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

import os

    14

    15

from etherlab.EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName

    16

    17

SLAVE_PDOS_CONFIGURATION_DECLARATION = """

    18

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

    19

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

    20

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

    21

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

    22

 */

    23

    24

ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = {

    25

%(pdos_entries_infos)s

    26

};

    27

    28

ec_pdo_info_t slave_%(slave)d_pdos[] = {

    29

%(pdos_infos)s

    30

};

    31

    32

ec_sync_info_t slave_%(slave)d_syncs[] = {

    33

%(pdos_sync_infos)s

    34

    {0xff}

    35

};

    36

"""

    37

    38

SLAVE_CONFIGURATION_TEMPLATE = """

    39

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

    40

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

    41

        goto ecat_failed;

    42

    }

    43

    44

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

    45

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

    46

        goto ecat_failed;

    47

    }

    48

"""

    49

    50

SLAVE_INITIALIZATION_TEMPLATE = """

    51

    {

    52

        uint8_t value[%(data_size)d];

    53

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

    54

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

    55

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

    56

            goto ecat_failed;

    57

        }

    58

    }

    59

"""

    60

    61

SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """

    62

    {

    63

        uint8_t value[%(data_size)d];

    64

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

    65

            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);

    66

            goto ecat_failed;

    67

        }

    68

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

    69

    }

    70

"""

    71

    72

    73

def ConfigureVariable(entry_infos, str_completion):

    74

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

    75

    if entry_infos["data_type"] is None:

    76

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

    77

        raise ValueError(msg)

    78

    79

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

    80

        if "real_var" in entry_infos:

    81

            str_completion["located_variables_declaration"].append(

    82

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

    83

        else:

    84

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

    85

            str_completion["located_variables_declaration"].extend(

    86

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

    87

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

    88

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

    89

            entry_infos["extra_decl"] = declaration

    90

            str_completion["located_variables_declaration"].append(

    91

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

    92

    elif "real_var" not in entry_infos:

    93

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

    94

    95

    str_completion["used_pdo_entry_offset_variables_declaration"].append(

    96

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

    97

    98

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

    99

        str_completion["used_pdo_entry_offset_variables_declaration"].append(

   100

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

   101

   102

        str_completion["used_pdo_entry_configuration"].append(

   103

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

   104

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

   105

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

   106

   107

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

   108

            str_completion["retrieve_variables"].append(

   109

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

   110

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

   111

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

   112

            str_completion["publish_variables"].append(

   113

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

   114

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

   115

   116

    else:

   117

        str_completion["used_pdo_entry_configuration"].append(

   118

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

   119

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

   120

   121

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

   122

            str_completion["retrieve_variables"].append(

   123

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

   124

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

   125

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

   126

            str_completion["publish_variables"].append(

   127

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

   128

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

   129

   130

   131

def ExclusionSortFunction(x, y):

   132

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

   133

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

   134

            return -1

   135

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

   136

            return 1

   137

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

   138

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

   139

   140

   141

class _EthercatCFileGenerator(object):

   142

   143

    def __init__(self, controler):

   144

        self.Controler = controler

   145

   146

        self.Slaves = []

   147

        self.UsedVariables = {}

   148

   149

    def __del__(self):

   150

        self.Controler = None

   151

   152

    def DeclareSlave(self, slave_index, slave):

   153

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

   154

   155

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

   156

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

   157

   158

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

   159

        if entry_infos is None:

   160

            slave_variables[(index, subindex)] = {

   161

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

   162

                "mapped": False}

   163

            return name

   164

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

   165

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

   166

                if dir == "I":

   167

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

   168

                    return entry_infos["infos"][2]

   169

                else:

   170

                    msg = _("Output variables can't be defined with different locations (%s and %s)") \

   171

                          % (entry_infos["infos"][2], name)

   172

                    raise ValueError(msg)

   173

        else:

   174

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

   175

   176

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

   177

   178

        # Extract etherlab master code template

   179

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

   180

        plc_etherlab_file = open(plc_etherlab_filepath, 'r')

   181

        plc_etherlab_code = plc_etherlab_file.read()

   182

        plc_etherlab_file.close()

   183

   184

        # Initialize strings for formatting master code template

   185

        str_completion = {

   186

            "location": location_str,

   187

            "master_number": master_number,

   188

            "located_variables_declaration": [],

   189

            "used_pdo_entry_offset_variables_declaration": [],

   190

            "used_pdo_entry_configuration": [],

   191

            "pdos_configuration_declaration": "",

   192

            "slaves_declaration": "",

   193

            "slaves_configuration": "",

   194

            "slaves_output_pdos_default_values_extraction": "",

   195

            "slaves_initialization": "",

   196

            "retrieve_variables": [],

   197

            "publish_variables": [],

   198

        }

   199

   200

        # Initialize variable storing variable mapping state

   201

        for slave_entries in self.UsedVariables.itervalues():

