etherlab/EthercatCFileGenerator.py
author Edouard Tisserant <edouard.tisserant@gmail.com>
Fri, 01 Oct 2021 15:32:38 +0200
branchwxPython4
changeset 3324 13779d34293b
parent 2643 b98d9e08231f
permissions -rw-r--r--
SVGHMI: Added PathSlider widget
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# This file is part of Beremiz
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#
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# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
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#                          RTES Lab : CRKim, JBLee, youcu
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#                          Higen Motor : Donggu Kang
02a2b5dee5e3 Merged GPL + LGPL v2 or later EtherCAT extension. Fixed headers and copyright notice.
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#
02a2b5dee5e3 Merged GPL + LGPL v2 or later EtherCAT extension. Fixed headers and copyright notice.
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# See COPYING file for copyrights details.
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from __future__ import absolute_import
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from __future__ import division
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import os
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from etherlab.EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName
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SLAVE_PDOS_CONFIGURATION_DECLARATION = """
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/* Slave %(slave)d, "%(device_type)s"
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 * Vendor ID:       0x%(vendor).8x
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 * Product code:    0x%(product_code).8x
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 * Revision number: 0x%(revision_number).8x
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 */
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ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = {
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%(pdos_entries_infos)s
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};
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ec_pdo_info_t slave_%(slave)d_pdos[] = {
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%(pdos_infos)s
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};
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ec_sync_info_t slave_%(slave)d_syncs[] = {
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%(pdos_sync_infos)s
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    {0xff}
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};
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"""
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SLAVE_CONFIGURATION_TEMPLATE = """
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    if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) {
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        SLOGF(LOG_CRITICAL, "EtherCAT failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.");
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        goto ecat_failed;
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    }
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    if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) {
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        SLOGF(LOG_CRITICAL, "EtherCAT failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.");
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        goto ecat_failed;
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    }
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"""
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SLAVE_INITIALIZATION_TEMPLATE = """
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    {
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        uint8_t value[%(data_size)d];
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        EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s);
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        if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) {
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            SLOGF(LOG_CRITICAL, "EtherCAT Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%d", abort_code);
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            goto ecat_failed;
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        }
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    }
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"""
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SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """
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    {
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        uint8_t value[%(data_size)d];
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        if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
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            SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);
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            goto ecat_failed;
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        }
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        %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);
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    }
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"""
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SLAVE_OUTPUT_PDO_DEFAULT_VALUE_BIT = """
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    {
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        uint8_t value[%(data_size)d];
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        if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
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            SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);
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            goto ecat_failed;
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        }
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        %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value, %(subindex)d);
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    }
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"""
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SLAVE_INPUT_PDO_DEFAULT_VALUE = """
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    {
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        uint8_t value[%(data_size)d];
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        if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
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            SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for input PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);
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            goto ecat_failed;
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        }
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        %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);
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    }
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"""
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DC_VARIABLE ="""
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#define DC_ENABLE       %(dc_flag)d
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"""
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CONFIG_DC = """
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    ecrt_slave_config_dc (slave%(slave)d, 0x0%(assign_activate)ld, %(sync0_cycle_time)d, %(sync0_shift_time)d, %(sync1_cycle_time)d, %(sync1_shift_time)d);
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"""
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def ConfigureVariable(entry_infos, str_completion):
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    entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)
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    if entry_infos["data_type"] is None:
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        msg = _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]
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        raise ValueError(msg)
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    if not entry_infos.get("no_decl", False):
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        if "real_var" in entry_infos:
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            str_completion["located_variables_declaration"].append(
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                "IEC_%(var_type)s %(real_var)s;" % entry_infos)
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        else:
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            entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
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            str_completion["located_variables_declaration"].extend(
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                ["IEC_%(var_type)s %(real_var)s;" % entry_infos,
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                 "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos])
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        for declaration in entry_infos.get("extra_declarations", []):
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            entry_infos["extra_decl"] = declaration
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            str_completion["located_variables_declaration"].append(
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                "IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos)
