1

#!/usr/bin/env python

     2

# -*- coding: utf-8 -*-

     3

     4

# This file is part of Beremiz

     5

#

     6

# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT

     7

#                          RTES Lab : CRKim, JBLee, youcu

     8

#                          Higen Motor : Donggu Kang

     9

#

    10

# See COPYING file for copyrights details.

    11

    12

from __future__ import absolute_import

    13

from __future__ import division

    14

import os

    15

    16

from etherlab.EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName

    17

    18

SLAVE_PDOS_CONFIGURATION_DECLARATION = """

    19

/* Slave %(slave)d, "%(device_type)s"

    20

 * Vendor ID:       0x%(vendor).8x

    21

 * Product code:    0x%(product_code).8x

    22

 * Revision number: 0x%(revision_number).8x

    23

 */

    24

    25

ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = {

    26

%(pdos_entries_infos)s

    27

};

    28

    29

ec_pdo_info_t slave_%(slave)d_pdos[] = {

    30

%(pdos_infos)s

    31

};

    32

    33

ec_sync_info_t slave_%(slave)d_syncs[] = {

    34

%(pdos_sync_infos)s

    35

    {0xff}

    36

};

    37

"""

    38

    39

SLAVE_CONFIGURATION_TEMPLATE = """

    40

    if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) {

    41

        SLOGF(LOG_CRITICAL, "EtherCAT failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.");

    42

        goto ecat_failed;

    43

    }

    44

    45

    if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) {

    46

        SLOGF(LOG_CRITICAL, "EtherCAT failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.");

    47

        goto ecat_failed;

    48

    }

    49

"""

    50

    51

SLAVE_INITIALIZATION_TEMPLATE = """

    52

    {

    53

        uint8_t value[%(data_size)d];

    54

        EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s);

    55

        if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) {

    56

            SLOGF(LOG_CRITICAL, "EtherCAT Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%d", abort_code);

    57

            goto ecat_failed;

    58

        }

    59

    }

    60

"""

    61

    62

SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """

    63

    {

    64

        uint8_t value[%(data_size)d];

    65

        if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {

    66

            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);

    67

            goto ecat_failed;

    68

        }

    69

        %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);

    70

    }

    71

"""

    72

    73

    74

def ConfigureVariable(entry_infos, str_completion):

    75

    entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)

    76

    if entry_infos["data_type"] is None:

    77

        msg = _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]

    78

        raise ValueError(msg)

    79

    80

    if not entry_infos.get("no_decl", False):

    81

        if "real_var" in entry_infos:

    82

            str_completion["located_variables_declaration"].append(

    83

                "IEC_%(var_type)s %(real_var)s;" % entry_infos)

    84

        else:

    85

            entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]

    86

            str_completion["located_variables_declaration"].extend(

    87

                ["IEC_%(var_type)s %(real_var)s;" % entry_infos,

    88

                 "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos])

    89

        for declaration in entry_infos.get("extra_declarations", []):

    90

            entry_infos["extra_decl"] = declaration

    91

            str_completion["located_variables_declaration"].append(

    92

                "IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos)

    93

    elif "real_var" not in entry_infos:

    94

        entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]

    95

    96

    str_completion["used_pdo_entry_offset_variables_declaration"].append(

    97

        "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos)

    98

    99

    if entry_infos["data_type"] == "BIT":

   100

        str_completion["used_pdo_entry_offset_variables_declaration"].append(

   101

            "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos)

   102

   103

        str_completion["used_pdo_entry_configuration"].append(

   104

            ("    {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " +

   105

             "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " +

   106

             "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos)

   107

   108

        if entry_infos["dir"] == "I":

   109

            str_completion["retrieve_variables"].append(

   110

                ("    %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +

   111

                 "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos)

   112

        elif entry_infos["dir"] == "Q":

   113

            str_completion["publish_variables"].append(

   114

                ("    EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +

   115

                 "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos)

   116

   117

    else:

   118

        str_completion["used_pdo_entry_configuration"].append(

   119

            ("    {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " +

   120

             "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos)

   121

   122

        if entry_infos["dir"] == "I":

   123

            str_completion["retrieve_variables"].append(

   124

                ("    %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " +

   125

                 "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos)

   126

        elif entry_infos["dir"] == "Q":

   127

            str_completion["publish_variables"].append(

   128

                ("    EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +

   129

                 "%(real_var)s);") % entry_infos)

   130

   131

   132

def ExclusionSortFunction(x, y):

   133

    if x["matching"] == y["matching"]:

   134

        if x["assigned"] and not y["assigned"]:

   135

            return -1

   136

        elif not x["assigned"] and y["assigned"]:

   137

            return 1

   138

        return cmp(x["count"], y["count"])

   139

    return -cmp(x["matching"], y["matching"])

   140

   141

   142

class _EthercatCFileGenerator(object):

   143

   144

    def __init__(self, controler):

   145

        self.Controler = controler

   146

   147

        self.Slaves = []

   148

        self.UsedVariables = {}

   149

   150

    def __del__(self):

   151

        self.Controler = None

   152

   153

    def DeclareSlave(self, slave_index, slave):

   154

        self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave))

   155

   156

    def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False):

   157

        slave_variables = self.UsedVariables.setdefault(slave_index, {})

   158

   159

        entry_infos = slave_variables.get((index, subindex), None)

   160

        if entry_infos is None:

   161

            slave_variables[(index, subindex)] = {

   162

                "infos": (iec_type, dir, name, no_decl, []),

   163

                "mapped": False}

   164

            return name

   165

        elif entry_infos["infos"][:2] == (iec_type, dir):

   166

            if name != entry_infos["infos"][2]:

   167

                if dir == "I":

   168

                    entry_infos["infos"][4].append(name)

   169

                    return entry_infos["infos"][2]

   170

                else:

   171

                    msg = _("Output variables can't be defined with different locations ({a1} and {a2})").\

   172

                          format(a1=entry_infos["infos"][2], a2=name)

   173

                    raise ValueError(msg)

   174

        else:

   175

            raise ValueError(_("Definition conflict for location \"%s\"") % name)

   176

   177

    def GenerateCFile(self, filepath, location_str, master_number):

   178

   179

        # Extract etherlab master code template

   180

        plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")

   181

        plc_etherlab_file = open(plc_etherlab_filepath, 'r')

   182

        plc_etherlab_code = plc_etherlab_file.read()

   183

        plc_etherlab_file.close()

   184

   185

        # Initialize strings for formatting master code template

   186

        str_completion = {

   187

            "location": location_str,

   188

            "master_number": master_number,

   189

            "located_variables_declaration": [],

   190

            "used_pdo_entry_offset_variables_declaration": [],

   191

            "used_pdo_entry_configuration": [],

   192

            "pdos_configuration_declaration": "",

   193

            "slaves_declaration": "",

   194

            "slaves_configuration": "",

   195

            "slaves_output_pdos_default_values_extraction": "",

   196

            "slaves_initialization": "",

   197

            "retrieve_variables": [],

   198

            "publish_variables": [],

   199

        }

   200

   201

        # Initialize variable storing variable mapping state

   202

        for slave_entries in self.UsedVariables.itervalues():

   203

            for entry_infos in slave_entries.itervalues():

   204

                entry_infos["mapped"] = False

   205

   206

        # Sort slaves by position (IEC_Channel)

   207

        self.Slaves.sort()

   208

        # Initialize dictionary storing alias auto-increment position values

   209

        alias = {}

   210

   211

        # Generating code for each slave

   212

        for (slave_idx, slave_alias, slave) in self.Slaves:

   213

            type_infos = slave.getType()

   214

   215

            # Defining slave alias and auto-increment position

   216

            if alias.get(slave_alias) is not None:

   217

                alias[slave_alias] += 1

   218

            else:

   219

                alias[slave_alias] = 0

   220

            slave_pos = (slave_alias, alias[slave_alias])

   221

   222

            # Extract slave device informations

   223

            device, module_extra_params = self.Controler.GetModuleInfos(type_infos)

   224

            if device is None:

   225

                msg = _("No informations found for device %s!") \

   226

                      % (type_infos["device_type"])

   227

                raise ValueError(msg)

   228

   229

            # Extract slaves variables to be mapped

   230

            slave_variables = self.UsedVariables.get(slave_idx, {})

   231

   232

            # Extract slave device object dictionary entries

   233

            device_entries = device.GetEntriesList()

   234

   235

            # Adding code for declaring slave in master code template strings

   236

            for element in ["vendor", "product_code", "revision_number"]:

   237

                type_infos[element] = ExtractHexDecValue(type_infos[element])

   238

            type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))

   239

   240

            # Extract slave device CoE informations

   241

            device_coe = device.getCoE()

   242

            if device_coe is not None:

   243

   244

                # If device support CanOpen over Ethernet, adding code for calling

   245

                # init commands when initializing slave in master code template strings

   246

                initCmds = []

   247

                for initCmd in device_coe.getInitCmd():

   248

                    initCmds.append({

   249

                        "Index": ExtractHexDecValue(initCmd.getIndex()),

   250

                        "Subindex": ExtractHexDecValue(initCmd.getSubIndex()),

   251

                        "Value": initCmd.getData().getcontent()})

   252

                initCmds.extend(slave.getStartupCommands())

   253

                for initCmd in initCmds:

   254

                    index = initCmd["Index"]

   255

                    subindex = initCmd["Subindex"]

   256

                    entry = device_entries.get((index, subindex), None)

   257

                    if entry is not None:

   258

                        data_size = entry["BitSize"] // 8

   259

                        data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"]

   260

                        init_cmd_infos = {

   261

                            "index": index,

   262

                            "subindex": subindex,

   263

                            "data": data_str,

   264

                            "data_type": DATATYPECONVERSION.get(entry["Type"]),

   265

                            "data_size": data_size

   266

                        }

   267

                        init_cmd_infos.update(type_infos)

   268

                        str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos

   269

   270

                # Extract slave device PDO configuration capabilities

   271

                PdoAssign = device_coe.getPdoAssign()

   272

                PdoConfig = device_coe.getPdoConfig()

   273

            else:

   274

                PdoAssign = PdoConfig = False

   275

   276

            # Test if slave has a configuration or need one

   277

            if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign:

   278

   279

                str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos

   280

                str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos

   281

   282

                # Initializing

   283

                pdos_infos = {

   284

                    "pdos_entries_infos": [],

   285

                    "pdos_infos": [],

   286

                    "pdos_sync_infos": [],

   287

                }

   288

                pdos_infos.update(type_infos)

   289

   290

                sync_managers = []

   291

                for sync_manager_idx, sync_manager in enumerate(device.getSm()):

   292

                    sync_manager_infos = {

   293

                        "index": sync_manager_idx,

   294

                        "name": sync_manager.getcontent(),

   295

                        "slave": slave_idx,

   296

                        "pdos": [],

   297

                        "pdos_number": 0,

   298

                    }

   299

   300

                    sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())

   301

                    sync_manager_direction = sync_manager_control_byte & 0x0c

   302

                    sync_manager_watchdog = sync_manager_control_byte & 0x40

   303

                    if sync_manager_direction:

   304

                        sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"

   305

                    else:

   306

                        sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"

   307

                    if sync_manager_watchdog:

   308

                        sync_manager_infos["watchdog"] = "EC_WD_ENABLE"

   309

                    else:

   310

                        sync_manager_infos["watchdog"] = "EC_WD_DISABLE"

   311

   312

                    sync_managers.append(sync_manager_infos)

   313

   314

                pdos_index = []

   315

                exclusive_pdos = {}

   316

                selected_pdos = []

   317

                for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +

   318

                                      [(pdo, "Outputs") for pdo in device.getRxPdo()]):

   319

   320

                    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())

   321

                    pdos_index.append(pdo_index)

   322

   323

                    excluded_list = pdo.getExclude()

   324

                    if len(excluded_list) > 0:

   325

                        exclusion_list = [pdo_index]

   326

                        for excluded in excluded_list:

   327

                            exclusion_list.append(ExtractHexDecValue(excluded.getcontent()))

   328

                        exclusion_list.sort()

   329

   330

                        exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])

   331

   332

                        entries = pdo.getEntry()

   333

                        pdo_mapping_match = {

   334

                            "index": pdo_index,

   335

                            "matching": 0,

   336

                            "count": len(entries),

   337

                            "assigned": pdo.getSm() is not None

   338

                        }

   339

                        exclusion_scope.append(pdo_mapping_match)

   340

   341

                        for entry in entries:

   342

                            index = ExtractHexDecValue(entry.getIndex().getcontent())

   343

                            subindex = ExtractHexDecValue(entry.getSubIndex())

   344

                            if slave_variables.get((index, subindex), None) is not None:

   345

                                pdo_mapping_match["matching"] += 1

   346

   347

                        if pdo.getFixed() is not True:

   348

                            pdo_mapping_match["matching"] += \

   349

                                module_extra_params["max_pdo_size"] - \

   350

                                pdo_mapping_match["count"]

   351

   352

                    elif pdo.getMandatory():

   353

                        selected_pdos.append(pdo_index)

   354

   355

                excluded_pdos = []

   356

                for exclusion_scope in exclusive_pdos.itervalues():

   357

                    exclusion_scope.sort(ExclusionSortFunction)

   358

                    start_excluding_index = 0

   359

                    if exclusion_scope[0]["matching"] > 0:

   360

                        selected_pdos.append(exclusion_scope[0]["index"])

   361

                        start_excluding_index = 1

   362

                    excluded_pdos.extend([

   363

                        pdo["index"]

   364

                        for pdo in exclusion_scope[start_excluding_index:]

   365

                        if PdoAssign or not pdo["assigned"]])

   366

   367

                for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +

   368

                                      [(pdo, "Outputs") for pdo in device.getRxPdo()]):

   369

                    entries = pdo.getEntry()

   370

   371

                    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())

   372

                    if pdo_index in excluded_pdos:

   373

                        continue

   374

   375

                    pdo_needed = pdo_index in selected_pdos

   376

   377

                    entries_infos = []

   378

   379

                    for entry in entries:

   380

                        index = ExtractHexDecValue(entry.getIndex().getcontent())

   381

                        subindex = ExtractHexDecValue(entry.getSubIndex())

   382

                        entry_infos = {

   383

                            "index": index,

   384

                            "subindex": subindex,

   385

                            "name": ExtractName(entry.getName()),

   386

                            "bitlen": entry.getBitLen(),

   387

                        }

   388

                        entry_infos.update(type_infos)

   389

                        entries_infos.append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)

   390

   391

                        entry_declaration = slave_variables.get((index, subindex), None)

   392

                        if entry_declaration is not None and not entry_declaration["mapped"]:

   393

                            pdo_needed = True

   394

   395

                            entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"],

   396

                                                        entry_declaration["infos"])))

   397

                            entry_declaration["mapped"] = True

   398

   399

                            entry_type = entry.getDataType().getcontent()

   400

                            if entry_infos["var_type"] != entry_type:

   401

                                message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]

   402

                                if self.Controler.GetSizeOfType(entry_infos["var_type"]) != \

   403

                                   self.Controler.GetSizeOfType(entry_type):

   404

                                    raise ValueError(message)

   405

                                else:

   406

                                    self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")

   407

   408

                            if (entry_infos["dir"] == "I" and pdo_type != "Inputs") or \

   409

                               (entry_infos["dir"] == "Q" and pdo_type != "Outputs"):

