#!/usr/bin/env python
# -*- coding: utf-8 -*-
#This file is part of CanFestival, a library implementing CanOpen Stack.
#
#Copyright (C): Edouard TISSERANT, Francis DUPIN 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 Lesser 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
#Lesser General Public License for more details.
#
#You should have received a copy of the GNU Lesser 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 *
DicoTypes = {"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":0x02,"WORD":0x03,"DWORD":0x04,
"LWORD":0x1B,"WSTRING":0x0B}
DictLocations = {}
DictCobID = {}
DictLocationsNotMapped = {}
ListCobIDAvailable = []
SlavesPdoNumber = {}
# Constants for PDO types
RPDO = 1
TPDO = 2
SlavePDOType = {"I" : TPDO, "Q" : RPDO}
InvertPDOType = {RPDO : TPDO, TPDO : RPDO}
DefaultTransmitTypeMaster = 0x01
GenerateMasterMapping = lambda x:[None] + [(loc_infos["type"], name) for name, loc_infos in x]
TrashVariableSizes = {1 : 0x01, 8 : 0x05, 16 : 0x06, 32 : 0x07, 64 : 0x1B}
def GetSlavePDOIndexes(slave, type, parameters = False):
indexes = []
if type & RPDO:
indexes.extend([idx for idx in slave.GetIndexes() if 0x1400 <= idx <= 0x15FF])
if type & TPDO:
indexes.extend([idx for idx in slave.GetIndexes() if 0x1800 <= idx <= 0x19FF])
if not parameters:
return [idx + 0x200 for idx in indexes]
else:
return indexes
def LE_to_BE(value, size): # Convert Little Endian to Big Endian
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 SearchSlavePDOMapping(loc_infos, slave): # Search the TPDO or RPDO mapping where location is defined on the slave
typeinfos = slave.GetEntryInfos(loc_infos["type"])
model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]
slavePDOidxlist = GetSlavePDOIndexes(slave, loc_infos["pdotype"])
for PDOidx in slavePDOidxlist:
values = slave.GetEntry(PDOidx)
if values != None:
for subindex, mapping in enumerate(values):
if subindex != 0 and mapping == model:
return PDOidx, subindex
return None
def GenerateMappingDCF(cobid, idx, pdomapping, mapped): # Build concise 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(DefaultTransmitTypeSlave, 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
if mapped == False and pdomapping != None:
# 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
def GetNewCobID(nodeid, type): # Return a cobid not used
global ListCobIDAvailable, SlavesPdoNumber
if len(ListCobIDAvailable) == 0:
return None
nbSlavePDO = SlavesPdoNumber[nodeid][type]
if type == RPDO:
if nbSlavePDO < 4:
# For the fourth PDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid
newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)
if newcobid in ListCobIDAvailable:
ListCobIDAvailable.remove(newcobid)
return newcobid, 0x1400 + nbSlavePDO
return ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO
elif type == TPDO:
if nbSlavePDO < 4:
# For the fourth PDO -> cobid = 0x180 + (numPdo parameters * 0x100) + nodeid
newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)
if newcobid in ListCobIDAvailable:
ListCobIDAvailable.remove(newcobid)
return newcobid, 0x1800 + nbSlavePDO
return ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO
for number in xrange(4):
if type == RPDO:
# For the fourth PDO -> cobid = 0x200 + ( numPdo * 0x100) + nodeid
newcobid = (0x200 + number * 0x100 + nodeid)
elif type == TPDO:
# For the fourth PDO -> cobid = 0x180 + (numPdo * 0x100) + nodeid
newcobid = (0x180 + number * 0x100 + nodeid)
else:
return None
if newcobid in ListCobIDAvailable:
ListCobIDAvailable.remove(newcobid)
return newcobid
return ListCobIDAvailable.pop(0)
def GenerateConciseDCF(locations, busname, nodelist):
global DictLocations, DictCobID, DictLocationsNotMapped, ListCobIDAvailable, SlavesPdoNumber, DefaultTransmitTypeSlave
DictLocations = {}
DictCobID = {}
DictLocationsNotMapped = {}
DictSDOparams = {}
ListCobIDAvailable = range(0x180, 0x580)
SlavesPdoNumber = {}
DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)}
DefaultTransmitTypeSlave = 0xFF
# Master Node initialisation
manager = nodelist.Manager
masternode = manager.GetCurrentNodeCopy()
if not masternode.IsEntry(0x1F22):
masternode.AddEntry(0x1F22, 1, "")
manager.AddSubentriesToCurrent(0x1F22, 127, masternode)
# Adding trash mappable variables for unused mapped datas
idxTrashVariables = 0x2000 + masternode.GetNodeID()
TrashVariableValue = {}
manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes), masternode)