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    elif "real_var" not in entry_infos:
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        entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
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    str_completion["used_pdo_entry_offset_variables_declaration"].append(
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        "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos)
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    if entry_infos["data_type"] == "BIT":
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        str_completion["used_pdo_entry_offset_variables_declaration"].append(
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            "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos)
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        str_completion["used_pdo_entry_configuration"].append(
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            ("    {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " +
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             "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " +
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             "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos)
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        if entry_infos["dir"] == "I":
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            str_completion["retrieve_variables"].append(
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                ("    %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
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                 "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos)
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        elif entry_infos["dir"] == "Q":
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            str_completion["publish_variables"].append(
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                ("    EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
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                 "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos)
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    else:
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        str_completion["used_pdo_entry_configuration"].append(
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            ("    {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " +
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             "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos)
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        if entry_infos["dir"] == "I":
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            str_completion["retrieve_variables"].append(
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                ("    %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " +
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                 "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos)
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        elif entry_infos["dir"] == "Q":
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            str_completion["publish_variables"].append(
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                ("    EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
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                 "%(real_var)s);") % entry_infos)
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def ExclusionSortFunction(x, y):
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    if x["matching"] == y["matching"]:
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        if x["assigned"] and not y["assigned"]:
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            return -1
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        elif not x["assigned"] and y["assigned"]:
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            return 1
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        return cmp(x["count"], y["count"])
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    return -cmp(x["matching"], y["matching"])
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class _EthercatCFileGenerator(object):
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    def __init__(self, controler):
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        self.Controler = controler
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        self.Slaves = []
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        self.UsedVariables = {}
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    def __del__(self):
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        self.Controler = None
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    def DeclareSlave(self, slave_index, slave):
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        self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave))
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    def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False):
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        slave_variables = self.UsedVariables.setdefault(slave_index, {})
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        entry_infos = slave_variables.get((index, subindex), None)
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        if entry_infos is None:
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            slave_variables[(index, subindex)] = {
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                "infos": (iec_type, dir, name, no_decl, []),
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                "mapped": False}
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            return name
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        elif entry_infos["infos"][:2] == (iec_type, dir):
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            if name != entry_infos["infos"][2]:
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                if dir == "I":
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                    entry_infos["infos"][4].append(name)
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                    return entry_infos["infos"][2]
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                else:
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                    msg = _("Output variables can't be defined with different locations ({a1} and {a2})").\
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                          format(a1=entry_infos["infos"][2], a2=name)
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                    raise ValueError(msg)
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        else:
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            raise ValueError(_("Definition conflict for location \"%s\"") % name)
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    def GenerateCFile(self, filepath, location_str, master_number):
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        # Extract etherlab master code template
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        plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")
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        plc_etherlab_file = open(plc_etherlab_filepath, 'r')
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        plc_etherlab_code = plc_etherlab_file.read()
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        plc_etherlab_file.close()
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        # Initialize strings for formatting master code template
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        str_completion = {
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            "location": location_str,
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            "master_number": master_number,
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            "located_variables_declaration": [],
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            "used_pdo_entry_offset_variables_declaration": [],
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            "used_pdo_entry_configuration": [],
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            "pdos_configuration_declaration": "",
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            "slaves_declaration": "",
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            "slaves_configuration": "",
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            # add jblee
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            "slaves_input_pdos_default_values_extraction": "",
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            "slaves_output_pdos_default_values_extraction": "",
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            "slaves_initialization": "",
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            "retrieve_variables": [],
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            "publish_variables": [],
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            #-----------This Code templete for dc -------------------#
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            "dc_variable" : "",
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            "config_dc": ""
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        }
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        # Initialize variable storing variable mapping state
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        for slave_entries in self.UsedVariables.itervalues():