   202

            for entry_infos in slave_entries.itervalues():

   203

                entry_infos["mapped"] = False

   204

   205

        # Sort slaves by position (IEC_Channel)

   206

        self.Slaves.sort()

   207

        # Initialize dictionary storing alias auto-increment position values

   208

        alias = {}

   209

   210

        # Generating code for each slave

   211

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

   212

            type_infos = slave.getType()

   213

   214

            # Defining slave alias and auto-increment position

   215

            if alias.get(slave_alias) is not None:

   216

                alias[slave_alias] += 1

   217

            else:

   218

                alias[slave_alias] = 0

   219

            slave_pos = (slave_alias, alias[slave_alias])

   220

   221

            # Extract slave device informations

   222

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

   223

            if device is None:

   224

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

   225

                      % (type_infos["device_type"])

   226

                raise ValueError(msg)

   227

   228

            # Extract slaves variables to be mapped

   229

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

   230

   231

            # Extract slave device object dictionary entries

   232

            device_entries = device.GetEntriesList()

   233

   234

            # Adding code for declaring slave in master code template strings

   235

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

   236

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

   237

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

   238

   239

            # Extract slave device CoE informations

   240

            device_coe = device.getCoE()

   241

            if device_coe is not None:

   242

   243

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

   244

                # init commands when initializing slave in master code template strings

   245

                initCmds = []

   246

                for initCmd in device_coe.getInitCmd():

   247

                    initCmds.append({

   248

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

   249

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

   250

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

   251

                initCmds.extend(slave.getStartupCommands())

   252

                for initCmd in initCmds:

   253

                    index = initCmd["Index"]

   254

                    subindex = initCmd["Subindex"]

   255

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

   256

                    if entry is not None:

   257

                        data_size = entry["BitSize"] / 8

   258

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

   259

                        init_cmd_infos = {

   260

                            "index": index,

   261

                            "subindex": subindex,

   262

                            "data": data_str,

   263

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

   264

                            "data_size": data_size

   265

                        }

   266

                        init_cmd_infos.update(type_infos)

   267

                        str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos

   268

   269

                # Extract slave device PDO configuration capabilities

   270

                PdoAssign = device_coe.getPdoAssign()

   271

                PdoConfig = device_coe.getPdoConfig()

   272

            else:

   273

                PdoAssign = PdoConfig = False

   274

   275

            # Test if slave has a configuration or need one

   276

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

   277

   278

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

   279

                str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos

   280

   281

                # Initializing

   282

                pdos_infos = {

   283

                    "pdos_entries_infos": [],

   284

                    "pdos_infos": [],

   285

                    "pdos_sync_infos": [],

   286

                }

   287

                pdos_infos.update(type_infos)

   288

   289

                sync_managers = []

   290

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

   291

                    sync_manager_infos = {

   292

                        "index": sync_manager_idx,

   293

                        "name": sync_manager.getcontent(),

   294

                        "slave": slave_idx,

   295

                        "pdos": [],

   296

                        "pdos_number": 0,

   297

                    }

   298

   299

                    sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())

   300

                    sync_manager_direction = sync_manager_control_byte & 0x0c

   301

                    sync_manager_watchdog = sync_manager_control_byte & 0x40

   302

                    if sync_manager_direction:

   303

                        sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"

   304

                    else:

   305

                        sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"

   306

                    if sync_manager_watchdog:

   307

                        sync_manager_infos["watchdog"] = "EC_WD_ENABLE"

   308

                    else:

   309

                        sync_manager_infos["watchdog"] = "EC_WD_DISABLE"

   310

   311

                    sync_managers.append(sync_manager_infos)

   312

   313

                pdos_index = []

   314

                exclusive_pdos = {}

   315

                selected_pdos = []

   316

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

   317

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

   318

   319

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

   320

                    pdos_index.append(pdo_index)

   321

   322

                    excluded_list = pdo.getExclude()

   323

                    if len(excluded_list) > 0:

   324

                        exclusion_list = [pdo_index]

   325

                        for excluded in excluded_list:

   326

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

   327

                        exclusion_list.sort()

   328

   329

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

   330

   331

                        entries = pdo.getEntry()

   332

                        pdo_mapping_match = {

   333

                            "index": pdo_index,

   334

                            "matching": 0,

   335

                            "count": len(entries),

   336

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

   337

                        }

   338

                        exclusion_scope.append(pdo_mapping_match)

   339

   340

                        for entry in entries:

   341

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

   342

                            subindex = ExtractHexDecValue(entry.getSubIndex())

