--- a/canfestival/config_utils.py Fri Aug 11 15:18:19 2017 +0300
+++ b/canfestival/config_utils.py Mon Aug 14 19:13:01 2017 +0300
@@ -30,7 +30,7 @@
"LREAL":0x11,"STRING":0x09,"BYTE":0x05,"WORD":0x06,"DWORD":0x07,
"LWORD":0x1B,"WSTRING":0x0B}
-# Constants for PDO types
+# Constants for PDO types
RPDO = 1
TPDO = 2
@@ -61,7 +61,7 @@
@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()
@@ -71,12 +71,12 @@
def GetNodePDOIndexes(node, type, parameters = False):
"""
Find the PDO indexes of a node
- @param node: 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])
@@ -91,14 +91,14 @@
def SearchNodePDOMapping(loc_infos, node):
"""
Find the PDO indexes of a node
- @param node: 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:
@@ -115,9 +115,9 @@
@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
- """
-
+ @return: a tuple of value and number of parameters to add to DCF
+ """
+
dcfdata=[]
# Create entry for RPDO or TPDO parameters and Disable PDO
# ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------
@@ -152,7 +152,7 @@
self.TrashVariables = {}
# Dictionary of pointed variables
self.PointedVariables = {}
-
+
self.NodeList = nodelist
self.Manager = self.NodeList.Manager
self.MasterNode = self.Manager.GetCurrentNodeCopy()
@@ -161,18 +161,18 @@
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)
@@ -182,20 +182,20 @@
# 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
@@ -206,9 +206,9 @@
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}
@@ -216,9 +216,9 @@
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:
@@ -226,20 +226,20 @@
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)
-
-
+ 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
@@ -249,19 +249,19 @@
"""
# 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
@@ -275,7 +275,7 @@
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:
@@ -296,7 +296,7 @@
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
@@ -305,16 +305,16 @@
@param pdomapping: list od variables to map with PDO
"""
# Add an entry to MasterMapping
- self.MasterMapping[pdocobid] = {"type" : InvertPDOType[pdotype],
+ 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
@@ -322,18 +322,18 @@
@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
+ 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):]
@@ -342,30 +342,30 @@
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 : {a1} (variable {a2})").format(a1 = nodeid, a2 = 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):
msg = _("No such index/subindex ({a1},{a2}) in ID : {a3} (variable {a4})").\
format(a1 = "%x" % index, a2 ="%x" % subindex, a3 = nodeid, a4 = name)
raise PDOmappingException, msg
-
+
# 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:
@@ -376,11 +376,11 @@
raise PDOmappingException, msg
else:
numbit = None
-
+
if location["IEC_TYPE"] != "BOOL" and subentry_infos["type"] != COlocationtype:
raise PDOmappingException, _("Invalid type \"{a1}\"-> {a2} != {a3} for location \"{a4}\"").\
format(a1 = location["IEC_TYPE"], a2 = COlocationtype, a3 = subentry_infos["type"] , a4 = name)
-
+
typeinfos = node.GetEntryInfos(COlocationtype)
self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],
"nodeid": nodeid, "index": index,"subindex": subindex,
@@ -388,21 +388,21 @@
else:
raise PDOmappingException, _("Not PDO mappable variable : '{a1}' (ID:{a2},Idx:{a3},sIdx:{a4}))").\
format(a1 = name, a2 = nodeid, a3 = "%x" % index, a4 = "%x" % 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
@@ -414,10 +414,10 @@
else:
# Change TransmitType to ASYCHRONE
data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, [])
-
- # Add entry to slave dcf to change transmit type of
+
+ # 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
@@ -425,7 +425,7 @@
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):
@@ -434,24 +434,24 @@
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:
@@ -483,78 +483,78 @@
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
+ 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):
+ if not self.MasterNode.IsEntry(mapvariableidx):
# Add entry to MasterNode
self.Manager.AddMapVariableToCurrent(mapvariableidx, "beremiz"+indexname, 3, 1, self.MasterNode)
new_index = True
@@ -567,7 +567,7 @@
mapvariableidx += 8 * VariableIncrement
else:
break
-
+
# Verify that a not full entry has been found
if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
# Generate subentry name
@@ -582,13 +582,13 @@
# 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)
@@ -605,7 +605,7 @@
@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()
@@ -621,7 +621,7 @@
name = location["NAME"]
if name in IECLocations:
if IECLocations[name] != COlocationtype:
- raise PDOmappingException, _("Type conflict for location \"%s\"") % name
+ 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):]
@@ -630,25 +630,25 @@
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 ({a1},{a2}) (variable {a3})").\
format(a1 = "%x" % index, a2 = "%x" % subindex, a3 = name)
-
+
# Get the entry info
- subentry_infos = slave.GetSubentryInfos(index, subindex)
+ subentry_infos = slave.GetSubentryInfos(index, subindex)
if subentry_infos["type"] != COlocationtype:
raise PDOmappingException, _("Invalid type \"{a1}\"-> {a2} != {a3} for location \"{a4}\"").\
format( a1 = location["IEC_TYPE"], a2 = COlocationtype, a3 = subentry_infos["type"] , a4 = name)
-
+
IECLocations[name] = COlocationtype
pointers[(index, subindex)] = name
return pointers
-
+
if __name__ == "__main__":
import os, sys, getopt
@@ -667,7 +667,7 @@
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
@@ -693,15 +693,15 @@
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)},
@@ -713,34 +713,34 @@
{"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
+ # 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")