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1 import os |
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2 |
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3 from EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName |
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4 |
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5 SLAVE_PDOS_CONFIGURATION_DECLARATION = """ |
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6 /* Slave %(slave)d, "%(device_type)s" |
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7 * Vendor ID: 0x%(vendor).8x |
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8 * Product code: 0x%(product_code).8x |
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9 * Revision number: 0x%(revision_number).8x |
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10 */ |
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11 |
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12 ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = { |
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13 %(pdos_entries_infos)s |
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14 }; |
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15 |
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16 ec_pdo_info_t slave_%(slave)d_pdos[] = { |
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17 %(pdos_infos)s |
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18 }; |
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19 |
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20 ec_sync_info_t slave_%(slave)d_syncs[] = { |
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21 %(pdos_sync_infos)s |
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22 {0xff} |
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23 }; |
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24 """ |
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25 |
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26 SLAVE_CONFIGURATION_TEMPLATE = """ |
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27 if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) { |
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28 SLOGF(LOG_CRITICAL, "Failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.\\n"); |
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29 return -1; |
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30 } |
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31 |
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32 if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) { |
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33 SLOGF(LOG_CRITICAL, "Failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.\\n"); |
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34 return -1; |
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35 } |
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36 """ |
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37 |
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38 SLAVE_INITIALIZATION_TEMPLATE = """ |
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39 { |
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40 uint8_t value[%(data_size)d]; |
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41 EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s); |
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42 if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) { |
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43 SLOGF(LOG_CRITICAL, "Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code); |
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44 return -1; |
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45 } |
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46 } |
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47 """ |
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48 |
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49 SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """ |
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50 { |
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51 uint8_t value[%(data_size)d]; |
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52 if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) { |
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53 SLOGF(LOG_CRITICAL, "Failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%ud\\n", abort_code); |
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54 return -1; |
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55 } |
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56 %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value); |
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57 } |
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58 """ |
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59 |
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60 def ConfigureVariable(entry_infos, str_completion): |
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61 entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None) |
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62 if entry_infos["data_type"] is None: |
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63 raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"] |
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64 |
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65 if not entry_infos.get("no_decl", False): |
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66 if entry_infos.has_key("real_var"): |
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67 str_completion["located_variables_declaration"].append( |
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68 "IEC_%(var_type)s %(real_var)s;" % entry_infos) |
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69 else: |
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70 entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] |
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71 str_completion["located_variables_declaration"].extend( |
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72 ["IEC_%(var_type)s %(real_var)s;" % entry_infos, |
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73 "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos]) |
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74 for declaration in entry_infos.get("extra_declarations", []): |
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75 entry_infos["extra_decl"] = declaration |
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76 str_completion["located_variables_declaration"].append( |
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77 "IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos) |
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78 elif not entry_infos.has_key("real_var"): |
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79 entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] |
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80 |
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81 str_completion["used_pdo_entry_offset_variables_declaration"].append( |
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82 "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) |
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83 |
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84 if entry_infos["data_type"] == "BIT": |
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85 str_completion["used_pdo_entry_offset_variables_declaration"].append( |
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86 "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos) |
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87 |
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88 str_completion["used_pdo_entry_configuration"].append( |
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89 (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + |
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90 "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + |
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91 "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos) |
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92 |
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93 if entry_infos["dir"] == "I": |
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94 str_completion["retrieve_variables"].append( |
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95 (" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + |
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96 "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos) |
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97 elif entry_infos["dir"] == "Q": |
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98 str_completion["publish_variables"].append( |
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99 (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + |
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100 "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos) |
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101 |
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102 else: |
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103 str_completion["used_pdo_entry_configuration"].append( |
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104 (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + |
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105 "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos) |
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106 |
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107 if entry_infos["dir"] == "I": |
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108 str_completion["retrieve_variables"].append( |
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109 (" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + |
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110 "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos) |
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111 elif entry_infos["dir"] == "Q": |
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112 str_completion["publish_variables"].append( |
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113 (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + |
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114 "%(real_var)s);") % entry_infos) |
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115 |
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116 def ExclusionSortFunction(x, y): |
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117 if x["matching"] == y["matching"]: |
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118 if x["assigned"] and not y["assigned"]: |
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119 return -1 |
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120 elif not x["assigned"] and y["assigned"]: |
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121 return 1 |
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122 return cmp(x["count"], y["count"]) |
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123 return -cmp(x["matching"], y["matching"]) |
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124 |
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125 class _EthercatCFileGenerator: |
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126 |
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127 def __init__(self, controler): |
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128 self.Controler = controler |
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129 |
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130 self.Slaves = [] |
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131 self.UsedVariables = {} |
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132 |
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133 def __del__(self): |
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134 self.Controler = None |
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135 |
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136 def DeclareSlave(self, slave_index, slave): |
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137 self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave)) |
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138 |
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139 def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False): |
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140 slave_variables = self.UsedVariables.setdefault(slave_index, {}) |
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141 |
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142 entry_infos = slave_variables.get((index, subindex), None) |
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143 if entry_infos is None: |
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144 slave_variables[(index, subindex)] = { |
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145 "infos": (iec_type, dir, name, no_decl, []), |
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146 "mapped": False} |
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147 return name |
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148 elif entry_infos["infos"][:2] == (iec_type, dir): |
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149 if name != entry_infos["infos"][2]: |
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150 if dir == "I": |
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151 entry_infos["infos"][4].append(name) |
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152 return entry_infos["infos"][2] |
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153 else: |
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154 raise ValueError, _("Output variables can't be defined with different locations (%s and %s)") % (entry_infos["infos"][2], name) |
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155 else: |
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156 raise ValueError, _("Definition conflict for location \"%s\"") % name |
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157 |
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158 def GenerateCFile(self, filepath, location_str, master_number): |
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159 |
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160 # Extract etherlab master code template |
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161 plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c") |
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162 plc_etherlab_file = open(plc_etherlab_filepath, 'r') |
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163 plc_etherlab_code = plc_etherlab_file.read() |
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164 plc_etherlab_file.close() |
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165 |
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166 # Initialize strings for formatting master code template |
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167 str_completion = { |
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168 "location": location_str, |
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169 "master_number": master_number, |
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170 "located_variables_declaration": [], |
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171 "used_pdo_entry_offset_variables_declaration": [], |
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172 "used_pdo_entry_configuration": [], |
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173 "pdos_configuration_declaration": "", |
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174 "slaves_declaration": "", |
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175 "slaves_configuration": "", |
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176 "slaves_output_pdos_default_values_extraction": "", |
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177 "slaves_initialization": "", |
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178 "retrieve_variables": [], |
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179 "publish_variables": [], |
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180 } |
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181 |
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182 # Initialize variable storing variable mapping state |
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183 for slave_entries in self.UsedVariables.itervalues(): |
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184 for entry_infos in slave_entries.itervalues(): |
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185 entry_infos["mapped"] = False |
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186 |
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187 # Sort slaves by position (IEC_Channel) |
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188 self.Slaves.sort() |
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189 # Initialize dictionary storing alias auto-increment position values |
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190 alias = {} |
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191 |
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192 # Generating code for each slave |
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193 for (slave_idx, slave_alias, slave) in self.Slaves: |
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194 type_infos = slave.getType() |
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195 |
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196 # Defining slave alias and auto-increment position |
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197 if alias.get(slave_alias) is not None: |
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198 alias[slave_alias] += 1 |
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199 else: |
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200 alias[slave_alias] = 0 |
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201 slave_pos = (slave_alias, alias[slave_alias]) |
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202 |
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203 # Extract slave device informations |
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204 device, alignment = self.Controler.GetModuleInfos(type_infos) |
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205 if device is not None: |
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206 |
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207 # Extract slaves variables to be mapped |
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208 slave_variables = self.UsedVariables.get(slave_idx, {}) |
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209 |
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210 # Extract slave device object dictionary entries |
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211 device_entries = device.GetEntriesList() |
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212 |
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213 # Adding code for declaring slave in master code template strings |
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214 for element in ["vendor", "product_code", "revision_number"]: |
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215 type_infos[element] = ExtractHexDecValue(type_infos[element]) |
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216 type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) |
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217 |
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218 # Extract slave device CoE informations |
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219 device_coe = device.getCoE() |
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220 if device_coe is not None: |
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221 |
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222 # If device support CanOpen over Ethernet, adding code for calling |
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223 # init commands when initializing slave in master code template strings |
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224 initCmds = [] |
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225 for initCmd in device_coe.getInitCmd(): |
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226 initCmds.append({ |
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227 "Index": ExtractHexDecValue(initCmd.getIndex()), |
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228 "Subindex": ExtractHexDecValue(initCmd.getSubIndex()), |
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229 "Value": initCmd.getData().getcontent()}) |
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230 initCmds.extend(slave.getStartupCommands()) |
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231 for initCmd in initCmds: |
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232 index = initCmd["Index"] |
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233 subindex = initCmd["Subindex"] |
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234 entry = device_entries.get((index, subindex), None) |
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235 if entry is not None: |
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236 data_size = entry["BitSize"] / 8 |
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237 data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"] |
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238 init_cmd_infos = { |
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239 "index": index, |
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240 "subindex": subindex, |
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241 "data": data_str, |
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242 "data_type": DATATYPECONVERSION.get(entry["Type"]), |
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243 "data_size": data_size |
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244 } |
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245 init_cmd_infos.update(type_infos) |
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246 str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos |
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247 |
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248 # Extract slave device PDO configuration capabilities |
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249 PdoAssign = device_coe.getPdoAssign() |
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250 PdoConfig = device_coe.getPdoConfig() |
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251 else: |
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252 PdoAssign = PdoConfig = False |
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253 |
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254 # Test if slave has a configuration or need one |
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255 if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign: |
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256 |
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257 str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos |
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258 str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos |
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259 |
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260 # Initializing |
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261 pdos_infos = { |
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262 "pdos_entries_infos": [], |
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263 "pdos_infos": [], |
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264 "pdos_sync_infos": [], |
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265 } |
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266 pdos_infos.update(type_infos) |
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267 |
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268 sync_managers = [] |
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269 for sync_manager_idx, sync_manager in enumerate(device.getSm()): |
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270 sync_manager_infos = { |
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271 "index": sync_manager_idx, |
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272 "name": sync_manager.getcontent(), |
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273 "slave": slave_idx, |
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274 "pdos": [], |
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275 "pdos_number": 0, |
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276 } |
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277 |
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278 sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) |
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279 sync_manager_direction = sync_manager_control_byte & 0x0c |
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280 sync_manager_watchdog = sync_manager_control_byte & 0x40 |
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281 if sync_manager_direction: |
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282 sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" |
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283 else: |
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284 sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" |
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285 if sync_manager_watchdog: |
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286 sync_manager_infos["watchdog"] = "EC_WD_ENABLE" |
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287 else: |
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288 sync_manager_infos["watchdog"] = "EC_WD_DISABLE" |
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289 |
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290 sync_managers.append(sync_manager_infos) |
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291 |
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292 pdos_index = [] |
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293 exclusive_pdos = {} |
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294 selected_pdos = [] |
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295 for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + |
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296 [(pdo, "Outputs") for pdo in device.getRxPdo()]): |
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297 |
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298 pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) |
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299 pdos_index.append(pdo_index) |
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300 |
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301 excluded_list = pdo.getExclude() |
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302 if len(excluded_list) > 0: |
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303 exclusion_list = [pdo_index] |
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304 for excluded in excluded_list: |
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305 exclusion_list.append(ExtractHexDecValue(excluded.getcontent())) |
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306 exclusion_list.sort() |
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307 |
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308 exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), []) |
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309 |
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310 entries = pdo.getEntry() |
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311 pdo_mapping_match = { |
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312 "index": pdo_index, |
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313 "matching": 0, |