   343

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

   344

                                pdo_mapping_match["matching"] += 1

   345

   346

                        if pdo.getFixed() is not True:

   347

                            pdo_mapping_match["matching"] += \

   348

                                module_extra_params["max_pdo_size"] - \

   349

                                pdo_mapping_match["count"]

   350

   351

                    elif pdo.getMandatory():

   352

                        selected_pdos.append(pdo_index)

   353

   354

                excluded_pdos = []

   355

                for exclusion_scope in exclusive_pdos.itervalues():

   356

                    exclusion_scope.sort(ExclusionSortFunction)

   357

                    start_excluding_index = 0

   358

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

   359

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

   360

                        start_excluding_index = 1

   361

                    excluded_pdos.extend([

   362

                        pdo["index"]

   363

                        for pdo in exclusion_scope[start_excluding_index:]

   364

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

   365

   366

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

   367

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

   368

                    entries = pdo.getEntry()

   369

   370

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

   371

                    if pdo_index in excluded_pdos:

   372

                        continue

   373

   374

                    pdo_needed = pdo_index in selected_pdos

   375

   376

                    entries_infos = []

   377

   378

                    for entry in entries:

   379

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

   380

                        subindex = ExtractHexDecValue(entry.getSubIndex())

   381

                        entry_infos = {

   382

                            "index": index,

   383

                            "subindex": subindex,

   384

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

   385

                            "bitlen": entry.getBitLen(),

   386

                        }

   387

                        entry_infos.update(type_infos)

   388

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

   389

   390

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

   391

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

   392

                            pdo_needed = True

   393

   394

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

   395

                                                        entry_declaration["infos"])))

   396

                            entry_declaration["mapped"] = True

   397

   398

                            entry_type = entry.getDataType().getcontent()

   399

                            if entry_infos["var_type"] != entry_type:

   400

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

   401

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

   402

                                   self.Controler.GetSizeOfType(entry_type):

   403

                                    raise ValueError(message)

   404

                                else:

   405

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

   406

   407

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

   408

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

   409

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

   410

   411

                            ConfigureVariable(entry_infos, str_completion)

   412

   413

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

   414

                            data_type = entry.getDataType().getcontent()

   415

                            entry_infos["dir"] = "Q"

   416

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

   417

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

   418

                            entry_infos["var_type"] = data_type

   419

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

   420

   421

                            ConfigureVariable(entry_infos, str_completion)

   422

   423

                            str_completion["slaves_output_pdos_default_values_extraction"] += \

   424

                                SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos

   425

   426

                    if pdo_needed:

   427

                        for excluded in pdo.getExclude():

   428

                            excluded_index = ExtractHexDecValue(excluded.getcontent())

   429

                            if excluded_index not in excluded_pdos:

   430

                                excluded_pdos.append(excluded_index)

   431

   432

                        sm = pdo.getSm()

   433

                        if sm is None:

   434

                            for sm_idx, sync_manager in enumerate(sync_managers):

   435

                                if sync_manager["name"] == pdo_type:

   436

                                    sm = sm_idx

   437

                        if sm is None:

   438

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

   439

   440

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

   441

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

   442

                            {"slave": slave_idx,

   443

                             "index": pdo_index,

   444

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

   445

                             "type": pdo_type,

   446

                             "entries": entries_infos,

   447

                             "entries_number": len(entries_infos),

   448

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

   449

   450

                if PdoConfig and PdoAssign:

   451

                    dynamic_pdos = {}

   452

                    dynamic_pdos_number = 0

   453

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

   454

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

   455

                        for sync_manager in sync_managers:

   456

                            if sync_manager["name"] == category:

   457

                                category_infos = dynamic_pdos.setdefault(category, {})

   458

                                category_infos["sync_manager"] = sync_manager

   459

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

   460

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

   461

                                category_infos["current_index"] = min_index

   462

                                category_infos["max_index"] = max_index

   463

                                break

   464

   465

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

   466

   467

                        if not entry_declaration["mapped"]:

   468

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

   469

                            if entry is None:

   470

                                msg = _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") \

   471

                                      % (index, subindex, type_infos["device_type"])

   472

                                raise ValueError(msg)

   473

   474

                            entry_infos = {

   475

                                "index": index,

   476

                                "subindex": subindex,

   477

                                "name": entry["Name"],

   478

                                "bitlen": entry["BitSize"],

   479

                            }

   480

                            entry_infos.update(type_infos)

   481

   482

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

   483

                                                        entry_declaration["infos"])))

   484

                            entry_declaration["mapped"] = True

   485

   486

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

   487

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

   488

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

   489

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

   490

                                    raise ValueError(message)

   491

                                else:

   492

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

   493

   494

                            if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: