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2111
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import os
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from EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName
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SLAVE_PDOS_CONFIGURATION_DECLARATION = """
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/* Slave %(slave)d, "%(device_type)s"
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* Vendor ID: 0x%(vendor).8x
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* Product code: 0x%(product_code).8x
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* Revision number: 0x%(revision_number).8x
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*/
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ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = {
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%(pdos_entries_infos)s
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};
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ec_pdo_info_t slave_%(slave)d_pdos[] = {
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%(pdos_infos)s
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};
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ec_sync_info_t slave_%(slave)d_syncs[] = {
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%(pdos_sync_infos)s
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{0xff}
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};
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"""
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SLAVE_CONFIGURATION_TEMPLATE = """
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if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) {
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SLOGF(LOG_CRITICAL, "Failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.\\n");
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return -1;
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}
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if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) {
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SLOGF(LOG_CRITICAL, "Failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.\\n");
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return -1;
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}
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"""
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SLAVE_INITIALIZATION_TEMPLATE = """
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{
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uint8_t value[%(data_size)d];
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EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s);
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if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) {
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SLOGF(LOG_CRITICAL, "Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code);
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return -1;
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}
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}
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"""
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SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """
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{
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uint8_t value[%(data_size)d];
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if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
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SLOGF(LOG_CRITICAL, "Failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%ud\\n", abort_code);
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return -1;
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}
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%(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);
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}
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"""
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def ConfigureVariable(entry_infos, str_completion):
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entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)
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if entry_infos["data_type"] is None:
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raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]
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if not entry_infos.get("no_decl", False):
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if entry_infos.has_key("real_var"):
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str_completion["located_variables_declaration"].append(
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"IEC_%(var_type)s %(real_var)s;" % entry_infos)
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else:
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entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
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str_completion["located_variables_declaration"].extend(
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["IEC_%(var_type)s %(real_var)s;" % entry_infos,
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"IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos])
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for declaration in entry_infos.get("extra_declarations", []):
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entry_infos["extra_decl"] = declaration
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str_completion["located_variables_declaration"].append(
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"IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos)
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elif not entry_infos.has_key("real_var"):
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entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
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str_completion["used_pdo_entry_offset_variables_declaration"].append(
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"unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos)
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if entry_infos["data_type"] == "BIT":
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str_completion["used_pdo_entry_offset_variables_declaration"].append(
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"unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos)
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str_completion["used_pdo_entry_configuration"].append(
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(" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " +
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"0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " +
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"&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos)
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if entry_infos["dir"] == "I":
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str_completion["retrieve_variables"].append(
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(" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
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"slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos)
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elif entry_infos["dir"] == "Q":
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str_completion["publish_variables"].append(
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(" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
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"slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos)
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else:
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str_completion["used_pdo_entry_configuration"].append(
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(" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " +
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"%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos)
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if entry_infos["dir"] == "I":
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str_completion["retrieve_variables"].append(
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(" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " +
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"slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos)
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elif entry_infos["dir"] == "Q":
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str_completion["publish_variables"].append(
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(" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " +
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"%(real_var)s);") % entry_infos)
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def ExclusionSortFunction(x, y):
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if x["matching"] == y["matching"]:
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if x["assigned"] and not y["assigned"]:
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return -1
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elif not x["assigned"] and y["assigned"]:
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return 1
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return cmp(x["count"], y["count"])
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return -cmp(x["matching"], y["matching"])
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class _EthercatCFileGenerator:
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def __init__(self, controler):
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self.Controler = controler
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self.Slaves = []
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self.UsedVariables = {}
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def __del__(self):
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self.Controler = None
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def DeclareSlave(self, slave_index, slave):
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self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave))
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def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False):
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slave_variables = self.UsedVariables.setdefault(slave_index, {})
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entry_infos = slave_variables.get((index, subindex), None)
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if entry_infos is None:
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slave_variables[(index, subindex)] = {
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"infos": (iec_type, dir, name, no_decl, []),
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"mapped": False}
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return name
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elif entry_infos["infos"][:2] == (iec_type, dir):
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if name != entry_infos["infos"][2]:
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if dir == "I":
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entry_infos["infos"][4].append(name)
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return entry_infos["infos"][2]
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else:
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raise ValueError, _("Output variables can't be defined with different locations (%s and %s)") % (entry_infos["infos"][2], name)
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else:
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raise ValueError, _("Definition conflict for location \"%s\"") % name
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def GenerateCFile(self, filepath, location_str, master_number):
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# Extract etherlab master code template
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plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")
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plc_etherlab_file = open(plc_etherlab_filepath, 'r')
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plc_etherlab_code = plc_etherlab_file.read()
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plc_etherlab_file.close()
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# Initialize strings for formatting master code template
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str_completion = {
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"location": location_str,
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"master_number": master_number,
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"located_variables_declaration": [],
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"used_pdo_entry_offset_variables_declaration": [],
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"used_pdo_entry_configuration": [],
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"pdos_configuration_declaration": "",
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"slaves_declaration": "",
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"slaves_configuration": "",
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"slaves_output_pdos_default_values_extraction": "",
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"slaves_initialization": "",