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            for entry_infos in slave_entries.itervalues():
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                entry_infos["mapped"] = False
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        # Sort slaves by position (IEC_Channel)
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        self.Slaves.sort()
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        # Initialize dictionary storing alias auto-increment position values
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        alias = {}
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        # add jblee
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        slotNumber = 1
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        # Generating code for each slave
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        for (slave_idx, slave_alias, slave) in self.Slaves:
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            type_infos = slave.getType()
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            # Defining slave alias and auto-increment position
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            if alias.get(slave_alias) is not None:
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                alias[slave_alias] += 1
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            else:
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                alias[slave_alias] = 0
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            slave_pos = (slave_alias, alias[slave_alias])
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            # Extract slave device informations
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            device, module_extra_params = self.Controler.GetModuleInfos(type_infos)
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            if device is None:
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                msg = _("No informations found for device %s!") \
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                      % (type_infos["device_type"])
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                raise ValueError(msg)
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            # Extract slaves variables to be mapped
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            slave_variables = self.UsedVariables.get(slave_idx, {})
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            # Extract slave device object dictionary entries
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            device_entries = device.GetEntriesList()
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            # Adding code for declaring slave in master code template strings
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            for element in ["vendor", "product_code", "revision_number"]:
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                type_infos[element] = ExtractHexDecValue(type_infos[element])
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            type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))
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            # Extract slave device CoE informations
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            device_coe = device.getCoE()
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            if device_coe is not None:
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                # If device support CanOpen over Ethernet, adding code for calling
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                # init commands when initializing slave in master code template strings
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                initCmds = []
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                for initCmd in device_coe.getInitCmd():
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                    initCmds.append({
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                        "Index": ExtractHexDecValue(initCmd.getIndex()),
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                        "Subindex": ExtractHexDecValue(initCmd.getSubIndex()),
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                        #"Value": initCmd.getData().getcontent()})
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                        "Value": int(initCmd.getData().text, 16)})
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                initCmds.extend(slave.getStartupCommands())
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                for initCmd in initCmds:
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                    index = initCmd["Index"]
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                    subindex = initCmd["Subindex"]
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                    entry = device_entries.get((index, subindex), None)
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                    if entry is not None:
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                        data_size = entry["BitSize"] // 8
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                        data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"]
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                        init_cmd_infos = {
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                            "index": index,
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                            "subindex": subindex,
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                            "data": data_str,
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                            "data_type": DATATYPECONVERSION.get(entry["Type"]),
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                            "data_size": data_size
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                        }
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                        init_cmd_infos.update(type_infos)
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                        str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos
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                # Extract slave device PDO configuration capabilities
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                PdoAssign = device_coe.getPdoAssign()
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                PdoConfig = device_coe.getPdoConfig()
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            else:
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                PdoAssign = PdoConfig = False
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            # Test if slave has a configuration or need one
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            if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign:
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                str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos
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                str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos
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                # Initializing
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                pdos_infos = {
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                    "pdos_entries_infos": [],
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                    "pdos_infos": [],
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                    "pdos_sync_infos": [],
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   329
                }
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                pdos_infos.update(type_infos)
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                sync_managers = []
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                for sync_manager_idx, sync_manager in enumerate(device.getSm()):
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                    sync_manager_infos = {
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                        "index": sync_manager_idx,
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                        "name": sync_manager.getcontent(),
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                        "slave": slave_idx,
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                        "pdos": [],
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                        "pdos_number": 0,
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                    }
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                    sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
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                    sync_manager_direction = sync_manager_control_byte & 0x0c
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                    sync_manager_watchdog = sync_manager_control_byte & 0x40
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                    if sync_manager_direction:
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   346
                        sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"
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                    else:
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                        sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"
