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1 #!/usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 |
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4 #This file is part of Beremiz, a Integrated Development Environment for |
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5 #programming IEC 61131-3 automates supporting plcopen standard and CanFestival. |
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6 # |
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7 #Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD |
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8 # |
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9 #See COPYING file for copyrights details. |
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10 # |
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11 #This library is free software; you can redistribute it and/or |
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12 #modify it under the terms of the GNU General Public |
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13 #License as published by the Free Software Foundation; either |
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14 #version 2.1 of the License, or (at your option) any later version. |
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15 # |
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16 #This library is distributed in the hope that it will be useful, |
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17 #but WITHOUT ANY WARRANTY; without even the implied warranty of |
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18 #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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19 #General Public License for more details. |
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20 # |
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21 #You should have received a copy of the GNU General Public |
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22 #License along with this library; if not, write to the Free Software |
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23 #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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24 |
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25 from types import * |
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26 |
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27 # Translation between IEC types and Can Open types |
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28 IECToCOType = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10, |
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29 "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08, |
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30 "LREAL":0x11,"STRING":0x09,"BYTE":0x05,"WORD":0x06,"DWORD":0x07, |
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31 "LWORD":0x1B,"WSTRING":0x0B} |
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32 |
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33 # Constants for PDO types |
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34 RPDO = 1 |
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35 TPDO = 2 |
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36 |
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37 SlavePDOType = {"I" : TPDO, "Q" : RPDO} |
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38 InvertPDOType = {RPDO : TPDO, TPDO : RPDO} |
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39 |
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40 VariableIncrement = 0x100 |
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41 VariableStartIndex = {TPDO : 0x2000, RPDO : 0x4000} |
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42 VariableDirText = {TPDO : "__I", RPDO : "__Q"} |
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43 VariableTypeOffset = dict(zip(["","X","B","W","D","L"], range(6))) |
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44 |
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45 TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)] |
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46 |
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47 def LE_to_BE(value, size): |
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48 """ |
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49 Convert Little Endian to Big Endian |
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50 @param value: value expressed in integer |
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51 @param size: number of bytes generated |
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52 @return: a string containing the value converted |
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53 """ |
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54 |
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55 data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value |
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56 list_car = [data[i:i+2] for i in xrange(0, len(data), 2)] |
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57 list_car.reverse() |
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58 return "".join([chr(int(car, 16)) for car in list_car]) |
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59 |
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60 |
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61 def GetNodePDOIndexes(node, type, parameters = False): |
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62 """ |
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63 Find the PDO indexes of a node |
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64 @param node: node |
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65 @param type: type of PDO searched (RPDO or TPDO or both) |
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66 @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False) |
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67 @return: a list of indexes found |
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68 """ |
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69 |
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70 indexes = [] |
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71 if type & RPDO: |
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72 indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF]) |
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73 if type & TPDO: |
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74 indexes.extend([idx for idx in node.GetIndexes() if 0x1800 <= idx <= 0x19FF]) |
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75 if not parameters: |
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76 return [idx + 0x200 for idx in indexes] |
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77 else: |
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78 return indexes |
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79 |
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80 |
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81 def SearchNodePDOMapping(loc_infos, node): |
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82 """ |
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83 Find the PDO indexes of a node |
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84 @param node: node |
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85 @param type: type of PDO searched (RPDO or TPDO or both) |
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86 @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False) |
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87 @return: a list of indexes found |
