--- a/etherlab/EthercatCFileGenerator.py Wed Nov 13 11:21:04 2019 +0100
+++ b/etherlab/EthercatCFileGenerator.py Mon Nov 25 08:10:45 2019 +0100
@@ -70,6 +70,37 @@
}
"""
+SLAVE_OUTPUT_PDO_DEFAULT_VALUE_BIT = """
+ {
+ uint8_t value[%(data_size)d];
+ if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
+ SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);
+ goto ecat_failed;
+ }
+ %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value, %(subindex)d);
+ }
+"""
+
+
+SLAVE_INPUT_PDO_DEFAULT_VALUE = """
+ {
+ uint8_t value[%(data_size)d];
+ if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
+ SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for input PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);
+ goto ecat_failed;
+ }
+ %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);
+ }
+"""
+
+DC_VARIABLE ="""
+#define DC_ENABLE %(dc_flag)d
+"""
+
+CONFIG_DC = """
+ ecrt_slave_config_dc (slave%(slave)d, 0x0%(assign_activate)ld, %(sync0_cycle_time)d, %(sync0_shift_time)d, %(sync1_cycle_time)d, %(sync1_shift_time)d);
+"""
+
def ConfigureVariable(entry_infos, str_completion):
entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)
@@ -192,10 +223,15 @@
"pdos_configuration_declaration": "",
"slaves_declaration": "",
"slaves_configuration": "",
+ # add jblee
+ "slaves_input_pdos_default_values_extraction": "",
"slaves_output_pdos_default_values_extraction": "",
"slaves_initialization": "",
"retrieve_variables": [],
"publish_variables": [],
+ #-----------This Code templete for dc -------------------#
+ "dc_variable" : "",
+ "config_dc": ""
}
# Initialize variable storing variable mapping state
@@ -208,6 +244,9 @@
# Initialize dictionary storing alias auto-increment position values
alias = {}
+ # add jblee
+ slotNumber = 1
+
# Generating code for each slave
for (slave_idx, slave_alias, slave) in self.Slaves:
type_infos = slave.getType()
@@ -244,11 +283,14 @@
# If device support CanOpen over Ethernet, adding code for calling
# init commands when initializing slave in master code template strings
initCmds = []
+
for initCmd in device_coe.getInitCmd():
initCmds.append({
"Index": ExtractHexDecValue(initCmd.getIndex()),
"Subindex": ExtractHexDecValue(initCmd.getSubIndex()),
- "Value": initCmd.getData().getcontent()})
+ #"Value": initCmd.getData().getcontent()})
+ "Value": int(initCmd.getData().text, 16)})
+
initCmds.extend(slave.getStartupCommands())
for initCmd in initCmds:
index = initCmd["Index"]
@@ -314,12 +356,106 @@
pdos_index = []
exclusive_pdos = {}
selected_pdos = []
- for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
- [(pdo, "Outputs") for pdo in device.getRxPdo()]):
-
+
+ # add jblee
+ TxPdoData = []
+ RxPdoData = []
+ PdoData = []
+
+ # add jblee
+ if len(device.getTxPdo() + device.getRxPdo()) > 0:
+ for pdo in device.getTxPdo():
+ PdoData.append((pdo, "Inputs"))
+ for pdo in device.getRxPdo():
+ PdoData.append((pdo, "Outputs"))
+
+ # mod jblee
+ #for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
+ # [(pdo, "Outputs") for pdo in device.getRxPdo()]):
+ #for pdo, pdo_type in (TxPdoData + RxPdoData):
+ data_files = os.listdir(self.Controler.CTNPath())
+ PDODataList = []
+ MDPData = []
+ RxPDOData = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getRxPDO()
+ TxPDOData = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getTxPDO()
+ PDOList = RxPDOData.split() + TxPDOData.split()
+ for PDOIndex in PDOList:
+ if PDOIndex in ["RxPDO", "TxPDO", "None"]:
+ continue
+ PDODataList.append(int(PDOIndex, 0))
+
+ # add jblee for DC Configuration
+ dc_enable = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Enable()
+ sync0_cycle_time = 0
+ sync0_shift_time = 0
+ sync1_cycle_time = 0
+ sync1_shift_time = 0
+ if dc_enable :
+ sync0_cycle_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync0_Cycle_Time()
+ if sync0_cycle_token != "None":
+ sync0_cycle_time = int(sync0_cycle_token.split("_")[1]) * 1000