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"retrieve_variables": [],
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"publish_variables": [],
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}
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# Initialize variable storing variable mapping state
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for slave_entries in self.UsedVariables.itervalues():
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for entry_infos in slave_entries.itervalues():
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entry_infos["mapped"] = False
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# Sort slaves by position (IEC_Channel)
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self.Slaves.sort()
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# Initialize dictionary storing alias auto-increment position values
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alias = {}
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# Generating code for each slave
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for (slave_idx, slave_alias, slave) in self.Slaves:
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type_infos = slave.getType()
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# Defining slave alias and auto-increment position
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if alias.get(slave_alias) is not None:
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alias[slave_alias] += 1
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else:
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alias[slave_alias] = 0
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slave_pos = (slave_alias, alias[slave_alias])
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# Extract slave device informations
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device, alignment = self.Controler.GetModuleInfos(type_infos)
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if device is not None:
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# Extract slaves variables to be mapped
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slave_variables = self.UsedVariables.get(slave_idx, {})
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# Extract slave device object dictionary entries
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device_entries = device.GetEntriesList()
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# Adding code for declaring slave in master code template strings
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for element in ["vendor", "product_code", "revision_number"]:
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type_infos[element] = ExtractHexDecValue(type_infos[element])
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type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))
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# Extract slave device CoE informations
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device_coe = device.getCoE()
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if device_coe is not None:
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# If device support CanOpen over Ethernet, adding code for calling
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# init commands when initializing slave in master code template strings
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initCmds = []
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for initCmd in device_coe.getInitCmd():
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initCmds.append({
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"Index": ExtractHexDecValue(initCmd.getIndex()),
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"Subindex": ExtractHexDecValue(initCmd.getSubIndex()),
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"Value": initCmd.getData().getcontent()})
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initCmds.extend(slave.getStartupCommands())
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for initCmd in initCmds:
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index = initCmd["Index"]
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subindex = initCmd["Subindex"]
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entry = device_entries.get((index, subindex), None)
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if entry is not None:
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data_size = entry["BitSize"] / 8
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data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"]
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init_cmd_infos = {
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"index": index,
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"subindex": subindex,
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"data": data_str,
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"data_type": DATATYPECONVERSION.get(entry["Type"]),
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"data_size": data_size
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}
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init_cmd_infos.update(type_infos)
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str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos
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# Extract slave device PDO configuration capabilities
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PdoAssign = device_coe.getPdoAssign()
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PdoConfig = device_coe.getPdoConfig()
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else:
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PdoAssign = PdoConfig = False
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# Test if slave has a configuration or need one
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if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign:
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str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos
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str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos
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# Initializing
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pdos_infos = {
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"pdos_entries_infos": [],
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"pdos_infos": [],
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"pdos_sync_infos": [],
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}
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pdos_infos.update(type_infos)
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sync_managers = []