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88 """ |
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89 |
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90 typeinfos = node.GetEntryInfos(loc_infos["type"]) |
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91 model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"] |
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92 |
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93 for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]): |
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94 values = node.GetEntry(PDOidx) |
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95 if values != None: |
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96 for subindex, mapping in enumerate(values): |
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97 if subindex != 0 and mapping == model: |
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98 return PDOidx, subindex |
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99 return None |
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100 |
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101 |
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102 def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping): |
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103 """ |
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104 Build concise DCF value for configuring a PDO |
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105 @param idx: index of PDO parameters |
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106 @param cobid: PDO generated COB ID |
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107 @param transmittype : PDO transmit type |
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108 @param pdomapping: list of PDO mappings |
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109 @return: a tuple of value and number of parameters to add to DCF |
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110 """ |
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111 |
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112 # Create entry for RPDO or TPDO parameters and Disable PDO |
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113 dcfdata = LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE((0x80000000 + cobid), 4) |
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114 # Set Transmit type synchrone |
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115 dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1) |
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116 # Re-Enable PDO |
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117 # ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------ |
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118 dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4) |
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119 nbparams = 3 |
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120 # Map Variables |
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121 for subindex, (name, loc_infos) in enumerate(pdomapping): |
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122 value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"] |
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123 dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4) |
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124 nbparams += 1 |
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125 return dcfdata, nbparams |
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126 |
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127 class ConciseDCFGenerator: |
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128 |
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129 def __init__(self, nodelist, nodename): |
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130 # Dictionary of location informations classed by name |
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131 self.IECLocations = {} |
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132 # Dictionary of location that have not been mapped yet |
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133 self.LocationsNotMapped = {} |
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134 # Dictionary of location informations classed by name |
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135 self.MasterMapping = {} |
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136 # List of COB IDs available |
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137 self.ListCobIDAvailable = range(0x180, 0x580) |
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138 self.SlavesPdoNumber = {} |
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139 # Dictionary of mapping value where unexpected variables are stored |
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140 self.TrashVariables = {} |
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141 |
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142 self.NodeList = nodelist |
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143 self.Manager = self.NodeList.Manager |
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144 self.MasterNode = self.Manager.GetCurrentNodeCopy() |
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145 self.MasterNode.SetNodeName(nodename) |
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146 self.PrepareMasterNode() |
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147 |
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148 |
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149 def RemoveUsedNodeCobId(self, node): |
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150 """ |
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151 Remove all PDO COB ID used by the given node from the list of available COB ID |
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152 @param node: node |
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153 @return: a tuple of number of RPDO and TPDO for the node |
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154 """ |
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155 |
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156 # Get list of all node TPDO and RPDO indexes |
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157 nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True) |
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158 nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True) |
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159 |
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160 # Mark all the COB ID of the node already mapped PDO as not available |
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161 for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes: |
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162 pdo_cobid = node.GetEntry(PdoIdx, 0x01) |
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163 # Extract COB ID, if PDO isn't active |
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164 if pdo_cobid > 0x600 : |
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165 pdo_cobid -= 0x80000000 |
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166 # Remove COB ID from the list of available COB ID |
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167 if pdo_cobid in self.ListCobIDAvailable: |
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168 self.ListCobIDAvailable.remove(pdo_cobid) |
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169 |
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170 return len(nodeRpdoIndexes), len(nodeTpdoIndexes) |
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171 |
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172 |
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173 def PrepareMasterNode(self): |
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174 """ |
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175 Add mandatory entries for DCF generation into MasterNode. |
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176 """ |
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177 |
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178 # Adding DCF entry into Master node |
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179 if not self.MasterNode.IsEntry(0x1F22): |
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180 self.MasterNode.AddEntry(0x1F22, 1, "") |
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181 self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode) |
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182 |
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183 # Adding trash mappable variables for unused mapped datas |
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184 idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID() |
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185 # Add an entry for storing unexpected all variable |
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186 self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode) |
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187 for subidx, (size, typeidx) in enumerate(TrashVariables): |
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188 # Add a subentry for storing unexpected variable of this size |
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189 self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, self.MasterNode) |
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190 self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode) |
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191 # Store the mapping value for this entry |
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192 self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size |
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193 |
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194 RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode) |
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195 |
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196 # Store the indexes of the first RPDO and TPDO available for MasterNode |
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197 self.CurrentPDOParamsIdx = {RPDO : 0x1400 + RPDOnumber, TPDO : 0x1800 + TPDOnumber} |
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198 |
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199 # Prepare MasterNode with all nodelist slaves |
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200 for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()): |
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201 node = nodeinfos["Node"] |
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202 node.SetNodeID(nodeid) |
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203 |
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204 RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node) |
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205 |
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206 # Store the number of TPDO and RPDO for this node |
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207 self.SlavesPdoNumber[nodeid] = {RPDO : RPDOnumber, TPDO : TPDOnumber} |
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208 |
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209 # Get Slave's default SDO server parameters |
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210 RSDO_cobid = node.GetEntry(0x1200,0x01) |
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211 if not RSDO_cobid: |
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212 RSDO_cobid = 0x600 + nodeid |
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213 TSDO_cobid = node.GetEntry(0x1200,0x02) |
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214 if not TSDO_cobid: |
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215 TSDO_cobid = 0x580 + nodeid |
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216 |
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217 # Configure Master's SDO parameters entries |
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218 self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode) |
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219 self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid) |
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220 self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid) |
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221 self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid) |
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222 |
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223 |
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224 def GetMasterNode(self): |
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225 """ |
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226 Return MasterNode. |
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227 """ |
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228 return self.MasterNode |
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229 |
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230 |
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231 def GetNewCobID(self, nodeid, type): |
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232 """ |
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233 Select a COB ID from the list of those available |
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234 @param nodeid: id of the slave (int) |
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235 @param type: type of PDO (RPDO or TPDO) |
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236 @return: a tuple of the COD ID and PDO index or None |
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237 """ |
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238 # Verify that there is still some cobid available |
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239 if len(self.ListCobIDAvailable) == 0: |
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240 return None |
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241 |
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242 # Get the number of PDO of the type given for the node |
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243 nbSlavePDO = self.SlavesPdoNumber[nodeid][type] |
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244 if type == RPDO: |
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245 if nbSlavePDO < 4: |
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246 # For the four first RPDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid |
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247 newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid) |
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248 # Return calculated cobid if it's still available |
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249 if newcobid in self.ListCobIDAvailable: |
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250 self.ListCobIDAvailable.remove(newcobid) |
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251 return newcobid, 0x1400 + nbSlavePDO |
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252 # Return the first cobid available if no cobid found |
