beremiz: comparison etherlab/CommonEtherCATFunction.py

equal deleted inserted replaced

-:7c67286cddbe
+:8e5a9830867e
 """
 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)
+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"
 """
 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)
+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.
 @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)
+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.
 # 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:
+if getattr(mb,"get%s" % mailbox_protocol)() is not None:
-smartview_infos["supported_mailbox"] += "%s,  "%mailbox_protocol
+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":
 """
 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)
+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)
+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
 # 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:
+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])
 #  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:
+if length % 4 == 0:
 pass
 else:
-length +=length%4
+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))
 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:
+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 data is not "":
 #  category header
 eeprom.append("28")
 eeprom.append("00")
 #  category length
-if count%2 == 1:
+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])
 count = 0
 en_fixed = False
 en_mandatory = False
 en_virtual = False
-for element in eval("device.get%s()"%pdotype):
+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()))
 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)
+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)
+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)
+error, return_val = self.Controler.RemoteExec(RESCAN % (self.Controler.GetSlavePos()), return_val = None)
 # -------------------------------------------------------------------------------
 #                        Common Use Methods
 # -------------------------------------------------------------------------------
 def CheckConnect(self, cyclic_flag):
 @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)
+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

changeset 2358	8e5a9830867e
parent 2356	c26e0c66d8d5
child 2360	2a3d022a7dac