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   349
                    if sync_manager_watchdog:
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                        sync_manager_infos["watchdog"] = "EC_WD_ENABLE"
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                    else:
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                        sync_manager_infos["watchdog"] = "EC_WD_DISABLE"
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                    sync_managers.append(sync_manager_infos)
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                pdos_index = []
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                exclusive_pdos = {}
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                selected_pdos = []
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                # add jblee
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                TxPdoData = []
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                RxPdoData = []
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                PdoData = []
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                # add jblee
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   366
                if len(device.getTxPdo() + device.getRxPdo()) > 0:
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                    for pdo in device.getTxPdo():
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                        PdoData.append((pdo, "Inputs"))
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   369
                    for pdo in device.getRxPdo():
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                        PdoData.append((pdo, "Outputs"))               
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                # mod jblee
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   373
                #for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
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                #                      [(pdo, "Outputs") for pdo in device.getRxPdo()]):
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diff changeset
   375
                #for pdo, pdo_type in (TxPdoData + RxPdoData):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   376
                data_files = os.listdir(self.Controler.CTNPath())
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   377
                PDODataList = []
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   378
                MDPData = []
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   379
                RxPDOData = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getRxPDO()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   380
                TxPDOData = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getTxPDO()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   381
                PDOList = RxPDOData.split() + TxPDOData.split()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   382
                for PDOIndex in PDOList:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   383
                    if PDOIndex in ["RxPDO", "TxPDO", "None"]:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   384
                        continue
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   385
                    PDODataList.append(int(PDOIndex, 0))
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   386
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   387
                # add jblee for DC Configuration
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   388
                dc_enable = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Enable()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   389
                sync0_cycle_time = 0
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   390
                sync0_shift_time = 0
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   391
                sync1_cycle_time = 0
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   392
                sync1_shift_time = 0
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   393
                if dc_enable :
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   394
                    sync0_cycle_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync0_Cycle_Time()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   395
                    if sync0_cycle_token != "None":
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   396
                        sync0_cycle_time = int(sync0_cycle_token.split("_")[1]) * 1000
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   397
                    sync0_shift_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync0_Shift_Time()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   398
                    if sync0_shift_token != "None":
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   399
                        sync0_shift_time = int(sync0_shift_token) * 1000
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   400
                    sync1_cycle_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync1_Cycle_Time()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   401
                    if sync1_cycle_token != "None":
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   402
                        sync1_cycle_time = int(sync1_cycle_token.split("_")[1]) * 1000
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   403
                    sync1_shift_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync1_Shift_Time()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   404
                    if sync1_shift_token != "None":
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   405
                        sync1_shift_time = int(sync1_shift_token) * 1000
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   406
                    
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   407
                    dc_config_data = {
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   408
                        "slave" : slave_idx,
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   409
                        "assign_activate" : int(self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Assign_Activate()),
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   410
                        "sync0_cycle_time" : sync0_cycle_time,
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   411
                        "sync0_shift_time" : sync0_shift_time,
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   412
                        "sync1_cycle_time" : sync1_cycle_time,
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   413
                        "sync1_shift_time" : sync1_shift_time,
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   414
                    }
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   415
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   416
                    if dc_enable and not str_completion["dc_variable"] :
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   417
                        str_completion["dc_variable"] += DC_VARIABLE % {"dc_flag" : dc_enable}
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   418
                    str_completion["config_dc"] += CONFIG_DC % dc_config_data
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   419
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   420
                for data_file in data_files:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   421
                    slave_path = os.path.join(self.Controler.CTNPath(), data_file)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   422
                    if os.path.isdir(slave_path):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   423
                        CheckConfNodePath = os.path.join(slave_path, "baseconfnode.xml")
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   424
                        confNodeFile = open(CheckConfNodePath, 'r')
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   425
                        checklines = confNodeFile.readlines()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   426
                        confNodeFile.close()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   427
                        # checklines(ex) : <BaseParams xmlns:xsd="http://www.w3.org/2001/XMLSchema" IEC_Channel="0" Name="EthercatSlave_0"/>
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   428
                        # checklines[1].split() : [<BaseParams, xmlns:xsd="http://www.w3.org/2001/XMLSchema",
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   429
                        #                           IEC_Channel="0", Name="EthercatSlave_0"/>]
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   430
                        # checklines[1].split()[2] : IEC_Channel="0"
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   431
                        # checklines[1].split()[2].split("\"") = [IEC_Channel=, 0, ]
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   432
                        pos_check = int(checklines[1].split()[2].split("\"")[1])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   433
                        if slave_idx == pos_check:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   434
                            MDPDataFilePath = os.path.join(slave_path, "DataForMDP.txt")
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   435
                            if os.path.isfile(MDPDataFilePath):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   436
                                MDPDataFile = open(MDPDataFilePath, 'r')
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   437
                                MDPData = MDPDataFile.readlines()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   438
                                MDPDataFile.close()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   439
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   440
                        for MDPLine in MDPData:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   441
                            if MDPLine == "\n":
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   442
                                continue
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   443
                            module_pos = int(MDPLine.split()[-1])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   444
                            module = self.Controler.CTNParent.GetSelectModule(module_pos)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   445
                            for pdo in module.getTxPdo():
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   446
                                PdoData.append((pdo, "Inputs"))
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   447
                                PDODataList.append(ExtractHexDecValue(pdo.getIndex().getcontent()))
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   448
                            for pdo in module.getRxPdo():
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   449
                                PdoData.append((pdo, "Outputs"))
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   450
                                PDODataList.append(ExtractHexDecValue(pdo.getIndex().getcontent()))
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   451
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   452
                for pdo, pdo_type in PdoData:
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   453
                    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   454
                    pdos_index.append(pdo_index)
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   455
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   456
                    if PDODataList and (pdo_index in PDODataList):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   457
                        continue
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   458
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   459
                    excluded_list = pdo.getExclude()
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   460
                    if len(excluded_list) > 0:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   461
                        exclusion_list = [pdo_index]
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   462
                        for excluded in excluded_list:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   463
                            exclusion_list.append(ExtractHexDecValue(excluded.getcontent()))
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   464
                        exclusion_list.sort()
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   465
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   466
                        exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   467
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   468
                        entries = pdo.getEntry()
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   469
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   470
                        pdo_mapping_match = {
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   471
                            "index": pdo_index,
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   472
                            "matching": 0,
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   473
                            "count": len(entries),
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   474
                            "assigned": pdo.getSm() is not None
2111
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   475
                        }
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   476
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   477
                        exclusion_scope.append(pdo_mapping_match)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   478
2111
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   479
                        for entry in entries:
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   480
                            index = ExtractHexDecValue(entry.getIndex().getcontent())
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   481
                            subindex = ExtractHexDecValue(entry.getSubIndex())
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   482
                            if slave_variables.get((index, subindex), None) is not None:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   483
                                pdo_mapping_match["matching"] += 1
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   484
2374
aed3ca79a10a clean etherlab: pep8, E712 comparison to True should be 'if cond is True:' or 'if cond:'
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2360
diff changeset
   485
                        if pdo.getFixed() is not True:
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   486
                            pdo_mapping_match["matching"] += \
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   487
                                module_extra_params["max_pdo_size"] - \
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   488
                                pdo_mapping_match["count"]
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   489
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   490
                    elif pdo.getMandatory():
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   491
                        selected_pdos.append(pdo_index)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   492
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   493
                excluded_pdos = []
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   494
                for exclusion_scope in exclusive_pdos.itervalues():
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   495
                    exclusion_scope.sort(ExclusionSortFunction)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   496
                    start_excluding_index = 0
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   497
                    if exclusion_scope[0]["matching"] > 0:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   498
                        selected_pdos.append(exclusion_scope[0]["index"])
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   499
                        start_excluding_index = 1
2381
1c40e3976cc2 clean etherlab: pep8, E129 visually indented line with same indent as next logical line
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2379
diff changeset
   500
                    excluded_pdos.extend([
1c40e3976cc2 clean etherlab: pep8, E129 visually indented line with same indent as next logical line
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2379
diff changeset
   501
                        pdo["index"]
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   502
                        for pdo in exclusion_scope[start_excluding_index:]
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   503
                        if PdoAssign or not pdo["assigned"]])
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   504
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   505
                # mod jblee
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   506
                #for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   507
                #                      [(pdo, "Outputs") for pdo in device.getRxPdo()]):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   508
                #for pdo, pdo_type in (TxPdoData + RxPdoData):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   509
                entry_check_list = []
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   510
                index_padding = 1
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   511
                for pdo, pdo_type in PdoData:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   512
                    entries = pdo.getEntry()                   
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   513
                    
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   514
                    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   515
                    if pdo_index in excluded_pdos:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   516
                        continue
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   517
                    if PDODataList and (pdo_index not in PDODataList):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   518
                        continue
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   519
                    
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   520
                    #pdo_needed = pdo_index in selected_pdos
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   521
                    pdo_needed = pdo_index in PDODataList
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   522
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   523
                    if len(MDPData) > 0:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   524
                        pdo_index += index_padding
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   525
                        index_padding += 1
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   526
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   527
