--- a/etherlab/etherlab.py Wed May 23 16:30:41 2012 +0200
+++ b/etherlab/etherlab.py Sun Jun 10 20:16:17 2012 +0200
@@ -159,7 +159,7 @@
NODE_VARIABLES = [
("ControlWord", 0x6040, 0x00, "UINT", "Q"),
("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
-# ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
+ ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
("StatusWord", 0x6041, 0x00, "UINT", "I"),
("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
("ActualPosition", 0x6064, 0x00, "DINT", "I"),
@@ -179,9 +179,36 @@
NODE_PROFILE = 402
EditorType = CIA402NodeEditor
+ ConfNodeMethods = [
+ {"bitmap" : "CIA402AxisRef",
+ "name" : _("Axis Ref"),
+ "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
+ "method" : "_getCIA402AxisRef"},
+ ]
+
def GetIconPath(self):
return os.path.join(CONFNODEFOLDER, "images", "CIA402Slave.png")
+ def GetDeviceLocationTree(self, slave_pos, current_location, device_name):
+ axis_name = self.CTNName()
+ vars = [{"name": "%s Axis Ref" % (axis_name),
+ "type": LOCATION_VAR_INPUT,
+ "size": "W",
+ "IEC_type": "AXIS_REF",
+ "var_name": axis_name,
+ "location": "%IW%s.0" % (".".join(map(str, current_location))),
+ "description": "",
+ "children": []}]
+ vars.extend(_EthercatSlaveCTN.GetDeviceLocationTree(self, slave_pos, current_location, device_name))
+ return vars
+
+ def _getCIA402AxisRef(self):
+ data = wx.TextDataObject(str(("%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
+ "location", "AXIS_REF", self.CTNName(), "")))
+ dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
+ dragSource.SetData(data)
+ dragSource.DoDragDrop()
+
def CTNGenerate_C(self, buildpath, locations):
"""
Generate C code
@@ -307,6 +334,7 @@
<xsd:complexType>
<xsd:attribute name="MasterNumber" type="xsd:integer" use="optional" default="0"/>
<xsd:attribute name="ConfigurePDOs" type="xsd:boolean" use="optional" default="true"/>
+ <xsd:attribute name="DynamicPDOs" type="xsd:boolean" use="optional" default="true"/>
</xsd:complexType>
</xsd:element>
</xsd:schema>
@@ -497,11 +525,10 @@
def GetDeviceLocationTree(self, slave_pos, current_location, device_name):
slave = self.GetSlave(slave_pos)
+ vars = []
if slave is not None:
type_infos = slave.getType()
- vars = []
-
device = self.GetModuleInfos(type_infos)
if device is not None:
sync_managers = []
@@ -965,85 +992,86 @@
"entries_number": len(entries_infos),
"fixed": pdo.getFixed() == True})
- dynamic_pdos = {}
- dynamic_pdos_number = 0
- for category, min_index, max_index in [("Inputs", 0x1600, 0x1800),
- ("Outputs", 0x1a00, 0x1C00)]:
- for sync_manager in sync_managers:
- if sync_manager["name"] == category:
- category_infos = dynamic_pdos.setdefault(category, {})
- category_infos["sync_manager"] = sync_manager
- category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"]
- if not pdo["fixed"] and pdo["type"] == category]
- category_infos["current_index"] = min_index
- category_infos["max_index"] = max_index
- break
-
- for (index, subindex), entry_declaration in slave_variables.iteritems():
+ if etherlab_node_infos.getDynamicPDOs():
+ dynamic_pdos = {}
+ dynamic_pdos_number = 0
+ for category, min_index, max_index in [("Inputs", 0x1600, 0x1800),
+ ("Outputs", 0x1a00, 0x1C00)]:
+ for sync_manager in sync_managers:
+ if sync_manager["name"] == category:
+ category_infos = dynamic_pdos.setdefault(category, {})
+ category_infos["sync_manager"] = sync_manager
+ category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"]
+ if not pdo["fixed"] and pdo["type"] == category]
+ category_infos["current_index"] = min_index
+ category_infos["max_index"] = max_index
+ break
- if not entry_declaration["mapped"]:
- entry = device_entries.get((index, subindex), None)
- if entry is None:
- raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
- (index, subindex, type_infos["device_type"])
+ for (index, subindex), entry_declaration in slave_variables.iteritems():
- entry_infos = {
- "index": index,
- "subindex": subindex,
- "name": entry["Name"],
- "bitlen": entry["BitSize"],
- }
- entry_infos.update(type_infos)
-
- entry_infos.update(dict(zip(["var_type", "dir", "var_name", "real_var"], entry_declaration["infos"])))
- entry_declaration["mapped"] = True
-
- if entry_infos["var_type"] != entry["Type"]:
- message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
- if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
- self.Controler.GetSizeOfType(entry["Type"])):
- raise ValueError, message
+ if not entry_declaration["mapped"]:
+ entry = device_entries.get((index, subindex), None)
+ if entry is None:
+ raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
+ (index, subindex, type_infos["device_type"])
+
+ entry_infos = {
+ "index": index,
+ "subindex": subindex,
+ "name": entry["Name"],
+ "bitlen": entry["BitSize"],
+ }
+ entry_infos.update(type_infos)
+
+ entry_infos.update(dict(zip(["var_type", "dir", "var_name", "real_var"], entry_declaration["infos"])))
+ entry_declaration["mapped"] = True
+
+ if entry_infos["var_type"] != entry["Type"]:
+ message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
+ if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
+ self.Controler.GetSizeOfType(entry["Type"])):
+ raise ValueError, message
+ else:
+ self.Controler.GetCTRoot().logger.write_warning(message + "\n")
+
+ if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
+ pdo_type = "Inputs"
+ elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
+ pdo_type = "Outputs"
else:
- self.Controler.GetCTRoot().logger.write_warning(message + "\n")
-
- if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
- pdo_type = "Inputs"
- elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
- pdo_type = "Outputs"
- else:
- raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
-
- if not dynamic_pdos.has_key(pdo_type):
- raise ValueError, _("No Sync manager defined for %s!") % pdo_type
-
- ConfigureVariable(entry_infos, str_completion)
-
- if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
- pdo = dynamic_pdos[pdo_type]["pdos"][0]
- else:
- while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
- dynamic_pdos[pdo_type]["current_index"] += 1
- if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:
- raise ValueError, _("No more free PDO index available for %s!") % pdo_type
- pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
+ raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
- dynamic_pdos_number += 1
- pdo = {"slave": slave_idx,
- "index": dynamic_pdos[pdo_type]["current_index"],
- "name": "Dynamic PDO %d" % dynamic_pdos_number,
- "type": pdo_type,
- "entries": [],
- "entries_number": 0,
- "fixed": False}
- dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
- dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
- dynamic_pdos[pdo_type]["pdos"].append(pdo)
-
- pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
- pdo["entries_number"] += 1
-
- if pdo["entries_number"] == 255:
- dynamic_pdos[pdo_type]["pdos"].pop(0)
+ if not dynamic_pdos.has_key(pdo_type):
+ raise ValueError, _("No Sync manager defined for %s!") % pdo_type
+
+ ConfigureVariable(entry_infos, str_completion)
+
+ if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
+ pdo = dynamic_pdos[pdo_type]["pdos"][0]
+ else:
+ while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
+ dynamic_pdos[pdo_type]["current_index"] += 1
+ if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:
+ raise ValueError, _("No more free PDO index available for %s!") % pdo_type
+ pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
+
+ dynamic_pdos_number += 1
+ pdo = {"slave": slave_idx,
+ "index": dynamic_pdos[pdo_type]["current_index"],
+ "name": "Dynamic PDO %d" % dynamic_pdos_number,
+ "type": pdo_type,
+ "entries": [],
+ "entries_number": 0,
+ "fixed": False}
+ dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
+ dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
+ dynamic_pdos[pdo_type]["pdos"].append(pdo)
+
+ pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
+ pdo["entries_number"] += 1
+
+ if pdo["entries_number"] == 255:
+ dynamic_pdos[pdo_type]["pdos"].pop(0)
pdo_offset = 0
entry_offset = 0