200 alias[slave_alias] = 0 |
200 alias[slave_alias] = 0 |
201 slave_pos = (slave_alias, alias[slave_alias]) |
201 slave_pos = (slave_alias, alias[slave_alias]) |
202 |
202 |
203 # Extract slave device informations |
203 # Extract slave device informations |
204 device, module_extra_params = self.Controler.GetModuleInfos(type_infos) |
204 device, module_extra_params = self.Controler.GetModuleInfos(type_infos) |
205 if device is not None: |
205 if device is None: |
206 |
206 raise ValueError, _("No informations found for device %s!") % (type_infos["device_type"]) |
207 # Extract slaves variables to be mapped |
207 |
208 slave_variables = self.UsedVariables.get(slave_idx, {}) |
208 # Extract slaves variables to be mapped |
209 |
209 slave_variables = self.UsedVariables.get(slave_idx, {}) |
210 # Extract slave device object dictionary entries |
210 |
211 device_entries = device.GetEntriesList() |
211 # Extract slave device object dictionary entries |
212 |
212 device_entries = device.GetEntriesList() |
213 # Adding code for declaring slave in master code template strings |
213 |
214 for element in ["vendor", "product_code", "revision_number"]: |
214 # Adding code for declaring slave in master code template strings |
215 type_infos[element] = ExtractHexDecValue(type_infos[element]) |
215 for element in ["vendor", "product_code", "revision_number"]: |
216 type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) |
216 type_infos[element] = ExtractHexDecValue(type_infos[element]) |
217 |
217 type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) |
218 # Extract slave device CoE informations |
218 |
219 device_coe = device.getCoE() |
219 # Extract slave device CoE informations |
220 if device_coe is not None: |
220 device_coe = device.getCoE() |
221 |
221 if device_coe is not None: |
222 # If device support CanOpen over Ethernet, adding code for calling |
222 |
223 # init commands when initializing slave in master code template strings |
223 # If device support CanOpen over Ethernet, adding code for calling |
224 initCmds = [] |
224 # init commands when initializing slave in master code template strings |
225 for initCmd in device_coe.getInitCmd(): |
225 initCmds = [] |
226 initCmds.append({ |
226 for initCmd in device_coe.getInitCmd(): |
227 "Index": ExtractHexDecValue(initCmd.getIndex()), |
227 initCmds.append({ |
228 "Subindex": ExtractHexDecValue(initCmd.getSubIndex()), |
228 "Index": ExtractHexDecValue(initCmd.getIndex()), |
229 "Value": initCmd.getData().getcontent()}) |
229 "Subindex": ExtractHexDecValue(initCmd.getSubIndex()), |
230 initCmds.extend(slave.getStartupCommands()) |
230 "Value": initCmd.getData().getcontent()}) |
231 for initCmd in initCmds: |
231 initCmds.extend(slave.getStartupCommands()) |
232 index = initCmd["Index"] |
232 for initCmd in initCmds: |
233 subindex = initCmd["Subindex"] |
233 index = initCmd["Index"] |
234 entry = device_entries.get((index, subindex), None) |
234 subindex = initCmd["Subindex"] |
235 if entry is not None: |
235 entry = device_entries.get((index, subindex), None) |
236 data_size = entry["BitSize"] / 8 |
236 if entry is not None: |
237 data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"] |
237 data_size = entry["BitSize"] / 8 |
238 init_cmd_infos = { |
238 data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"] |
239 "index": index, |
239 init_cmd_infos = { |
240 "subindex": subindex, |
240 "index": index, |
241 "data": data_str, |
241 "subindex": subindex, |
242 "data_type": DATATYPECONVERSION.get(entry["Type"]), |
242 "data": data_str, |
243 "data_size": data_size |
243 "data_type": DATATYPECONVERSION.get(entry["Type"]), |
244 } |
244 "data_size": data_size |
245 init_cmd_infos.update(type_infos) |
245 } |
246 str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos |
246 init_cmd_infos.update(type_infos) |
247 |