                    entries_infos = []                   
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   528
                    for entry in entries:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   529
                        index = ExtractHexDecValue(entry.getIndex().getcontent())
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   530
                        subindex = ExtractHexDecValue(entry.getSubIndex())
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   531
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   532
                        # add jblee
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   533
                        if len(MDPData) > 0:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   534
                            increse = self.Controler.CTNParent.GetMDPInfos(type_infos)                          
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   535
                            if increse and index != 0:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   536
                                index += int(increse[0][2]) * slotNumber
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   537
                                
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   538
                        entry_infos = {
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   539
                            "index": index,
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   540
                            "subindex": subindex,
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   541
                            "name": ExtractName(entry.getName()),
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   542
                            "bitlen": entry.getBitLen(),
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   543
                        }
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   544
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   545
                        entry_infos.update(type_infos)
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   546
                        #temp_data = "    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   547
                        check_data = "{0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}" % entry_infos
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   548
                        if entry_check_list and check_data in entry_check_list:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   549
                            if (entry_infos["index"] == 0) or (entry_infos["name"] == None):
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   550
                                pass
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   551
                            else: 
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   552
                        entry_infos.update(type_infos)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   553
                        entries_infos.append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   554
                        entry_check_list.append(check_data)
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   555
                        
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   556
                        entry_declaration = slave_variables.get((index, subindex), None)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   557
                        if entry_declaration is not None and not entry_declaration["mapped"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   558
                            pdo_needed = True
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   559
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   560
                            entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"],
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   561
                                                        entry_declaration["infos"])))
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   562
                            entry_declaration["mapped"] = True
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   563
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   564
                            entry_type = entry.getDataType().getcontent()
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   565
                            if entry_infos["var_type"] != entry_type:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   566
                                message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
2379
015b724c30a5 clean etherlab: pep8, E129 visually indented line with same indent as next logical line
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2378
diff changeset
   567
                                if self.Controler.GetSizeOfType(entry_infos["var_type"]) != \
015b724c30a5 clean etherlab: pep8, E129 visually indented line with same indent as next logical line
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2378
diff changeset
   568
                                   self.Controler.GetSizeOfType(entry_type):
2378
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   569
                                    raise ValueError(message)
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   570
                                else:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   571
                                    self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   572
2379
015b724c30a5 clean etherlab: pep8, E129 visually indented line with same indent as next logical line
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2378
diff changeset
   573
                            if (entry_infos["dir"] == "I" and pdo_type != "Inputs") or \
015b724c30a5 clean etherlab: pep8, E129 visually indented line with same indent as next logical line
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2378
diff changeset
   574
                               (entry_infos["dir"] == "Q" and pdo_type != "Outputs"):
2378
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   575
                                raise ValueError(_("Wrong direction for location \"%s\"!") % entry_infos["var_name"])
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   576
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   577
                            ConfigureVariable(entry_infos, str_completion)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   578
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   579
                        elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   580
                            data_type = entry.getDataType().getcontent()
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   581
                            entry_infos["dir"] = "Q"
2437
105c20fdeb19 python3 support: pylint, W1619 #(old-division) division w/o __future__ statement
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2425
diff changeset
   582
                            entry_infos["data_size"] = max(1, entry_infos["bitlen"] // 8)
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   583
                            entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   584
                            entry_infos["var_type"] = data_type
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   585
                            entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   586
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   587
                            ConfigureVariable(entry_infos, str_completion)
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   588
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   589
                            if entry_infos["data_type"] == "BIT" :
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   590
                                str_completion["slaves_output_pdos_default_values_extraction"] += \
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   591
                                    SLAVE_OUTPUT_PDO_DEFAULT_VALUE_BIT % entry_infos
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   592
                            else :
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   593
                                str_completion["slaves_output_pdos_default_values_extraction"] += \
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   594
                                    SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   595
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   596
                        elif pdo_type == "Inputs" and entry.getDataType() is not None and device_coe is not None:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   597
                            data_type = entry.getDataType().getcontent()
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   598
                            entry_infos["dir"] = "I"
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   599
                            entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   600
                            entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   601
                            entry_infos["var_type"] = data_type
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   602
                            entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   603
                            
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   604
                            ConfigureVariable(entry_infos, str_completion)
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   605
                            
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   606
                            str_completion["slaves_input_pdos_default_values_extraction"] += \
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   607
