--- a/plugins/canfestival/config_utils.py Thu May 03 19:02:34 2012 +0200
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,737 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-
-#This file is part of Beremiz, a Integrated Development Environment for
-#programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
-#
-#Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
-#
-#See COPYING file for copyrights details.
-#
-#This library is free software; you can redistribute it and/or
-#modify it under the terms of the GNU General Public
-#License as published by the Free Software Foundation; either
-#version 2.1 of the License, or (at your option) any later version.
-#
-#This library is distributed in the hope that it will be useful,
-#but WITHOUT ANY WARRANTY; without even the implied warranty of
-#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-#General Public License for more details.
-#
-#You should have received a copy of the GNU General Public
-#License along with this library; if not, write to the Free Software
-#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-
-from types import *
-
-# Translation between IEC types and Can Open types
-IECToCOType = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10,
- "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08,
- "LREAL":0x11,"STRING":0x09,"BYTE":0x05,"WORD":0x06,"DWORD":0x07,
- "LWORD":0x1B,"WSTRING":0x0B}
-
-# Constants for PDO types
-RPDO = 1
-TPDO = 2
-
-SlavePDOType = {"I" : TPDO, "Q" : RPDO}
-InvertPDOType = {RPDO : TPDO, TPDO : RPDO}
-PDOTypeBaseIndex = {RPDO : 0x1400, TPDO : 0x1800}
-PDOTypeBaseCobId = {RPDO : 0x200, TPDO : 0x180}
-
-VariableIncrement = 0x100
-VariableStartIndex = {TPDO : 0x2000, RPDO : 0x4000}
-VariableDirText = {TPDO : "__I", RPDO : "__Q"}
-VariableTypeOffset = dict(zip(["","X","B","W","D","L"], range(6)))
-
-TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)]
-
-#-------------------------------------------------------------------------------
-# Specific exception for PDO mapping errors
-#-------------------------------------------------------------------------------
-
-class PDOmappingException(Exception):
- pass
-
-
-def LE_to_BE(value, size):
- """
- Convert Little Endian to Big Endian
- @param value: value expressed in integer
- @param size: number of bytes generated
- @return: a string containing the value converted
- """
-
- data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value
- list_car = [data[i:i+2] for i in xrange(0, len(data), 2)]
- list_car.reverse()
- return "".join([chr(int(car, 16)) for car in list_car])
-
-
-def GetNodePDOIndexes(node, type, parameters = False):
- """
- Find the PDO indexes of a node
- @param node: node
- @param type: type of PDO searched (RPDO or TPDO or both)
- @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)
- @return: a list of indexes found
- """
-
- indexes = []
- if type & RPDO:
- indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF])
- if type & TPDO:
- indexes.extend([idx for idx in node.GetIndexes() if 0x1800 <= idx <= 0x19FF])
- if not parameters:
- return [idx + 0x200 for idx in indexes]
- else:
- return indexes
-
-
-def SearchNodePDOMapping(loc_infos, node):
- """
- Find the PDO indexes of a node
- @param node: node
- @param type: type of PDO searched (RPDO or TPDO or both)
- @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)
- @return: a list of indexes found
- """
-
- model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8)
-
- for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]):
- values = node.GetEntry(PDOidx)
- if values != None:
- for subindex, mapping in enumerate(values):
- if subindex != 0 and mapping & 0xFFFFFF00 == model:
- return PDOidx, subindex
- return None
-
-
-def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping):
- """
- Build concise DCF value for configuring a PDO
- @param idx: index of PDO parameters
- @param cobid: PDO generated COB ID
- @param transmittype : PDO transmit type
- @param pdomapping: list of PDO mappings
- @return: a tuple of value and number of parameters to add to DCF
- """
-
- # Create entry for RPDO or TPDO parameters and Disable PDO
- dcfdata = LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x80000000 + cobid, 4)
