1

#!/usr/bin/env python

     2

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

     3

     4

# This file is part of Beremiz, a Integrated Development Environment for

     5

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

     6

#

     7

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

     8

#

     9

# See COPYING file for copyrights details.

    10

#

    11

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

    12

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

    13

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

    14

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

    15

#

    16

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

    17

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

    18

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    19

# GNU General Public License for more details.

    20

#

    21

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

    22

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

    23

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

    24

    25

from types import *

    26

    27

# Translation between IEC types and Can Open types

    47

    48

# Constants for PDO types

    49

RPDO = 1

    50

TPDO = 2

    51

    52

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

    53

InvertPDOType = {RPDO: TPDO, TPDO: RPDO}

    54

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

    55

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

    56

    57

VariableIncrement = 0x100

    58

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

    59

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

    61

    62

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

    63

    64

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

    65

#                  Specific exception for PDO mapping errors

    66

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

    67

    68

    69

class PDOmappingException(Exception):

    70

    pass

    71

    72

    73

def LE_to_BE(value, size):

    74

    """

    75

    Convert Little Endian to Big Endian

    76

    @param value: value expressed in integer

    77

    @param size: number of bytes generated

    78

    @return: a string containing the value converted

    79

    """

    80

    81

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

    82

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

    83

    list_car.reverse()

    84

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

    85

    86

    87

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

    88

    """

    89

    Find the PDO indexes of a node

    90

    @param node: node

    91

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

    92

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

    93

    @return: a list of indexes found

    94

    """

    95

    96

    indexes = []

    97

    if type & RPDO:

    98

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

    99

    if type & TPDO:

   100

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

   101

    if not parameters:

   102

        return [idx + 0x200 for idx in indexes]

   103

    else:

   104

        return indexes

   105

   106

   107

def SearchNodePDOMapping(loc_infos, node):

   108

    """

   109

    Find the PDO indexes of a node

   110

    @param node: node

   111

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

   112

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

   113

    @return: a list of indexes found

   114

    """

   115

   116

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

   117

   118

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

   119

        values = node.GetEntry(PDOidx)

   120

        if values != None:

   121

            for subindex, mapping in enumerate(values):

   122

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

   123

                    return PDOidx, subindex

   124

    return None

   125

   126

   127

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

   128

    """

   129

    Build concise DCF value for configuring a PDO

   130

    @param idx: index of PDO parameters

   131

    @param cobid: PDO generated COB ID

   132

    @param transmittype : PDO transmit type

   133

    @param pdomapping: list of PDO mappings

   134

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

   135

    """

   136

   137

    dcfdata=[]

   138

    # Create entry for RPDO or TPDO parameters and Disable PDO

   139

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

   140

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

   141

    # Set Transmit type

   142

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

   143

    if len(pdomapping) > 0:

   144

        # Disable Mapping

   145

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

   146

        # Map Variables

   147

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

   148

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

   149

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

   150

        # Re-enable Mapping

   151

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

   152

    # Re-Enable PDO

   153

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

   154

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

   155

   156

   157

class ConciseDCFGenerator:

   158

   159

    def __init__(self, nodelist, nodename):

   160

        # Dictionary of location informations classed by name

   161

        self.IECLocations = {}

   162

        # Dictionary of location that have not been mapped yet

   163

        self.LocationsNotMapped = {}

   164

        # Dictionary of location informations classed by name

   165

        self.MasterMapping = {}

   166

        # List of COB IDs available

   167

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

   168

        # Dictionary of mapping value where unexpected variables are stored

   169

        self.TrashVariables = {}

   170

        # Dictionary of pointed variables

   171

        self.PointedVariables = {}

   172

   173

        self.NodeList = nodelist

   174

        self.Manager = self.NodeList.Manager

   175

        self.MasterNode = self.Manager.GetCurrentNodeCopy()

   176

        self.MasterNode.SetNodeName(nodename)

   177

        self.PrepareMasterNode()

   178

   179

    def GetPointedVariables(self):

   180

        return self.PointedVariables

   181

   182

    def RemoveUsedNodeCobId(self, node):

   183

        """

   184

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

   185

        @param node: node

   186

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

   187

        """

   188

   189

        # Get list of all node TPDO and RPDO indexes

   190

        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

   191

        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

   192

   193

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

   194

        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

   195

            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

   196

            # Extract COB ID, if PDO isn't active

   197

            if pdo_cobid > 0x600:

   198

                pdo_cobid -= 0x80000000

   199

            # Remove COB ID from the list of available COB ID

   200

            if pdo_cobid in self.ListCobIDAvailable:

   201

                self.ListCobIDAvailable.remove(pdo_cobid)

   202

   203

        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

   204

   205

   206

    def PrepareMasterNode(self):

   207

        """

   208

        Add mandatory entries for DCF generation into MasterNode.

