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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, a Integrated Development Environment for

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# programming IEC 61131-3 automates supporting plcopen standard and CanFestival.

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#

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# Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD

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#

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# See COPYING file for copyrights details.

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#

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# This program is free software; you can redistribute it and/or

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# modify it under the terms of the GNU General Public License

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# as published by the Free Software Foundation; either version 2

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# of the License, or (at your option) any later version.

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#

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# This program is distributed in the hope that it will be useful,

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# but WITHOUT ANY WARRANTY; without even the implied warranty of

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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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# GNU General Public License for more details.

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#

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# You should have received a copy of the GNU General Public License

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# along with this program; if not, write to the Free Software

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# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

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    25

    26

import os

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import sys

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import getopt

    29

from functools import reduce

    30

    31

# Translation between IEC types and Can Open types

    32

IECToCOType = {

    33

    "BOOL":    0x01,

    34

    "SINT":    0x02,

    35

    "INT":     0x03,

    36

    "DINT":    0x04,

    37

    "LINT":    0x10,

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    "USINT":   0x05,

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    "UINT":    0x06,

    40

    "UDINT":   0x07,

    41

    "ULINT":   0x1B,

    42

    "REAL":    0x08,

    43

    "LREAL":   0x11,

    44

    "STRING":  0x09,

    45

    "BYTE":    0x05,

    46

    "WORD":    0x06,

    47

    "DWORD":   0x07,

    48

    "LWORD":   0x1B,

    49

    "WSTRING": 0x0B

    50

}

    51

    52

# Constants for PDO types

    53

RPDO = 1

    54

TPDO = 2

    55

    56

SlavePDOType = {"I": TPDO, "Q": RPDO}

    57

InvertPDOType = {RPDO: TPDO, TPDO: RPDO}

    58

PDOTypeBaseIndex = {RPDO: 0x1400, TPDO: 0x1800}

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PDOTypeBaseCobId = {RPDO: 0x200, TPDO: 0x180}

    60

    61

VariableIncrement = 0x100

    62

VariableStartIndex = {TPDO: 0x2000, RPDO: 0x4000}

    63

VariableDirText = {TPDO: "__I", RPDO: "__Q"}

    64

VariableTypeOffset = dict(list(zip(["", "X", "B", "W", "D", "L"], list(range(6)))))

    65

    66

TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)]

    67

    68

# -------------------------------------------------------------------------------

    69

#                  Specific exception for PDO mapping errors

    70

# -------------------------------------------------------------------------------

    71

    72

    73

class PDOmappingException(Exception):

    74

    pass

    75

    76

    77

def LE_to_BE(value, size):

    78

    """

    79

    Convert Little Endian to Big Endian

    80

    @param value: value expressed in integer

    81

    @param size: number of bytes generated

    82

    @return: a string containing the value converted

    83

    """

    84

    85

    data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value

    86

    list_car = [data[i:i+2] for i in range(0, len(data), 2)]

    87

    list_car.reverse()

    88

    return "".join([chr(int(car, 16)) for car in list_car])

    89

    90

    91

def GetNodePDOIndexes(node, type, parameters=False):

    92

    """

    93

    Find the PDO indexes of a node

    94

    @param node: node

    95

    @param type: type of PDO searched (RPDO or TPDO or both)

    96

    @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)

    97

    @return: a list of indexes found

    98

    """

    99

   100

    indexes = []

   101

    if type & RPDO:

   102

        indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF])

   103

    if type & TPDO:

   104

        indexes.extend([idx for idx in node.GetIndexes() if 0x1800 <= idx <= 0x19FF])

   105

    if not parameters:

   106

        return [idx + 0x200 for idx in indexes]

   107

    else:

   108

        return indexes

   109

   110

   111

def SearchNodePDOMapping(loc_infos, node):

   112

    """

   113

    Find the PDO indexes of a node

   114

    @param node: node

   115

    @param type: type of PDO searched (RPDO or TPDO or both)

   116

    @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)

   117

    @return: a list of indexes found

   118

    """

   119

   120

    model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8)

   121

   122

    for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]):

   123

        values = node.GetEntry(PDOidx)

   124

        if values is not None:

   125

            for subindex, mapping in enumerate(values):

   126

                if subindex != 0 and mapping & 0xFFFFFF00 == model:

   127

                    return PDOidx, subindex

   128

    return None

   129

   130

   131

def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping):

   132

    """

   133

    Build concise DCF value for configuring a PDO

   134

    @param idx: index of PDO parameters

   135

    @param cobid: PDO generated COB ID

   136

    @param transmittype : PDO transmit type

   137

    @param pdomapping: list of PDO mappings

   138

    @return: a tuple of value and number of parameters to add to DCF

   139

    """

   140

   141

    dcfdata = []

   142

    # Create entry for RPDO or TPDO parameters and Disable PDO

   143

    #           ---- INDEX -----   --- SUBINDEX ----   ----- SIZE ------   ------ DATA ------

   144

    dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x80000000 + cobid, 4)]

   145

    # Set Transmit type

   146

    dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)]

   147

    if len(pdomapping) > 0:

   148

        # Disable Mapping

   149

        dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(0x00, 1)]

   150

        # Map Variables

   151

        for subindex, (_name, loc_infos) in enumerate(pdomapping):

   152

            value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"]

   153

            dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4)]

   154

        # Re-enable Mapping

   155

        dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1)]

   156

    # Re-Enable PDO

   157

    dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(cobid, 4)]

   158

    return "".join(dcfdata), len(dcfdata)

   159

   160

   161

class ConciseDCFGenerator(object):

   162

   163

    def __init__(self, nodelist, nodename):

   164

        # Dictionary of location informations classed by name

   165

        self.IECLocations = {}

   166

        # Dictionary of location that have not been mapped yet

   167

        self.LocationsNotMapped = {}

   168

        # Dictionary of location informations classed by name

   169

        self.MasterMapping = {}

   170

        # List of COB IDs available

   171

        self.ListCobIDAvailable = list(range(0x180, 0x580))

   172

        # Dictionary of mapping value where unexpected variables are stored

   173

        self.TrashVariables = {}

   174

        # Dictionary of pointed variables

   175

        self.PointedVariables = {}

   176

   177

        self.NodeList = nodelist

   178

        self.Manager = self.NodeList.Manager

   179

        self.MasterNode = self.Manager.GetCurrentNodeCopy()

   180

        self.MasterNode.SetNodeName(nodename)

   181

        self.PrepareMasterNode()

   182

   183

    def GetPointedVariables(self):

   184

        return self.PointedVariables

   185

   186

    def RemoveUsedNodeCobId(self, node):

   187

        """

   188

        Remove all PDO COB ID used by the given node from the list of available COB ID

   189

        @param node: node

   190

        @return: a tuple of number of RPDO and TPDO for the node

   191

        """

   192

   193

        # Get list of all node TPDO and RPDO indexes

   194

        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

   195

        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

   196

   197

        # Mark all the COB ID of the node already mapped PDO as not available

   198

        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

   199

            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

   200

            # Extract COB ID, if PDO isn't active

   201

            if pdo_cobid > 0x600:

   202

                pdo_cobid -= 0x80000000

   203

            # Remove COB ID from the list of available COB ID

   204

            if pdo_cobid in self.ListCobIDAvailable:

   205

                self.ListCobIDAvailable.remove(pdo_cobid)

   206

   207

        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

   208

   209

    def PrepareMasterNode(self):

   210

        """

   211

        Add mandatory entries for DCF generation into MasterNode.

   212

        """

   213

   214

        # Adding DCF entry into Master node

   215

        if not self.MasterNode.IsEntry(0x1F22):

   216

            self.MasterNode.AddEntry(0x1F22, 1, "")

   217

        self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode)

   218

   219

        # Adding trash mappable variables for unused mapped datas

   220

        idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID()

   221

        # Add an entry for storing unexpected all variable

   222

        self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode)

   223

        for subidx, (size, typeidx) in enumerate(TrashVariables):

   224

            # Add a subentry for storing unexpected variable of this size

   225

            self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, self.MasterNode)

   226

            self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode)

   227

            # Store the mapping value for this entry

   228

            self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size

   229

   230

        RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode)

   231

   232

        # Store the indexes of the first RPDO and TPDO available for MasterNode

   233

        self.CurrentPDOParamsIdx = {RPDO: 0x1400 + RPDOnumber, TPDO: 0x1800 + TPDOnumber}

   234

   235

        # Prepare MasterNode with all nodelist slaves

   236

        for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()):

   237

            node = nodeinfos["Node"]

   238

            node.SetNodeID(nodeid)

   239

   240

            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

   241

   242

            # Get Slave's default SDO server parameters

   243

            RSDO_cobid = node.GetEntry(0x1200, 0x01)

   244

            if not RSDO_cobid:

   245

                RSDO_cobid = 0x600 + nodeid

   246

            TSDO_cobid = node.GetEntry(0x1200, 0x02)

   247

            if not TSDO_cobid:

   248

                TSDO_cobid = 0x580 + nodeid

   249

   250

            # Configure Master's SDO parameters entries

   251

            self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode)

   252

            self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid)

   253

            self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid)

   254

            self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid)

   255

   256

    def GetMasterNode(self):

   257

        """

   258

        Return MasterNode.

   259

        """

   260

        return self.MasterNode

   261

   262

    def AddParamsToDCF(self, nodeid, data, nbparams):

   263

        """

   264

        Add entry to DCF, for the requested nodeID

   265

        @param nodeid: id of the slave (int)

   266

        @param data: data to add to slave DCF (string)

   267

        @param nbparams: number of params added to slave DCF (int)

   268

        """

   269

        # Get current DCF for slave

   270

        nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid)

   271

   272

        # Extract data and number of params in current DCF

   273

        if nodeDCF is not None and nodeDCF != '':

   274

            tmpnbparams = [i for i in nodeDCF[:4]]

   275

            tmpnbparams.reverse()

   276

            nbparams += int(''.join(["%2.2x" % ord(i) for i in tmpnbparams]), 16)

   277

            data = nodeDCF[4:] + data

   278

   279

        # Build new DCF

   280

        dcf = LE_to_BE(nbparams, 0x04) + data

   281

        # Set new DCF for slave

   282

        self.MasterNode.SetEntry(0x1F22, nodeid, dcf)

   283

   284

    def GetEmptyPDO(self, nodeid, pdotype, start_index=None):

   285

        """

   286

        Search a not configured PDO for a slave

   287

        @param node: the slave node object

   288

        @param pdotype: type of PDO to generated (RPDO or TPDO)

   289

        @param start_index: Index where search must start (default: None)

   290

        @return tuple of PDO index, COB ID and number of subindex defined

   291

        """

   292

        # If no start_index defined, start with PDOtype base index

   293

        if start_index is None:

   294

            index = PDOTypeBaseIndex[pdotype]

   295

        else:

   296

            index = start_index

   297

   298

        # Search for all PDO possible index until find a configurable PDO

   299

        # starting from start_index

   300

        while index < PDOTypeBaseIndex[pdotype] + 0x200:

   301

            values = self.NodeList.GetSlaveNodeEntry(nodeid, index + 0x200)

   302

            if values is not None and values[0] > 0:

   303

                # Check that all subindex upper than 0 equal 0 => configurable PDO

   304

                if reduce(lambda x, y: x and y, [x == 0 for x in values[1:]], True):

   305

                    cobid = self.NodeList.GetSlaveNodeEntry(nodeid, index, 1)

   306

                    # If no COB ID defined in PDO, generate a new one (not used)

   307

                    if cobid == 0:

   308

                        if len(self.ListCobIDAvailable) == 0:

   309

                            return None

   310

                        # Calculate COB ID from standard values

   311

                        if index < PDOTypeBaseIndex[pdotype] + 4:

   312

                            cobid = PDOTypeBaseCobId[pdotype] + 0x100 * (index - PDOTypeBaseIndex[pdotype]) + nodeid

   313

                        if cobid not in self.ListCobIDAvailable:

   314

                            cobid = self.ListCobIDAvailable.pop(0)

   315

                    return index, cobid, values[0]

   316

            index += 1

   317

        return None

   318

   319

    def AddPDOMapping(self, nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs):

   320

        """