                                SLAVE_INPUT_PDO_DEFAULT_VALUE % entry_infos
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   608
                    
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   609
                    if pdo_needed:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   610
                        for excluded in pdo.getExclude():
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   611
                            excluded_index = ExtractHexDecValue(excluded.getcontent())
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   612
                            if excluded_index not in excluded_pdos:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   613
                                excluded_pdos.append(excluded_index)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   614
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   615
                        sm = pdo.getSm()
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   616
                        if sm is None:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   617
                            for sm_idx, sync_manager in enumerate(sync_managers):
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   618
                                if sync_manager["name"] == pdo_type:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   619
                                    sm = sm_idx
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   620
                        if sm is None:
2378
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   621
                            raise ValueError(_("No sync manager available for %s pdo!") % pdo_type)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   622
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   623
                        sync_managers[sm]["pdos_number"] += 1
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   624
                        sync_managers[sm]["pdos"].append(
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   625
                            {"slave": slave_idx,
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   626
                             "index": pdo_index,
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   627
                             "name": ExtractName(pdo.getName()),
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   628
                             "type": pdo_type,
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   629
                             "entries": entries_infos,
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   630
                             "entries_number": len(entries_infos),
2374
aed3ca79a10a clean etherlab: pep8, E712 comparison to True should be 'if cond is True:' or 'if cond:'
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2360
diff changeset
   631
                             "fixed": pdo.getFixed() is True})
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   632
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   633
                    # for MDP
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   634
                    slotNumber += 1
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   635
            
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   636
                if PdoConfig and PdoAssign:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   637
                    dynamic_pdos = {}
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   638
                    dynamic_pdos_number = 0
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   639
                    for category, min_index, max_index in [("Inputs", 0x1600, 0x1800),
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   640
                                                           ("Outputs", 0x1a00, 0x1C00)]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   641
                        for sync_manager in sync_managers:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   642
                            if sync_manager["name"] == category:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   643
                                category_infos = dynamic_pdos.setdefault(category, {})
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   644
                                category_infos["sync_manager"] = sync_manager
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   645
                                category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"]
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   646
                                                          if not pdo["fixed"] and pdo["type"] == category]
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   647
                                category_infos["current_index"] = min_index
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   648
                                category_infos["max_index"] = max_index
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   649
                                break
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   650
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   651
                    for (index, subindex), entry_declaration in slave_variables.iteritems():
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   652
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   653
                        if not entry_declaration["mapped"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   654
                            entry = device_entries.get((index, subindex), None)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   655
                            if entry is None:
2425
68e7da937162 Fix 'msgid' format string with unnamed arguments cannot be properly localized
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2407
diff changeset
   656
                                msg = _("Unknown entry index 0x{a1:.4x}, subindex 0x{a2:.2x} for device {a3}").\
68e7da937162 Fix 'msgid' format string with unnamed arguments cannot be properly localized
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2407
diff changeset
   657
                                      format(a1=index, a2=subindex, a3=type_infos["device_type"])
2378
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   658
                                raise ValueError(msg)
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   659
2111
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   660
                            entry_infos = {
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   661
                                "index": index,
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   662
                                "subindex": subindex,
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   663
                                "name": entry["Name"],
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   664
                                "bitlen": entry["BitSize"],
2111
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   665
                            }
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   666
                            entry_infos.update(type_infos)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   667
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   668
                            entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"],
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   669
                                                        entry_declaration["infos"])))
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   670
                            entry_declaration["mapped"] = True
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   671
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   672
                            if entry_infos["var_type"] != entry["Type"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   673
                                message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
2379
015b724c30a5 clean etherlab: pep8, E129 visually indented line with same indent as next logical line
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2378
diff changeset
   674
                                if self.Controler.GetSizeOfType(entry_infos["var_type"]) != \
015b724c30a5 clean etherlab: pep8, E129 visually indented line with same indent as next logical line
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2378
diff changeset
   675
                                   self.Controler.GetSizeOfType(entry["Type"]):
2378
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   676
                                    raise ValueError(message)
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   677
                                else:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   678
                                    self.Controler.GetCTRoot().logger.write_warning(message + "\n")
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   679
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   680
                            if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   681
                                pdo_type = "Inputs"
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   682
                            elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   683
                                pdo_type = "Outputs"
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   684
                            else:
2378
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   685
                                msg = _("Wrong direction for location \"%s\"!") \
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   686
                                      % entry_infos["var_name"]
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   687
