beremiz: comparison etherlab/CommonEtherCATFunction.py

equal deleted inserted replaced

-:bcf346f558bd
+:02a2b5dee5e3
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+# This file is part of Beremiz
+#
+# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab. University of Seoul, Korea
+#
+# See COPYING file for copyrights details.
+import os
+import wx
+mailbox_protocols =  ["AoE", "EoE", "CoE", "FoE", "SoE", "VoE"]
+def ExtractHexDecValue(value):
+"""
+convert numerical value in string format into decimal or hex format.
+@param value : hex or decimal data
+@return integer data
+"""
+try:
+return int(value)
+except:
+pass
+try:
+return int(value.replace("#", "0"), 16)
+except:
+raise ValueError, "Invalid value for HexDecValue \"%s\"" % value
+def ExtractName(names, default=None):
+"""
+Extract "name" field from XML entries.
+@param names : XML entry
+@default : if it fails to extract from the designated XML entry, return the default value ("None").
+@return default or the name extracted
+"""
+if len(names) == 1:
+return names[0].getcontent()
+else:
+for name in names:
+if name.getLcId() == 1033:
+return name.getcontent()
+return default
+#--------------------------------------------------
+#         Remote Exec Etherlab Commands
+#--------------------------------------------------
+# --------------------- for master ---------------------------
+MASTER_STATE = """
+import commands
+result = commands.getoutput("ethercat master")
+returnVal =result
+"""
+# --------------------- for slave ----------------------------
+# ethercat state -p (slave position) (state (INIT, PREOP, SAFEOP, OP))
+SLAVE_STATE = """
+import commands
+result = commands.getoutput("ethercat state -p %d %s")
+returnVal = result
+"""
+# ethercat slave
+GET_SLAVE = """
+import commands
+result = commands.getoutput("ethercat slaves")
+returnVal =result
+"""
+# ethercat xml -p (slave position)
+SLAVE_XML = """
+import commands
+result = commands.getoutput("ethercat xml -p %d")
+returnVal = result
+"""
+# ethercat sdos -p (slave position)
+SLAVE_SDO = """
+import commands
+result = commands.getoutput("ethercat sdos -p %d")
+returnVal =result
+"""
+# ethercat upload -p (slave position) (main index) (sub index)
+GET_SLOW_SDO = """
+import commands
+result = commands.getoutput("ethercat upload -p %d %s %s")
+returnVal =result
+"""
+# ethercat download -p (slave position) (main index) (sub index) (value)
+SDO_DOWNLOAD = """
+import commands
+result = commands.getoutput("ethercat download --type %s -p %d %s %s %s")
+returnVal =result
+"""
+# ethercat sii_read -p (slave position)
+SII_READ = """
+import commands
+result = commands.getoutput("ethercat sii_read -p %d")
+returnVal =result
+"""
+# ethercat reg_read -p (slave position) (address) (size)
+REG_READ = """
+import commands
+result = commands.getoutput("ethercat reg_read -p %d %s %s")
+returnVal =result
+"""
+# ethercat sii_write -p (slave position) - (contents)
+SII_WRITE = """
+import subprocess
+process = subprocess.Popen(
+["ethercat", "-f", "sii_write", "-p", "%d", "-"],
+stdin=subprocess.PIPE)
+process.communicate(sii_data)
+returnVal = process.returncode
+"""
+# ethercat reg_write -p (slave position) -t (uinit16) (address) (data)
+REG_WRITE = """
+import commands
+result = commands.getoutput("ethercat reg_write -p %d -t uint16 %s %s")
+returnVal =result
+"""
+# ethercat rescan -p (slave position)
+RESCAN = """
+import commands
+result = commands.getoutput("ethercat rescan -p %d")
+returnVal =result
+"""
+#--------------------------------------------------
+#    Common Method For EtherCAT Management
+#--------------------------------------------------
+class _CommonSlave:
+# ----- Data Structure for ethercat management ----
+SlaveState = ""
+# category of SDO data
+DatatypeDescription, CommunicationObject, ManufacturerSpecific, \
+ProfileSpecific, Reserved, AllSDOData = range(6)
+# store the execution result of "ethercat sdos" command into SaveSDOData.
+SaveSDOData = []
+# Flags for checking "write" permission of OD entries
+CheckPREOP = False
+CheckSAFEOP = False
+CheckOP = False
+# Save PDO Data
+TxPDOInfo = []
+TxPDOCategory = []
+RxPDOInfo = []
+RxPDOCategory = []
+# Save EEPROM Data
+SiiData = ""
+# Save Register Data
+RegData = ""
+CrtRegSpec = {"ESCType": "",
+"FMMUNumber": "",
+"SMNumber": "",
+"PDIType": ""}
+def __init__(self, controler):
+"""
+Constructor
+@param controler: _EthercatSlaveCTN class in EthercatSlave.py
+"""
+self.Controler = controler
+self.ClearSDODataSet()
+#-------------------------------------------------------------------------------
+#                        Used Master State
+#-------------------------------------------------------------------------------
+def GetMasterState(self):
+"""
+Execute "ethercat master" command and parse the execution result
+@return MasterState
+"""
+# exectute "ethercat master" command
+error, return_val = self.Controler.RemoteExec(MASTER_STATE, return_val = None)
+master_state = {}
+# parse the reslut
+for each_line in return_val.splitlines():
+if len(each_line) > 0 :
+chunks = each_line.strip().split(':', 1)
+key = chunks[0]
+value = []
+if len(chunks) > 1 :
+value = chunks[1].split()
+if '(attached)' in value:
+value.remove('(attached)')
+master_state[key] = value
+return master_state
+#-------------------------------------------------------------------------------
+#                        Used Slave State
+#-------------------------------------------------------------------------------
+def RequestSlaveState(self, command):
+"""
+Set slave state to the specified one using "ethercat states -p %d %s" command.
+Command example : "ethercat states -p 0 PREOP" (target slave position and target state are given.)
+@param command : target slave state
+"""
+error, return_val = self.Controler.RemoteExec(SLAVE_STATE%(self.Controler.GetSlavePos(), command), return_val = None)
+def GetSlaveStateFromSlave(self):
+"""
+Get slave information using "ethercat slaves" command and store the information into internal data structure
+(self.SlaveState) for "Slave State"
+return_val example : 0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)
+"""
+error, return_val = self.Controler.RemoteExec(GET_SLAVE, return_val = None)
+self.SlaveState = return_val
+return return_val
+#-------------------------------------------------------------------------------
+#                        Used SDO Management
+#-------------------------------------------------------------------------------
+def GetSlaveSDOFromSlave(self):
+"""
+Get SDO objects information of current slave using "ethercat sdos -p %d" command.