- # Set Transmit type synchrone
- dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)
- # Re-Enable PDO
- # ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------
- dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(cobid, 4)
- nbparams = 3
- if len(pdomapping) > 0:
- dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1)
- nbparams += 1
- # Map Variables
- for subindex, (name, loc_infos) in enumerate(pdomapping):
- value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"]
- dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4)
- nbparams += 1
- return dcfdata, nbparams
-
-class ConciseDCFGenerator:
-
- def __init__(self, nodelist, nodename):
- # Dictionary of location informations classed by name
- self.IECLocations = {}
- # Dictionary of location that have not been mapped yet
- self.LocationsNotMapped = {}
- # Dictionary of location informations classed by name
- self.MasterMapping = {}
- # List of COB IDs available
- self.ListCobIDAvailable = range(0x180, 0x580)
- # Dictionary of mapping value where unexpected variables are stored
- self.TrashVariables = {}
- # Dictionary of pointed variables
- self.PointedVariables = {}
-
- self.NodeList = nodelist
- self.Manager = self.NodeList.Manager
- self.MasterNode = self.Manager.GetCurrentNodeCopy()
- self.MasterNode.SetNodeName(nodename)
- self.PrepareMasterNode()
-
- def GetPointedVariables(self):
- return self.PointedVariables
-
- def RemoveUsedNodeCobId(self, node):
- """
- Remove all PDO COB ID used by the given node from the list of available COB ID
- @param node: node
- @return: a tuple of number of RPDO and TPDO for the node
- """
-
- # Get list of all node TPDO and RPDO indexes
- nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)
- nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)
-
- # Mark all the COB ID of the node already mapped PDO as not available
- for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:
- pdo_cobid = node.GetEntry(PdoIdx, 0x01)
- # Extract COB ID, if PDO isn't active
- if pdo_cobid > 0x600 :
- pdo_cobid -= 0x80000000
- # Remove COB ID from the list of available COB ID
- if pdo_cobid in self.ListCobIDAvailable:
- self.ListCobIDAvailable.remove(pdo_cobid)
-
- return len(nodeRpdoIndexes), len(nodeTpdoIndexes)
-
-
- def PrepareMasterNode(self):
- """
- Add mandatory entries for DCF generation into MasterNode.
- """
-
- # Adding DCF entry into Master node
- if not self.MasterNode.IsEntry(0x1F22):
- self.MasterNode.AddEntry(0x1F22, 1, "")
- self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode)
-
- # Adding trash mappable variables for unused mapped datas
- idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID()
- # Add an entry for storing unexpected all variable
- self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode)
- for subidx, (size, typeidx) in enumerate(TrashVariables):
- # Add a subentry for storing unexpected variable of this size
- self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, self.MasterNode)
- self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode)
- # Store the mapping value for this entry
- self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
-
- RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode)
-
- # Store the indexes of the first RPDO and TPDO available for MasterNode
- self.CurrentPDOParamsIdx = {RPDO : 0x1400 + RPDOnumber, TPDO : 0x1800 + TPDOnumber}
-
- # Prepare MasterNode with all nodelist slaves
- for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()):
- node = nodeinfos["Node"]
- node.SetNodeID(nodeid)
-
- RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)
-
- # Get Slave's default SDO server parameters
- RSDO_cobid = node.GetEntry(0x1200,0x01)
- if not RSDO_cobid:
- RSDO_cobid = 0x600 + nodeid
- TSDO_cobid = node.GetEntry(0x1200,0x02)
- if not TSDO_cobid:
- TSDO_cobid = 0x580 + nodeid
-
- # Configure Master's SDO parameters entries
- self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode)
- self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid)
- self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid)
- self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid)
-
-
- def GetMasterNode(self):
- """
- Return MasterNode.