                                raise ValueError(msg)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   688
2377
88a9d64560d3 clean etherlab: pep8, W601 .has_key() is deprecated, use 'in'
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2374
diff changeset
   689
                            if pdo_type not in dynamic_pdos:
2378
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   690
                                msg = _("No Sync manager defined for %s!") % pdo_type
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   691
                                raise ValueError(msg)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   692
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   693
                            ConfigureVariable(entry_infos, str_completion)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   694
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   695
                            if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   696
                                pdo = dynamic_pdos[pdo_type]["pdos"][0]
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   697
                            elif module_extra_params["add_pdo"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   698
                                while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   699
                                    dynamic_pdos[pdo_type]["current_index"] += 1
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   700
                                if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:
2378
7aa47c09f8f5 clean etherlab: pep8, W602 deprecated form of raising exception
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2377
diff changeset
   701
                                    raise ValueError(_("No more free PDO index available for %s!") % pdo_type)
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   702
                                pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   703
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   704
                                dynamic_pdos_number += 1
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   705
                                pdo = {"slave": slave_idx,
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   706
                                       "index": dynamic_pdos[pdo_type]["current_index"],
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   707
                                       "name": "Dynamic PDO %d" % dynamic_pdos_number,
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   708
                                       "type": pdo_type,
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   709
                                       "entries": [],
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   710
                                       "entries_number": 0,
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   711
                                       "fixed": False}
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   712
                                dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   713
                                dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   714
                                dynamic_pdos[pdo_type]["pdos"].append(pdo)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   715
                            else:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   716
                                break
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   717
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   718
                            pdo["entries"].append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   719
                            if entry_infos["bitlen"] < module_extra_params["pdo_alignment"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   720
                                pdo["entries"].append("    {0x0000, 0x00, %d}, /* None */" % (
2407
5f2b1bb464a0 clean etherlab: pylint, C0330 # (bad-continuation) Wrong hanging indentation before block
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2405
diff changeset
   721
                                    module_extra_params["pdo_alignment"] - entry_infos["bitlen"]))
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   722
                            pdo["entries_number"] += 1
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   723
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   724
                            if pdo["entries_number"] == module_extra_params["max_pdo_size"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   725
                                dynamic_pdos[pdo_type]["pdos"].pop(0)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   726
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   727
                pdo_offset = 0
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   728
                entry_offset = 0
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   729
                slotNumber = 1
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   730
                for sync_manager_infos in sync_managers:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   731
                    for pdo_infos in sync_manager_infos["pdos"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   732
                        pdo_infos["offset"] = entry_offset
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   733
                        pdo_entries = pdo_infos["entries"]
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   734
                        pdos_infos["pdos_infos"].append(
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   735
                            ("    {0x%(index).4x, %(entries_number)d, " +
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   736
                             "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   737
                        entry_offset += len(pdo_entries)
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   738
                        pdos_infos["pdos_entries_infos"].extend(pdo_entries)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   739
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   740
                    sync_manager_infos["offset"] = pdo_offset
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   741
                    pdo_offset_shift = sync_manager_infos["pdos_number"]
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   742
                    pdos_infos["pdos_sync_infos"].append(
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   743
                        ("    {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " +
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   744
                         ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") +
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   745
                         ", %(watchdog)s},") % sync_manager_infos)
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   746
                    pdo_offset += pdo_offset_shift
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   747
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   748
                for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]:
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   749
                    pdos_infos[element] = "\n".join(pdos_infos[element])
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   750
2144
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   751
                str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos
bbd78ac226d0 Added error message when a device informations can't be found in ESI files
Laurent Bessard
parents: 2140
diff changeset
   752
            
2641
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   753
            #for (index, subindex), entry_declaration in slave_variables.iteritems():
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   754
            #    if not entry_declaration["mapped"]:
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   755
            #        message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   756
            #                        (index, subindex, type_infos["device_type"])
c9deff128c37 EtherCat master plugin : commit changes recovered from KOSMOS 2018 installer, unkown author(s).
Edouard Tisserant <edouard.tisserant@gmail.com>
parents: 2165
diff changeset
   757
            #        self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
2111
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   758
                    
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   759
        for element in ["used_pdo_entry_offset_variables_declaration", 
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   760
                        "used_pdo_entry_configuration", 
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   761
                        "located_variables_declaration", 
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   762
                        "retrieve_variables", 
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   763
                        "publish_variables"]:
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   764
            str_completion[element] = "\n".join(str_completion[element])
2355
fec77f2b9e07 cleanup etherlab: pep8, W291 trailing whitespace
Andrey Skvortsov <andrej.skvortzov@gmail.com>
parents: 2165
diff changeset
   765
2111
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   766
        etherlabfile = open(filepath, 'w')
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   767
        etherlabfile.write(plc_etherlab_code % str_completion)
f2cffda17d00 Split etherlab.py into multiple files
Laurent Bessard
parents:
diff changeset
   768
        etherlabfile.close()