+Command example : "ethercat sdos -p 0"
+@return return_val : execution results of "ethercat sdos" command (need to be parsed later)
+"""
+error, return_val = self.Controler.RemoteExec(SLAVE_SDO%(self.Controler.GetSlavePos()), return_val = None)
+return return_val
+def SDODownload(self, data_type, idx, sub_idx, value):
+"""
+Set an SDO object value to user-specified value using "ethercat download" command.
+Command example : "ethercat download --type int32 -p 0 0x8020 0x12 0x00000000"
+@param data_type : data type of SDO entry
+@param idx : index of the SDO entry
+@param sub_idx : subindex of the SDO entry
+@param value : value of SDO entry
+"""
+error, return_val = self.Controler.RemoteExec(SDO_DOWNLOAD%(data_type, self.Controler.GetSlavePos(), idx, sub_idx, value), return_val = None)
+def BackupSDODataSet(self):
+"""
+Back-up current SDO entry information to restore the SDO data
+in case that the user cancels SDO update operation.
+	"""
+self.BackupDatatypeDescription = self.SaveDatatypeDescription
+self.BackupCommunicationObject = self.SaveCommunicationObject
+self.BackupManufacturerSpecific = self.SaveManufacturerSpecific
+self.BackupProfileSpecific = self.SaveProfileSpecific
+self.BackupReserved = self.SaveReserved
+self.BackupAllSDOData = self.SaveAllSDOData
+def ClearSDODataSet(self):
+"""
+Clear the specified SDO entry information.
+"""
+for count in range(6):
+self.SaveSDOData.append([])
+#-------------------------------------------------------------------------------
+#                        Used PDO Monitoring
+#-------------------------------------------------------------------------------
+def RequestPDOInfo(self):
+"""
+Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method).
+"""
+# Load slave information from ESI XML file (def EthercatMaster.py)
+slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
+type_infos = slave.getType()
+device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
+# Initialize PDO data set
+self.ClearDataSet()
+# if 'device' object is valid, call SavePDOData() to parse PDO data
+if device is not None :
+self.SavePDOData(device)
+def SavePDOData(self, device):
+"""
+Parse PDO data and store the results in TXPDOCategory and RXPDOCategory
+Tx(Rx)PDOCategory : index, name, entry number
+Tx(Rx)Info : entry index, sub index, name, length, type
+@param device : Slave information extracted from ESI XML file
+"""
+# Parsing TXPDO entries
+for pdo, pdo_info in ([(pdo, "Inputs") for pdo in device.getTxPdo()]):
+# Save pdo_index, entry, and name of each entry
+pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
+entries = pdo.getEntry()
+pdo_name = ExtractName(pdo.getName())
+# Initialize entry number count
+count = 0
+# Parse entries
+for entry in entries:
+# Save index and subindex
+index = ExtractHexDecValue(entry.getIndex().getcontent())
+subindex = ExtractHexDecValue(entry.getSubIndex())
+# if entry name exists, save entry data
+if ExtractName(entry.getName()) is not None :
+entry_infos = {
+"entry_index" : index,
+"subindex" : subindex,
+"name" : ExtractName(entry.getName()),
+"bitlen" : entry.getBitLen(),
+"type" : entry.getDataType().getcontent()
+}
+self.TxPDOInfo.append(entry_infos)
+count += 1
+categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count}
+self.TxPDOCategory.append(categorys)
+# Parsing RxPDO entries
+for pdo, pdo_info in ([(pdo, "Outputs") for pdo in device.getRxPdo()]):
+# Save pdo_index, entry, and name of each entry
+pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
+entries = pdo.getEntry()
+pdo_name = ExtractName(pdo.getName())
+# Initialize entry number count
+count = 0
+# Parse entries
+for entry in entries:
+# Save index and subindex
+index = ExtractHexDecValue(entry.getIndex().getcontent())
+subindex = ExtractHexDecValue(entry.getSubIndex())
+# if entry name exists, save entry data
+if ExtractName(entry.getName()) is not None :
+entry_infos = {
+"entry_index" : index,
+"subindex" : subindex,
+"name" : ExtractName(entry.getName()),
+"bitlen" : str(entry.getBitLen()),
+"type" : entry.getDataType().getcontent()
+}
+self.RxPDOInfo.append(entry_infos)
+count += 1
+categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count}
+self.RxPDOCategory.append(categorys)
+def GetTxPDOCategory(self):
+"""
+Get TxPDOCategory data structure (Meta informaton of TxPDO).
+TxPDOCategorys : index, name, number of entries
+@return TxPDOCategorys
+"""
+return self.TxPDOCategory
+def GetRxPDOCategory(self):
+"""
+Get RxPDOCategory data structure (Meta information of RxPDO).
+RxPDOCategorys : index, name, number of entries
+@return RxPDOCategorys
+"""
+return self.RxPDOCategory
+def GetTxPDOInfo(self):
+"""
+Get TxPDOInfo data structure (Detailed information on TxPDO entries).
+TxPDOInfos : entry index, sub index, name, length, type
+@return TxPDOInfos
+"""
+return self.TxPDOInfo
+def GetRxPDOInfo(self):
+"""
+Get RxPDOInfo data structure (Detailed information on RxPDO entries).
+RxPDOInfos : entry index, sub index, name, length, type
+@return RxPDOInfos
+"""
+return self.RxPDOInfo
+def ClearDataSet(self):
+"""
+Initialize PDO management data structure.
+"""
+self.TxPDOInfos = []
+self.TxPDOCategorys = []
+self.RxPDOInfos = []
+self.RxPDOCategorys = []
+#-------------------------------------------------------------------------------
+#                        Used EEPROM Management
+#-------------------------------------------------------------------------------
+# Base data types in ETG2000; format = {"Name": "BitSize"}
+BaseDataTypeDict = {"BOOL": "01",
+"SINT": "02",
+"INT": "03",
+"DINT": "04",
+"USINT": "05",
+"UINT": "06",
+"UDINT": "07",
+"REAL": "08",
+"INT24": "10",
+"LREAL": "11",
+"INT40": "12",
+"INT48": "13",
+"INT56": "14",
+"LINT": "15",
+"UINT24": "16",
+"UINT40": "18",
+"UINT48": "19",
+"UINT56": "1a",
+"ULINT": "1b",
+"USINT": "1e",
+"BITARR8": "2d",
+"BITARR16": "2e",
+"BITARR32": "2f",
+"BIT1": "30",
+"BIT2": "31",
+"BIT3": "32",
+"BIT4": "33",
+"BIT5": "34",
+"BIT6": "35",
+"BIT7": "36",
+"BIT8": "37"}
+def GetSmartViewInfos(self):
+"""
+Parse XML data for "Smart View" of EEPROM contents.
+@return smartview_infos : EEPROM contents dictionary
+"""
+smartview_infos = {"eeprom_size": 128,
+"pdi_type": 0,
+"device_emulation": "False",
+"vendor_id": '0x00000000',
+"product_code": '0x00000000',
+"revision_no": '0x00000000',
+"serial_no": '0x00000000',
+"supported_mailbox": "",
+"mailbox_bootstrapconf_outstart": '0',
+"mailbox_bootstrapconf_outlength": '0',
+"mailbox_bootstrapconf_instart": '0',
+"mailbox_bootstrapconf_inlength": '0',
+"mailbox_standardconf_outstart": '0',
+"mailbox_standardconf_outlength": '0',
+"mailbox_standardconf_instart": '0',
+"mailbox_standardconf_inlength": '0'}
+slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
+type_infos = slave.getType()
+device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
+# 'device' represents current slave device selected by user
+if device is not None:
+for eeprom_element in device.getEeprom().getcontent():
+# get EEPROM size; <Device>-<Eeprom>-<ByteSize>
+if eeprom_element["name"] == "ByteSize":
+smartview_infos["eeprom_size"] = eeprom_element
+elif eeprom_element["name"] == "ConfigData":
+configData_data = self.DecimalToHex(eeprom_element)
+# get PDI type; <Device>-<Eeprom>-<ConfigData> address 0x00
+smartview_infos["pdi_type"] = int(configData_data[0:2], 16)
+# get state of device emulation; <Device>-<Eeprom>-<ConfigData> address 0x01
+if "{:0>8b}".format(int(configData_data[2:4], 16))[7] == '1':
+smartview_infos["device_emulation"] = "True"
+elif eeprom_element["name"] == "BootStrap":
+bootstrap_data = "{:0>16x}".format(eeprom_element)
+# get bootstrap configuration; <Device>-<Eeprom>-<BootStrap>
+for cfg, iter in [("mailbox_bootstrapconf_outstart", 0),
+("mailbox_bootstrapconf_outlength", 1),
+("mailbox_bootstrapconf_instart", 2),
+("mailbox_bootstrapconf_inlength", 3)]:
+smartview_infos[cfg] = str(int(bootstrap_data[4*iter+2:4*(iter+1)]+bootstrap_data[4*iter:4*iter+2], 16))
+# get protocol (profile) types supported by mailbox; <Device>-<Mailbox>
+mb = device.getMailbox()
+if mb is not None:
+for mailbox_protocol in mailbox_protocols:
+if getattr(mb,"get%s"%mailbox_protocol)() is not None:
+smartview_infos["supported_mailbox"] += "%s,  "%mailbox_protocol
+smartview_infos["supported_mailbox"] = smartview_infos["supported_mailbox"].strip(",  ")
+# get standard configuration of mailbox; <Device>-<Sm>
+for sm_element in device.getSm():
+if sm_element.getcontent() == "MBoxOut":
+smartview_infos["mailbox_standardconf_outstart"] = str(ExtractHexDecValue(sm_element.getStartAddress()))
+smartview_infos["mailbox_standardconf_outlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize()))
+elif sm_element.getcontent() == "MBoxIn":
+smartview_infos["mailbox_standardconf_instart"] = str(ExtractHexDecValue(sm_element.getStartAddress()))
+smartview_infos["mailbox_standardconf_inlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize()))
+else:
+pass
+# get device identity from <Device>-<Type>
+#  vendor ID; by default, pre-defined value in self.ModulesLibrary
+#             if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID.
+for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]:
+if available_device[0] == type_infos["device_type"]:
+smartview_infos["vendor_id"] = "0x" + "{:0>8x}".format(vendor_id)
+#  product code;
+if device.getType().getProductCode() is not None:
+product_code = device.getType().getProductCode()
+smartview_infos["product_code"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(product_code))
+#  revision number;
+if device.getType().getRevisionNo() is not None:
+revision_no = device.getType().getRevisionNo()
+smartview_infos["revision_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(revision_no))
+#  serial number;
+if device.getType().getSerialNo() is not None:
+serial_no = device.getType().getSerialNo()
+smartview_infos["serial_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(serial_no))
+return smartview_infos
+else:
+return None
+def DecimalToHex(self, decnum):
+"""
+Convert decimal value into hexadecimal representation.
+@param decnum : decimal value
+@return hex_data : hexadecimal representation of input value in decimal
+"""
+value = "%x" % decnum
+value_len = len(value)
+if (value_len % 2) == 0:
+hex_len = value_len
+else:
+hex_len = (value_len / 2) * 2 + 2
+hex_data = ("{:0>"+str(hex_len)+"x}").format(decnum)
+return hex_data
+def SiiRead(self):
+"""
+Get slave EEPROM contents maintained by master device using "ethercat sii_read -p %d" command.
+Command example : "ethercat sii_read -p 0"
+@return return_val : result of "ethercat sii_read" (binary data)
+"""
+error, return_val = self.Controler.RemoteExec(SII_READ%(self.Controler.GetSlavePos()), return_val = None)
+self.SiiData = return_val
+return return_val
+def SiiWrite(self, binary):
+"""
+Overwrite slave EEPROM contents using "ethercat sii_write -p %d" command.
+Command example : "ethercat sii_write -p 0 - (binary contents)"
+@param binary : EEPROM contents in binary data format
+@return return_val : result of "ethercat sii_write" (If it succeeds, the return value is NULL.)
+"""
+error, return_val = self.Controler.RemoteExec(SII_WRITE%(self.Controler.GetSlavePos()), return_val = None, sii_data = binary)
+return return_val
+def LoadData(self):
+"""
+Loading data from EEPROM use Sii_Read Method
+@return self.BinaryCode : slave EEPROM data in binary format (zero-padded)
+"""
+return_val = self.Controler.CommonMethod.SiiRead()
+self.BinaryCode = return_val
+self.Controler.SiiData = self.BinaryCode
+# append zero-filled padding data up to EEPROM size
+for index in range(self.SmartViewInfosFromXML["eeprom_size"] - len(self.BinaryCode)):
+self.BinaryCode = self.BinaryCode +'ff'.decode('hex')
+return self.BinaryCode
+def HexRead(self, binary):
+"""
+Convert binary digit representation into hexadecimal representation for "Hex View" menu.
+@param binary : binary digits
+@return hexCode : hexadecimal digits
+@return hexview_table_row, hexview_table_col : Grid size for "Hex View" UI
+"""
+row_code = []
+row_text = ""
+row = 0
+hex_code = []
+hexview_table_col = 17
+for index in range(0, len(binary)) :
+if len(binary[index]) != 1:
+break
+else:
+digithexstr = hex(ord(binary[index]))
+tempvar2 = digithexstr[2:4]
+if len(tempvar2) == 1:
+tempvar2 = "0" + tempvar2
+row_code.append(tempvar2)
+if int(digithexstr, 16)>=32 and int(digithexstr, 16)<=126:
+row_text = row_text + chr(int(digithexstr, 16))
+else:
+row_text = row_text + "."
+if index != 0 :
+if len(row_code) == (hexview_table_col - 1):
+row_code.append(row_text)
+hex_code.append(row_code)
+row_text = ""
+row_code = []
+row = row + 1
+hexview_table_row = row
+return hex_code, hexview_table_row, hexview_table_col
+def GenerateEEPROMList(self, data, direction, length):
+"""
+Generate EEPROM data list by reconstructing 'data' string.
+example : data="12345678", direction=0, length=8 -> eeprom_list=['12', '34', '56', '78']
+data="12345678", direction=1, length=8 -> eeprom_list=['78', '56', '34', '12']
+@param data : string to be reconstructed
+@param direction : endianness
+@param length : data length
+@return eeprom_list : reconstructed list data structure
+"""
+eeprom_list = []
+if direction is 0 or 1:
+for i in range(length/2):
+if data == "":
+eeprom_list.append("00")
+else:
+eeprom_list.append(data[direction*(length-2):direction*(length-2)+2])
+data = data[(1-direction)*2:length-direction*2]
+length -= 2
+return eeprom_list
+def XmlToEeprom(self):
+"""
+Extract slave EEPROM contents using slave ESI XML file.
+- Mandatory parts
+- String category : ExtractEEPROMStringCategory()
+- General category : ExtractEEPROMGeneralCategory()
+- FMMU category : ExtractEEPROMFMMUCategory
+- SyncM category : ExtractEEPROMSyncMCategory()
+- Tx/RxPDO category : ExtractEEPROMPDOCategory()
+- DC category : ExtractEEPROMDCCategory()
+@return eeprom_binary
+"""
+eeprom = []
+data = ""
+eeprom_size = 0
+eeprom_binary = ""
+# 'device' is the slave device of the current EtherCAT slave plugin
+slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
+type_infos = slave.getType()
+device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
+if device is not None:
+# get ConfigData for EEPROM offset 0x0000-0x000d; <Device>-<Eeprom>-<ConfigData>
+for eeprom_element in device.getEeprom().getcontent():
+if eeprom_element["name"] == "ConfigData":
+data = self.DecimalToHex(eeprom_element)
+eeprom += self.GenerateEEPROMList(data, 0, 28)
+# calculate CRC for EEPROM offset 0x000e-0x000f
+crc = 0x48
+for segment in eeprom:
+for i in range(8):
+bit = crc & 0x80
+crc = (crc << 1) | ((int(segment, 16) >> (7 - i)) & 0x01)
+if bit:
+crc ^= 0x07
+for k in range(8):
+bit = crc & 0x80
+crc <<= 1
+if bit:
+crc ^= 0x07
+eeprom.append(hex(crc)[len(hex(crc))-3:len(hex(crc))-1])
+eeprom.append("00")
+# get VendorID for EEPROM offset 0x0010-0x0013;
+data = ""
+for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]:
+if available_device[0] == type_infos["device_type"]:
+data = "{:0>8x}".format(vendor_id)
+eeprom += self.GenerateEEPROMList(data, 1, 8)
+# get Product Code for EEPROM offset 0x0014-0x0017;
+data = ""
+if device.getType().getProductCode() is not None:
+data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getProductCode()))
+eeprom += self.GenerateEEPROMList(data, 1, 8)
+# get Revision Number for EEPROM offset 0x0018-0x001b;
+data = ""
+if device.getType().getRevisionNo() is not None:
+data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getRevisionNo()))
+eeprom += self.GenerateEEPROMList(data, 1, 8)
+# get Serial Number for EEPROM 0x001c-0x001f;
+data = ""
+if device.getType().getSerialNo() is not None:
+data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getSerialNo()))
+eeprom += self.GenerateEEPROMList(data, 1, 8)
+# get Execution Delay for EEPROM 0x0020-0x0021; not analyzed yet
+eeprom.append("00")
+eeprom.append("00")
+# get Port0/1 Delay for EEPROM offset 0x0022-0x0025; not analyzed yet
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+# reserved for EEPROM offset 0x0026-0x0027;
+eeprom.append("00")
+eeprom.append("00")
+# get BootStrap for EEPROM offset 0x0028-0x002e; <Device>-<Eeprom>-<BootStrap>
+data = ""
+for eeprom_element in device.getEeprom().getcontent():
+if eeprom_element["name"] == "BootStrap":
+data = "{:0>16x}".format(eeprom_element)
+eeprom += self.GenerateEEPROMList(data, 0, 16)
+# get Standard Mailbox for EEPROM offset 0x0030-0x0037; <Device>-<sm>
+data = ""
+standard_send_mailbox_offset = None
+standard_send_mailbox_size = None
+standard_receive_mailbox_offset = None
+standard_receive_mailbox_size = None
+for sm_element in device.getSm():
+if sm_element.getcontent() == "MBoxOut":
+standard_receive_mailbox_offset = "{:0>4x}".format(ExtractHexDecValue(sm_element.getStartAddress()))
+standard_receive_mailbox_size = "{:0>4x}".format(ExtractHexDecValue(sm_element.getDefaultSize()))
+elif sm_element.getcontent() == "MBoxIn":
+standard_send_mailbox_offset = "{:0>4x}".format(ExtractHexDecValue(sm_element.getStartAddress()))
+standard_send_mailbox_size = "{:0>4x}".format(ExtractHexDecValue(sm_element.getDefaultSize()))
+if standard_receive_mailbox_offset is None:
+eeprom.append("00")
+eeprom.append("00")
+else:
+eeprom.append(standard_receive_mailbox_offset[2:4])
+eeprom.append(standard_receive_mailbox_offset[0:2])
+if standard_receive_mailbox_size is None:
+eeprom.append("00")
+eeprom.append("00")
+else:
+eeprom.append(standard_receive_mailbox_size[2:4])
+eeprom.append(standard_receive_mailbox_size[0:2])
+if standard_send_mailbox_offset is None:
+eeprom.append("00")
+eeprom.append("00")
+else:
+eeprom.append(standard_send_mailbox_offset[2:4])
+eeprom.append(standard_send_mailbox_offset[0:2])
+if standard_send_mailbox_size is None:
+eeprom.append("00")
+eeprom.append("00")
+else:
+eeprom.append(standard_send_mailbox_size[2:4])
+eeprom.append(standard_send_mailbox_size[0:2])
+# get supported mailbox protocols for EEPROM offset 0x0038-0x0039;
+data = 0
+mb = device.getMailbox()
+if mb is not None :
+for bit,mbprot in enumerate(mailbox_protocols):
+if getattr(mb,"get%s"%mbprot)() is not None:
+data += 1<<bit
+data = "{:0>4x}".format(data)
+eeprom.append(data[2:4])
+eeprom.append(data[0:2])
+# resereved for EEPROM offset 0x003a-0x007b;
+for i in range(0x007b-0x003a+0x0001):
+eeprom.append("00")
+# get EEPROM size for EEPROM offset 0x007c-0x007d;
+data = ""
+for eeprom_element in device.getEeprom().getcontent():
+if eeprom_element["name"] == "ByteSize":
+eeprom_size = int(str(eeprom_element))
+data = "{:0>4x}".format(int(eeprom_element)/1024*8-1)
+if data == "":
+eeprom.append("00")
+eeprom.append("00")
+else:
+eeprom.append(data[2:4])
+eeprom.append(data[0:2])
+# Version for EEPROM 0x007e-0x007f;
+#  According to "EtherCAT Slave Device Description(V0.3.0)"
+eeprom.append("01")
+eeprom.append("00")
+# append String Category data
+for data in self.ExtractEEPROMStringCategory(device):
+eeprom.append(data)
+# append General Category data
+for data in self.ExtractEEPROMGeneralCategory(device):
+eeprom.append(data)
+# append FMMU Category data
+for data in self.ExtractEEPROMFMMUCategory(device):
+eeprom.append(data)
+# append SyncM Category data
+for data in self.ExtractEEPROMSyncMCategory(device):
+eeprom.append(data)
+# append TxPDO Category data
+for data in self.ExtractEEPROMPDOCategory(device, "TxPdo"):
+eeprom.append(data)
+# append RxPDO Category data
+for data in self.ExtractEEPROMPDOCategory(device, "RxPdo"):
+eeprom.append(data)
+# append DC Category data
+for data in self.ExtractEEPROMDCCategory(device):
+eeprom.append(data)
+# append padding
+padding = eeprom_size-len(eeprom)
+for i in range(padding):
+eeprom.append("ff")
+# convert binary code
+for index in range(eeprom_size):
+eeprom_binary = eeprom_binary + eeprom[index].decode('hex')
+return eeprom_binary
+def ExtractEEPROMStringCategory(self, device):
+"""
+Extract "Strings" category data from slave ESI XML and generate EEPROM image data.
+@param device : 'device' object in the slave ESI XML
+@return eeprom : "Strings" category EEPROM image data
+"""
+eeprom = []
+self.Strings = []
+data = ""
+count = 0 # string counter
+padflag = False # padding flag if category length is odd
+# index information for General Category in EEPROM
+self.GroupIdx = 0
+self.ImgIdx = 0
+self.OrderIdx = 0
+self.NameIdx = 0
+# flag for preventing duplicated vendor specific data
+typeflag = False
+grouptypeflag = False
+groupnameflag = False
+devnameflag = False
+imageflag = False
+# vendor specific data
+#   element1; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Type>
+#   vendor_specific_data : vendor specific data (binary type)
+vendor_specific_data = ""
+#   vendor_spec_strings : list of vendor specific "strings" for preventing duplicated strings
+vendor_spec_strings = []
+for element in device.getType().getcontent():
+data += element
+if data is not "" and type(data) == unicode:
+for vendor_spec_string in vendor_spec_strings:
+if data == vendor_spec_string:
+self.OrderIdx = vendor_spec_strings.index(data)+1
+typeflag = True
+break
+if typeflag is False:
+count += 1
+self.Strings.append(data)
+vendor_spec_strings.append(data)
+typeflag = True
+self.OrderIdx = count
+vendor_specific_data += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+data = ""
+#  element2-1; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<GroupType>
+data = device.getGroupType()
+if data is not None and type(data) == unicode:
+for vendor_spec_string in vendor_spec_strings:
+if data == vendor_spec_string:
+self.GroupIdx = vendor_spec_strings.index(data)+1
+grouptypeflag = True
+break
+if grouptypeflag is False:
+grouptype = data
+count += 1
+self.Strings.append(data)
+vendor_spec_strings.append(data)
+grouptypeflag = True
+self.GroupIdx = count
+vendor_specific_data += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+#  element2-2; <EtherCATInfo>-<Groups>-<Group>-<Type>
+if grouptypeflag is False:
+if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None:
+for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+for group_type, group_etc in vendor["groups"].iteritems():
+for device_item in group_etc["devices"]:
+if device == device_item[1]:
+data = group_type
+if data is not None and type(data) == unicode:
+for vendor_spec_string in vendor_spec_strings:
+if data == vendor_spec_string:
+self.GroupIdx = vendor_spec_strings.index(data)+1
+grouptypeflag = True
+break
+if grouptypeflag is False:
+grouptype = data
+count += 1
+self.Strings.append(data)
+vendor_spec_strings.append(data)
+grouptypeflag = True
+self.GroupIdx = count
+vendor_specific_data += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+data = ""
+#  element3; <EtherCATInfo>-<Descriptions>-<Groups>-<Group>-<Name(LcId is "1033")>
+if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None:
+for vendorId, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+for group_type, group_etc in vendor["groups"].iteritems():
+for device_item in group_etc["devices"]:
+if device == device_item[1]:
+data = group_etc["name"]
+if data is not "" and type(data) == unicode:
+for vendor_spec_string in vendor_spec_strings:
+if data == vendor_spec_string:
+groupnameflag = True
+break
+if groupnameflag is False:
+count += 1
+self.Strings.append(data)
+vendor_spec_strings.append(data)
+groupnameflag = True
+vendor_specific_data += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+data = ""
+#  element4; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Name(LcId is "1033" or "1"?)>
+for element in device.getName():
+if element.getLcId() == 1 or element.getLcId()==1033:
+data = element.getcontent()
+if data is not "" and type(data) == unicode:
+for vendor_spec_string in vendor_spec_strings:
+if data == vendor_spec_string:
+self.NameIdx = vendor_spec_strings.index(data)+1
+devnameflag = True
+break
+if devnameflag is False:
+count += 1
+self.Strings.append(data)
+vendor_spec_strings.append(data)
+devnameflag = True
+self.NameIdx = count
+vendor_specific_data += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+data = ""
+#  element5-1; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Image16x14>
+if device.getcontent() is not None:
+data = device.getcontent()
+if data is not None and type(data) == unicode:
+for vendor_spec_string in vendor_spec_strings:
+if data == vendor_spec_string:
+self.ImgIdx = vendor_spec_strings.index(data)+1
+imageflag = True
+break
+if imageflag is False:
+count += 1
+self.Strings.append(data)
+vendor_spec_strings.append(data)
+imageflag = True
+self.ImgIdx = count
+vendor_specific_data += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+#  element5-2; <EtherCATInfo>-<Descriptions>-<Groups>-<Group>-<Image16x14>
+if imageflag is False:
+if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None:
+for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+for group_type, group_etc in vendor["groups"].iteritems():
+for device_item in group_etc["devices"]:
+if device == device_item[1]:
+data = group_etc
+if data is not None and type(data) == unicode:
+for vendor_spec_string in vendor_spec_strings:
+if data == vendor_spec_string:
+self.ImgIdx = vendor_spec_strings.index(data)+1
+imageflag = True
+break
+if imageflag is False:
+count += 1
+self.Strings.append(data)
+vendor_spec_strings.append(data)
+imageflag = True
+self.ImgIdx = count
+vendor_specific_data += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+data = ""
+# DC related elements
+#  <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Dc>-<OpMode>-<Name>
+dc_related_elements = ""
+if device.getDc() is not None:
+for element in device.getDc().getOpMode():
+data = element.getName()
+if data is not "":
+count += 1
+self.Strings.append(data)
+dc_related_elements += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+dc_related_elements += "{:0>2x}".format(ord(data[character]))
+data = ""
+# Input elements(TxPDO)
+#  <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<TxPdo>; Name
+input_elements = ""
+inputs = []
+for element in device.getTxPdo():
+for name in element.getName():
+data = name.getcontent()
+for input in inputs:
+if data == input:
+data = ""
+if data is not "":
+count += 1
+self.Strings.append(data)
+inputs.append(data)
+input_elements += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+input_elements += "{:0>2x}".format(ord(data[character]))
+data = ""
+for entry in element.getEntry():
+for name in entry.getName():
+data = name.getcontent()
+for input in inputs:
+if data == input:
+data = ""
+if data is not "":
+count += 1
+self.Strings.append(data)
+inputs.append(data)
+input_elements += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+input_elements += "{:0>2x}".format(ord(data[character]))
+data = ""
+# Output elements(RxPDO)
+#  <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<RxPdo>; Name
+output_elements = ""
+outputs = []
+for element in device.getRxPdo():
+for name in element.getName():
+data = name.getcontent()
+for output in outputs:
+if data == output:
+data = ""
+if data is not "":
+count += 1
+self.Strings.append(data)
+outputs.append(data)
+output_elements += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+output_elements += "{:0>2x}".format(ord(data[character]))
+data = ""
+for entry in element.getEntry():
+for name in entry.getName():
+data = name.getcontent()
+for output in outputs:
+if data == output:
+data = ""
+if data is not "":
+count += 1
+self.Strings.append(data)
+outputs.append(data)
+output_elements += "{:0>2x}".format(len(data))
+for character in range(len(data)):
+output_elements += "{:0>2x}".format(ord(data[character]))
+data = ""
+# form eeprom data
+#  category header
+eeprom.append("0a")
+eeprom.append("00")
+#  category length (word); 1 word is 4 bytes. "+2" is the length of string's total number
+length = len(vendor_specific_data + dc_related_elements + input_elements + output_elements) + 2
+if length%4 == 0:
+pass
+else:
+length +=length%4
+padflag = True
+eeprom.append("{:0>4x}".format(length/4)[2:4])
+eeprom.append("{:0>4x}".format(length/4)[0:2])
+#  total numbers of strings
+eeprom.append("{:0>2x}".format(count))
+for element in [vendor_specific_data,
+dc_related_elements,
+input_elements,
+output_elements]:
+for iter in range(len(element)/2):
+if element == "":
+eeprom.append("00")
+else:
+eeprom.append(element[0:2])
+element = element[2:len(element)]
+# padding if length is odd bytes
+if padflag is True:
+eeprom.append("ff")
+return eeprom
+def ExtractEEPROMGeneralCategory(self, device):
+"""
+Extract "General" category data from slave ESI XML and generate EEPROM image data.
+@param device : 'device' object in the slave ESI XML
+@return eeprom : "Strings" category EEPROM image data
+"""
+eeprom = []
+data = ""
+# category header
+eeprom.append("1e")
+eeprom.append("00")
+# category length
+eeprom.append("10")
+eeprom.append("00")
+# word 1 : Group Type index and Image index in STRINGS Category
+eeprom.append("{:0>2x}".format(self.GroupIdx))
+eeprom.append("{:0>2x}".format(self.ImgIdx))
+# word 2 : Device Type index and Device Name index in STRINGS Category
+eeprom.append("{:0>2x}".format(self.OrderIdx))
+eeprom.append("{:0>2x}".format(self.NameIdx))
+# word 3 : Physical Layer Port info. and CoE Details
+eeprom.append("01") # Physical Layer Port info - assume 01
+#  CoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<CoE>
+coe_details = 0
+mb = device.getMailbox()
+coe_details = 1 # sdo enabled
+if mb is not None :
+coe = mb.getCoE()
+if coe is not None:
+for bit,flag in enumerate(["SdoInfo", "PdoAssign", "PdoConfig",
+"PdoUpload", "CompleteAccess"]):
+if getattr(coe,"get%s"%flag)() is not None:
+coe_details += 1<<bit
+eeprom.append("{:0>2x}".format(coe_details))
+# word 4 : FoE Details and EoE Details
+#  FoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<FoE>
+if mb is not None and mb.getFoE() is not None:
+eeprom.append("01")
+else:
+eeprom.append("00")
+#  EoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<EoE>
+if mb is not None and mb.getEoE() is not None:
+eeprom.append("01")
+else:
+eeprom.append("00")
+# word 5 : SoE Channels(reserved) and DS402 Channels
+#  SoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<SoE>
+if mb is not None and mb.getSoE() is not None:
+eeprom.append("01")
+else:
+eeprom.append("00")
+#  DS402Channels; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<CoE>: DS402Channels
+ds402ch = False
+if mb is not None :
+coe = mb.getCoE()
+if coe is not None :
+ds402ch = coe.getDS402Channels()
+eeprom.append("01" if ds402ch in [True,1] else "00")
+# word 6 : SysmanClass(reserved) and Flags
+eeprom.append("00") # reserved
+#  Flags
+en_safeop = False
+en_lrw = False
+if device.getType().getTcCfgModeSafeOp() == True \
+or device.getType().getTcCfgModeSafeOp() == 1:
+en_safeop = True
+if device.getType().getUseLrdLwr() == True \
+or device.getType().getUseLrdLwr() == 1:
+en_lrw = True
+flags = "0b"+"000000"+str(int(en_lrw))+str(int(en_safeop))
+eeprom.append("{:0>2x}".format(int(flags, 2)))
+# word 7 : Current On EBus (assume 0x0000)
+eeprom.append("00")
+eeprom.append("00")
+# after word 7; couldn't analyze yet
+eeprom.append("03")
+eeprom.append("00")
+eeprom.append("11")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+eeprom.append("00")
+return eeprom
+def ExtractEEPROMFMMUCategory(self, device):
+"""
+Extract "FMMU" category data from slave ESI XML and generate EEPROM image data.
+@param device : 'device' object in the slave ESI XML
+@return eeprom : "Strings" category EEPROM image data
+"""
+eeprom = []
+data = ""
+count = 0 # number of FMMU
+padflag = False
+for fmmu in device.getFmmu():
+count += 1
+if fmmu.getcontent() == "Outputs":
+data += "01"
+if fmmu.getcontent() == "Inputs":
+data += "02"
+if fmmu.getcontent() == "MBoxState":
+data += "03"
+# construct of EEPROM data
+if data is not "":
+#  category header
+eeprom.append("28")
+eeprom.append("00")
+#  category length
+if count%2 == 1:
+padflag = True
+eeprom.append("{:0>4x}".format((count+1)/2)[2:4])
+eeprom.append("{:0>4x}".format((count+1)/2)[0:2])
+else:
+eeprom.append("{:0>4x}".format((count)/2)[2:4])
+eeprom.append("{:0>4x}".format((count)/2)[0:2])
+for i in range(count):
+if data == "":
+eeprom.append("00")
+else:
+eeprom.append(data[0:2])
+data = data[2:len(data)]
+#  padding if length is odd bytes
+if padflag is True:
+eeprom.append("ff")
+return eeprom
+def ExtractEEPROMSyncMCategory(self, device):
+"""
+Extract "SyncM" category data from slave ESI XML and generate EEPROM image data.
+@param device : 'device' object in the slave ESI XML
+@return eeprom : "Strings" category EEPROM image data
+"""
+eeprom = []
+data = ""
+number = {"MBoxOut":"01", "MBoxIn":"02", "Outputs":"03", "Inputs":"04"}
+for sm in device.getSm():
+for attr in [sm.getStartAddress(),
+sm.getDefaultSize(),
+sm.getControlByte()]:
+if attr is not None:
+data += "{:0>4x}".format(ExtractHexDecValue(attr))[2:4]
+data += "{:0>4x}".format(ExtractHexDecValue(attr))[0:2]
+else:
+data += "0000"
+if sm.getEnable() == "1" or sm.getEnable() == True:
+data += "01"
+else:
+data += "00"
+data += number[sm.getcontent()]
+if data is not "":
+#  category header
+eeprom.append("29")
+eeprom.append("00")
+#  category length
+eeprom.append("{:0>4x}".format(len(data)/4)[2:4])
+eeprom.append("{:0>4x}".format(len(data)/4)[0:2])
+for i in range(len(data)/2):
+if data == "":
+eeprom.append("00")
+else:
+eeprom.append(data[0:2])
+data = data[2:len(data)]
+return eeprom
+def ExtractEEPROMPDOCategory(self, device, pdotype):
+"""
+Extract ""PDO (Tx, Rx)"" category data from slave ESI XML and generate EEPROM image data.
+@param device : 'device' object in the slave ESI XML
+@param pdotype : identifier whether "TxPDO" or "RxPDO".
+@return eeprom : "Strings" category EEPROM image data
+"""
+eeprom = []
+data = ""
+count = 0
+en_fixed = False
+en_mandatory = False
+en_virtual = False
+for element in eval("device.get%s()"%pdotype):
+#  PDO Index
+data += "{:0>4x}".format(ExtractHexDecValue(element.getIndex().getcontent()))[2:4]
+data += "{:0>4x}".format(ExtractHexDecValue(element.getIndex().getcontent()))[0:2]
+#  Number of Entries
+data += "{:0>2x}".format(len(element.getEntry()))
+#  About Sync Manager
+if element.getSm() is not None:
+data += "{:0>2x}".format(element.getSm())
+else:
+data += "ff"
+#  Reference to DC Synch (according to ET1100 documentation) - assume 0
+data += "00"
+#  Name Index
+objname = ""
+for name in element.getName():
+objname = name.getcontent()
+for name in self.Strings:
+count += 1
+if objname == name:
+break
+if len(self.Strings)+1 == count:
+data += "00"
+else:
+data += "{:0>2x}".format(count)
+count = 0
+#  Flags; by Fixed, Mandatory, Virtual attributes ?
+if element.getFixed() == True or 1:
+en_fixed = True
+if element.getMandatory() == True or 1:
+en_mandatory = True
+if element.getVirtual() == True or element.getVirtual():
+en_virtual = True
+data += str(int(en_fixed)) + str(int(en_mandatory)) + str(int(en_virtual)) + "0"
+for entry in element.getEntry():
+#   Entry Index
+data += "{:0>4x}".format(ExtractHexDecValue(entry.getIndex().getcontent()))[2:4]
+data += "{:0>4x}".format(ExtractHexDecValue(entry.getIndex().getcontent()))[0:2]
+#   Subindex
+data += "{:0>2x}".format(int(entry.getSubIndex()))
+#   Entry Name Index
+objname = ""
+for name in entry.getName():
+objname = name.getcontent()
+for name in self.Strings:
+count += 1
+if objname == name:
+break
+if len(self.Strings)+1 == count:
+data += "00"
+else:
+data += "{:0>2x}".format(count)
+count = 0
+#   DataType
+if entry.getDataType() is not None:
+if entry.getDataType().getcontent() in self.BaseDataTypeDict:
+data += self.BaseDataTypeDict[entry.getDataType().getcontent()]
+else:
+data += "00"
+else:
+data += "00"
+#   BitLen
+if entry.getBitLen() is not None:
+data += "{:0>2x}".format(int(entry.getBitLen()))
+else:
+data += "00"
+#   Flags; by Fixed attributes ?
+en_fixed = False
+if entry.getFixed() == True or entry.getFixed() == 1:
+en_fixed = True
+data += str(int(en_fixed)) + "000"
+if data is not "":
+#  category header
+if pdotype == "TxPdo":
+eeprom.append("32")
+elif pdotype == "RxPdo":
+eeprom.append("33")
+else:
+eeprom.append("00")
+eeprom.append("00")
+#  category length
+eeprom.append("{:0>4x}".format(len(data)/4)[2:4])
+eeprom.append("{:0>4x}".format(len(data)/4)[0:2])
+data = str(data.lower())
+for i in range(len(data)/2):
+if data == "":
+eeprom.append("00")
+else:
+eeprom.append(data[0:2])
+data = data[2:len(data)]
+return eeprom
+def ExtractEEPROMDCCategory(self, device):
+"""
+Extract "DC(Distributed Clock)" category data from slave ESI XML and generate EEPROM image data.
+@param device : 'device' object in the slave ESI XML
+@return eeprom : "Strings" category EEPROM image data
+"""
+eeprom = []
+data = ""
+count = 0
+namecount = 0
+if device.getDc() is not None:
+for element in device.getDc().getOpMode():
+count += 1
+#  assume that word 1-7 are 0x0000
+data += "0000"
+data += "0000"
+data += "0000"
+data += "0000"
+data += "0000"
+data += "0000"
+data += "0000"
+#  word 8-10
+#  AssignActivate
+if element.getAssignActivate() is not None:
+data += "{:0>4x}".format(ExtractHexDecValue(element.getAssignActivate()))[2:4]
+data += "{:0>4x}".format(ExtractHexDecValue(element.getAssignActivate()))[0:2]
+else:
+data += "0000"
+#  Factor of CycleTimeSync0 ? and default is 1?
+if element.getCycleTimeSync0() is not None:
+if element.getCycleTimeSync0().getFactor() is not None:
+data += "{:0>2x}".format(int(element.getCycleTimeSync0().getFactor()))
+data += "00"
+else:
+data += "0100"
+else:
+data += "0100"
+#  Index of Name in STRINGS Category
+#  Name Index
+objname = ""
+for name in element.getName():
+objname += name
+for name in self.Strings:
+namecount += 1
+if objname == name:
+break
+if len(self.Strings)+1 == namecount:
+data += "00"
+else:
+data += "{:0>2x}".format(namecount)
+namecount = 0
+data += "00"
+#  assume that word 11-12 are 0x0000
+data += "0000"
+data += "0000"
+if data is not "":
+#  category header
+eeprom.append("3c")
+eeprom.append("00")
+#  category length
+eeprom.append("{:0>4x}".format(len(data)/4)[2:4])
+eeprom.append("{:0>4x}".format(len(data)/4)[0:2])
+data = str(data.lower())
+for i in range(len(data)/2):
+if data == "":
+eeprom.append("00")
+else:
+eeprom.append(data[0:2])
+data = data[2:len(data)]
+return eeprom
+#-------------------------------------------------------------------------------
+#                        Used Register Access
+#-------------------------------------------------------------------------------
+def RegRead(self, offset, length):
+"""
+Read slave ESC register content using "ethercat reg_read -p %d %s %s" command.
+Command example : "ethercat reg_read -p 0 0x0c00 0x0400"
+@param offset : register address
+@param length : register length
+@return return_val : register data
+"""
+error, return_val = self.Controler.RemoteExec(REG_READ%(self.Controler.GetSlavePos(), offset, length), return_val = None)
+return return_val
+def RegWrite(self, address, data):
+"""
+Write data to slave ESC register using "ethercat reg_write -p %d %s %s" command.
+Command example : "ethercat reg_write -p 0 0x0c04 0x0001"
+@param address : register address
+@param data : data to write
+@return return_val : the execution result of "ethercat reg_write" (for error check)
+"""
+error, return_val = self.Controler.RemoteExec(REG_WRITE%(self.Controler.GetSlavePos(), address, data), return_val = None)
+return return_val
+def Rescan(self):
+"""
+Synchronize EEPROM data in master controller with the data in slave device after EEPROM write.
+Command example : "ethercat rescan -p 0"
+"""
+error, return_val = self.Controler.RemoteExec(RESCAN%(self.Controler.GetSlavePos()), return_val = None)
+#-------------------------------------------------------------------------------
+#                        Common Use Methods
+#-------------------------------------------------------------------------------
+def CheckConnect(self, cyclic_flag):
+"""
+Check connection status (1) between Beremiz and the master (2) between the master and the slave.
+@param cyclic_flag: 0 - one shot, 1 - periodic
+@return True or False
+"""
+if self.Controler.GetCTRoot()._connector is not None:
+# Check connection between the master and the slave.
+# Command example : "ethercat xml -p 0"
+error, return_val = self.Controler.RemoteExec(SLAVE_XML%(self.Controler.GetSlavePos()), return_val = None)
+number_of_lines = return_val.split("\n")
+if len(number_of_lines) <= 2 :  # No slave connected to the master controller
+if not cyclic_flag :
+self.CreateErrorDialog('No connected slaves')
+return False
+elif len(number_of_lines) > 2 :
+return True
+else:
+# The master controller is not connected to Beremiz host
+if not cyclic_flag :
+self.CreateErrorDialog('PLC not connected!')
+return False
+def CreateErrorDialog(self, mention):
+"""
+Create a dialog to indicate error or warning.
+@param mention : Error String
+"""
+app_frame = self.Controler.GetCTRoot().AppFrame
+dlg = wx.MessageDialog (app_frame, mention,
+' Warning...',
+wx.OK | wx.ICON_INFORMATION)
+dlg.ShowModal()
+dlg.Destroy()

changeset 2165	02a2b5dee5e3
parent 2163	6ea6d83e7280
child 2353	8f1a2846b2f5
child 2641	c9deff128c37