_list = pdo.getExclude()
    + if len(excluded_list) > 0:
    + exclusion_list = [pdo_index]
    + for excluded in excluded_list:
    + exclusion_list.append(ExtractHexDecValue(excluded.getcontent()))
    + exclusion_list.sort()
    - pdo_needed = pdo.getMandatory()
    - if pdo_needed is None:
    - pdo_needed = False
    - if only_mandatory != pdo_needed:
    - continue
    + exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])
    - pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
    - pdos_index.append(pdo_index)
    - if pdo_index in excluded_pdos:
    - continue
    -
    - entries_infos = []
    + entries = pdo.getEntry()
    + pdo_mapping_match = {
    + "index": pdo_index,
    + "matching": 0,
    + "count": len(entries),
    + "assigned": pdo.getSm() is not None
    + }
    + exclusion_scope.append(pdo_mapping_match)
    for entry in entries:
    index = ExtractHexDecValue(entry.getIndex().getcontent())
    subindex = ExtractHexDecValue(entry.getSubIndex())
    - entry_infos = {
    - "index": index,
    - "subindex": subindex,
    - "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)
    + if slave_variables.get((index, subindex), None) is not None:
    + pdo_mapping_match["matching"] += 1
    +
    + elif pdo.getMandatory():
    + selected_pdos.append(pdo_index)
    +
    + excluded_pdos = []
    + for exclusion_scope in exclusive_pdos.itervalues():
    + exclusion_scope.sort(ExclusionSortFunction)
    + start_excluding_index = 0
    + if exclusion_scope[0]["matching"] > 0:
    + selected_pdos.append(exclusion_scope[0]["index"])
    + start_excluding_index = 1
    + excluded_pdos.extend([pdo["index"] for pdo in exclusion_scope[start_excluding_index:] if PdoAssign or not pdo["assigned"]])
    +
    + for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
    + [(pdo, "Outputs") for pdo in device.getRxPdo()]):
    + entries = pdo.getEntry()
    +
    + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
    + if pdo_index in excluded_pdos:
    + continue
    +
    + pdo_needed = pdo_index in selected_pdos
    +
    + entries_infos = []
    +
    + for entry in entries:
    + index = ExtractHexDecValue(entry.getIndex().getcontent())
    + subindex = ExtractHexDecValue(entry.getSubIndex())
    + entry_infos = {
    + "index": index,
    + "subindex": subindex,
    + "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"]:
    + pdo_needed = True
    - entry_declaration = slave_variables.get((index, subindex), None)
    - if entry_declaration is not None and not entry_declaration["mapped"]:
    - pdo_needed = True
    -
    - entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"])))
    - entry_declaration["mapped"] = True
    -
    - entry_type = entry.getDataType().getcontent()
    - 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(_("Warning: ") + message + "\n")
    -
    - 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)
    + entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"])))
    + entry_declaration["mapped"] = True
    - elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:
    - data_type = entry.getDataType().getcontent()
    - entry_infos["dir"] = "Q"
    - entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
    - entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
    - entry_infos["var_type"] = data_type
    - entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
    -
    - ConfigureVariable(entry_infos, str_completion)
    -
    - str_completion["slaves_output_pdos_default_values_extraction"] += \
    - SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
    -
    - if pdo_needed:
    - for excluded in pdo.getExclude():
    - excluded_index = ExtractHexDecValue(excluded.getcontent())
    - if excluded_index not in excluded_pdos:
    - excluded_pdos.append(excluded_index)
    + entry_type = entry.getDataType().getcontent()
    + 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(_("Warning: ") + message + "\n")
    +
    + 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)
    +
    + elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:
    + data_type = entry.getDataType().getcontent()
    + entry_infos["dir"] = "Q"
    + entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
    + entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
    + entry_infos["var_type"] = data_type
    + entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
    +
    + ConfigureVariable(entry_infos, str_completion)
    - sm = pdo.getSm()
    - if sm is None:
    - for sm_idx, sync_manager in enumerate(sync_managers):
    - if sync_manager["name"] == pdo_type:
    - sm = sm_idx
    - if sm is None:
    - raise ValueError, _("No sync manager available for %s pdo!") % pdo_type
    -
    - sync_managers[sm]["pdos_number"] += 1
    - sync_managers[sm]["pdos"].append(
    - {"slave": slave_idx,
    - "index": pdo_index,
    - "name": ExtractName(pdo.getName()),
    - "type": pdo_type,
    - "entries": entries_infos,
    - "entries_number": len(entries_infos),
    - "fixed": pdo.getFixed() == True})
    -
    + str_completion["slaves_output_pdos_default_values_extraction"] += \
    + SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
    +
    + if pdo_needed:
    + for excluded in pdo.getExclude():
    + excluded_index = ExtractHexDecValue(excluded.getcontent())
    + if excluded_index not in excluded_pdos:
    + excluded_pdos.append(excluded_index)
    +
    + sm = pdo.getSm()
    + if sm is None:
    + for sm_idx, sync_manager in enumerate(sync_managers):
    + if sync_manager["name"] == pdo_type:
    + sm = sm_idx
    + if sm is None:
    + raise ValueError, _("No sync manager available for %s pdo!") % pdo_type
    +
    + sync_managers[sm]["pdos_number"] += 1
    + sync_managers[sm]["pdos"].append(
    + {"slave": slave_idx,
    + "index": pdo_index,
    + "name": ExtractName(pdo.getName()),
    + "type": pdo_type,
    + "entries": entries_infos,
    + "entries_number": len(entries_infos),
    + "fixed": pdo.getFixed() == True})
    +
    if PdoConfig and PdoAssign:
    dynamic_pdos = {}
    dynamic_pdos_number = 0
    --- a/etherlab/plc_cia402node.c Sat Oct 13 22:48:05 2012 +0200
    +++ b/etherlab/plc_cia402node.c Wed Oct 17 19:12:08 2012 +0200
    @@ -105,7 +105,7 @@
    }
    __CIA402Node_%(location)s.axis->PowerFeedback = __CIA402Node_%(location)s.state == __OperationEnabled;
    - __CIA402Node_%(location)s.axis->ActualPosition = (IEC_REAL)(*(__CIA402Node_%(location)s.ActualPosition)) * __CIA402Node_%(location)s.axis->RatioDenominator / __CIA402Node_%(location)s.axis->RatioNumerator;
    + __CIA402Node_%(location)s.axis->ActualPosition = (IEC_LREAL)(*(__CIA402Node_%(location)s.ActualPosition)) * __CIA402Node_%(location)s.axis->RatioDenominator / __CIA402Node_%(location)s.axis->RatioNumerator;
    }
    void __publish_%(location)s()