247 str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos |
248 # Extract slave device PDO configuration capabilities |
248 |
249 PdoAssign = device_coe.getPdoAssign() |
249 # Extract slave device PDO configuration capabilities |
250 PdoConfig = device_coe.getPdoConfig() |
250 PdoAssign = device_coe.getPdoAssign() |
251 else: |
251 PdoConfig = device_coe.getPdoConfig() |
252 PdoAssign = PdoConfig = False |
252 else: |
253 |
253 PdoAssign = PdoConfig = False |
254 # Test if slave has a configuration or need one |
254 |
255 if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign: |
255 # Test if slave has a configuration or need one |
256 |
256 if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign: |
257 str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos |
257 |
258 str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos |
258 str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos |
259 |
259 str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos |
260 # Initializing |
260 |
261 pdos_infos = { |
261 # Initializing |
262 "pdos_entries_infos": [], |
262 pdos_infos = { |
263 "pdos_infos": [], |
263 "pdos_entries_infos": [], |
264 "pdos_sync_infos": [], |
264 "pdos_infos": [], |
|
265 "pdos_sync_infos": [], |
|
266 } |
|
267 pdos_infos.update(type_infos) |
|
268 |
|
269 sync_managers = [] |
|
270 for sync_manager_idx, sync_manager in enumerate(device.getSm()): |
|
271 sync_manager_infos = { |
|
272 "index": sync_manager_idx, |
|
273 "name": sync_manager.getcontent(), |
|
274 "slave": slave_idx, |
|
275 "pdos": [], |
|
276 "pdos_number": 0, |
265 } |
277 } |
266 pdos_infos.update(type_infos) |
278 |
267 |
279 sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) |
268 sync_managers = [] |
280 sync_manager_direction = sync_manager_control_byte & 0x0c |
269 for sync_manager_idx, sync_manager in enumerate(device.getSm()): |
281 sync_manager_watchdog = sync_manager_control_byte & 0x40 |
270 sync_manager_infos = { |
282 if sync_manager_direction: |
271 "index": sync_manager_idx, |
283 sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" |
272 "name": sync_manager.getcontent(), |
284 else: |
273 "slave": slave_idx, |
285 sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" |
274 "pdos": [], |
286 if sync_manager_watchdog: |
275 "pdos_number": 0, |
287 sync_manager_infos["watchdog"] = "EC_WD_ENABLE" |
|
288 else: |
|
289 sync_manager_infos["watchdog"] = "EC_WD_DISABLE" |
|
290 |
|
291 sync_managers.append(sync_manager_infos) |
|
292 |
|
293 pdos_index = [] |
|
294 exclusive_pdos = {} |
|
295 selected_pdos = [] |
|
296 for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + |
|
297 [(pdo, "Outputs") for pdo in device.getRxPdo()]): |
|
298 |
|
299 pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) |
|
300 pdos_index.append(pdo_index) |
|
301 |
|
302 excluded_list = pdo.getExclude() |
|
303 if len(excluded_list) > 0: |
|
304 exclusion_list = [pdo_index] |
|
305 for excluded in excluded_list: |
|
306 exclusion_list.append(ExtractHexDecValue(excluded.getcontent())) |
|
307 exclusion_list.sort() |
|
308 |
|
309 exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), []) |
|
310 |
|
311 entries = pdo.getEntry() |
|
312 pdo_mapping_match = { |
|
313 "index": pdo_index, |
|
314 "matching": 0, |
|
315 "count": len(entries), |
|
316 "assigned": pdo.getSm() is not None |
276 } |
317 } |
277 |
318 exclusion_scope.append(pdo_mapping_match) |
278 sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) |
|
279 sync_manager_direction = sync_manager_control_byte & 0x0c |
|
280 sync_manager_watchdog = sync_manager_control_byte & 0x40 |
|
281 if sync_manager_direction: |
|
282 sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" |
|
283 else: |
|
284 sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" |
|
285 if sync_manager_watchdog: |
|
286 sync_manager_infos["watchdog"] = "EC_WD_ENABLE" |