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314 "count": len(entries), |
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315 "assigned": pdo.getSm() is not None |
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316 } |
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317 exclusion_scope.append(pdo_mapping_match) |
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318 |
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319 for entry in entries: |
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320 index = ExtractHexDecValue(entry.getIndex().getcontent()) |
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321 subindex = ExtractHexDecValue(entry.getSubIndex()) |
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322 if slave_variables.get((index, subindex), None) is not None: |
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323 pdo_mapping_match["matching"] += 1 |
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324 |
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325 elif pdo.getMandatory(): |
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326 selected_pdos.append(pdo_index) |
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327 |
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328 excluded_pdos = [] |
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329 for exclusion_scope in exclusive_pdos.itervalues(): |
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330 exclusion_scope.sort(ExclusionSortFunction) |
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331 start_excluding_index = 0 |
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332 if exclusion_scope[0]["matching"] > 0: |
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333 selected_pdos.append(exclusion_scope[0]["index"]) |
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334 start_excluding_index = 1 |
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335 excluded_pdos.extend([pdo["index"] for pdo in exclusion_scope[start_excluding_index:] if PdoAssign or not pdo["assigned"]]) |
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336 |
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337 for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + |
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338 [(pdo, "Outputs") for pdo in device.getRxPdo()]): |
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339 entries = pdo.getEntry() |
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340 |
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341 pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) |
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342 if pdo_index in excluded_pdos: |
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343 continue |
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344 |
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345 pdo_needed = pdo_index in selected_pdos |
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346 |
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347 entries_infos = [] |
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348 |
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349 for entry in entries: |
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350 index = ExtractHexDecValue(entry.getIndex().getcontent()) |
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351 subindex = ExtractHexDecValue(entry.getSubIndex()) |
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352 entry_infos = { |
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353 "index": index, |
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354 "subindex": subindex, |
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355 "name": ExtractName(entry.getName()), |
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356 "bitlen": entry.getBitLen(), |
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357 } |
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358 entry_infos.update(type_infos) |
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359 entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) |
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360 |
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361 entry_declaration = slave_variables.get((index, subindex), None) |
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362 if entry_declaration is not None and not entry_declaration["mapped"]: |
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363 pdo_needed = True |
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364 |
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365 entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], |
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366 entry_declaration["infos"]))) |
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367 entry_declaration["mapped"] = True |
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368 |
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369 entry_type = entry.getDataType().getcontent() |
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370 if entry_infos["var_type"] != entry_type: |
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371 message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] |
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372 if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != |
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373 self.Controler.GetSizeOfType(entry_type)): |
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374 raise ValueError, message |
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375 else: |
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376 self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") |
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377 |
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378 if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or |
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379 entry_infos["dir"] == "Q" and pdo_type != "Outputs"): |
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380 raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] |
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381 |
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382 ConfigureVariable(entry_infos, str_completion) |
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383 |
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384 elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None: |
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385 data_type = entry.getDataType().getcontent() |
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386 entry_infos["dir"] = "Q" |
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387 entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8) |
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388 entry_infos["data_type"] = DATATYPECONVERSION.get(data_type) |
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389 entry_infos["var_type"] = data_type |
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390 entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos |
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391 |
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392 ConfigureVariable(entry_infos, str_completion) |
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393 |
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394 str_completion["slaves_output_pdos_default_values_extraction"] += \ |
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395 SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos |
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396 |
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397 if pdo_needed: |
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398 for excluded in pdo.getExclude(): |
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399 excluded_index = ExtractHexDecValue(excluded.getcontent()) |
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400 if excluded_index not in excluded_pdos: |
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401 excluded_pdos.append(excluded_index) |
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402 |
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403 sm = pdo.getSm() |
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404 if sm is None: |
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405 for sm_idx, sync_manager in enumerate(sync_managers): |
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406 if sync_manager["name"] == pdo_type: |
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407 sm = sm_idx |
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408 if sm is None: |
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409 raise ValueError, _("No sync manager available for %s pdo!") % pdo_type |
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410 |
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411 sync_managers[sm]["pdos_number"] += 1 |
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412 sync_managers[sm]["pdos"].append( |
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413 {"slave": slave_idx, |
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414 "index": pdo_index, |
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415 "name": ExtractName(pdo.getName()), |
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416 "type": pdo_type, |
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417 "entries": entries_infos, |
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418 "entries_number": len(entries_infos), |
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419 "fixed": pdo.getFixed() == True}) |
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420 |
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421 if PdoConfig and PdoAssign: |
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422 dynamic_pdos = {} |
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423 dynamic_pdos_number = 0 |
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424 for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), |
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425 ("Outputs", 0x1a00, 0x1C00)]: |
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426 for sync_manager in sync_managers: |
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427 if sync_manager["name"] == category: |
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428 category_infos = dynamic_pdos.setdefault(category, {}) |
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429 category_infos["sync_manager"] = sync_manager |
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430 category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] |
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431 if not pdo["fixed"] and pdo["type"] == category] |
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432 category_infos["current_index"] = min_index |
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433 category_infos["max_index"] = max_index |
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434 break |
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435 |
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436 for (index, subindex), entry_declaration in slave_variables.iteritems(): |
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437 |
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438 if not entry_declaration["mapped"]: |
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439 entry = device_entries.get((index, subindex), None) |
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440 if entry is None: |
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441 raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \ |
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442 (index, subindex, type_infos["device_type"]) |
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443 |
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444 entry_infos = { |
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445 "index": index, |
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446 "subindex": subindex, |
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447 "name": entry["Name"], |
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448 "bitlen": entry["BitSize"], |
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449 } |
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450 entry_infos.update(type_infos) |
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451 |
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452 entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], |
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453 entry_declaration["infos"]))) |
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454 entry_declaration["mapped"] = True |
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455 |
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456 if entry_infos["var_type"] != entry["Type"]: |
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457 message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] |
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458 if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != |
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459 self.Controler.GetSizeOfType(entry["Type"])): |
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460 raise ValueError, message |
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461 else: |
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462 self.Controler.GetCTRoot().logger.write_warning(message + "\n") |
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463 |
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464 if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: |
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465 pdo_type = "Inputs" |
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466 elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]: |
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467 pdo_type = "Outputs" |
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468 else: |
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469 raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] |
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470 |
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471 if not dynamic_pdos.has_key(pdo_type): |
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472 raise ValueError, _("No Sync manager defined for %s!") % pdo_type |
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473 |
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474 ConfigureVariable(entry_infos, str_completion) |
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475 |
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476 if len(dynamic_pdos[pdo_type]["pdos"]) > 0: |
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477 pdo = dynamic_pdos[pdo_type]["pdos"][0] |
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478 else: |
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479 while dynamic_pdos[pdo_type]["current_index"] in pdos_index: |
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480 dynamic_pdos[pdo_type]["current_index"] += 1 |
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481 if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: |
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482 raise ValueError, _("No more free PDO index available for %s!") % pdo_type |
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483 pdos_index.append(dynamic_pdos[pdo_type]["current_index"]) |
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484 |
|
485 dynamic_pdos_number += 1 |
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486 pdo = {"slave": slave_idx, |
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487 "index": dynamic_pdos[pdo_type]["current_index"], |
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488 "name": "Dynamic PDO %d" % dynamic_pdos_number, |
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489 "type": pdo_type, |
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490 "entries": [], |
|
491 "entries_number": 0, |
|
492 "fixed": False} |
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493 dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1 |
|
494 dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo) |
|
495 dynamic_pdos[pdo_type]["pdos"].append(pdo) |
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496 |
|
497 pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) |
|
498 if entry_infos["bitlen"] < alignment: |
|
499 print (alignment, entry_infos["bitlen"]) |
|
500 pdo["entries"].append(" {0x0000, 0x00, %d}, /* None */" % (alignment - entry_infos["bitlen"])) |
|
501 pdo["entries_number"] += 1 |
|
502 |
|
503 if pdo["entries_number"] == 255: |
|
504 dynamic_pdos[pdo_type]["pdos"].pop(0) |
|
505 |
|
506 pdo_offset = 0 |
|
507 entry_offset = 0 |
|
508 for sync_manager_infos in sync_managers: |
|
509 |
|
510 for pdo_infos in sync_manager_infos["pdos"]: |
|
511 pdo_infos["offset"] = entry_offset |
|
512 pdo_entries = pdo_infos["entries"] |
|
513 pdos_infos["pdos_infos"].append( |
|
514 (" {0x%(index).4x, %(entries_number)d, " + |
|
515 "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) |
|
516 entry_offset += len(pdo_entries) |
|
517 pdos_infos["pdos_entries_infos"].extend(pdo_entries) |
|
518 |
|
519 sync_manager_infos["offset"] = pdo_offset |
|
520 pdo_offset_shift = sync_manager_infos["pdos_number"] |
|
521 pdos_infos["pdos_sync_infos"].append( |
|
522 (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + |
|
523 ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") + |
|
524 ", %(watchdog)s},") % sync_manager_infos) |
|
525 pdo_offset += pdo_offset_shift |
|
526 |
|
527 for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: |
|
528 pdos_infos[element] = "\n".join(pdos_infos[element]) |
|
529 |
|
530 str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos |
|
531 |
|
532 for (index, subindex), entry_declaration in slave_variables.iteritems(): |
|
533 if not entry_declaration["mapped"]: |
|
534 message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \ |
|
535 (index, subindex, type_infos["device_type"]) |
|
536 self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") |
|
537 |
|
538 for element in ["used_pdo_entry_offset_variables_declaration", |
|
539 "used_pdo_entry_configuration", |
|
540 "located_variables_declaration", |
|
541 "retrieve_variables", |
|
542 "publish_variables"]: |
|
543 str_completion[element] = "\n".join(str_completion[element]) |
|
544 |
|
545 etherlabfile = open(filepath, 'w') |
|
546 etherlabfile.write(plc_etherlab_code % str_completion) |
|
547 etherlabfile.close() |