   321

        Record a new mapping request for a slave, and add related slave config to the DCF

   322

        @param nodeid: id of the slave (int)

   323

        @param pdotype: type of PDO to generated (RPDO or TPDO)

   324

        @param pdomapping: list od variables to map with PDO

   325

        """

   326

        # Add an entry to MasterMapping

   327

        self.MasterMapping[pdocobid] = {

   328

            "type":    InvertPDOType[pdotype],

   329

            "mapping": [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]

   330

        }

   331

   332

        # Return the data to add to DCF

   333

        if sync_TPDOs:

   334

            return GeneratePDOMappingDCF(pdoindex, pdocobid, 0x01, pdomapping)

   335

        else:

   336

            return GeneratePDOMappingDCF(pdoindex, pdocobid, 0xFF, pdomapping)

   337

        return 0, ""

   338

   339

    def GenerateDCF(self, locations, current_location, sync_TPDOs):

   340

        """

   341

        Generate Concise DCF of MasterNode for the locations list given

   342

        @param locations: list of locations to be mapped

   343

        @param current_location: tuple of the located prefixes not to be considered

   344

        @param sync_TPDOs: indicate if TPDO must be synchronous

   345

        """

   346

   347

        # -------------------------------------------------------------------------------

   348

        #               Verify that locations correspond to real slave variables

   349

        # -------------------------------------------------------------------------------

   350

   351

        # Get list of locations check if exists and mappables -> put them in IECLocations

   352

        for location in locations:

   353

            COlocationtype = IECToCOType[location["IEC_TYPE"]]

   354

            name = location["NAME"]

   355

            if name in self.IECLocations:

   356

                if self.IECLocations[name]["type"] != COlocationtype:

   357

                    raise PDOmappingException(_("Type conflict for location \"%s\"") % name)

   358

            else:

   359

                # Get only the part of the location that concern this node

   360

                loc = location["LOC"][len(current_location):]

   361

                # loc correspond to (ID, INDEX, SUBINDEX [,BIT])

   362

                if len(loc) not in (2, 3, 4):

   363

                    raise PDOmappingException(_("Bad location size : %s") % str(loc))

   364

                elif len(loc) == 2:

   365

                    continue

   366

   367

                direction = location["DIR"]

   368

   369

                sizelocation = location["SIZE"]

   370

   371

                # Extract and check nodeid

   372

                nodeid, index, subindex = loc[:3]

   373

   374

                # Check Id is in slave node list

   375

                if nodeid not in list(self.NodeList.SlaveNodes.keys()):

   376

                    raise PDOmappingException(

   377

                        _("Non existing node ID : {a1} (variable {a2})").

   378

                        format(a1=nodeid, a2=name))

   379

   380

                # Get the model for this node (made from EDS)

   381

                node = self.NodeList.SlaveNodes[nodeid]["Node"]

   382

   383

                # Extract and check index and subindex

   384

                if not node.IsEntry(index, subindex):

   385

                    msg = _("No such index/subindex ({a1},{a2}) in ID : {a3} (variable {a4})").\

   386

                          format(a1="%x" % index, a2="%x" % subindex, a3=nodeid, a4=name)

   387

                    raise PDOmappingException(msg)

   388

   389

                # Get the entry info

   390

                subentry_infos = node.GetSubentryInfos(index, subindex)

   391

   392

                # If a PDO mappable

   393

                if subentry_infos and subentry_infos["pdo"]:

   394

                    if sizelocation == "X" and len(loc) > 3:

   395

                        numbit = loc[3]

   396

                    elif sizelocation != "X" and len(loc) > 3:

   397

                        raise PDOmappingException(

   398

                            _("Cannot set bit offset for non bool '{a1}' variable (ID:{a2},Idx:{a3},sIdx:{a4}))").

   399

                            format(a1=name, a2=nodeid, a3="%x" % index, a4="%x" % subindex))

   400

                    else:

   401

                        numbit = None

   402

   403

                    if location["IEC_TYPE"] != "BOOL" and subentry_infos["type"] != COlocationtype:

   404

                        raise PDOmappingException(

   405

                            _("Invalid type \"{a1}\"-> {a2} != {a3}  for location \"{a4}\"").

   406

                            format(a1=location["IEC_TYPE"],

   407

                                   a2=COlocationtype,

   408

                                   a3=subentry_infos["type"],

   409

                                   a4=name))

   410

   411

                    typeinfos = node.GetEntryInfos(COlocationtype)

   412

                    self.IECLocations[name] = {

   413

                        "type":         COlocationtype,

   414

                        "pdotype":      SlavePDOType[direction],

   415

                        "nodeid":       nodeid,

   416

                        "index":        index,

   417

                        "subindex":     subindex,

   418

                        "bit":          numbit,

   419

                        "size":         typeinfos["size"],

   420

                        "sizelocation": sizelocation

   421

                    }

   422

                else:

   423

                    raise PDOmappingException(

   424

                        _("Not PDO mappable variable : '{a1}' (ID:{a2},Idx:{a3},sIdx:{a4}))").

   425

                        format(a1=name, a2=nodeid, a3="%x" % index, a4="%x" % subindex))

   426

   427

        # -------------------------------------------------------------------------------

   428

        #                         Search for locations already mapped

   429

        # -------------------------------------------------------------------------------

   430

   431

        for name, locationinfos in list(self.IECLocations.items()):

   432

            node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"]

   433

   434

            # Search if slave has a PDO mapping this locations

   435

            result = SearchNodePDOMapping(locationinfos, node)

   436

            if result is not None:

   437

                index, subindex = result

   438

                # Get COB ID of the PDO

   439

                cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)

   440

   441

                # Add PDO to MasterMapping

   442

                if cobid not in list(self.MasterMapping.keys()):

   443

                    # Verify that PDO transmit type is conform to sync_TPDOs

   444

                    transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)

   445

                    if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF:

   446

                        if sync_TPDOs:

   447

                            # Change TransmitType to SYNCHRONE

   448

                            data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, [])

   449

                        else:

   450

                            # Change TransmitType to ASYCHRONE

   451

                            data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, [])

   452

   453

                        # Add entry to slave dcf to change transmit type of

   454

                        self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams)

   455

   456

                    mapping = [None]

   457

                    values = node.GetEntry(index)

   458

                    # Store the size of each entry mapped in PDO

   459

                    for value in values[1:]:

   460

                        if value != 0:

   461

                            mapping.append(value % 0x100)

   462

                    self.MasterMapping[cobid] = {"type": InvertPDOType[locationinfos["pdotype"]], "mapping": mapping}

   463

   464

                # Indicate that this PDO entry must be saved

   465

                if locationinfos["bit"] is not None:

   466

                    if not isinstance(self.MasterMapping[cobid]["mapping"][subindex], list):

   467

                        self.MasterMapping[cobid]["mapping"][subindex] = [1] * self.MasterMapping[cobid]["mapping"][subindex]

   468

                    if locationinfos["bit"] < len(self.MasterMapping[cobid]["mapping"][subindex]):

   469

                        self.MasterMapping[cobid]["mapping"][subindex][locationinfos["bit"]] = (locationinfos["type"], name)

   470

                else:

   471

                    self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name)

   472

   473

            else:

   474

                # Add location to those that haven't been mapped yet

   475

                if locationinfos["nodeid"] not in list(self.LocationsNotMapped.keys()):

   476

                    self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO: [], RPDO: []}

   477

                self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))

   478

   479

        # -------------------------------------------------------------------------------

   480

        #                         Build concise DCF for the others locations

   481

        # -------------------------------------------------------------------------------

   482

   483

        for nodeid, locations in list(self.LocationsNotMapped.items()):

   484

            node = self.NodeList.SlaveNodes[nodeid]["Node"]

   485

   486

            # Initialize number of params and data to add to node DCF

   487

            nbparams = 0

   488

            dataparams = ""

   489

   490

            # Generate the best PDO mapping for each type of PDO

   491

            for pdotype in (TPDO, RPDO):

   492

                if len(locations[pdotype]) > 0:

   493

                    pdosize = 0

   494

                    pdomapping = []

   495

                    result = self.GetEmptyPDO(nodeid, pdotype)

   496

                    if result is None:

   497

                        raise PDOmappingException(