--- a/plugins/canfestival/config_utils.py Tue Sep 11 17:29:27 2007 +0200
+++ b/plugins/canfestival/config_utils.py Wed Sep 12 17:16:27 2007 +0200
@@ -25,22 +25,24 @@
from types import *
# Translation between IEC types and Can Open types
-DicoTypes = {"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}
-
-DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)}
+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}
-GenerateMasterMapping = lambda x:[None] + [(loc_infos["type"], name) for name, loc_infos in x]
-
-TrashVariableSizes = {1 : 0x01, 8 : 0x05, 16 : 0x06, 32 : 0x07, 64 : 0x1B}
+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)]
def LE_to_BE(value, size):
"""
@@ -55,6 +57,7 @@
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
@@ -74,6 +77,7 @@
else:
return indexes
+
def SearchNodePDOMapping(loc_infos, node):
"""
Find the PDO indexes of a node
@@ -94,26 +98,53 @@
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(0x00000000 + cobid, 4)
+ nbparams = 3
+ # 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):
# Dictionary of location informations classed by name
- self.DictLocations = {}
+ self.IECLocations = {}
+ # Dictionary of location that have not been mapped yet
+ self.LocationsNotMapped = {}
# Dictionary of location informations classed by name
- self.DictCobID = {}
- # Dictionary of location that have not been mapped yet
- self.DictLocationsNotMapped = {}
+ self.MasterMapping = {}
# List of COB IDs available
self.ListCobIDAvailable = range(0x180, 0x580)
self.SlavesPdoNumber = {}
# Dictionary of mapping value where unexpected variables are stored
- TrashVariableValue = {}
+ self.TrashVariables = {}
self.NodeList = nodelist
self.Manager = self.NodeList.Manager
self.MasterNode = self.Manager.GetCurrentNodeCopy()
self.PrepareMasterNode()
+
def RemoveUsedNodeCobId(self, node):
"""
Remove all PDO COB ID used by the given node from the list of available COB ID
@@ -137,6 +168,7 @@
return len(nodeRpdoIndexes), len(nodeTpdoIndexes)
+
def PrepareMasterNode(self):
"""
Add mandatory entries for DCF generation into MasterNode.
@@ -145,18 +177,18 @@
# Adding DCF entry into Master node
if not self.MasterNode.IsEntry(0x1F22):
self.MasterNode.AddEntry(0x1F22, 1, "")
- self.Manager.AddSubentriesToCurrent(0x1F22, 127, masternode)
+ self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode)
# Adding trash mappable variables for unused mapped datas
- idxTrashVariables = 0x2000 + masternode.GetNodeID()
+ idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID()
# Add an entry for storing unexpected all variable
- self.Manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes), self.MasterNode)
- for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()):
+ self.Manager.AddMapVariableToCurrent(idxTrashVariables, "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.TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
+ self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode)
@@ -164,7 +196,7 @@
self.CurrentPDOParamsIdx = {RPDO : 0x1400 + RPDOnumber, TPDO : 0x1800 + TPDOnumber}
# Prepare MasterNode with all nodelist slaves
- for nodeid, nodeinfos in self.NodeList.SlaveNodes.items():
+ for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()):
node = nodeinfos["Node"]
node.SetNodeID(nodeid)
@@ -182,41 +214,23 @@
TSDO_cobid = 0x580 + nodeid
# Configure Master's SDO parameters entries
- self.Manager.ManageEntriesOfCurrent([0x1280 + nodeid], [], self.MasterNode)
- self.MasterNode.SetEntry(0x1280 + nodeid, 0x01, RSDO_cobid)
- self.MasterNode.SetEntry(0x1280 + nodeid, 0x02, TSDO_cobid)
- self.MasterNode.SetEntry(0x1280 + nodeid, 0x03, nodeid)
-
+ 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
- # Build concise DCF
- def GenerateMappingDCF(cobid, idx, pdomapping, mapped):
-
- # 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(DefaultTransmitTypeSlave, 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(0x00000000 + cobid, 4)
- nbparams = 3
- if mapped == False and pdomapping != None:
- # 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
-
- # Return a cobid not used
+
def GetNewCobID(self, nodeid, type):
"""
Select a COB ID from the list of those available
- @param nodeid: id of the slave node
+ @param nodeid: id of the slave (int)
@param type: type of PDO (RPDO or TPDO)
@return: a tuple of the COD ID and PDO index or None
"""
@@ -249,7 +263,56 @@
return self.ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO
return None
-
+
+
+ def AddParamsToDCF(self, nodeid, data, nbparams):
+ """
+ Select a COB ID from the list of those available
+ @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 AddPDOMapping(self, nodeid, pdotype, pdomapping, sync_TPDOs):
+ """
+ Select a COB ID from the list of those available
+ @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
+ """
+ # Get a new cob id
+ result = self.GetNewCobID(nodeid, pdotype)
+ if result:
+ new_cobid, new_idx = result
+
+ # Increment the number of PDO of this type for node
+ self.SlavesPdoNumber[nodeid][pdotype] += 1
+
+ # Add an entry to MasterMapping
+ self.MasterMapping[new_cobid] = {"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(new_idx, new_cobid, 0x01, pdomapping)
+ else:
+ return GeneratePDOMappingDCF(new_idx, new_cobid, 0xFF, pdomapping)
+ return 0, ""
+
def GenerateDCF(self, locations, current_location, sync_TPDOs):
"""
Generate Concise DCF of MasterNode for the locations list given
@@ -258,12 +321,12 @@
@param sync_TPDOs: indicate if TPDO must be synchronous
"""
- # Get list of locations check if exists and mappables -> put them in DictLocations
+ # Get list of locations check if exists and mappables -> put them in IECLocations
for location in locations:
- COlocationtype = DicoTypes[location["IEC_TYPE"]]
+ COlocationtype = IECToCOType[location["IEC_TYPE"]]
name = location["NAME"]
- if name in DictLocations:
- if DictLocations[name]["type"] != COlocationtype:
+ if name in self.IECLocations:
+ if self.IECLocations[name]["type"] != COlocationtype:
raise ValueError, "Conflict type for location \"%s\"" % name
else:
# Get only the part of the location that concern this node
@@ -280,11 +343,11 @@
nodeid, index, subindex = loc[:3]
# Check Id is in slave node list
- if nodeid not in nodelist.SlaveNodes.keys():
+ if nodeid not in self.NodeList.SlaveNodes.keys():
raise ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,name)
# Get the model for this node (made from EDS)
- node = nodelist.SlaveNodes[nodeid]["Node"]
+ node = self.NodeList.SlaveNodes[nodeid]["Node"]
# Extract and check index and subindex
if not node.IsEntry(index, subindex):
@@ -307,72 +370,69 @@
raise ValueError, "Invalid type \"%s\"-> %d != %d for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, entryinfos["type"] , name)
typeinfos = node.GetEntryInfos(COlocationtype)
- DictLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],
- "nodeid": nodeid, "index": index,"subindex": subindex,
- "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation}
+ self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],
+ "nodeid": nodeid, "index": index,"subindex": subindex,
+ "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation}
else:
raise ValueError, "Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)
-
- # Create DictCobID with variables already mapped and add them in DictValidLocations
- for name, locationinfos in DictLocations.items():
+
+ #-------------------------------------------------------------------------------
+ # 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
- cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
-
- transmittype = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)
-
- if transmittype != sync_TPDOs:
- if sync_TPDOs : # Change TransmitType to ASYCHRONE
- node = nodelist.SlaveNodes[nodeid]["Node"]
- nodeDCF = masternode.GetEntry(0x1F22, nodeid)
-
- 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)
- dataparams = nodeDCF[4:]
- else:
- nbparams = 0
- dataparams = ""
+ # Get COB ID of the PDO
+ cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
+
+ # 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, [])
- else: # Change TransmitType to SYNCHRONE
- pass
-
-
- if cobid not in DictCobID.keys():
+ # Add entry to slave dcf to change transmit type of
+ self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams)
+
+ # Add PDO to MasterMapping
+ if cobid not in self.MasterMapping.keys():
mapping = [None]
values = node.GetEntry(index)
+ # Store the size of each entry mapped in PDO
for value in values[1:]:
mapping.append(value % 0x100)
- DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
-
- DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name)
+ self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
+
+ # Indicate that this PDO entry must be saved
+ self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name)
else:
- if locationinfos["nodeid"] not in DictLocationsNotMapped.keys():
- DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
- DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
+ # 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 DictLocationsNotMapped.items():
- # Get current concise DCF
+ for nodeid, locations in self.LocationsNotMapped.items():
node = nodelist.SlaveNodes[nodeid]["Node"]
- nodeDCF = masternode.GetEntry(0x1F22, nodeid)
-
- 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)
- dataparams = nodeDCF[4:]
- else:
- nbparams = 0
- dataparams = ""
-
+
+ # 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):
pdosize = 0
pdomapping = []
@@ -380,103 +440,117 @@
pdosize += loc_infos["size"]
# If pdo's size > 64 bits
if pdosize > 64:
- result = GetNewCobID(nodeid, pdotype)
- if result:
- SlavesPdoNumber[nodeid][pdotype] += 1
- new_cobid, new_idx = result
- data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
- dataparams += data
- nbparams += nbaddedparams
- DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
+ # Generate a new PDO Mapping
+ data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs)
+ dataparams += data
+ nbparams += nbaddedparams
pdosize = loc_infos["size"]
pdomapping = [(name, loc_infos)]
else:
pdomapping.append((name, loc_infos))
+ # If there isn't locations yet but there is still a PDO to generate
if len(pdomapping) > 0:
- result = GetNewCobID(nodeid, pdotype)
- if result:
- SlavesPdoNumber[nodeid][pdotype] += 1
- new_cobid, new_idx = result
- data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
- dataparams += data
- nbparams += nbaddedparams
- DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
-
- dcf = LE_to_BE(nbparams, 0x04) + dataparams
- masternode.SetEntry(0x1F22, nodeid, dcf)
-
-
+ # Generate a new PDO Mapping
+ data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs)
+ dataparams += data
+ nbparams += nbaddedparams
+
+ # Add number of params and data to node DCF
+ self.AddParamsToDCF(nodeid, dataparams, nbparams)
+
#-------------------------------------------------------------------------------
# Master Node Configuration
#-------------------------------------------------------------------------------
-
-
- # Configure Master's PDO parameters entries and set cobid, transmit type
- for cobid, pdo_infos in DictCobID.items():
- current_idx = CurrentPDOParamsIdx[pdo_infos["type"]]
- addinglist = [current_idx, current_idx + 0x200]
- manager.ManageEntriesOfCurrent(addinglist, [], masternode)
- masternode.SetEntry(current_idx, 0x01, cobid)
- masternode.SetEntry(current_idx, 0x02, DefaultTransmitTypeMaster)
+ # 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)
+
+ # Add some subentries to PDO mapping if there is not enough
if len(pdo_infos["mapping"]) > 2:
- manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, masternode)
-
- # Create Master's PDO mapping
+ self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, self.MasterNode)
+
+ # Generate MasterNode's PDO mapping
for subindex, variable in enumerate(pdo_infos["mapping"]):
if subindex == 0:
continue
new_index = False
- if type(variable) != IntType:
+ if type(variable) == IntType:
+ # 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]
- typeidx, varname = variable
- indexname = \
- DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + \
- DictLocations[variable[1]]["sizelocation"] + \
- '_'.join(map(str,current_location)) + \
- "_" + \
- str(DictLocations[variable[1]]["nodeid"])
- mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] + DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]
-
- #indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["prefix"]) + "_" + str(DictLocations[variable[1]]["nodeid"])
- #mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] + DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]
+ # Calculate base index for storing variable
+ mapvariableidx = VariableStartIndex[variable_infos["pdotype"]] + \
+ VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \
+ variable_infos["nodeid"]
- if not masternode.IsEntry(mapvariableidx):
- manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
- new_index = True
- nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
- else:
- nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
- mapvariableidxbase = mapvariableidx
- while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF:
- mapvariableidx += 0x800
- if not manager.IsCurrentEntry(mapvariableidx):
- manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
- new_index = True
- nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
-
- if mapvariableidx < 0x6000:
- if DictLocations[variable[1]]["bit"] != None:
- subindexname = str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"])
+ # 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):
+ # Generate entry name
+ indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]],
+ variable_infos["sizelocation"],
+ '_'.join(map(str,current_location)),
+ variable_infos["nodeid"])
+ # Add entry to MasterNode
+ self.Manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, self.MasterNode)
+ new_index = True
+ nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
else:
- subindexname = str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"])
+ # 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:
- manager.AddSubentriesToCurrent(mapvariableidx, 1, masternode)
+ self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode)
nbsubentries += 1
- masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
- masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
+ # Add informations to the new subentry created
+ self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
+ self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
- # Map Variable
- typeinfos = manager.GetEntryInfos(typeidx)
+ # Set value of the PDO mapping
+ typeinfos = self.Manager.GetEntryInfos(typeidx)
if typeinfos != None:
value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
- masternode.SetEntry(current_idx + 0x200, subindex, value)
- else:
- masternode.SetEntry(current_idx + 0x200, subindex, TrashVariableValue[variable])
-
- CurrentPDOParamsIdx[pdo_infos["type"]] += 1
-
+ self.MasterNode.SetEntry(current_idx + 0x200, subindex, value)
def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs):
"""
@@ -496,31 +570,56 @@
dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs)
return dcfgenerator.GetMasterNode()
-if __name__ == "__main__":
+if __name__ == "__main__":
+ import os, sys
+
+ base_folder = sys.path[0]
+ for i in xrange(3):
+ base_folder = os.path.split(base_folder)[0]
+ sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen"))
+
from nodemanager import *
from nodelist import *
- import sys
-
- manager = NodeManager(sys.path[0])
+
+ manager = NodeManager()
nodelist = NodeList(manager)
- result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping")
-
-## if result != None:
-## print result
-## else:
-## print "MasterNode :"
-## manager.CurrentNode.Print()
-## for nodeid, node in nodelist.SlaveNodes.items():
-## print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)
-## node["Node"].Print()
-
- #filepath = "/home/deobox/beremiz/test_nodelist/listlocations.txt"
- filepath = "/home/deobox/Desktop/TestMapping/listlocations.txt"
-
- file = open(filepath,'r')
- locations = [location.split(' ') for location in [line.strip() for line in file.readlines() if len(line) > 0]]
+ result = nodelist.LoadProject("test_config")
+
+ 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)}]
+
+ masternode = GenerateConciseDCF(locations, (0, 1), nodelist, True)
+ #masternode.Print()
+ result = [line.rstrip() for line in masternode.PrintString().splitlines()]
+
+ file = open("test_config/result.txt", "r")
+ model = [line.rstrip() for line in file.readlines()]
file.close()
- GenerateConciseDCF(locations, 32, nodelist)
- print "MasterNode :"
- manager.CurrentNode.Print()
- #masternode.Print()
\ No newline at end of file
+
+ errors = 0
+ for i, line in enumerate(model):
+ if i >= len(result):
+ errors += 1
+ print "Line %d disappear :"%(i + 1)
+ print line
+ elif line != result[i]:
+ errors += 1
+ print "Error on line %d :"%(i + 1)
+ print "\t%s"%result[i]
+ print "Instead of :\n\t%s"%line
+ for i in xrange(len(model), len(result)):
+ errors += 1
+ print "Line %d appear :"%(i + 1)
+ print result[i]
+
+ if errors > 0:
+ print "Test Failed!"
+ else:
+ print "Test Successful!"
\ No newline at end of file