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253 return self.ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO |
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254 |
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255 elif type == TPDO: |
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256 if nbSlavePDO < 4: |
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257 # For the four first TPDO -> cobid = 0x180 + ( numPdo parameters * 0x100) + nodeid |
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258 newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid) |
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259 # Return calculated cobid if it's still available |
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260 if newcobid in self.ListCobIDAvailable: |
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261 self.ListCobIDAvailable.remove(newcobid) |
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262 return newcobid, 0x1800 + nbSlavePDO |
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263 # Return the first cobid available if no cobid found |
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264 return self.ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO |
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265 |
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266 return None |
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267 |
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268 |
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269 def AddParamsToDCF(self, nodeid, data, nbparams): |
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270 """ |
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271 Select a COB ID from the list of those available |
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272 @param nodeid: id of the slave (int) |
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273 @param data: data to add to slave DCF (string) |
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274 @param nbparams: number of params added to slave DCF (int) |
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275 """ |
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276 # Get current DCF for slave |
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277 nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid) |
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278 |
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279 # Extract data and number of params in current DCF |
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280 if nodeDCF != None and nodeDCF != '': |
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281 tmpnbparams = [i for i in nodeDCF[:4]] |
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282 tmpnbparams.reverse() |
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283 nbparams += int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16) |
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284 data = nodeDCF[4:] + data |
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285 |
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286 # Build new DCF |
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287 dcf = LE_to_BE(nbparams, 0x04) + data |
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288 # Set new DCF for slave |
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289 self.MasterNode.SetEntry(0x1F22, nodeid, dcf) |
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290 |
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291 def AddPDOMapping(self, nodeid, pdotype, pdomapping, sync_TPDOs): |
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292 """ |
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293 Select a COB ID from the list of those available |
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294 @param nodeid: id of the slave (int) |
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295 @param pdotype: type of PDO to generated (RPDO or TPDO) |
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296 @param pdomapping: list od variables to map with PDO |
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297 """ |
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298 # Get a new cob id |
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299 result = self.GetNewCobID(nodeid, pdotype) |
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300 if result: |
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301 new_cobid, new_idx = result |
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302 |
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303 # Increment the number of PDO of this type for node |
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304 self.SlavesPdoNumber[nodeid][pdotype] += 1 |
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305 |
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306 # Add an entry to MasterMapping |
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307 self.MasterMapping[new_cobid] = {"type" : InvertPDOType[pdotype], |
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308 "mapping" : [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]} |
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309 |
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310 # Return the data to add to DCF |
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311 if sync_TPDOs: |
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312 return GeneratePDOMappingDCF(new_idx, new_cobid, 0x01, pdomapping) |
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313 else: |
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314 return GeneratePDOMappingDCF(new_idx, new_cobid, 0xFF, pdomapping) |
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315 return 0, "" |
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316 |
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317 def GenerateDCF(self, locations, current_location, sync_TPDOs): |
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318 """ |
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319 Generate Concise DCF of MasterNode for the locations list given |
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320 @param locations: list of locations to be mapped |
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321 @param current_location: tuple of the located prefixes not to be considered |
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322 @param sync_TPDOs: indicate if TPDO must be synchronous |
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323 """ |
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324 |
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325 #------------------------------------------------------------------------------- |
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326 # Verify that locations correspond to real slave variables |
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327 #------------------------------------------------------------------------------- |
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328 |
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329 # Get list of locations check if exists and mappables -> put them in IECLocations |
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330 for location in locations: |
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331 COlocationtype = IECToCOType[location["IEC_TYPE"]] |
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332 name = location["NAME"] |
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333 if name in self.IECLocations: |
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334 if self.IECLocations[name]["type"] != COlocationtype: |
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335 raise ValueError, "Conflict type for location \"%s\"" % name |
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336 else: |
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337 # Get only the part of the location that concern this node |
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338 loc = location["LOC"][len(current_location):] |
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339 # loc correspond to (ID, INDEX, SUBINDEX [,BIT]) |
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340 if len(loc) not in (3, 4): |
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341 raise ValueError, "Bad location size : %s"%str(loc) |
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342 |
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343 direction = location["DIR"] |
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344 |
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345 sizelocation = location["SIZE"] |
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346 |
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347 # Extract and check nodeid |
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348 nodeid, index, subindex = loc[:3] |
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349 |
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350 # Check Id is in slave node list |
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351 if nodeid not in self.NodeList.SlaveNodes.keys(): |
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352 raise ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,name) |
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353 |
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354 # Get the model for this node (made from EDS) |
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355 node = self.NodeList.SlaveNodes[nodeid]["Node"] |
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356 |
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357 # Extract and check index and subindex |
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358 if not node.IsEntry(index, subindex): |
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359 raise ValueError, "No such index/subindex (%x,%x) in ID : %d (variable %s)" % (index,subindex,nodeid,name) |
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360 |
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361 # Get the entry info |
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362 subentry_infos = node.GetSubentryInfos(index, subindex) |
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363 |
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364 # If a PDO mappable |
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365 if subentry_infos and subentry_infos["pdo"]: |
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366 if sizelocation == "X" and len(loc) > 3: |
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367 numbit = loc[4] |
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368 elif sizelocation != "X" and len(loc) > 3: |
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369 raise ValueError, "Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex) |
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370 else: |
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371 numbit = None |
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372 |
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373 entryinfos = node.GetSubentryInfos(index, subindex) |
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374 if entryinfos["type"] != COlocationtype: |
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375 raise ValueError, "Invalid type \"%s\"-> %d != %d for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, entryinfos["type"] , name) |
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376 |
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377 typeinfos = node.GetEntryInfos(COlocationtype) |
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378 self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction], |
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379 "nodeid": nodeid, "index": index,"subindex": subindex, |
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380 "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation} |
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381 else: |
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382 raise ValueError, "Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex) |
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383 |
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384 #------------------------------------------------------------------------------- |
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385 # Search for locations already mapped |
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386 #------------------------------------------------------------------------------- |
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387 |
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388 for name, locationinfos in self.IECLocations.items(): |
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389 node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"] |
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390 |
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391 # Search if slave has a PDO mapping this locations |
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392 result = SearchNodePDOMapping(locationinfos, node) |
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393 if result != None: |
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394 index, subindex = result |
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395 # Get COB ID of the PDO |
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396 cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1) |
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397 |
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398 # Verify that PDO transmit type is conform to sync_TPDOs |
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399 transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2) |
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400 if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF: |
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401 if sync_TPDOs: |
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402 # Change TransmitType to SYNCHRONE |
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403 data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, []) |
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404 else: |
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405 # Change TransmitType to ASYCHRONE |
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406 data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, []) |
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407 |
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408 # Add entry to slave dcf to change transmit type of |
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409 self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams) |
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410 |
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411 # Add PDO to MasterMapping |
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412 if cobid not in self.MasterMapping.keys(): |
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413 mapping = [None] |
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414 values = node.GetEntry(index) |
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415 # Store the size of each entry mapped in PDO |
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416 for value in values[1:]: |
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417 mapping.append(value % 0x100) |
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418 self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping} |
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419 |
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420 # Indicate that this PDO entry must be saved |
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421 self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name) |
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422 |
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423 else: |
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424 # Add location to those that haven't been mapped yet |
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425 if locationinfos["nodeid"] not in self.LocationsNotMapped.keys(): |
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426 self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []} |
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427 self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos)) |
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428 |
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429 #------------------------------------------------------------------------------- |
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430 # Build concise DCF for the others locations |
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431 #------------------------------------------------------------------------------- |
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432 |
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433 for nodeid, locations in self.LocationsNotMapped.items(): |
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434 node = nodelist.SlaveNodes[nodeid]["Node"] |
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435 |
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436 # Initialize number of params and data to add to node DCF |
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437 nbparams = 0 |
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438 dataparams = "" |
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439 |
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440 # Generate the best PDO mapping for each type of PDO |
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441 for pdotype in (TPDO, RPDO): |
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442 pdosize = 0 |
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443 pdomapping = [] |
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444 for name, loc_infos in locations[pdotype]: |
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445 pdosize += loc_infos["size"] |
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446 # If pdo's size > 64 bits |
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447 if pdosize > 64: |
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448 # Generate a new PDO Mapping |
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449 data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs) |
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450 dataparams += data |
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451 nbparams += nbaddedparams |
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452 pdosize = loc_infos["size"] |
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453 pdomapping = [(name, loc_infos)] |
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454 else: |
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455 pdomapping.append((name, loc_infos)) |
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456 # If there isn't locations yet but there is still a PDO to generate |
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457 if len(pdomapping) > 0: |
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458 # Generate a new PDO Mapping |
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459 data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs) |
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460 dataparams += data |
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461 nbparams += nbaddedparams |
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462 |
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463 # Add number of params and data to node DCF |
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464 self.AddParamsToDCF(nodeid, dataparams, nbparams) |
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465 |
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466 #------------------------------------------------------------------------------- |
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467 # Master Node Configuration |
|
468 #------------------------------------------------------------------------------- |
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469 |
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470 # Generate Master's Configuration from informations stored in MasterMapping |
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471 for cobid, pdo_infos in self.MasterMapping.items(): |
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472 # Get next PDO index in MasterNode for this PDO type |
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473 current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]] |
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474 |
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475 # Search if there is already a PDO in MasterNode with this cob id |
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476 for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True): |
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477 if self.MasterNode.GetEntry(idx, 1) == cobid: |
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478 current_idx = idx |
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479 |
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480 # Add a PDO to MasterNode if not PDO have been found |
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481 if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]: |
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482 addinglist = [current_idx, current_idx + 0x200] |
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483 self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode) |
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484 self.MasterNode.SetEntry(current_idx, 0x01, cobid) |
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485 |
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486 # Increment the number of PDO for this PDO type |
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487 self.CurrentPDOParamsIdx[pdo_infos["type"]] += 1 |
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488 |
|
489 # Change the transmit type of the PDO |
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490 if sync_TPDOs: |
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491 self.MasterNode.SetEntry(current_idx, 0x02, 0x01) |
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492 else: |
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493 self.MasterNode.SetEntry(current_idx, 0x02, 0xFF) |
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494 |
|
495 # Add some subentries to PDO mapping if there is not enough |
|
496 if len(pdo_infos["mapping"]) > 2: |
|
497 self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, self.MasterNode) |
|
498 |
|
499 # Generate MasterNode's PDO mapping |
|
500 for subindex, variable in enumerate(pdo_infos["mapping"]): |
|
501 if subindex == 0: |
|
502 continue |
|
503 new_index = False |
|
504 |
|
505 if type(variable) == IntType: |
|
506 # If variable is an integer then variable is unexpected |
|
507 self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable]) |
|
508 else: |
|
509 typeidx, varname = variable |
|
510 variable_infos = self.IECLocations[varname] |
|
511 |
|
512 # Calculate base index for storing variable |
|
513 mapvariableidx = VariableStartIndex[variable_infos["pdotype"]] + \ |
|
514 VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \ |
|
515 variable_infos["nodeid"] |
|
516 |
|
517 # Search for an entry that has an empty subindex |
|
518 while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000: |
|
519 # Entry doesn't exist |
|
520 if not self.MasterNode.IsEntry(mapvariableidx): |
|
521 # Generate entry name |
|
522 indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]], |
|
523 variable_infos["sizelocation"], |
|
524 '_'.join(map(str,current_location)), |
|
525 variable_infos["nodeid"]) |
|
526 # Add entry to MasterNode |
|
527 self.Manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, self.MasterNode) |
|
528 new_index = True |
|
529 nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00) |
|
530 else: |
|
531 # Get Number of subentries already defined |
|
532 nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00) |
|
533 # if entry is full, go to next entry possible or stop now |
|
534 if nbsubentries == 0xFF: |
|
535 mapvariableidx += 8 * VariableIncrement |
|
536 else: |
|
537 break |
|
538 |
|
539 # Verify that a not full entry has been found |
|
540 if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000: |
|
541 # Generate subentry name |
|
542 if variable_infos["bit"] != None: |
|
543 subindexname = "%(index)d_%(subindex)d_%(bit)d"%variable_infos |
|
544 else: |
|
545 subindexname = "%(index)d_%(subindex)d"%variable_infos |
|
546 # If entry have just been created, no subentry have to be added |
|
547 if not new_index: |
|
548 self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode) |
|
549 nbsubentries += 1 |
|
550 # Add informations to the new subentry created |
|
551 self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname}) |
|
552 self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx}) |
|
553 |
|
554 # Set value of the PDO mapping |
|
555 typeinfos = self.Manager.GetEntryInfos(typeidx) |
|
556 if typeinfos != None: |
|
557 value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"] |
|
558 self.MasterNode.SetEntry(current_idx + 0x200, subindex, value) |
|
559 |
|
560 def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs, nodename): |
|
561 """ |
|
562 Fills a CanFestival network editor model, with DCF with requested PDO mappings. |
|
563 @param locations: List of complete variables locations \ |
|
564 [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) |
|
565 "NAME" : name of the variable (generally "__IW0_1_2" style) |
|
566 "DIR" : direction "Q","I" or "M" |
|
567 "SIZE" : size "X", "B", "W", "D", "L" |
|
568 "LOC" : tuple of interger for IEC location (0,1,2,...) |
|
569 }, ...] |
|
570 @param nodelist: CanFestival network editor model |
|
571 @return: a modified copy of the given CanFestival network editor model |
|
572 """ |
|
573 |
|
574 dcfgenerator = ConciseDCFGenerator(nodelist, nodename) |
|
575 dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs) |
|
576 return dcfgenerator.GetMasterNode() |
|
577 |
|
578 if __name__ == "__main__": |
|
579 import os, sys, getopt |
|
580 |
|
581 def usage(): |
|
582 print """ |
|
583 Usage of config_utils.py test : |
|
584 |
|
585 %s [options] |
|
586 |
|
587 Options: |
|
588 --help (-h) |
|
589 Displays help informations for config_utils |
|
590 |
|
591 --reset (-r) |
|
592 Reset the reference result of config_utils test. |
|
593 Use with caution. Be sure that config_utils |
|
594 is currently working properly. |
|
595 """%sys.argv[0] |
|
596 |
|
597 # Boolean that indicate if reference result must be redefined |
|
598 reset = False |
|
599 |
|
600 # Extract command options |
|
601 try: |
|
602 opts, args = getopt.getopt(sys.argv[1:], "hr", ["help","reset"]) |
|
603 except getopt.GetoptError: |
|
604 # print help information and exit: |
|
605 usage() |
|
606 sys.exit(2) |
|
607 |
|
608 # Test each option |
|
609 for o, a in opts: |
|
610 if o in ("-h", "--help"): |
|
611 usage() |
|
612 sys.exit() |
|
613 elif o in ("-r", "--reset"): |
|
614 reset = True |
|
615 |
|
616 # Extract workspace base folder |
|
617 base_folder = sys.path[0] |
|
618 for i in xrange(3): |
|
619 base_folder = os.path.split(base_folder)[0] |
|
620 # Add CanFestival folder to search pathes |
|
621 sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen")) |
|
622 |
|
623 from nodemanager import * |
|
624 from nodelist import * |
|
625 |
|
626 # Open the test nodelist contained into test_config folder |
|
627 manager = NodeManager() |
|
628 nodelist = NodeList(manager) |
|
629 result = nodelist.LoadProject("test_config") |
|
630 |
|
631 # List of locations, we try to map for test |
|
632 locations = [{"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24576_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24576,1)}, |
|
633 {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_2","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,2)}, |
|
634 {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_3","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,3)}, |
|
635 {"IEC_TYPE":"INT","NAME":"__QW0_1_64_25617_2","DIR":"Q","SIZE":"W","LOC":(0,1,64,25617,1)}, |
|
636 {"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24578_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24578,1)}, |
|
637 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_1","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,1)}, |
|
638 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_2","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,2)}, |
|
639 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_3","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,3)}, |
|
640 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_4","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,4)}] |
|
641 |
|
642 # Generate MasterNode configuration |
|
643 try: |
|
644 masternode = GenerateConciseDCF(locations, (0, 1), nodelist, True) |
|
645 except ValueError, message: |
|
646 print "%s\nTest Failed!"%message |
|
647 sys.exit() |
|
648 |
|
649 # Get Text corresponding to MasterNode |
|
650 result = masternode.PrintString() |
|
651 |
|
652 # If reset has been choosen |
|
653 if reset: |
|
654 # Write Text into reference result file |
|
655 file = open("test_config/result.txt", "w") |
|
656 file.write(result) |
|
657 file.close() |
|
658 |
|
659 print "Reset Successful!" |
|
660 else: |
|
661 # Test each line of the result with the reference result |
|
662 test = [line.rstrip() for line in result.splitlines()] |
|
663 |
|
664 file = open("test_config/result.txt", "r") |
|
665 model = [line.rstrip() for line in file.readlines() if line.rstrip()] |
|
666 file.close() |
|
667 |
|
668 errors = 0 |
|
669 for i, line in enumerate(model): |
|
670 if i >= len(test): |
|
671 errors += 1 |
|
672 print "Line %d disappear :\n%s\n"%(i + 1, line) |
|
673 elif line != test[i]: |
|
674 errors += 1 |
|
675 print "Error on line %d :\n%s\nInstead of :\n%s\n"%(i + 1, test[i], line) |
|
676 for i in xrange(len(model), len(test)): |
|
677 errors += 1 |
|
678 print "Line %d appear :\n%s\n"%(i + 1, test[i]) |
|
679 |
|
680 if errors > 0: |
|
681 print "%d errors found.\nTest Failed!"%errors |
|
682 else: |
|
683 print "Test Successful!" |