#!/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 program 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
# of the License, or (at your option) any later version.
#
# This program 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 program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
from __future__ import print_function
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}
PDOTypeBaseIndex = {RPDO: 0x1400, TPDO: 0x1800}
PDOTypeBaseCobId = {RPDO: 0x200, TPDO: 0x180}
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)]
# -------------------------------------------------------------------------------
# Specific exception for PDO mapping errors
# -------------------------------------------------------------------------------
class PDOmappingException(Exception):
pass
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
"""
model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8)
for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]):
values = node.GetEntry(PDOidx)
if values is not None:
for subindex, mapping in enumerate(values):
if subindex != 0 and mapping & 0xFFFFFF00 == 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
"""
dcfdata = []
# Create entry for RPDO or TPDO parameters and Disable PDO
# ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------
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
dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)]
if len(pdomapping) > 0:
# Disable Mapping
dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(0x00, 1)]
# 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)]
# Re-enable Mapping
dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1)]
# Re-Enable PDO
dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(cobid, 4)]
return "".join(dcfdata), len(dcfdata)
class ConciseDCFGenerator(object):
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)
# Dictionary of mapping value where unexpected variables are stored
self.TrashVariables = {}
# Dictionary of pointed variables
self.PointedVariables = {}
self.NodeList = nodelist
self.Manager = self.NodeList.Manager
self.MasterNode = self.Manager.GetCurrentNodeCopy()
self.MasterNode.SetNodeName(nodename)
self.PrepareMasterNode()
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)
# 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)
# 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 AddParamsToDCF(self, nodeid, data, nbparams):
"""
Add entry to DCF, for the requested nodeID
@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 is not 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
@param node: the slave node object
@param pdotype: type of PDO to generated (RPDO or TPDO)
@param start_index: Index where search must start (default: None)
@return tuple of PDO index, COB ID and number of subindex defined
"""
# If no start_index defined, start with PDOtype base index
if start_index is None:
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:
values = self.NodeList.GetSlaveNodeEntry(nodeid, index + 0x200)
if values is not None and values[0] > 0:
# Check that all subindex upper than 0 equal 0 => configurable PDO
if reduce(lambda x, y: x and y, map(lambda x: x == 0, values[1:]), True):
cobid = self.NodeList.GetSlaveNodeEntry(nodeid, index, 1)
# If no COB ID defined in PDO, generate a new one (not used)
if cobid == 0:
if len(self.ListCobIDAvailable) == 0:
return None
# Calculate COB ID from standard values
if index < PDOTypeBaseIndex[pdotype] + 4:
cobid = PDOTypeBaseCobId[pdotype] + 0x100 * (index - PDOTypeBaseIndex[pdotype]) + nodeid
if cobid not in self.ListCobIDAvailable:
cobid = self.ListCobIDAvailable.pop(0)
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
@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
"""
# Add an entry to MasterMapping
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
@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 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):]
# loc correspond to (ID, INDEX, SUBINDEX [,BIT])
if len(loc) not in (2, 3, 4):
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:
numbit = loc[3]
elif sizelocation != "X" and len(loc) > 3:
raise PDOmappingException(
_("Cannot set bit offset for non bool '{a1}' variable (ID:{a2},Idx:{a3},sIdx:{a4}))").
format(a1=name, a2=nodeid, a3="%x" % index, a4="%x" % subindex))
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,
"bit": numbit,
"size": typeinfos["size"],
"sizelocation": sizelocation
}
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 is not 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
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)
mapping = [None]
values = node.GetEntry(index)
# Store the size of each entry mapped in PDO
for value in values[1:]:
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):
self.MasterMapping[cobid]["mapping"][subindex] = [1] * self.MasterMapping[cobid]["mapping"][subindex]
if locationinfos["bit"] < len(self.MasterMapping[cobid]["mapping"][subindex]):
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:
pdosize = 0
pdomapping = []
result = self.GetEmptyPDO(nodeid, pdotype)
if result is None:
raise PDOmappingException(
_("Unable to define PDO mapping for node %02x") % nodeid)
pdoindex, pdocobid, pdonbparams = result
for name, loc_infos in locations[pdotype]:
pdosize += loc_infos["size"]
# If pdo's size > 64 bits
if pdosize > 64 or len(pdomapping) >= pdonbparams:
# Generate a new PDO Mapping
data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)
dataparams += data
nbparams += nbaddedparams
pdosize = loc_infos["size"]
pdomapping = [(name, loc_infos)]
result = self.GetEmptyPDO(nodeid, pdotype, pdoindex + 1)
if result is None:
raise PDOmappingException(
_("Unable to define PDO mapping for node %02x") % nodeid)
pdoindex, pdocobid, pdonbparams = result
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, 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
while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
# Entry doesn't exist
if not self.MasterNode.IsEntry(mapvariableidx):
# Add entry to MasterNode
self.Manager.AddMapVariableToCurrent(mapvariableidx, "beremiz"+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"] is not 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 is not 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)
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)
masternode, pointers = dcfgenerator.GetMasterNode(), dcfgenerator.GetPointedVariables()
# allow access to local OD from Master PLC
pointers.update(LocalODPointers(locations, current_location, masternode))
return masternode, pointers
def LocalODPointers(locations, current_location, slave):
IECLocations = {}
pointers = {}
for location in locations:
COlocationtype = IECToCOType[location["IEC_TYPE"]]
name = location["NAME"]
if name in IECLocations:
if IECLocations[name] != COlocationtype:
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):]
# loc correspond to (ID, INDEX, SUBINDEX [,BIT])
if len(loc) not in (2, 3, 4):
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)
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
import sys
import 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)},
{"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
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")