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for sync_manager_idx, sync_manager in enumerate(device.getSm()):
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sync_manager_infos = {
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"index": sync_manager_idx,
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"name": sync_manager.getcontent(),
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"slave": slave_idx,
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"pdos": [],
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"pdos_number": 0,
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}
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sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
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sync_manager_direction = sync_manager_control_byte & 0x0c
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sync_manager_watchdog = sync_manager_control_byte & 0x40
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if sync_manager_direction:
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sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"
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else:
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sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"
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if sync_manager_watchdog:
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sync_manager_infos["watchdog"] = "EC_WD_ENABLE"
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else:
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sync_manager_infos["watchdog"] = "EC_WD_DISABLE"
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sync_managers.append(sync_manager_infos)
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pdos_index = []
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exclusive_pdos = {}
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selected_pdos = []
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for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
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[(pdo, "Outputs") for pdo in device.getRxPdo()]):
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pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
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pdos_index.append(pdo_index)
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excluded_list = pdo.getExclude()
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302 |
if len(excluded_list) > 0:
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exclusion_list = [pdo_index]
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for excluded in excluded_list:
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exclusion_list.append(ExtractHexDecValue(excluded.getcontent()))
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306 |
exclusion_list.sort()
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308 |
exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])
|
|
|
309 |
|
|
|
310 |
entries = pdo.getEntry()
|
|
|
311 |
pdo_mapping_match = {
|
|
|
312 |
"index": pdo_index,
|
|
|
313 |
"matching": 0,
|
|
|
314 |
"count": len(entries),
|
|
|
315 |
"assigned": pdo.getSm() is not None
|
|
|
316 |
}
|
|
|
317 |
exclusion_scope.append(pdo_mapping_match)
|
|
|
318 |
|
|
|
319 |
for entry in entries:
|
|
|
320 |
index = ExtractHexDecValue(entry.getIndex().getcontent())
|
|
|
321 |
subindex = ExtractHexDecValue(entry.getSubIndex())
|
|
|
322 |
if slave_variables.get((index, subindex), None) is not None:
|
|
|
323 |
pdo_mapping_match["matching"] += 1
|
|
|
324 |
|
|
|
325 |
elif pdo.getMandatory():
|
|
|
326 |
selected_pdos.append(pdo_index)
|
|
|
327 |
|
|
|
328 |
excluded_pdos = []
|
|
|
329 |
for exclusion_scope in exclusive_pdos.itervalues():
|
|
|
330 |
exclusion_scope.sort(ExclusionSortFunction)
|
|
|
331 |
start_excluding_index = 0
|
|
|
332 |
if exclusion_scope[0]["matching"] > 0:
|
|
|
333 |
selected_pdos.append(exclusion_scope[0]["index"])
|
|
|
334 |
start_excluding_index = 1
|
|
|
335 |
excluded_pdos.extend([pdo["index"] for pdo in exclusion_scope[start_excluding_index:] if PdoAssign or not pdo["assigned"]])
|
|
|
336 |
|
|
|
337 |
for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
|
|
|
338 |
[(pdo, "Outputs") for pdo in device.getRxPdo()]):
|
|
|
339 |
entries = pdo.getEntry()
|
|
|
340 |
|
|
|
341 |
pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
|
|
|
342 |
if pdo_index in excluded_pdos:
|
|
|
343 |
continue
|
|
|
344 |
|
|
|
345 |
pdo_needed = pdo_index in selected_pdos
|
|
|
346 |
|
|
|
347 |
entries_infos = []
|
|
|
348 |
|
|
|
349 |
for entry in entries:
|
|
|
350 |
index = ExtractHexDecValue(entry.getIndex().getcontent())
|
|
|
351 |
subindex = ExtractHexDecValue(entry.getSubIndex())
|
|
|
352 |
entry_infos = {
|
|
|
353 |
"index": index,
|
|
|
354 |
"subindex": subindex,
|
|
|
355 |
"name": ExtractName(entry.getName()),
|
|
|
356 |
"bitlen": entry.getBitLen(),
|
|
|
357 |
}
|
|
|
358 |
entry_infos.update(type_infos)
|
|
|
359 |
entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
|
|
|
360 |
|
|
|
361 |
entry_declaration = slave_variables.get((index, subindex), None)
|
|
|
362 |
if entry_declaration is not None and not entry_declaration["mapped"]:
|
|
|
363 |
pdo_needed = True
|
|
|
364 |
|
|
|
365 |
entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"],
|
|
|
366 |
entry_declaration["infos"])))
|
|
|
367 |
entry_declaration["mapped"] = True
|
|
|
368 |
|
|
|
369 |
entry_type = entry.getDataType().getcontent()
|
|
|
370 |
if entry_infos["var_type"] != entry_type:
|
|
|
371 |
message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
|
|
|
372 |
if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
|
|
|
373 |
self.Controler.GetSizeOfType(entry_type)):
|
|
|
374 |
raise ValueError, message
|
|
|
375 |
else:
|
|
|
376 |
self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
|
|
|
377 |
|
|
|
378 |
if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or
|
|
|
379 |
entry_infos["dir"] == "Q" and pdo_type != "Outputs"):
|
|
|
380 |
raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
|
|
|
381 |
|
|
|
382 |
ConfigureVariable(entry_infos, str_completion)
|
|
|
383 |
|
|
|
384 |
elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:
|
|
|
385 |
data_type = entry.getDataType().getcontent()
|
|
|
386 |
entry_infos["dir"] = "Q"
|
|
|
387 |
entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
|
|
|
388 |
entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
|
|
|
389 |
entry_infos["var_type"] = data_type
|
|
|
390 |
entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
|
|
|
391 |
|
|
|
392 |
ConfigureVariable(entry_infos, str_completion)
|
|
|
393 |
|
|
|
394 |
str_completion["slaves_output_pdos_default_values_extraction"] += \
|
|
|
395 |
SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
|
|
|
396 |
|
|
