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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) 2013: Real-Time & Embedded Systems (RTES) Lab. University of Seoul, Korea

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#

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# See COPYING file for copyrights details.

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import os

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import wx

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mailbox_protocols =  ["AoE", "EoE", "CoE", "FoE", "SoE", "VoE"]

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def ExtractHexDecValue(value):

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    """

    18

     convert numerical value in string format into decimal or hex format.

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     @param value : hex or decimal data

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     @return integer data

    21

    """

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    try:

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        return int(value)

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    except Exception:

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        pass

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    try:

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        return int(value.replace("#", "0"), 16)

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    29

    except Exception:

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        raise ValueError, "Invalid value for HexDecValue \"%s\"" % value

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    32

def ExtractName(names, default=None):

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    """

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     Extract "name" field from XML entries.

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     @param names : XML entry

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     @default : if it fails to extract from the designated XML entry, return the default value ("None").

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     @return default or the name extracted

    38

    """

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    if len(names) == 1:

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        return names[0].getcontent()

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    else:

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        for name in names:

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            if name.getLcId() == 1033:

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                return name.getcontent()

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    return default

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

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#         Remote Exec Etherlab Commands

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

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# --------------------- for master ---------------------------

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MASTER_STATE = """

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import commands

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result = commands.getoutput("ethercat master")

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returnVal =result

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"""

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# --------------------- for slave ----------------------------

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# ethercat state -p (slave position) (state (INIT, PREOP, SAFEOP, OP))

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SLAVE_STATE = """

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import commands

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result = commands.getoutput("ethercat state -p %d %s")

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returnVal = result

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"""

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# ethercat slave

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GET_SLAVE = """

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import commands

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result = commands.getoutput("ethercat slaves")

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returnVal =result

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"""

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# ethercat xml -p (slave position)

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SLAVE_XML = """

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import commands

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result = commands.getoutput("ethercat xml -p %d")

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returnVal = result

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"""

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# ethercat sdos -p (slave position)

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SLAVE_SDO = """

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import commands

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result = commands.getoutput("ethercat sdos -p %d")

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returnVal =result

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"""

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# ethercat upload -p (slave position) (main index) (sub index)

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GET_SLOW_SDO = """

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import commands

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result = commands.getoutput("ethercat upload -p %d %s %s")

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returnVal =result

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"""

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# ethercat download -p (slave position) (main index) (sub index) (value)

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SDO_DOWNLOAD = """

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import commands

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result = commands.getoutput("ethercat download --type %s -p %d %s %s %s")

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returnVal =result

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"""

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# ethercat sii_read -p (slave position)

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SII_READ = """

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import commands

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result = commands.getoutput("ethercat sii_read -p %d")

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returnVal =result

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"""

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# ethercat reg_read -p (slave position) (address) (size)

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REG_READ = """

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import commands

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result = commands.getoutput("ethercat reg_read -p %d %s %s")

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returnVal =result

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"""

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# ethercat sii_write -p (slave position) - (contents)

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SII_WRITE = """

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import subprocess

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process = subprocess.Popen(

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    ["ethercat", "-f", "sii_write", "-p", "%d", "-"],

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    stdin=subprocess.PIPE)

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process.communicate(sii_data)

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returnVal = process.returncode

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"""

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# ethercat reg_write -p (slave position) -t (uinit16) (address) (data)

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REG_WRITE = """

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import commands

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result = commands.getoutput("ethercat reg_write -p %d -t uint16 %s %s")

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returnVal =result

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"""

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# ethercat rescan -p (slave position)

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RESCAN = """

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import commands

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result = commands.getoutput("ethercat rescan -p %d")

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returnVal =result

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"""

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   139

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

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#    Common Method For EtherCAT Management

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

   142

class _CommonSlave:

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    # ----- Data Structure for ethercat management ----

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    SlaveState = ""

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   147

    # category of SDO data

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    DatatypeDescription, CommunicationObject, ManufacturerSpecific, \

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    ProfileSpecific, Reserved, AllSDOData = range(6)