   209

        """

   210

   211

        # Adding DCF entry into Master node

   212

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

   213

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

   214

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

   215

   216

        # Adding trash mappable variables for unused mapped datas

   217

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

   218

        # Add an entry for storing unexpected all variable

   219

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

   220

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

   221

            # Add a subentry for storing unexpected variable of this size

   222

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

   223

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

   224

            # Store the mapping value for this entry

   225

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

   226

   227

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

   228

   229

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

   230

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

   231

   232

        # Prepare MasterNode with all nodelist slaves

   233

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

   234

            node = nodeinfos["Node"]

   235

            node.SetNodeID(nodeid)

   236

   237

            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

   238

   239

            # Get Slave's default SDO server parameters

   241

            if not RSDO_cobid:

   242

                RSDO_cobid = 0x600 + nodeid

   244

            if not TSDO_cobid:

   245

                TSDO_cobid = 0x580 + nodeid

   246

   247

            # Configure Master's SDO parameters entries

   248

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

   249

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

   250

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

   251

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

   252

   253

   254

    def GetMasterNode(self):

   255

        """

   256

        Return MasterNode.

   257

        """

   258

        return self.MasterNode

   259

   260

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

   261

        """

   262

        Add entry to DCF, for the requested nodeID

   263

        @param nodeid: id of the slave (int)

   264

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

   265

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

   266

        """

   267

        # Get current DCF for slave

   268

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

   269

   270

        # Extract data and number of params in current DCF

   271

        if nodeDCF != None and nodeDCF != '':

   272

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

   273

            tmpnbparams.reverse()

   274

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

   275

            data = nodeDCF[4:] + data

   276

   277

        # Build new DCF

   278

        dcf = LE_to_BE(nbparams, 0x04) + data

   279

        # Set new DCF for slave

   280

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

   281

   282

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

   283

        """

   284

        Search a not configured PDO for a slave

   285

        @param node: the slave node object

   286

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

   287

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

   288

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

   289

        """

   290

        # If no start_index defined, start with PDOtype base index

   291

        if start_index is None:

   292

            index = PDOTypeBaseIndex[pdotype]

   293

        else:

   294

            index = start_index

   295

   296

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

   297

        # starting from start_index

   298

        while index < PDOTypeBaseIndex[pdotype] + 0x200:

   299

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

   300

            if values != None and values[0] > 0:

   301

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

   302

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

   303

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

   304

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

   305

                    if cobid == 0:

   306

                        if len(self.ListCobIDAvailable) == 0:

   307

                            return None

   308

                        # Calculate COB ID from standard values

   309

                        if index < PDOTypeBaseIndex[pdotype] + 4:

   310

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

   311

                        if cobid not in self.ListCobIDAvailable:

   312

                            cobid = self.ListCobIDAvailable.pop(0)

   313

                    return index, cobid, values[0]

   314

            index += 1

   315

        return None

   316

   317

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

   318

        """

   319

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

   320

        @param nodeid: id of the slave (int)

   321

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

   322

        @param pdomapping: list od variables to map with PDO

   323

        """

   324

        # Add an entry to MasterMapping

   325

        self.MasterMapping[pdocobid] = {"type": InvertPDOType[pdotype],

   326

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

   327

   328

        # Return the data to add to DCF

   329

        if sync_TPDOs:

   330

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

   331

        else:

   332

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

   333

        return 0, ""

   334

   335

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

   336

        """

   337

        Generate Concise DCF of MasterNode for the locations list given

   338

        @param locations: list of locations to be mapped

   339

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

   340

        @param sync_TPDOs: indicate if TPDO must be synchronous

   341

        """

   342

   343

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

   344

        #               Verify that locations correspond to real slave variables

   345

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

   346

   347

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

   348

        for location in locations:

   349

            COlocationtype = IECToCOType[location["IEC_TYPE"]]

   350

            name = location["NAME"]

   351

            if name in self.IECLocations:

   352

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

   353

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

   354

            else:

   355

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

   356

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

   357

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

   358

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

   359

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

   360

                elif len(loc) == 2:

   361

                    continue

   362

   363

                direction = location["DIR"]

   364

   365

                sizelocation = location["SIZE"]

   366

   367

                # Extract and check nodeid

   368

                nodeid, index, subindex = loc[:3]

   369

   370

                # Check Id is in slave node list

   371

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

   372

                    raise PDOmappingException, _("Non existing node ID : {a1} (variable {a2})").format(a1 = nodeid, a2 = name)

   373

   374

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

   375

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

   376

   377

                # Extract and check index and subindex

   378

                if not node.IsEntry(index, subindex):

   379

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

   380

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

   381

                    raise PDOmappingException, msg

   382

   383

                # Get the entry info

   384

                subentry_infos = node.GetSubentryInfos(index, subindex)

   385

   386

                # If a PDO mappable

   387

                if subentry_infos and subentry_infos["pdo"]:

   388

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

   389

                        numbit = loc[3]

   390

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

   391

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

   392

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

   393

                        raise PDOmappingException, msg

   394

                    else:

   395

                        numbit = None

   396

   397

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

   398

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

   399

                            format(a1 = location["IEC_TYPE"], a2 = COlocationtype, a3 = subentry_infos["type"], a4 = name)

   400

   401

                    typeinfos = node.GetEntryInfos(COlocationtype)

   412

                else:

   413

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

   414

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

   415

   416

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

   417

        #                         Search for locations already mapped

   418

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

   419

   420

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

   421

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

   422

   423

            # Search if slave has a PDO mapping this locations

   424

            result = SearchNodePDOMapping(locationinfos, node)

   425

            if result != None:

   426

                index, subindex = result

   427

                # Get COB ID of the PDO

   428

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

   429

   430

                # Add PDO to MasterMapping

   431

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

   432

                    # Verify that PDO transmit type is conform to sync_TPDOs

   433

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

   434

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

   435

                        if sync_TPDOs:

   436

                            # Change TransmitType to SYNCHRONE

   437

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

   438

                        else:

   439

                            # Change TransmitType to ASYCHRONE

   440

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

   441

   442

                        # Add entry to slave dcf to change transmit type of

   443

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

   444

   445

                    mapping = [None]

   446

                    values = node.GetEntry(index)

   447

                    # Store the size of each entry mapped in PDO

   448

                    for value in values[1:]:

   449

                        if value != 0:

   450

                            mapping.append(value % 0x100)

   451

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

   452

   453

                # Indicate that this PDO entry must be saved

   454

                if locationinfos["bit"] is not None:

   455

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

   456

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

   457

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

   458

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

   459

                else:

   460

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

   461

   462

            else:

   463

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

   464

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

   465

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

   466

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

   467

   468

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

   469

        #                         Build concise DCF for the others locations

   470

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

   471

   472

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

   473

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

   474

   475

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

   476

            nbparams = 0

   477

            dataparams = ""

   478

   479

            # Generate the best PDO mapping for each type of PDO

   480

            for pdotype in (TPDO, RPDO):

   481

                if len(locations[pdotype]) > 0:

   482

                    pdosize = 0

   483

                    pdomapping = []

   484

                    result = self.GetEmptyPDO(nodeid, pdotype)

   485

                    if result is None:

   486

                        raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid

   487

                    pdoindex, pdocobid, pdonbparams = result

   488

                    for name, loc_infos in locations[pdotype]:

   489

                        pdosize += loc_infos["size"]

   490

                        # If pdo's size > 64 bits

   491

                        if pdosize > 64 or len(pdomapping) >= pdonbparams:

   492

                            # Generate a new PDO Mapping

   493

                            data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)

   494

                            dataparams += data

   495

                            nbparams += nbaddedparams

   496

                            pdosize = loc_infos["size"]

   497

                            pdomapping = [(name, loc_infos)]

   498

                            result = self.GetEmptyPDO(nodeid, pdotype, pdoindex + 1)

   499

                            if result is None:

   500

                                raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid