--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/plugins/canfestival/config_utils.py Mon Oct 01 21:52:41 2007 +0200
@@ -0,0 +1,683 @@
+#!/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}
+
+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):
+ """
+ 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
+ """
+
+ typeinfos = node.GetEntryInfos(loc_infos["type"])
+ model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]
+
+ 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 == 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(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, 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)
+ self.SlavesPdoNumber = {}
+ # Dictionary of mapping value where unexpected variables are stored
+ self.TrashVariables = {}
+
+ self.NodeList = nodelist
+ self.Manager = self.NodeList.Manager
+ self.MasterNode = self.Manager.GetCurrentNodeCopy()
+ self.MasterNode.SetNodeName(nodename)
+ self.PrepareMasterNode()
+
+
+ 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)
+
+ # Store the number of TPDO and RPDO for this node
+ self.SlavesPdoNumber[nodeid] = {RPDO : RPDOnumber, TPDO : TPDOnumber}
+
+ # 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 GetNewCobID(self, nodeid, type):
+ """
+ Select a COB ID from the list of those available
+ @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
+ """
+ # Verify that there is still some cobid available
+ if len(self.ListCobIDAvailable) == 0:
+ return None
+
+ # Get the number of PDO of the type given for the node
+ nbSlavePDO = self.SlavesPdoNumber[nodeid][type]
+ if type == RPDO:
+ if nbSlavePDO < 4:
+ # For the four first RPDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid
+ newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)
+ # Return calculated cobid if it's still available
+ if newcobid in self.ListCobIDAvailable:
+ self.ListCobIDAvailable.remove(newcobid)
+ return newcobid, 0x1400 + nbSlavePDO
+ # Return the first cobid available if no cobid found
+ return self.ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO
+
+ elif type == TPDO:
+ if nbSlavePDO < 4:
+ # For the four first TPDO -> cobid = 0x180 + ( numPdo parameters * 0x100) + nodeid
+ newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)
+ # Return calculated cobid if it's still available
+ if newcobid in self.ListCobIDAvailable:
+ self.ListCobIDAvailable.remove(newcobid)
+ return newcobid, 0x1800 + nbSlavePDO
+ # Return the first cobid available if no cobid found
+ 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
+ @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 ValueError, "Conflict type 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 (3, 4):
+ raise ValueError, "Bad location size : %s"%str(loc)
+
+ 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 ValueError, "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 ValueError, "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[4]
+ elif sizelocation != "X" and len(loc) > 3:
+ raise ValueError, "Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)
+ else:
+ numbit = None
+
+ entryinfos = node.GetSubentryInfos(index, subindex)
+ if entryinfos["type"] != COlocationtype:
+ raise ValueError, "Invalid type \"%s\"-> %d != %d for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, entryinfos["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 ValueError, "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)
+
+ # 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)
+
+ # 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)
+ 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:
+ # 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 = 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):
+ pdosize = 0
+ pdomapping = []
+ for name, loc_infos in locations[pdotype]:
+ pdosize += loc_infos["size"]
+ # If pdo's size > 64 bits
+ if pdosize > 64:
+ # 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:
+ # 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
+ #-------------------------------------------------------------------------------
+
+ # 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:
+ 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 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"]
+
+ # 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:
+ # 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)
+
+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)
+ return dcfgenerator.GetMasterNode()
+
+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)}]
+
+ # Generate MasterNode configuration
+ try:
+ masternode = GenerateConciseDCF(locations, (0, 1), nodelist, True)
+ except ValueError, message:
+ print "%s\nTest Failed!"%message
+ sys.exit()
+
+ # Get Text corresponding to MasterNode
+ result = masternode.PrintString()
+
+ # If reset has been choosen
+ if reset:
+ # Write Text into reference result file
+ file = open("test_config/result.txt", "w")
+ file.write(result)
+ file.close()
+
+ print "Reset Successful!"
+ else:
+ # Test each line of the result with the reference result
+ test = [line.rstrip() for line in result.splitlines()]
+
+ file = open("test_config/result.txt", "r")
+ model = [line.rstrip() for line in file.readlines() if line.rstrip()]
+ file.close()
+
+ errors = 0
+ for i, line in enumerate(model):
+ if i >= len(test):
+ errors += 1
+ print "Line %d disappear :\n%s\n"%(i + 1, line)
+ elif line != test[i]:
+ errors += 1
+ print "Error on line %d :\n%s\nInstead of :\n%s\n"%(i + 1, test[i], line)
+ for i in xrange(len(model), len(test)):
+ errors += 1
+ print "Line %d appear :\n%s\n"%(i + 1, test[i])
+
+ if errors > 0:
+ print "%d errors found.\nTest Failed!"%errors
+ else:
+ print "Test Successful!"