- """
- return self.MasterNode
-
- def AddParamsToDCF(self, nodeid, data, nbparams):
- """
- Add entry to DCF, for the requested nodeID
- @param nodeid: id of the slave (int)
- @param data: data to add to slave DCF (string)
- @param nbparams: number of params added to slave DCF (int)
- """
- # Get current DCF for slave
- nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid)
-
- # Extract data and number of params in current DCF
- if nodeDCF != None and nodeDCF != '':
- tmpnbparams = [i for i in nodeDCF[:4]]
- tmpnbparams.reverse()
- nbparams += int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)
- data = nodeDCF[4:] + data
-
- # Build new DCF
- dcf = LE_to_BE(nbparams, 0x04) + data
- # Set new DCF for slave
- self.MasterNode.SetEntry(0x1F22, nodeid, dcf)
-
- def GetEmptyPDO(self, nodeid, pdotype, start_index=None):
- """
- Search a not configured PDO for a slave
- @param node: the slave node object
- @param pdotype: type of PDO to generated (RPDO or TPDO)
- @param start_index: Index where search must start (default: None)
- @return tuple of PDO index, COB ID and number of subindex defined
- """
- # If no start_index defined, start with PDOtype base index
- if start_index is None:
- index = PDOTypeBaseIndex[pdotype]
- else:
- index = start_index
-
- # Search for all PDO possible index until find a configurable PDO
- # starting from start_index
- while index < PDOTypeBaseIndex[pdotype] + 0x200:
- values = self.NodeList.GetSlaveNodeEntry(nodeid, index + 0x200)
- if values != None and values[0] > 0:
- # Check that all subindex upper than 0 equal 0 => configurable PDO
- if reduce(lambda x, y: x and y, map(lambda x: x == 0, values[1:]), True):
- cobid = self.NodeList.GetSlaveNodeEntry(nodeid, index, 1)
- # If no COB ID defined in PDO, generate a new one (not used)
- if cobid == 0:
- if len(self.ListCobIDAvailable) == 0:
- return None
- # Calculate COB ID from standard values
- if index < PDOTypeBaseIndex[pdotype] + 4:
- cobid = PDOTypeBaseCobId[pdotype] + 0x100 * (index - PDOTypeBaseIndex[pdotype]) + nodeid
- if cobid not in self.ListCobIDAvailable:
- cobid = self.ListCobIDAvailable.pop(0)
- return index, cobid, values[0]
- index += 1
- return None
-
- def AddPDOMapping(self, nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs):
- """
- Record a new mapping request for a slave, and add related slave config to the DCF
- @param nodeid: id of the slave (int)
- @param pdotype: type of PDO to generated (RPDO or TPDO)
- @param pdomapping: list od variables to map with PDO
- """
- # Add an entry to MasterMapping
- self.MasterMapping[pdocobid] = {"type" : InvertPDOType[pdotype],
- "mapping" : [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]}
-
- # Return the data to add to DCF
- if sync_TPDOs:
- return GeneratePDOMappingDCF(pdoindex, pdocobid, 0x01, pdomapping)
- else:
- return GeneratePDOMappingDCF(pdoindex, pdocobid, 0xFF, pdomapping)
- return 0, ""
-
- def GenerateDCF(self, locations, current_location, sync_TPDOs):
- """
- Generate Concise DCF of MasterNode for the locations list given
- @param locations: list of locations to be mapped
- @param current_location: tuple of the located prefixes not to be considered
- @param sync_TPDOs: indicate if TPDO must be synchronous
- """
-
- #-------------------------------------------------------------------------------
- # Verify that locations correspond to real slave variables
- #-------------------------------------------------------------------------------
-
- # Get list of locations check if exists and mappables -> put them in IECLocations
- for location in locations:
- COlocationtype = IECToCOType[location["IEC_TYPE"]]
- name = location["NAME"]
- if name in self.IECLocations:
- if self.IECLocations[name]["type"] != COlocationtype:
- raise PDOmappingException, _("Type conflict for location \"%s\"") % name
- else:
- # Get only the part of the location that concern this node
- loc = location["LOC"][len(current_location):]
- # loc correspond to (ID, INDEX, SUBINDEX [,BIT])
- if len(loc) not in (2, 3, 4):
- raise PDOmappingException, _("Bad location size : %s") % str(loc)
- elif len(loc) == 2:
- continue
-
- direction = location["DIR"]
-
- sizelocation = location["SIZE"]
-
- # Extract and check nodeid
- nodeid, index, subindex = loc[:3]
-
- # Check Id is in slave node list
- if nodeid not in self.NodeList.SlaveNodes.keys():
- raise PDOmappingException, _("Non existing node ID : %d (variable %s)") % (nodeid,name)
-
- # Get the model for this node (made from EDS)
- node = self.NodeList.SlaveNodes[nodeid]["Node"]
-
- # Extract and check index and subindex
- if not node.IsEntry(index, subindex):
- raise PDOmappingException, _("No such index/subindex (%x,%x) in ID : %d (variable %s)") % (index,subindex,nodeid,name)
-
- # Get the entry info
- subentry_infos = node.GetSubentryInfos(index, subindex)
-
- # If a PDO mappable
- if subentry_infos and subentry_infos["pdo"]:
- if sizelocation == "X" and len(loc) > 3:
- numbit = loc[3]
- elif sizelocation != "X" and len(loc) > 3:
- raise PDOmappingException, _("Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))") % (name,nodeid,index,subindex)
- else:
- numbit = None
-
- if location["IEC_TYPE"] != "BOOL" and subentry_infos["type"] != COlocationtype:
- raise PDOmappingException, _("Invalid type \"%s\"-> %d != %d for location\"%s\"") % (location["IEC_TYPE"], COlocationtype, subentry_infos["type"] , name)
-
- typeinfos = node.GetEntryInfos(COlocationtype)
- self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],
- "nodeid": nodeid, "index": index,"subindex": subindex,
- "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation}
- else:
- raise PDOmappingException, _("Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))") % (name,nodeid,index,subindex)
-
- #-------------------------------------------------------------------------------
- # Search for locations already mapped
- #-------------------------------------------------------------------------------
-
- for name, locationinfos in self.IECLocations.items():
- node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"]
-
- # Search if slave has a PDO mapping this locations
- result = SearchNodePDOMapping(locationinfos, node)
- if result != None:
- index, subindex = result
- # Get COB ID of the PDO
- cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
-
- # Add PDO to MasterMapping
- if cobid not in self.MasterMapping.keys():
- # Verify that PDO transmit type is conform to sync_TPDOs
- transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)
- if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF:
- if sync_TPDOs:
- # Change TransmitType to SYNCHRONE
- data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, [])
- else:
- # Change TransmitType to ASYCHRONE
- data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, [])
-
- # Add entry to slave dcf to change transmit type of
- self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams)
-
- mapping = [None]
- values = node.GetEntry(index)
- # Store the size of each entry mapped in PDO
- for value in values[1:]:
- if value != 0:
- mapping.append(value % 0x100)
- self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
-
- # Indicate that this PDO entry must be saved
- if locationinfos["bit"] is not None:
- if not isinstance(self.MasterMapping[cobid]["mapping"][subindex], ListType):
- self.MasterMapping[cobid]["mapping"][subindex] = [1] * self.MasterMapping[cobid]["mapping"][subindex]
- if locationinfos["bit"] < len(self.MasterMapping[cobid]["mapping"][subindex]):
- self.MasterMapping[cobid]["mapping"][subindex][locationinfos["bit"]] = (locationinfos["type"], name)
- else:
- self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name)
-
- else:
- # Add location to those that haven't been mapped yet
- if locationinfos["nodeid"] not in self.LocationsNotMapped.keys():
- self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
- self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
-
- #-------------------------------------------------------------------------------
- # Build concise DCF for the others locations
- #-------------------------------------------------------------------------------
-
- for nodeid, locations in self.LocationsNotMapped.items():
- node = self.NodeList.SlaveNodes[nodeid]["Node"]
-
- # Initialize number of params and data to add to node DCF
- nbparams = 0
- dataparams = ""
-
- # Generate the best PDO mapping for each type of PDO
- for pdotype in (TPDO, RPDO):
- if len(locations[pdotype]) > 0:
- pdosize = 0
- pdomapping = []
- result = self.GetEmptyPDO(nodeid, pdotype)
- if result is None:
- raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid
- pdoindex, pdocobid, pdonbparams = result
- for name, loc_infos in locations[pdotype]:
- pdosize += loc_infos["size"]
- # If pdo's size > 64 bits
- if pdosize > 64 or len(pdomapping) >= pdonbparams:
- # Generate a new PDO Mapping
- data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)
- dataparams += data
- nbparams += nbaddedparams
- pdosize = loc_infos["size"]
- pdomapping = [(name, loc_infos)]
- result = self.GetEmptyPDO(nodeid, pdotype, pdoindex + 1)
- if result is None:
- raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid
- pdoindex, pdocobid, pdonbparams = result
- else:
- pdomapping.append((name, loc_infos))
- # If there isn't locations yet but there is still a PDO to generate
- if len(pdomapping) > 0:
- # Generate a new PDO Mapping
- data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)
- dataparams += data
- nbparams += nbaddedparams
-
- # Add number of params and data to node DCF
- self.AddParamsToDCF(nodeid, dataparams, nbparams)
-
- #-------------------------------------------------------------------------------
- # Master Node Configuration
- #-------------------------------------------------------------------------------
-
- # Generate Master's Configuration from informations stored in MasterMapping
- for cobid, pdo_infos in self.MasterMapping.items():
- # Get next PDO index in MasterNode for this PDO type
- current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]]
-
- # Search if there is already a PDO in MasterNode with this cob id
- for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True):
- if self.MasterNode.GetEntry(idx, 1) == cobid:
- current_idx = idx
-
- # Add a PDO to MasterNode if not PDO have been found
- if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]:
- addinglist = [current_idx, current_idx + 0x200]
- self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode)
- self.MasterNode.SetEntry(current_idx, 0x01, cobid)
-
- # Increment the number of PDO for this PDO type
- self.CurrentPDOParamsIdx[pdo_infos["type"]] += 1
-
- # Change the transmit type of the PDO
- if sync_TPDOs:
- self.MasterNode.SetEntry(current_idx, 0x02, 0x01)
- else:
- self.MasterNode.SetEntry(current_idx, 0x02, 0xFF)
-
- mapping = []
- for item in pdo_infos["mapping"]:
- if isinstance(item, ListType):
- mapping.extend(item)
- else:
- mapping.append(item)
-
- # Add some subentries to PDO mapping if there is not enough
- if len(mapping) > 1:
- self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(mapping) - 1, self.MasterNode)
-
- # Generate MasterNode's PDO mapping
- for subindex, variable in enumerate(mapping):
- if subindex == 0:
- continue
- new_index = False
-
- if isinstance(variable, (IntType, LongType)):
- # If variable is an integer then variable is unexpected
- self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable])
- else:
- typeidx, varname = variable
- variable_infos = self.IECLocations[varname]
-
- # Calculate base index for storing variable
- mapvariableidx = VariableStartIndex[variable_infos["pdotype"]] + \
- VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \
- variable_infos["nodeid"]
-
- # Generate entry name
- indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]],
- variable_infos["sizelocation"],
- '_'.join(map(str,current_location)),
- variable_infos["nodeid"])
-
- # Search for an entry that has an empty subindex
- while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
- # Entry doesn't exist
- if not self.MasterNode.IsEntry(mapvariableidx):
- # Add entry to MasterNode
- self.Manager.AddMapVariableToCurrent(mapvariableidx, "beremiz"+indexname, 3, 1, self.MasterNode)
- new_index = True
- nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
- else:
- # Get Number of subentries already defined
- nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
- # if entry is full, go to next entry possible or stop now
- if nbsubentries == 0xFF:
- mapvariableidx += 8 * VariableIncrement
- else:
- break
-
- # Verify that a not full entry has been found
- if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
- # Generate subentry name
- if variable_infos["bit"] != None:
- subindexname = "%(index)d_%(subindex)d_%(bit)d"%variable_infos
- else:
- subindexname = "%(index)d_%(subindex)d"%variable_infos
- # If entry have just been created, no subentry have to be added
- if not new_index:
- self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode)
- nbsubentries += 1
- # Add informations to the new subentry created
- self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
- self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
-
- # Set value of the PDO mapping
- typeinfos = self.Manager.GetEntryInfos(typeidx)
- if typeinfos != None:
- value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
- self.MasterNode.SetEntry(current_idx + 0x200, subindex, value)
-
- # Add variable to pointed variables
- self.PointedVariables[(mapvariableidx, nbsubentries)] = "%s_%s"%(indexname, subindexname)
-
-def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs, nodename):
- """
- Fills a CanFestival network editor model, with DCF with requested PDO mappings.
- @param locations: List of complete variables locations \
- [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
- "NAME" : name of the variable (generally "__IW0_1_2" style)
- "DIR" : direction "Q","I" or "M"
- "SIZE" : size "X", "B", "W", "D", "L"
- "LOC" : tuple of interger for IEC location (0,1,2,...)
- }, ...]