|
287 else: |
|
288 sync_manager_infos["watchdog"] = "EC_WD_DISABLE" |
|
289 |
|
290 sync_managers.append(sync_manager_infos) |
|
291 |
|
292 pdos_index = [] |
|
293 exclusive_pdos = {} |
|
294 selected_pdos = [] |
|
295 for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + |
|
296 [(pdo, "Outputs") for pdo in device.getRxPdo()]): |
|
297 |
|
298 pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) |
|
299 pdos_index.append(pdo_index) |
|
300 |
|
301 excluded_list = pdo.getExclude() |
|
302 if len(excluded_list) > 0: |
|
303 exclusion_list = [pdo_index] |
|
304 for excluded in excluded_list: |
|
305 exclusion_list.append(ExtractHexDecValue(excluded.getcontent())) |
|
306 exclusion_list.sort() |
|
307 |
|
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 if pdo.getFixed() != True: |
|
326 pdo_mapping_match["matching"] += \ |
|
327 module_extra_params["max_pdo_size"] - \ |
|
328 pdo_mapping_match["count"] |
|
329 |
|
330 elif pdo.getMandatory(): |
|
331 selected_pdos.append(pdo_index) |
|
332 |
|
333 excluded_pdos = [] |
|
334 for exclusion_scope in exclusive_pdos.itervalues(): |
|
335 exclusion_scope.sort(ExclusionSortFunction) |
|
336 start_excluding_index = 0 |
|
337 if exclusion_scope[0]["matching"] > 0: |
|
338 selected_pdos.append(exclusion_scope[0]["index"]) |
|
339 start_excluding_index = 1 |
|
340 excluded_pdos.extend([pdo["index"] |
|
341 for pdo in exclusion_scope[start_excluding_index:] |
|
342 if PdoAssign or not pdo["assigned"]]) |
|
343 |
|
344 for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + |
|
345 [(pdo, "Outputs") for pdo in device.getRxPdo()]): |
|
346 entries = pdo.getEntry() |
|
347 |
|
348 pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) |
|
349 if pdo_index in excluded_pdos: |
|
350 continue |
|
351 |
|
352 pdo_needed = pdo_index in selected_pdos |
|
353 |
|
354 entries_infos = [] |
|
355 |
319 |
356 for entry in entries: |
320 for entry in entries: |
357 index = ExtractHexDecValue(entry.getIndex().getcontent()) |
321 index = ExtractHexDecValue(entry.getIndex().getcontent()) |
358 subindex = ExtractHexDecValue(entry.getSubIndex()) |
322 subindex = ExtractHexDecValue(entry.getSubIndex()) |
|
323 if slave_variables.get((index, subindex), None) is not None: |
|
324 pdo_mapping_match["matching"] += 1 |
|
325 |
|
326 if pdo.getFixed() != True: |
|
327 pdo_mapping_match["matching"] += \ |
|
328 module_extra_params["max_pdo_size"] - \ |
|
329 pdo_mapping_match["count"] |
|
330 |
|
331 elif pdo.getMandatory(): |
|
332 selected_pdos.append(pdo_index) |
|
333 |
|
334 excluded_pdos = [] |
|
335 for exclusion_scope in exclusive_pdos.itervalues(): |
|
336 exclusion_scope.sort(ExclusionSortFunction) |
|
337 start_excluding_index = 0 |
|
338 if exclusion_scope[0]["matching"] > 0: |
|
339 selected_pdos.append(exclusion_scope[0]["index"]) |
|
340 start_excluding_index = 1 |
|
341 excluded_pdos.extend([pdo["index"] |
|
342 for pdo in exclusion_scope[start_excluding_index:] |
|
343 if PdoAssign or not pdo["assigned"]]) |
|
344 |
|
345 for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + |
|
346 [(pdo, "Outputs") for pdo in device.getRxPdo()]): |
|
347 entries = pdo.getEntry() |
|
348 |
|
349 pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) |
|
350 if pdo_index in excluded_pdos: |
|
351 continue |
|
352 |
|
353 pdo_needed = pdo_index in selected_pdos |
|
354 |
|
355 entries_infos = [] |
|
356 |
|
357 for entry in entries: |
|
358 index = ExtractHexDecValue(entry.getIndex().getcontent()) |
|
359 subindex = ExtractHexDecValue(entry.getSubIndex()) |
|
360 entry_infos = { |
|
361 "index": index, |
|
362 "subindex": subindex, |
|
363 "name": ExtractName(entry.getName()), |
|
364 "bitlen": entry.getBitLen(), |
|
365 } |
|
366 entry_infos.update(type_infos) |
|
367 entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) |
|
368 |
|
369 entry_declaration = slave_variables.get((index, subindex), None) |
|
370 if entry_declaration is not None and not entry_declaration["mapped"]: |
|
371 pdo_needed = True |
|
372 |
|
373 entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], |
|
374 entry_declaration["infos"]))) |
|
375 entry_declaration["mapped"] = True |
|
376 |
|
377 entry_type = entry.getDataType().getcontent() |
|
378 if entry_infos["var_type"] != entry_type: |
|
379 message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] |
|
380 if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != |
|
381 self.Controler.GetSizeOfType(entry_type)): |
|
382 raise ValueError, message |
|
383 else: |
|
384 self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") |
|
385 |
|
386 if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or |
|
387 entry_infos["dir"] == "Q" and pdo_type != "Outputs"): |
|
388 raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] |
|
389 |
|
390 ConfigureVariable(entry_infos, str_completion) |
|
391 |
|
392 elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None: |
|
393 data_type = entry.getDataType().getcontent() |
|
394 entry_infos["dir"] = "Q" |
|
395 entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8) |
|
396 entry_infos["data_type"] = DATATYPECONVERSION.get(data_type) |
|
397 entry_infos["var_type"] = data_type |
|
398 entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos |
|
399 |
|
400 ConfigureVariable(entry_infos, str_completion) |
|
401 |
|
402 str_completion["slaves_output_pdos_default_values_extraction"] += \ |
|
403 SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos |
|
404 |
|
405 if pdo_needed: |
|
406 for excluded in pdo.getExclude(): |
|
407 excluded_index = ExtractHexDecValue(excluded.getcontent()) |
|
408 if excluded_index not in excluded_pdos: |
|
409 excluded_pdos.append(excluded_index) |
|
410 |
|
411 sm = pdo.getSm() |
|
412 if sm is None: |
|
413 for sm_idx, sync_manager in enumerate(sync_managers): |
|
414 if sync_manager["name"] == pdo_type: |
|
415 sm = sm_idx |
|
416 if sm is None: |
|
417 raise ValueError, _("No sync manager available for %s pdo!") % pdo_type |
|
418 |
|
419 sync_managers[sm]["pdos_number"] += 1 |
|
420 sync_managers[sm]["pdos"].append( |
|
421 {"slave": slave_idx, |
|
422 "index": pdo_index, |
|
423 "name": ExtractName(pdo.getName()), |
|
424 "type": pdo_type, |
|
425 "entries": entries_infos, |
|
426 "entries_number": len(entries_infos), |
|
427 "fixed": pdo.getFixed() == True}) |
|
428 |
|
429 if PdoConfig and PdoAssign: |
|
430 dynamic_pdos = {} |
|
431 dynamic_pdos_number = 0 |
|
432 for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), |
|
433 ("Outputs", 0x1a00, 0x1C00)]: |
|
434 for sync_manager in sync_managers: |
|
435 if sync_manager["name"] == category: |
|
436 category_infos = dynamic_pdos.setdefault(category, {}) |
|
437 category_infos["sync_manager"] = sync_manager |
|
438 category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] |
|
439 if not pdo["fixed"] and pdo["type"] == category] |
|
440 category_infos["current_index"] = min_index |
|
441 category_infos["max_index"] = max_index |
|
442 break |
|
443 |
|
444 for (index, subindex), entry_declaration in slave_variables.iteritems(): |
|
445 |
|
446 if not entry_declaration["mapped"]: |
|
447 entry = device_entries.get((index, subindex), None) |
|
448 if entry is None: |
|
449 raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \ |
|
450 (index, subindex, type_infos["device_type"]) |
|
451 |
359 entry_infos = { |
452 entry_infos = { |
360 "index": index, |
453 "index": index, |
361 "subindex": subindex, |
454 "subindex": subindex, |
362 "name": ExtractName(entry.getName()), |
455 "name": entry["Name"], |
363 "bitlen": entry.getBitLen(), |
456 "bitlen": entry["BitSize"], |
364 } |
457 } |
365 entry_infos.update(type_infos) |
458 entry_infos.update(type_infos) |
366 entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) |
459 |
367 |
460 entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], |
368 entry_declaration = slave_variables.get((index, subindex), None) |
461 entry_declaration["infos"]))) |
369 if entry_declaration is not None and not entry_declaration["mapped"]: |
462 entry_declaration["mapped"] = True |
370 pdo_needed = True |
463 |
|
464 if entry_infos["var_type"] != entry["Type"]: |
|
465 message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] |
|
466 if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != |
|
467 self.Controler.GetSizeOfType(entry["Type"])): |
|
468 raise ValueError, message |
|
469 else: |
|
470 self.Controler.GetCTRoot().logger.write_warning(message + "\n") |
|
471 |
|
472 if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: |
|
473 pdo_type = "Inputs" |
|
474 elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]: |
|
475 pdo_type = "Outputs" |
|
476 else: |
|
477 raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] |
|
478 |
|
479 if not dynamic_pdos.has_key(pdo_type): |
|
480 raise ValueError, _("No Sync manager defined for %s!") % pdo_type |
|
481 |
|
482 ConfigureVariable(entry_infos, str_completion) |
|
483 |
|
484 if len(dynamic_pdos[pdo_type]["pdos"]) > 0: |
|
485 pdo = dynamic_pdos[pdo_type]["pdos"][0] |
|
486 elif module_extra_params["add_pdo"]: |
|
487 while dynamic_pdos[pdo_type]["current_index"] in pdos_index: |
|
488 dynamic_pdos[pdo_type]["current_index"] += 1 |
|
489 if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: |
|
490 raise ValueError, _("No more free PDO index available for %s!") % pdo_type |
|
491 pdos_index.append(dynamic_pdos[pdo_type]["current_index"]) |
371 |
492 |
372 entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], |
493 dynamic_pdos_number += 1 |
373 entry_declaration["infos"]))) |
494 pdo = {"slave": slave_idx, |
374 entry_declaration["mapped"] = True |
495 "index": dynamic_pdos[pdo_type]["current_index"], |
375 |
496 "name": "Dynamic PDO %d" % dynamic_pdos_number, |
376 entry_type = entry.getDataType().getcontent() |
497 "type": pdo_type, |
377 if entry_infos["var_type"] != entry_type: |
498 "entries": [], |
378 message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] |
499 "entries_number": 0, |
379 if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != |
500 "fixed": False} |
380 self.Controler.GetSizeOfType(entry_type)): |
501 dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1 |
381 raise ValueError, message |
502 dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo) |
382 else: |
503 dynamic_pdos[pdo_type]["pdos"].append(pdo) |
383 self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") |
504 else: |
384 |
505 break |
385 if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or |
506 |
386 entry_infos["dir"] == "Q" and pdo_type != "Outputs"): |
507 pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) |
387 raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] |
508 if entry_infos["bitlen"] < module_extra_params["pdo_alignment"]: |
388 |
509 pdo["entries"].append(" {0x0000, 0x00, %d}, /* None */" % ( |
389 ConfigureVariable(entry_infos, str_completion) |
510 module_extra_params["pdo_alignment"] - entry_infos["bitlen"])) |
390 |
511 pdo["entries_number"] += 1 |
391 elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None: |
512 |
392 data_type = entry.getDataType().getcontent() |
513 if pdo["entries_number"] == module_extra_params["max_pdo_size"]: |
393 entry_infos["dir"] = "Q" |
514 dynamic_pdos[pdo_type]["pdos"].pop(0) |
394 entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8) |
515 |
395 entry_infos["data_type"] = DATATYPECONVERSION.get(data_type) |
516 pdo_offset = 0 |
396 entry_infos["var_type"] = data_type |
517 entry_offset = 0 |
397 entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos |
518 for sync_manager_infos in sync_managers: |
398 |
519 |
399 ConfigureVariable(entry_infos, str_completion) |
520 for pdo_infos in sync_manager_infos["pdos"]: |
400 |
521 pdo_infos["offset"] = entry_offset |
401 str_completion["slaves_output_pdos_default_values_extraction"] += \ |
522 pdo_entries = pdo_infos["entries"] |
402 SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos |
523 pdos_infos["pdos_infos"].append( |
403 |
524 (" {0x%(index).4x, %(entries_number)d, " + |
404 if pdo_needed: |
525 "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) |
405 for excluded in pdo.getExclude(): |
526 entry_offset += len(pdo_entries) |
406 excluded_index = ExtractHexDecValue(excluded.getcontent()) |
527 pdos_infos["pdos_entries_infos"].extend(pdo_entries) |
407 if excluded_index not in excluded_pdos: |
528 |
408 excluded_pdos.append(excluded_index) |
529 sync_manager_infos["offset"] = pdo_offset |
409 |
530 pdo_offset_shift = sync_manager_infos["pdos_number"] |
410 sm = pdo.getSm() |
531 pdos_infos["pdos_sync_infos"].append( |
411 if sm is None: |
532 (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + |
412 for sm_idx, sync_manager in enumerate(sync_managers): |
533 ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") + |
413 if sync_manager["name"] == pdo_type: |
534 ", %(watchdog)s},") % sync_manager_infos) |
414 sm = sm_idx |
535 pdo_offset += pdo_offset_shift |
415 if sm is None: |
536 |
416 raise ValueError, _("No sync manager available for %s pdo!") % pdo_type |
537 for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: |
417 |
538 pdos_infos[element] = "\n".join(pdos_infos[element]) |
418 sync_managers[sm]["pdos_number"] += 1 |
539 |
419 sync_managers[sm]["pdos"].append( |
540 str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos |
420 {"slave": slave_idx, |
541 |
421 "index": pdo_index, |
542 for (index, subindex), entry_declaration in slave_variables.iteritems(): |
422 "name": ExtractName(pdo.getName()), |
543 if not entry_declaration["mapped"]: |
423 "type": pdo_type, |
544 message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \ |
424 "entries": entries_infos, |
545 (index, subindex, type_infos["device_type"]) |
425 "entries_number": len(entries_infos), |
546 self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") |
426 "fixed": pdo.getFixed() == True}) |
|
427 |
|
428 if PdoConfig and PdoAssign: |
|
429 dynamic_pdos = {} |
|
430 dynamic_pdos_number = 0 |
|
431 for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), |
|
432 ("Outputs", 0x1a00, 0x1C00)]: |
|
433 for sync_manager in sync_managers: |
|
434 if sync_manager["name"] == category: |
|
435 category_infos = dynamic_pdos.setdefault(category, {}) |
|
436 category_infos["sync_manager"] = sync_manager |
|
437 category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] |
|
438 if not pdo["fixed"] and pdo["type"] == category] |
|
439 category_infos["current_index"] = min_index |
|
440 category_infos["max_index"] = max_index |
|
441 break |
|
442 |
|
443 for (index, subindex), entry_declaration in slave_variables.iteritems(): |
|
444 |
|
445 if not entry_declaration["mapped"]: |
|
446 entry = device_entries.get((index, subindex), None) |
|
447 if entry is None: |
|
448 raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \ |
|
449 (index, subindex, type_infos["device_type"]) |
|
450 |
|
451 entry_infos = { |
|
452 "index": index, |
|
453 "subindex": subindex, |
|
454 "name": entry["Name"], |
|
455 "bitlen": entry["BitSize"], |
|
456 } |
|
457 entry_infos.update(type_infos) |
|
458 |
|
459 entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], |
|
460 entry_declaration["infos"]))) |
|
461 entry_declaration["mapped"] = True |
|
462 |
|
463 if entry_infos["var_type"] != entry["Type"]: |
|
464 message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] |
|
465 if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != |
|
466 self.Controler.GetSizeOfType(entry["Type"])): |
|
467 raise ValueError, message |
|
468 else: |
|
469 self.Controler.GetCTRoot().logger.write_warning(message + "\n") |
|
470 |
|
471 if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: |
|
472 pdo_type = "Inputs" |
|
473 elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]: |
|
474 pdo_type = "Outputs" |
|
475 else: |
|
476 raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] |
|
477 |
|
478 if not dynamic_pdos.has_key(pdo_type): |
|
479 raise ValueError, _("No Sync manager defined for %s!") % pdo_type |
|
480 |
|
481 ConfigureVariable(entry_infos, str_completion) |
|
482 |
|
483 if len(dynamic_pdos[pdo_type]["pdos"]) > 0: |
|
484 pdo = dynamic_pdos[pdo_type]["pdos"][0] |
|
485 elif module_extra_params["add_pdo"]: |
|
486 while dynamic_pdos[pdo_type]["current_index"] in pdos_index: |
|
487 dynamic_pdos[pdo_type]["current_index"] += 1 |
|
488 if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: |
|
489 raise ValueError, _("No more free PDO index available for %s!") % pdo_type |
|
490 pdos_index.append(dynamic_pdos[pdo_type]["current_index"]) |
|
491 |
|
492 dynamic_pdos_number += 1 |
|
493 pdo = {"slave": slave_idx, |
|
494 "index": dynamic_pdos[pdo_type]["current_index"], |
|
495 "name": "Dynamic PDO %d" % dynamic_pdos_number, |
|
496 "type": pdo_type, |
|
497 "entries": [], |
|
498 "entries_number": 0, |
|
499 "fixed": False} |
|
500 dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1 |
|
501 dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo) |
|
502 dynamic_pdos[pdo_type]["pdos"].append(pdo) |
|
503 else: |
|
504 break |
|
505 |
|
506 pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) |
|
507 if entry_infos["bitlen"] < module_extra_params["pdo_alignment"]: |
|
508 pdo["entries"].append(" {0x0000, 0x00, %d}, /* None */" % ( |
|
509 module_extra_params["pdo_alignment"] - entry_infos["bitlen"])) |
|
510 pdo["entries_number"] += 1 |
|
511 |
|
512 if pdo["entries_number"] == module_extra_params["max_pdo_size"]: |
|
513 dynamic_pdos[pdo_type]["pdos"].pop(0) |
|
514 |
|
515 pdo_offset = 0 |
|
516 entry_offset = 0 |
|
517 for sync_manager_infos in sync_managers: |
|
518 |
|
519 for pdo_infos in sync_manager_infos["pdos"]: |
|
520 pdo_infos["offset"] = entry_offset |
|
521 pdo_entries = pdo_infos["entries"] |
|
522 pdos_infos["pdos_infos"].append( |
|
523 (" {0x%(index).4x, %(entries_number)d, " + |
|
524 "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) |
|
525 entry_offset += len(pdo_entries) |
|
526 pdos_infos["pdos_entries_infos"].extend(pdo_entries) |
|
527 |
|
528 sync_manager_infos["offset"] = pdo_offset |
|
529 pdo_offset_shift = sync_manager_infos["pdos_number"] |
|
530 pdos_infos["pdos_sync_infos"].append( |
|
531 (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + |
|
532 ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") + |
|
533 ", %(watchdog)s},") % sync_manager_infos) |
|
534 pdo_offset += pdo_offset_shift |
|
535 |
|
536 for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: |
|
537 pdos_infos[element] = "\n".join(pdos_infos[element]) |
|
538 |
|
539 str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos |
|
540 |
|
541 for (index, subindex), entry_declaration in slave_variables.iteritems(): |
|
542 if not entry_declaration["mapped"]: |
|
543 message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \ |
|
544 (index, subindex, type_infos["device_type"]) |
|
545 self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") |
|
546 |
547 |
547 for element in ["used_pdo_entry_offset_variables_declaration", |
548 for element in ["used_pdo_entry_offset_variables_declaration", |
548 "used_pdo_entry_configuration", |
549 "used_pdo_entry_configuration", |
549 "located_variables_declaration", |
550 "located_variables_declaration", |
550 "retrieve_variables", |
551 "retrieve_variables", |