for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()):
manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, masternode)
manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, masternode)
TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
# Extract Master Node current empty mapping index
CurrentPDOParamsIdx = {RPDO : 0x1400 + len(GetSlavePDOIndexes(masternode, RPDO)),
TPDO : 0x1800 + len(GetSlavePDOIndexes(masternode, TPDO))}
# Get list of all Slave's CobID and Slave's default SDO server parameters
for nodeid, nodeinfos in nodelist.SlaveNodes.items():
node = nodeinfos["Node"]
node.SetNodeID(nodeid)
DictSDOparams[nodeid] = {"RSDO" : node.GetEntry(0x1200,0x01), "TSDO" : node.GetEntry(0x1200,0x02)}
slaveRpdoIndexes = GetSlavePDOIndexes(node, RPDO, True)
slaveTpdoIndexes = GetSlavePDOIndexes(node, TPDO, True)
SlavesPdoNumber[nodeid] = {RPDO : len(slaveRpdoIndexes), TPDO : len(slaveTpdoIndexes)}
for PdoIdx in slaveRpdoIndexes + slaveTpdoIndexes:
pdo_cobid = node.GetEntry(PdoIdx, 0x01)
if pdo_cobid > 0x600 :
pdo_cobid -= 0x80000000
if pdo_cobid in ListCobIDAvailable:
ListCobIDAvailable.remove(pdo_cobid)
# Get list of locations check if exists and mappables -> put them in DictLocations
for locationtype, name in locations:
if name in DictLocations.keys():
if DictLocations[name]["type"] != DicoTypes[locationtype]:
raise ValueError, "Conflict type for location \"%s\"" % name
else:
loc = [i for i in name.split("_") if len(i) > 0]
if len(loc) not in (4, 5):
continue
prefix = loc[0][0]
# Extract and check busname
if loc[0][1].isdigit():
sizelocation = ""
busnamelocation = int(loc[0][1:])
else:
sizelocation = loc[0][1]
busnamelocation = int(loc[0][2:])
if busnamelocation != busname:
continue # A ne pas remplacer par un message d'erreur
# Extract and check nodeid
nodeid = int(loc[1])
if nodeid not in nodelist.SlaveNodes.keys():
continue
node = nodelist.SlaveNodes[nodeid]["Node"]
# Extract and check index and subindex
index = int(loc[2])
subindex = int(loc[3])
if not node.IsEntry(index, subindex):
continue
subentry_infos = node.GetSubentryInfos(index, subindex)
if subentry_infos and subentry_infos["pdo"]:
if sizelocation == "X" and len(loc) > 4:
numbit = loc[4]
elif sizelocation != "X" and len(loc) > 4:
continue
else:
numbit = None
locationtype = DicoTypes[locationtype]
entryinfos = node.GetSubentryInfos(index, subindex)
if entryinfos["type"] != locationtype:
raise ValueError, "Invalid type for location \"%s\"" % name
typeinfos = node.GetEntryInfos(locationtype)
DictLocations[name] = {"type":locationtype, "pdotype":SlavePDOType[prefix],
"nodeid": nodeid, "index": index,"subindex": subindex,
"bit": numbit, "size": typeinfos["size"], "busname": busname, "sizelocation": sizelocation}
# Create DictCobID with variables already mapped and add them in DictValidLocations
for name, locationinfos in DictLocations.items():
node = nodelist.SlaveNodes[locationinfos["nodeid"]]["Node"]
result = SearchSlavePDOMapping(locationinfos, node)
if result != None:
index, subindex = result
cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
if cobid not in DictCobID.keys():
mapping = [None]
values = node.GetEntry(index)
for value in values[1:]:
mapping.append(value % 0x100)
DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name)
else:
if locationinfos["nodeid"] not in DictLocationsNotMapped.keys():
DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
# Check Master Pdo parameters for cobid already used and remove it in ListCobIDAvailable
ListPdoParams = [idx for idx in masternode.GetIndexes() if 0x1400 <= idx <= 0x15FF or 0x1800 <= idx <= 0x19FF]
for idx in ListPdoParams:
cobid = masternode.GetEntry(idx, 0x01)
if cobid not in DictCobID.keys():
ListCobIDAvailable.pop(cobid)
#-------------------------------------------------------------------------------
# Build concise DCF for the others locations
#-------------------------------------------------------------------------------
for nodeid, locations in DictLocationsNotMapped.items():
# Get current concise DCF
node = nodelist.SlaveNodes[nodeid]["Node"]
nodeDCF = masternode.GetEntry(0x1F22, nodeid)
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)
dataparams = nodeDCF[4:]
else:
nbparams = 0
dataparams = ""
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:
result = GetNewCobID(nodeid, pdotype)
if result:
SlavesPdoNumber[nodeid][pdotype] += 1
new_cobid, new_idx = result
data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
dataparams += data
nbparams += nbaddedparams
DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
pdosize = loc_infos["size"]
pdomapping = [(name, loc_infos)]
else:
pdomapping.append((name, loc_infos))
if len(pdomapping) > 0:
result = GetNewCobID(nodeid, pdotype)
if result:
SlavesPdoNumber[nodeid][pdotype] += 1
new_cobid, new_idx = result
data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
dataparams += data
nbparams += nbaddedparams
DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
dcf = LE_to_BE(nbparams, 0x04) + dataparams
masternode.SetEntry(0x1F22, nodeid, dcf)
#-------------------------------------------------------------------------------
# Master Node Configuration
#-------------------------------------------------------------------------------
# Configure Master's SDO parameters entries
for nodeid, SDOparams in DictSDOparams.items():
SdoClient_index = [0x1280 + nodeid]
manager.ManageEntriesOfCurrent(SdoClient_index,[], masternode)
if SDOparams["RSDO"] != None:
RSDO_cobid = SDOparams["RSDO"]
else:
RSDO_cobid = 0x600 + nodeid
if SDOparams["TSDO"] != None:
TSDO_cobid = SDOparams["TSDO"]
else:
TSDO_cobid = 0x580 + nodeid
masternode.SetEntry(SdoClient_index[0], 0x01, RSDO_cobid)
masternode.SetEntry(SdoClient_index[0], 0x02, TSDO_cobid)
masternode.SetEntry(SdoClient_index[0], 0x03, nodeid)
# Configure Master's PDO parameters entries and set cobid, transmit type
for cobid, pdo_infos in DictCobID.items():
current_idx = CurrentPDOParamsIdx[pdo_infos["type"]]
addinglist = [current_idx, current_idx + 0x200]
manager.ManageEntriesOfCurrent(addinglist, [], masternode)
masternode.SetEntry(current_idx, 0x01, cobid)
masternode.SetEntry(current_idx, 0x02, DefaultTransmitTypeMaster)
if len(pdo_infos["mapping"]) > 2:
manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, masternode)
# Create Master's PDO mapping
for subindex, variable in enumerate(pdo_infos["mapping"]):
if subindex == 0:
continue
new_index = False
if type(variable) != IntType:
typeidx, varname = variable
indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["busname"]) + "_" + str(DictLocations[variable[1]]["nodeid"])
mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] + DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]
if not masternode.IsEntry(mapvariableidx):
manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
new_index = True
nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
else:
nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
mapvariableidxbase = mapvariableidx
while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF:
mapvariableidx += 0x800
if not manager.IsCurrentEntry(mapvariableidx):
manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
new_index = True
nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
if mapvariableidx < 0x6000:
if DictLocations[variable[1]]["bit"] != None:
subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"])
else:
subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"])
if not new_index:
manager.AddSubentriesToCurrent(mapvariableidx, 1, masternode)
nbsubentries += 1
masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
# Map Variable
typeinfos = manager.GetEntryInfos(typeidx)
if typeinfos != None:
value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
masternode.SetEntry(current_idx + 0x200, subindex, value)
else:
masternode.SetEntry(current_idx + 0x200, subindex, TrashVariableValue[variable])
CurrentPDOParamsIdx[pdo_infos["type"]] += 1
#masternode.Print()
return masternode
if __name__ == "__main__":
from nodemanager import *
from nodelist import *
import sys
manager = NodeManager(sys.path[0])
nodelist = NodeList(manager)
result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping")
## if result != None:
## print result
## else:
## print "MasterNode :"
## manager.CurrentNode.Print()
## for nodeid, node in nodelist.SlaveNodes.items():
## print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)
## node["Node"].Print()
#filepath = "/home/deobox/beremiz/test_nodelist/listlocations.txt"
filepath = "/home/deobox/Desktop/TestMapping/listlocations.txt"
file = open(filepath,'r')
locations = [location.split(' ') for location in [line.strip() for line in file.readlines() if len(line) > 0]]
file.close()
GenerateConciseDCF(locations, 32, nodelist)
print "MasterNode :"
manager.CurrentNode.Print()
#masternode.Print()