- @param nodelist: CanFestival network editor model
- @return: a modified copy of the given CanFestival network editor model
- """
-
- dcfgenerator = ConciseDCFGenerator(nodelist, nodename)
- dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs)
- masternode,pointers = dcfgenerator.GetMasterNode(), dcfgenerator.GetPointedVariables()
- # allow access to local OD from Master PLC
- pointers.update(LocalODPointers(locations, current_location, masternode))
- return masternode,pointers
-
-def LocalODPointers(locations, current_location, slave):
- IECLocations = {}
- pointers = {}
- for location in locations:
- COlocationtype = IECToCOType[location["IEC_TYPE"]]
- name = location["NAME"]
- if name in IECLocations:
- if IECLocations[name] != COlocationtype:
- raise PDOmappingException, _("Type conflict for location \"%s\"") % name
- else:
- # Get only the part of the location that concern this node
- loc = location["LOC"][len(current_location):]
- # loc correspond to (ID, INDEX, SUBINDEX [,BIT])
- if len(loc) not in (2, 3, 4):
- raise PDOmappingException, _("Bad location size : %s") % str(loc)
- elif len(loc) != 2:
- continue
-
- # Extract and check nodeid
- index, subindex = loc[:2]
-
- # Extract and check index and subindex
- if not slave.IsEntry(index, subindex):
- raise PDOmappingException, _("No such index/subindex (%x,%x) (variable %s)") % (index, subindex, name)
-
- # Get the entry info
- subentry_infos = slave.GetSubentryInfos(index, subindex)
- if subentry_infos["type"] != COlocationtype:
- raise PDOmappingException, _("Invalid type \"%s\"-> %d != %d for location\"%s\"") % (location["IEC_TYPE"], COlocationtype, subentry_infos["type"] , name)
-
- IECLocations[name] = COlocationtype
- pointers[(index, subindex)] = name
- return pointers
-
-if __name__ == "__main__":
- import os, sys, getopt
-
- def usage():
- print """
-Usage of config_utils.py test :
-
- %s [options]
-
-Options:
- --help (-h)
- Displays help informations for config_utils
-
- --reset (-r)
- Reset the reference result of config_utils test.
- Use with caution. Be sure that config_utils
- is currently working properly.
-"""%sys.argv[0]
-
- # Boolean that indicate if reference result must be redefined
- reset = False
-
- # Extract command options
- try:
- opts, args = getopt.getopt(sys.argv[1:], "hr", ["help","reset"])
- except getopt.GetoptError:
- # print help information and exit:
- usage()
- sys.exit(2)
-
- # Test each option
- for o, a in opts:
- if o in ("-h", "--help"):
- usage()
- sys.exit()
- elif o in ("-r", "--reset"):
- reset = True
-
- # Extract workspace base folder
- base_folder = sys.path[0]
- for i in xrange(3):
- base_folder = os.path.split(base_folder)[0]
- # Add CanFestival folder to search pathes
- sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen"))
-
- from nodemanager import *
- from nodelist import *
-
- # Open the test nodelist contained into test_config folder
- manager = NodeManager()
- nodelist = NodeList(manager)
- result = nodelist.LoadProject("test_config")
-
- # List of locations, we try to map for test
- locations = [{"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24576_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24576,1)},
- {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_2","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,2)},
- {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_3","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,3)},
- {"IEC_TYPE":"INT","NAME":"__QW0_1_64_25617_2","DIR":"Q","SIZE":"W","LOC":(0,1,64,25617,1)},
- {"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24578_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24578,1)},
- {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_1","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,1)},
- {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_2","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,2)},
- {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_3","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,3)},
- {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_4","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,4)},
- {"IEC_TYPE":"UDINT","NAME":"__ID0_1_4096_0","DIR":"I","SIZE":"D","LOC":(0,1,4096,0)}]
-
- # Generate MasterNode configuration
- try:
- masternode, pointedvariables = GenerateConciseDCF(locations, (0, 1), nodelist, True, "TestNode")
- except ValueError, message:
- print "%s\nTest Failed!"%message
- sys.exit()
-
- import pprint
- # Get Text corresponding to MasterNode
- result_node = masternode.PrintString()
- result_vars = pprint.pformat(pointedvariables)
- result = result_node + "\n********POINTERS*********\n" + result_vars + "\n"
-
- # If reset has been choosen
- if reset:
- # Write Text into reference result file
- testfile = open("test_config/result.txt", "w")
- testfile.write(result)
- testfile.close()
-
- print "Reset Successful!"
- else:
- import os
-
- testfile = open("test_config/result_tmp.txt", "w")
- testfile.write(result)
- testfile.close()
-
- os.system("diff test_config/result.txt test_config/result_tmp.txt")
- os.remove("test_config/result_tmp.txt")