+ sync0_shift_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync0_Shift_Time()
+ if sync0_shift_token != "None":
+ sync0_shift_time = int(sync0_shift_token) * 1000
+ sync1_cycle_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync1_Cycle_Time()
+ if sync1_cycle_token != "None":
+ sync1_cycle_time = int(sync1_cycle_token.split("_")[1]) * 1000
+ sync1_shift_token = self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Sync1_Shift_Time()
+ if sync1_shift_token != "None":
+ sync1_shift_time = int(sync1_shift_token) * 1000
+
+ dc_config_data = {
+ "slave" : slave_idx,
+ "assign_activate" : int(self.Controler.GetChildByIECLocation((slave_idx,)).BaseParams.getDC_Assign_Activate()),
+ "sync0_cycle_time" : sync0_cycle_time,
+ "sync0_shift_time" : sync0_shift_time,
+ "sync1_cycle_time" : sync1_cycle_time,
+ "sync1_shift_time" : sync1_shift_time,
+ }
+
+ if dc_enable and not str_completion["dc_variable"] :
+ str_completion["dc_variable"] += DC_VARIABLE % {"dc_flag" : dc_enable}
+ str_completion["config_dc"] += CONFIG_DC % dc_config_data
+
+ for data_file in data_files:
+ slave_path = os.path.join(self.Controler.CTNPath(), data_file)
+ if os.path.isdir(slave_path):
+ CheckConfNodePath = os.path.join(slave_path, "baseconfnode.xml")
+ confNodeFile = open(CheckConfNodePath, 'r')
+ checklines = confNodeFile.readlines()
+ confNodeFile.close()
+ # checklines(ex) : <BaseParams xmlns:xsd="http://www.w3.org/2001/XMLSchema" IEC_Channel="0" Name="EthercatSlave_0"/>
+ # checklines[1].split() : [<BaseParams, xmlns:xsd="http://www.w3.org/2001/XMLSchema",
+ # IEC_Channel="0", Name="EthercatSlave_0"/>]
+ # checklines[1].split()[2] : IEC_Channel="0"
+ # checklines[1].split()[2].split("\"") = [IEC_Channel=, 0, ]
+ pos_check = int(checklines[1].split()[2].split("\"")[1])
+ if slave_idx == pos_check:
+ MDPDataFilePath = os.path.join(slave_path, "DataForMDP.txt")
+ if os.path.isfile(MDPDataFilePath):
+ MDPDataFile = open(MDPDataFilePath, 'r')
+ MDPData = MDPDataFile.readlines()
+ MDPDataFile.close()
+
+ for MDPLine in MDPData:
+ if MDPLine == "\n":
+ continue
+ module_pos = int(MDPLine.split()[-1])
+ module = self.Controler.CTNParent.GetSelectModule(module_pos)
+ for pdo in module.getTxPdo():
+ PdoData.append((pdo, "Inputs"))
+ PDODataList.append(ExtractHexDecValue(pdo.getIndex().getcontent()))
+ for pdo in module.getRxPdo():
+ PdoData.append((pdo, "Outputs"))
+ PDODataList.append(ExtractHexDecValue(pdo.getIndex().getcontent()))
+
+ for pdo, pdo_type in PdoData:
pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
pdos_index.append(pdo_index)
+ if PDODataList and (pdo_index in PDODataList):
+ continue
+
excluded_list = pdo.getExclude()
if len(excluded_list) > 0:
exclusion_list = [pdo_index]
@@ -330,12 +466,14 @@
exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])
entries = pdo.getEntry()
+
pdo_mapping_match = {
"index": pdo_index,
"matching": 0,
"count": len(entries),
"assigned": pdo.getSm() is not None
}
+
exclusion_scope.append(pdo_mapping_match)
for entry in entries:
@@ -364,30 +502,57 @@
for pdo in exclusion_scope[start_excluding_index:]
if PdoAssign or not pdo["assigned"]])
- for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
- [(pdo, "Outputs") for pdo in device.getRxPdo()]):
- entries = pdo.getEntry()
-
+ # mod jblee
+ #for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
+ # [(pdo, "Outputs") for pdo in device.getRxPdo()]):
+ #for pdo, pdo_type in (TxPdoData + RxPdoData):
+ entry_check_list = []
+ index_padding = 1
+ for pdo, pdo_type in PdoData:
+ entries = pdo.getEntry()
+
pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
if pdo_index in excluded_pdos:
continue
-
- pdo_needed = pdo_index in selected_pdos
-
- entries_infos = []
-
+ if PDODataList and (pdo_index not in PDODataList):
+ continue
+
+ #pdo_needed = pdo_index in selected_pdos
+ pdo_needed = pdo_index in PDODataList
+
+ if len(MDPData) > 0:
+ pdo_index += index_padding
+ index_padding += 1
+
+ entries_infos = []
for entry in entries:
index = ExtractHexDecValue(entry.getIndex().getcontent())
subindex = ExtractHexDecValue(entry.getSubIndex())
+
+ # add jblee
+ if len(MDPData) > 0:
+ increse = self.Controler.CTNParent.GetMDPInfos(type_infos)
+ if increse and index != 0:
+ index += int(increse[0][2]) * slotNumber
+
entry_infos = {
"index": index,
"subindex": subindex,
"name": ExtractName(entry.getName()),
"bitlen": entry.getBitLen(),
}
+
+ entry_infos.update(type_infos)
+ #temp_data = " {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos
+ check_data = "{0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}" % entry_infos
+ if entry_check_list and check_data in entry_check_list:
+ if (entry_infos["index"] == 0) or (entry_infos["name"] == None):
+ pass
+ else:
entry_infos.update(type_infos)
entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
-
+ entry_check_list.append(check_data)
+
entry_declaration = slave_variables.get((index, subindex), None)
if entry_declaration is not None and not entry_declaration["mapped"]:
pdo_needed = True
@@ -421,9 +586,26 @@
ConfigureVariable(entry_infos, str_completion)
- str_completion["slaves_output_pdos_default_values_extraction"] += \
- SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
-
+ if entry_infos["data_type"] == "BIT" :
+ str_completion["slaves_output_pdos_default_values_extraction"] += \
+ SLAVE_OUTPUT_PDO_DEFAULT_VALUE_BIT % entry_infos
+ else :
+ str_completion["slaves_output_pdos_default_values_extraction"] += \
+ SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
+
+ elif pdo_type == "Inputs" and entry.getDataType() is not None and device_coe is not None:
+ data_type = entry.getDataType().getcontent()
+ entry_infos["dir"] = "I"
+ entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
+ entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
+ entry_infos["var_type"] = data_type
+ entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
+
+ ConfigureVariable(entry_infos, str_completion)
+
+ str_completion["slaves_input_pdos_default_values_extraction"] += \
+ SLAVE_INPUT_PDO_DEFAULT_VALUE % entry_infos
+
if pdo_needed:
for excluded in pdo.getExclude():
excluded_index = ExtractHexDecValue(excluded.getcontent())
@@ -448,6 +630,9 @@
"entries_number": len(entries_infos),
"fixed": pdo.getFixed() is True})
+ # for MDP
+ slotNumber += 1
+
if PdoConfig and PdoAssign:
dynamic_pdos = {}
dynamic_pdos_number = 0
@@ -541,8 +726,8 @@
pdo_offset = 0
entry_offset = 0
+ slotNumber = 1
for sync_manager_infos in sync_managers:
-
for pdo_infos in sync_manager_infos["pdos"]:
pdo_infos["offset"] = entry_offset
pdo_entries = pdo_infos["entries"]
@@ -564,17 +749,17 @@
pdos_infos[element] = "\n".join(pdos_infos[element])
str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos
-
- for (index, subindex), entry_declaration in slave_variables.iteritems():
- if not entry_declaration["mapped"]:
- message = _("Entry index 0x{a1:.4x}, subindex 0x{a2:.2x} not mapped for device {a3}").\
- format(a1=index, a2=subindex, a3=type_infos["device_type"])
- self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
-
- for element in ["used_pdo_entry_offset_variables_declaration",
- "used_pdo_entry_configuration",
- "located_variables_declaration",
- "retrieve_variables",
+
+ #for (index, subindex), entry_declaration in slave_variables.iteritems():
+ # if not entry_declaration["mapped"]:
+ # message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \
+ # (index, subindex, type_infos["device_type"])
+ # self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
+
+ for element in ["used_pdo_entry_offset_variables_declaration",
+ "used_pdo_entry_configuration",
+ "located_variables_declaration",
+ "retrieve_variables",
"publish_variables"]:
str_completion[element] = "\n".join(str_completion[element])