   410

                                raise ValueError(_("Wrong direction for location \"%s\"!") % entry_infos["var_name"])

   411

   412

                            ConfigureVariable(entry_infos, str_completion)

   413

   414

                        elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:

   415

                            data_type = entry.getDataType().getcontent()

   416

                            entry_infos["dir"] = "Q"

   417

                            entry_infos["data_size"] = max(1, entry_infos["bitlen"] // 8)

   418

                            entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)

   419

                            entry_infos["var_type"] = data_type

   420

                            entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos

   421

   422

                            ConfigureVariable(entry_infos, str_completion)

   423

   424

                            str_completion["slaves_output_pdos_default_values_extraction"] += \

   425

                                SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos

   426

   427

                    if pdo_needed:

   428

                        for excluded in pdo.getExclude():

   429

                            excluded_index = ExtractHexDecValue(excluded.getcontent())

   430

                            if excluded_index not in excluded_pdos:

   431

                                excluded_pdos.append(excluded_index)

   432

   433

                        sm = pdo.getSm()

   434

                        if sm is None:

   435

                            for sm_idx, sync_manager in enumerate(sync_managers):

   436

                                if sync_manager["name"] == pdo_type:

   437

                                    sm = sm_idx

   438

                        if sm is None:

   439

                            raise ValueError(_("No sync manager available for %s pdo!") % pdo_type)

   440

   441

                        sync_managers[sm]["pdos_number"] += 1

   442

                        sync_managers[sm]["pdos"].append(

   443

                            {"slave": slave_idx,

   444

                             "index": pdo_index,

   445

                             "name": ExtractName(pdo.getName()),

   446

                             "type": pdo_type,

   447

                             "entries": entries_infos,

   448

                             "entries_number": len(entries_infos),

   449

                             "fixed": pdo.getFixed() is True})

   450

   451

                if PdoConfig and PdoAssign:

   452

                    dynamic_pdos = {}

   453

                    dynamic_pdos_number = 0

   454

                    for category, min_index, max_index in [("Inputs", 0x1600, 0x1800),

   455

                                                           ("Outputs", 0x1a00, 0x1C00)]:

   456

                        for sync_manager in sync_managers:

   457

                            if sync_manager["name"] == category:

   458

                                category_infos = dynamic_pdos.setdefault(category, {})

   459

                                category_infos["sync_manager"] = sync_manager

   460

                                category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"]

   461

                                                          if not pdo["fixed"] and pdo["type"] == category]

   462

                                category_infos["current_index"] = min_index

   463

                                category_infos["max_index"] = max_index

   464

                                break

   465

   466

                    for (index, subindex), entry_declaration in slave_variables.iteritems():

   467

   468

                        if not entry_declaration["mapped"]:

   469

                            entry = device_entries.get((index, subindex), None)

   470

                            if entry is None:

   471

                                msg = _("Unknown entry index 0x{a1:.4x}, subindex 0x{a2:.2x} for device {a3}").\

   472

                                      format(a1=index, a2=subindex, a3=type_infos["device_type"])

   473

                                raise ValueError(msg)

   474

   475

                            entry_infos = {

   476

                                "index": index,

   477

                                "subindex": subindex,

   478

                                "name": entry["Name"],

   479

                                "bitlen": entry["BitSize"],

   480

                            }

   481

                            entry_infos.update(type_infos)

   482

   483

                            entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"],

   484

                                                        entry_declaration["infos"])))

   485

                            entry_declaration["mapped"] = True

   486

   487

                            if entry_infos["var_type"] != entry["Type"]:

   488

                                message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]

   489

                                if self.Controler.GetSizeOfType(entry_infos["var_type"]) != \

   490

                                   self.Controler.GetSizeOfType(entry["Type"]):

   491

                                    raise ValueError(message)

   492

                                else:

   493

                                    self.Controler.GetCTRoot().logger.write_warning(message + "\n")