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   151

    # store the execution result of "ethercat sdos" command into SaveSDOData.

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    SaveSDOData = []

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    # Flags for checking "write" permission of OD entries

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    CheckPREOP = False

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    CheckSAFEOP = False

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    CheckOP = False

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    # Save PDO Data

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    TxPDOInfo = []

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    TxPDOCategory = []

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    RxPDOInfo = []

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    RxPDOCategory = []

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    # Save EEPROM Data

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    SiiData = ""

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    # Save Register Data

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    RegData = ""

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    CrtRegSpec = {"ESCType": "",

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                  "FMMUNumber": "",

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                  "SMNumber": "",

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                  "PDIType": ""}

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    def __init__(self, controler):

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        """

   177

        Constructor

   178

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

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        """

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        self.Controler = controler

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   182

        self.ClearSDODataSet()

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   184

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

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    #                        Used Master State

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

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    def GetMasterState(self):

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        """

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        Execute "ethercat master" command and parse the execution result

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        @return MasterState

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        """

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   193

        # exectute "ethercat master" command

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        error, return_val = self.Controler.RemoteExec(MASTER_STATE, return_val = None)

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        master_state = {}

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        # parse the reslut

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        for each_line in return_val.splitlines():

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            if len(each_line) > 0 :

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                chunks = each_line.strip().split(':', 1)

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                key = chunks[0]

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                value = []

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                if len(chunks) > 1 :

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                    value = chunks[1].split()

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                if '(attached)' in value:

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                    value.remove('(attached)')

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                master_state[key] = value

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   208

        return master_state

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

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    #                        Used Slave State

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

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    def RequestSlaveState(self, command):

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        """

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        Set slave state to the specified one using "ethercat states -p %d %s" command.

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        Command example : "ethercat states -p 0 PREOP" (target slave position and target state are given.)

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        @param command : target slave state

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        """

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    def GetSlaveStateFromSlave(self):

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        """

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        Get slave information using "ethercat slaves" command and store the information into internal data structure

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        (self.SlaveState) for "Slave State"

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        return_val example : 0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)

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        """

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        error, return_val = self.Controler.RemoteExec(GET_SLAVE, return_val = None)

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        self.SlaveState = return_val

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        return return_val

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

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    #                        Used SDO Management

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

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    def GetSlaveSDOFromSlave(self):

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        """

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        Get SDO objects information of current slave using "ethercat sdos -p %d" command.

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        Command example : "ethercat sdos -p 0"

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        @return return_val : execution results of "ethercat sdos" command (need to be parsed later)

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        """

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        return return_val

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   243

    def SDODownload(self, data_type, idx, sub_idx, value):

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        """

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        Set an SDO object value to user-specified value using "ethercat download" command.

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        Command example : "ethercat download --type int32 -p 0 0x8020 0x12 0x00000000"

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        @param data_type : data type of SDO entry

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        @param idx : index of the SDO entry

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        @param sub_idx : subindex of the SDO entry

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        @param value : value of SDO entry

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        """

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   254

    def BackupSDODataSet(self):

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        """

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        Back-up current SDO entry information to restore the SDO data

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         in case that the user cancels SDO update operation.

   258

    	"""

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        self.BackupDatatypeDescription = self.SaveDatatypeDescription

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        self.BackupCommunicationObject = self.SaveCommunicationObject

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        self.BackupManufacturerSpecific = self.SaveManufacturerSpecific

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        self.BackupProfileSpecific = self.SaveProfileSpecific

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        self.BackupReserved = self.SaveReserved

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        self.BackupAllSDOData = self.SaveAllSDOData

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   266

    def ClearSDODataSet(self):

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        """

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        Clear the specified SDO entry information.

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        """

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        for count in range(6):

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            self.SaveSDOData.append([])

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

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    #                        Used PDO Monitoring

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

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    def RequestPDOInfo(self):

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        """

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        Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method).

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        """

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        # Load slave information from ESI XML file (def EthercatMaster.py)

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        slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())

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        type_infos = slave.getType()

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        device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)

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        # Initialize PDO data set

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        self.ClearDataSet()

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        # if 'device' object is valid, call SavePDOData() to parse PDO data

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        if device is not None :

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            self.SavePDOData(device)

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    def SavePDOData(self, device):

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        """

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        Parse PDO data and store the results in TXPDOCategory and RXPDOCategory

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        Tx(Rx)PDOCategory : index, name, entry number

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        Tx(Rx)Info : entry index, sub index, name, length, type

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        @param device : Slave information extracted from ESI XML file

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        """

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        # Parsing TXPDO entries

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        for pdo, pdo_info in ([(pdo, "Inputs") for pdo in device.getTxPdo()]):

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            # Save pdo_index, entry, and name of each entry

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

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            entries = pdo.getEntry()

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            pdo_name = ExtractName(pdo.getName())

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            # Initialize entry number count

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            count = 0

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            # Parse entries

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            for entry in entries:

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                # Save index and subindex

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

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                subindex = ExtractHexDecValue(entry.getSubIndex())

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                # if entry name exists, save entry data

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                if ExtractName(entry.getName()) is not None :

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                    entry_infos = {

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                                "entry_index" : index,

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                                "subindex" : subindex,

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

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                                "bitlen" : entry.getBitLen(),

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                                "type" : entry.getDataType().getcontent()

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                                    }

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                    self.TxPDOInfo.append(entry_infos)

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                    count += 1

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            categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count}

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            self.TxPDOCategory.append(categorys)

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        # Parsing RxPDO entries

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

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            # Save pdo_index, entry, and name of each entry

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

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            entries = pdo.getEntry()

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            pdo_name = ExtractName(pdo.getName())

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            # Initialize entry number count

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            count = 0

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            # Parse entries

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            for entry in entries:

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                # Save index and subindex

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

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                subindex = ExtractHexDecValue(entry.getSubIndex())

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                # if entry name exists, save entry data

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                if ExtractName(entry.getName()) is not None :

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                    entry_infos = {

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                                "entry_index" : index,

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                                "subindex" : subindex,

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

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                                "bitlen" : str(entry.getBitLen()),

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                                "type" : entry.getDataType().getcontent()

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                                    }

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                    self.RxPDOInfo.append(entry_infos)

   354

                    count += 1

   355

   356

            categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count}

   357

            self.RxPDOCategory.append(categorys)

   358

   359

    def GetTxPDOCategory(self):

   360

        """

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        Get TxPDOCategory data structure (Meta informaton of TxPDO).

   362

        TxPDOCategorys : index, name, number of entries

   363

        @return TxPDOCategorys

   364

        """

   365

        return self.TxPDOCategory

   366

   367

    def GetRxPDOCategory(self):

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        """

   369

        Get RxPDOCategory data structure (Meta information of RxPDO).

   370

        RxPDOCategorys : index, name, number of entries

   371

        @return RxPDOCategorys

   372

        """

   373

        return self.RxPDOCategory

   374

   375

    def GetTxPDOInfo(self):

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        """

   377

        Get TxPDOInfo data structure (Detailed information on TxPDO entries).

   378

        TxPDOInfos : entry index, sub index, name, length, type

   379

        @return TxPDOInfos

   380

        """

   381

        return self.TxPDOInfo

   382

   383

    def GetRxPDOInfo(self):

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        """

   385

        Get RxPDOInfo data structure (Detailed information on RxPDO entries).

   386

        RxPDOInfos : entry index, sub index, name, length, type

   387

        @return RxPDOInfos

   388

        """

   389

        return self.RxPDOInfo

   390

   391

    def ClearDataSet(self):

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        """

   393

        Initialize PDO management data structure.

   394

        """

   395

        self.TxPDOInfos = []

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        self.TxPDOCategorys = []

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        self.RxPDOInfos = []

   398

        self.RxPDOCategorys = []

   399

   400

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

   401

    #                        Used EEPROM Management

   402

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

   403

    # Base data types in ETG2000; format = {"Name": "BitSize"}

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    BaseDataTypeDict = {"BOOL": "01",

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                        "SINT": "02",

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                        "INT": "03",

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                        "DINT": "04",

   408

                        "USINT": "05",

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                        "UINT": "06",

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                        "UDINT": "07",

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                        "REAL": "08",

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                        "INT24": "10",

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                        "LREAL": "11",

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                        "INT40": "12",

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                        "INT48": "13",

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                        "INT56": "14",

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                        "LINT": "15",

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                        "UINT24": "16",

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                        "UINT40": "18",

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                        "UINT48": "19",

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                        "UINT56": "1a",

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                        "ULINT": "1b",

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                        "USINT": "1e",

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                        "BITARR8": "2d",

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                        "BITARR16": "2e",

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                        "BITARR32": "2f",

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                        "BIT1": "30",

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                        "BIT2": "31",

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                        "BIT3": "32",

   430

                        "BIT4": "33",

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                        "BIT5": "34",

   432

                        "BIT6": "35",

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                        "BIT7": "36",

   434

                        "BIT8": "37"}

   435

   436

    def GetSmartViewInfos(self):

   437

        """

   438

        Parse XML data for "Smart View" of EEPROM contents.

   439

        @return smartview_infos : EEPROM contents dictionary

   440

        """

   441

   442

        smartview_infos = {"eeprom_size": 128,

   443

                           "pdi_type": 0,

   444

                           "device_emulation": "False",

   445

                           "vendor_id": '0x00000000',

   446

                           "product_code": '0x00000000',

   447

                           "revision_no": '0x00000000',

   448

                           "serial_no": '0x00000000',

   449

                           "supported_mailbox": "",

   450

                           "mailbox_bootstrapconf_outstart": '0',

   451

                           "mailbox_bootstrapconf_outlength": '0',

   452

                           "mailbox_bootstrapconf_instart": '0',

   453

                           "mailbox_bootstrapconf_inlength": '0',

   454

                           "mailbox_standardconf_outstart": '0',

   455

                           "mailbox_standardconf_outlength": '0',

   456

                           "mailbox_standardconf_instart": '0',

   457

                           "mailbox_standardconf_inlength": '0'}

   458

   459

        slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())

   460

        type_infos = slave.getType()

   461

        device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)

   462

   463

        # 'device' represents current slave device selected by user

   464

        if device is not None:

   465

            for eeprom_element in device.getEeprom().getcontent():

   466

                # get EEPROM size; <Device>-<Eeprom>-<ByteSize>

   467

                if eeprom_element["name"] == "ByteSize":

   468

                    smartview_infos["eeprom_size"] = eeprom_element

   469

   470

                elif eeprom_element["name"] == "ConfigData":

   471

                    configData_data = self.DecimalToHex(eeprom_element)

   472

                    # get PDI type; <Device>-<Eeprom>-<ConfigData> address 0x00

   473

                    smartview_infos["pdi_type"] = int(configData_data[0:2], 16)

   474

                    # get state of device emulation; <Device>-<Eeprom>-<ConfigData> address 0x01

   475

                    if "{:0>8b}".format(int(configData_data[2:4], 16))[7] == '1':

   476

                        smartview_infos["device_emulation"] = "True"

   477

   478

                elif eeprom_element["name"] == "BootStrap":

   479

                    bootstrap_data = "{:0>16x}".format(eeprom_element)

   480

                    # get bootstrap configuration; <Device>-<Eeprom>-<BootStrap>

   481

                    for cfg, iter in [("mailbox_bootstrapconf_outstart", 0),

   482

                                      ("mailbox_bootstrapconf_outlength", 1),

   483

                                      ("mailbox_bootstrapconf_instart", 2),

   484

                                      ("mailbox_bootstrapconf_inlength", 3)]:

   485

                        smartview_infos[cfg] = str(int(bootstrap_data[4*iter+2:4*(iter+1)]+bootstrap_data[4*iter:4*iter+2], 16))

   486

   487