|
397 |
if pdo_needed:
|
|
|
398 |
for excluded in pdo.getExclude():
|
|
|
399 |
excluded_index = ExtractHexDecValue(excluded.getcontent())
|
|
|
400 |
if excluded_index not in excluded_pdos:
|
|
|
401 |
excluded_pdos.append(excluded_index)
|
|
|
402 |
|
|
|
403 |
sm = pdo.getSm()
|
|
|
404 |
if sm is None:
|
|
|
405 |
for sm_idx, sync_manager in enumerate(sync_managers):
|
|
|
406 |
if sync_manager["name"] == pdo_type:
|
|
|
407 |
sm = sm_idx
|
|
|
408 |
if sm is None:
|
|
|
409 |
raise ValueError, _("No sync manager available for %s pdo!") % pdo_type
|
|
|
410 |
|
|
|
411 |
sync_managers[sm]["pdos_number"] += 1
|
|
|
412 |
sync_managers[sm]["pdos"].append(
|
|
|
413 |
{"slave": slave_idx,
|
|
|
414 |
"index": pdo_index,
|
|
|
415 |
"name": ExtractName(pdo.getName()),
|
|
|
416 |
"type": pdo_type,
|
|
|
417 |
"entries": entries_infos,
|
|
|
418 |
"entries_number": len(entries_infos),
|
|
|
419 |
"fixed": pdo.getFixed() == True})
|
|
|
420 |
|
|
|
421 |
if PdoConfig and PdoAssign:
|
|
|
422 |
dynamic_pdos = {}
|
|
|
423 |
dynamic_pdos_number = 0
|
|
|
424 |
for category, min_index, max_index in [("Inputs", 0x1600, 0x1800),
|
|
|
425 |
("Outputs", 0x1a00, 0x1C00)]:
|
|
|
426 |
for sync_manager in sync_managers:
|
|
|
427 |
if sync_manager["name"] == category:
|
|
|
428 |
category_infos = dynamic_pdos.setdefault(category, {})
|
|
|
429 |
category_infos["sync_manager"] = sync_manager
|
|
|
430 |
category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"]
|
|
|
431 |
if not pdo["fixed"] and pdo["type"] == category]
|
|
|
432 |
category_infos["current_index"] = min_index
|
|
|
433 |
category_infos["max_index"] = max_index
|
|
|
434 |
break
|
|
|
435 |
|
|
|
436 |
for (index, subindex), entry_declaration in slave_variables.iteritems():
|
|
|
437 |
|
|
|
438 |
if not entry_declaration["mapped"]:
|
|
|
439 |
entry = device_entries.get((index, subindex), None)
|
|
|
440 |
if entry is None:
|
|
|
441 |
raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
|
|
|
442 |
(index, subindex, type_infos["device_type"])
|
|
|
443 |
|
|
|
444 |
entry_infos = {
|
|
|
445 |
"index": index,
|
|
|
446 |
"subindex": subindex,
|
|
|
447 |
"name": entry["Name"],
|
|
|
448 |
"bitlen": entry["BitSize"],
|
|
|
449 |
}
|
|
|
450 |
entry_infos.update(type_infos)
|
|
|
451 |
|
|
|
452 |
entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"],
|
|
|
453 |
entry_declaration["infos"])))
|
|
|
454 |
entry_declaration["mapped"] = True
|
|
|
455 |
|
|
|
456 |
if entry_infos["var_type"] != entry["Type"]:
|
|
|
457 |
message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
|
|
|
458 |
if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
|
|
|
459 |
self.Controler.GetSizeOfType(entry["Type"])):
|
|
|
460 |
raise ValueError, message
|
|
|
461 |
else:
|
|
|
462 |
self.Controler.GetCTRoot().logger.write_warning(message + "\n")
|
|
|
463 |
|
|
|
464 |
if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
|
|
|
465 |
pdo_type = "Inputs"
|
|
|
466 |
elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
|
|
|
467 |
pdo_type = "Outputs"
|
|
|
468 |
else:
|
|
|
469 |
raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
|
|
|
470 |
|
|
|
471 |
if not dynamic_pdos.has_key(pdo_type):
|
|
|
472 |
raise ValueError, _("No Sync manager defined for %s!") % pdo_type
|
|
|
473 |
|
|
|
474 |
ConfigureVariable(entry_infos, str_completion)
|
|
|
475 |
|
|
|
476 |
if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
|
|
|
477 |
pdo = dynamic_pdos[pdo_type]["pdos"][0]
|
|
|
478 |
else:
|
|
|
479 |
while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
|
|
|
480 |
dynamic_pdos[pdo_type]["current_index"] += 1
|
|
|
481 |
if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:
|
|
|
482 |
raise ValueError, _("No more free PDO index available for %s!") % pdo_type
|
|
|
483 |
pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
|
|
|
484 |
|
|
|
485 |
dynamic_pdos_number += 1
|
|
|
486 |
pdo = {"slave": slave_idx,
|
|
|
487 |
"index": dynamic_pdos[pdo_type]["current_index"],
|
|
|
488 |
"name": "Dynamic PDO %d" % dynamic_pdos_number,
|
|
|
489 |
"type": pdo_type,
|
|
|
490 |
"entries": [],
|
|
|
491 |
"entries_number": 0,
|
|
|
492 |
"fixed": False}
|
|
|
493 |
dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
|
|
|
494 |
dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
|
|
|
495 |
dynamic_pdos[pdo_type]["pdos"].append(pdo)
|
|
|
496 |
|
|
|
497 |
pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
|
|
|
498 |
if entry_infos["bitlen"] < alignment:
|
|
|
499 |
print (alignment, entry_infos["bitlen"])
|
|
|
500 |
pdo["entries"].append(" {0x0000, 0x00, %d}, /* None */" % (alignment - entry_infos["bitlen"]))
|
|
|
501 |
pdo["entries_number"] += 1
|
|
|
502 |
|
|
|
503 |
if pdo["entries_number"] == 255:
|
|
|
504 |
dynamic_pdos[pdo_type]["pdos"].pop(0)
|
|
|
505 |
|
|
|
506 |
pdo_offset = 0
|
|
|
507 |
entry_offset = 0
|
|
|
508 |
for sync_manager_infos in sync_managers:
|
|
|
509 |
|
|
|
510 |
for pdo_infos in sync_manager_infos["pdos"]:
|
|
|
511 |
pdo_infos["offset"] = entry_offset
|
|
|
512 |
pdo_entries = pdo_infos["entries"]
|
|
|
513 |
pdos_infos["pdos_infos"].append(
|
|
|
514 |
(" {0x%(index).4x, %(entries_number)d, " +
|
|
|
515 |
"slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos)
|
|
|
516 |
entry_offset += len(pdo_entries)
|
|
|
517 |
pdos_infos["pdos_entries_infos"].extend(pdo_entries)
|
|
|
518 |
|
|
|
519 |
sync_manager_infos["offset"] = pdo_offset
|
|
|
520 |
pdo_offset_shift = sync_manager_infos["pdos_number"]
|
|
|
521 |
pdos_infos["pdos_sync_infos"].append(
|
|
|
522 |
(" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " +
|
|
|
523 |
("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") +
|
|
|
524 |
", %(watchdog)s},") % sync_manager_infos)
|
|
|
525 |
pdo_offset += pdo_offset_shift
|
|
|
526 |
|
|
|
527 |
for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]:
|
|
|
528 |
pdos_infos[element] = "\n".join(pdos_infos[element])
|
|
|
529 |
|
|
|
530 |
str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos
|
|
|
531 |
|
|
|
532 |
for (index, subindex), entry_declaration in slave_variables.iteritems():
|
|
|
533 |
if not entry_declaration["mapped"]:
|
|
|
534 |
message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \
|
|
|
535 |
(index, subindex, type_infos["device_type"])
|
|
|
536 |
self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
|
|
|
537 |
|
|
|
538 |
for element in ["used_pdo_entry_offset_variables_declaration",
|
|
|
539 |
"used_pdo_entry_configuration",
|
|
|
540 |
"located_variables_declaration",
|
|
|
541 |
"retrieve_variables",
|
|
|
542 |
"publish_variables"]:
|
|
|
543 |
str_completion[element] = "\n".join(str_completion[element])
|
|
|
544 |
|
|
|
545 |
etherlabfile = open(filepath, 'w')
|
|
|
546 |
etherlabfile.write(plc_etherlab_code % str_completion)
|
|
|
547 |
etherlabfile.close()
|