lbessard@11: #!/usr/bin/env python lbessard@11: # -*- coding: utf-8 -*- lbessard@11: lbessard@11: #This file is part of Beremiz, a Integrated Development Environment for lbessard@11: #programming IEC 61131-3 automates supporting plcopen standard and CanFestival. lbessard@11: # lbessard@11: #Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD lbessard@11: # lbessard@11: #See COPYING file for copyrights details. lbessard@11: # lbessard@11: #This library is free software; you can redistribute it and/or lbessard@11: #modify it under the terms of the GNU General Public lbessard@11: #License as published by the Free Software Foundation; either lbessard@11: #version 2.1 of the License, or (at your option) any later version. lbessard@11: # lbessard@11: #This library is distributed in the hope that it will be useful, lbessard@11: #but WITHOUT ANY WARRANTY; without even the implied warranty of lbessard@11: #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU lbessard@11: #General Public License for more details. lbessard@11: # lbessard@11: #You should have received a copy of the GNU General Public lbessard@11: #License along with this library; if not, write to the Free Software lbessard@11: #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA lbessard@11: lbessard@11: from types import * lbessard@11: greg@27: # Translation between IEC types and Can Open types lbessard@34: IECToCOType = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10, lbessard@34: "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08, lbessard@34: "LREAL":0x11,"STRING":0x09,"BYTE":0x05,"WORD":0x06,"DWORD":0x07, lbessard@34: "LWORD":0x1B,"WSTRING":0x0B} lbessard@11: lbessard@11: # Constants for PDO types lbessard@11: RPDO = 1 lbessard@11: TPDO = 2 lbessard@34: lbessard@11: SlavePDOType = {"I" : TPDO, "Q" : RPDO} lbessard@11: InvertPDOType = {RPDO : TPDO, TPDO : RPDO} lbessard@11: lbessard@34: VariableIncrement = 0x100 lbessard@34: VariableStartIndex = {TPDO : 0x2000, RPDO : 0x4000} lbessard@34: VariableDirText = {TPDO : "__I", RPDO : "__Q"} lbessard@34: VariableTypeOffset = dict(zip(["","X","B","W","D","L"], range(6))) lbessard@34: lbessard@34: TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)] lbessard@11: greg@27: def LE_to_BE(value, size): greg@27: """ greg@27: Convert Little Endian to Big Endian greg@27: @param value: value expressed in integer greg@27: @param size: number of bytes generated greg@27: @return: a string containing the value converted greg@27: """ greg@27: greg@27: data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value greg@27: list_car = [data[i:i+2] for i in xrange(0, len(data), 2)] greg@27: list_car.reverse() greg@27: return "".join([chr(int(car, 16)) for car in list_car]) greg@27: lbessard@34: greg@27: def GetNodePDOIndexes(node, type, parameters = False): greg@27: """ greg@27: Find the PDO indexes of a node greg@27: @param node: node greg@27: @param type: type of PDO searched (RPDO or TPDO or both) greg@27: @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False) greg@27: @return: a list of indexes found greg@27: """ greg@27: lbessard@11: indexes = [] lbessard@11: if type & RPDO: greg@27: indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF]) lbessard@11: if type & TPDO: greg@27: indexes.extend([idx for idx in node.GetIndexes() if 0x1800 <= idx <= 0x19FF]) lbessard@11: if not parameters: lbessard@11: return [idx + 0x200 for idx in indexes] lbessard@11: else: lbessard@11: return indexes lbessard@11: lbessard@34: greg@27: def SearchNodePDOMapping(loc_infos, node): greg@27: """ greg@27: Find the PDO indexes of a node greg@27: @param node: node greg@27: @param type: type of PDO searched (RPDO or TPDO or both) greg@27: @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False) greg@27: @return: a list of indexes found greg@27: """ greg@27: greg@27: typeinfos = node.GetEntryInfos(loc_infos["type"]) lbessard@11: model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"] greg@27: greg@27: for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]): greg@27: values = node.GetEntry(PDOidx) lbessard@11: if values != None: lbessard@11: for subindex, mapping in enumerate(values): lbessard@11: if subindex != 0 and mapping == model: lbessard@11: return PDOidx, subindex lbessard@11: return None lbessard@11: lbessard@34: lbessard@34: def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping): lbessard@34: """ lbessard@34: Build concise DCF value for configuring a PDO lbessard@34: @param idx: index of PDO parameters lbessard@34: @param cobid: PDO generated COB ID lbessard@34: @param transmittype : PDO transmit type lbessard@34: @param pdomapping: list of PDO mappings lbessard@34: @return: a tuple of value and number of parameters to add to DCF lbessard@34: """ lbessard@34: lbessard@34: # Create entry for RPDO or TPDO parameters and Disable PDO lbessard@34: dcfdata = LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE((0x80000000 + cobid), 4) lbessard@34: # Set Transmit type synchrone lbessard@34: dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1) lbessard@34: # Re-Enable PDO lbessard@34: # ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------ lbessard@34: dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4) lbessard@34: nbparams = 3 lbessard@34: # Map Variables lbessard@34: for subindex, (name, loc_infos) in enumerate(pdomapping): lbessard@34: value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"] lbessard@34: dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4) lbessard@34: nbparams += 1 lbessard@34: return dcfdata, nbparams lbessard@34: greg@27: class ConciseDCFGenerator: greg@27: greg@27: def __init__(self, nodelist): greg@27: # Dictionary of location informations classed by name lbessard@34: self.IECLocations = {} lbessard@34: # Dictionary of location that have not been mapped yet lbessard@34: self.LocationsNotMapped = {} greg@27: # Dictionary of location informations classed by name lbessard@34: self.MasterMapping = {} greg@27: # List of COB IDs available greg@27: self.ListCobIDAvailable = range(0x180, 0x580) greg@27: self.SlavesPdoNumber = {} greg@27: # Dictionary of mapping value where unexpected variables are stored lbessard@34: self.TrashVariables = {} greg@27: greg@27: self.NodeList = nodelist greg@27: self.Manager = self.NodeList.Manager greg@27: self.MasterNode = self.Manager.GetCurrentNodeCopy() greg@27: self.PrepareMasterNode() greg@27: lbessard@34: greg@27: def RemoveUsedNodeCobId(self, node): greg@27: """ greg@27: Remove all PDO COB ID used by the given node from the list of available COB ID greg@27: @param node: node greg@27: @return: a tuple of number of RPDO and TPDO for the node greg@27: """ greg@27: greg@27: # Get list of all node TPDO and RPDO indexes greg@27: nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True) greg@27: nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True) greg@27: greg@27: # Mark all the COB ID of the node already mapped PDO as not available greg@27: for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes: greg@27: pdo_cobid = node.GetEntry(PdoIdx, 0x01) greg@27: # Extract COB ID, if PDO isn't active greg@27: if pdo_cobid > 0x600 : greg@27: pdo_cobid -= 0x80000000 greg@27: # Remove COB ID from the list of available COB ID greg@27: if pdo_cobid in self.ListCobIDAvailable: greg@27: self.ListCobIDAvailable.remove(pdo_cobid) greg@27: greg@27: return len(nodeRpdoIndexes), len(nodeTpdoIndexes) greg@27: lbessard@34: greg@27: def PrepareMasterNode(self): greg@27: """ greg@27: Add mandatory entries for DCF generation into MasterNode. greg@27: """ greg@27: greg@27: # Adding DCF entry into Master node greg@27: if not self.MasterNode.IsEntry(0x1F22): greg@27: self.MasterNode.AddEntry(0x1F22, 1, "") lbessard@34: self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode) greg@27: greg@27: # Adding trash mappable variables for unused mapped datas lbessard@34: idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID() greg@27: # Add an entry for storing unexpected all variable lbessard@34: self.Manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariables), self.MasterNode) lbessard@34: for subidx, (size, typeidx) in enumerate(TrashVariables): greg@27: # Add a subentry for storing unexpected variable of this size greg@27: self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, self.MasterNode) greg@27: self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode) greg@27: # Store the mapping value for this entry lbessard@34: self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size greg@27: greg@27: RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode) greg@27: greg@27: # Store the indexes of the first RPDO and TPDO available for MasterNode greg@27: self.CurrentPDOParamsIdx = {RPDO : 0x1400 + RPDOnumber, TPDO : 0x1800 + TPDOnumber} greg@27: greg@27: # Prepare MasterNode with all nodelist slaves lbessard@34: for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()): greg@27: node = nodeinfos["Node"] greg@27: node.SetNodeID(nodeid) greg@27: greg@27: RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node) greg@27: greg@27: # Store the number of TPDO and RPDO for this node greg@27: self.SlavesPdoNumber[nodeid] = {RPDO : RPDOnumber, TPDO : TPDOnumber} greg@27: greg@27: # Get Slave's default SDO server parameters greg@27: RSDO_cobid = node.GetEntry(0x1200,0x01) greg@27: if not RSDO_cobid: greg@27: RSDO_cobid = 0x600 + nodeid greg@27: TSDO_cobid = node.GetEntry(0x1200,0x02) greg@27: if not TSDO_cobid: greg@27: TSDO_cobid = 0x580 + nodeid greg@27: greg@27: # Configure Master's SDO parameters entries lbessard@34: self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode) lbessard@34: self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid) lbessard@34: self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid) lbessard@34: self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid) lbessard@34: lbessard@34: greg@27: def GetMasterNode(self): greg@27: """ greg@27: Return MasterNode. greg@27: """ greg@27: return self.MasterNode greg@27: lbessard@34: greg@27: def GetNewCobID(self, nodeid, type): greg@27: """ greg@27: Select a COB ID from the list of those available lbessard@34: @param nodeid: id of the slave (int) greg@27: @param type: type of PDO (RPDO or TPDO) greg@27: @return: a tuple of the COD ID and PDO index or None greg@27: """ greg@27: # Verify that there is still some cobid available greg@27: if len(self.ListCobIDAvailable) == 0: greg@27: return None greg@27: greg@27: # Get the number of PDO of the type given for the node greg@27: nbSlavePDO = self.SlavesPdoNumber[nodeid][type] greg@27: if type == RPDO: greg@27: if nbSlavePDO < 4: greg@27: # For the four first RPDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid greg@27: newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid) greg@27: # Return calculated cobid if it's still available greg@27: if newcobid in self.ListCobIDAvailable: greg@27: self.ListCobIDAvailable.remove(newcobid) greg@27: return newcobid, 0x1400 + nbSlavePDO greg@27: # Return the first cobid available if no cobid found greg@27: return self.ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO greg@27: greg@27: elif type == TPDO: greg@27: if nbSlavePDO < 4: greg@27: # For the four first TPDO -> cobid = 0x180 + ( numPdo parameters * 0x100) + nodeid greg@27: newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid) greg@27: # Return calculated cobid if it's still available greg@27: if newcobid in self.ListCobIDAvailable: greg@27: self.ListCobIDAvailable.remove(newcobid) greg@27: return newcobid, 0x1800 + nbSlavePDO greg@27: # Return the first cobid available if no cobid found greg@27: return self.ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO greg@27: lbessard@11: return None lbessard@34: lbessard@34: lbessard@34: def AddParamsToDCF(self, nodeid, data, nbparams): lbessard@34: """ lbessard@34: Select a COB ID from the list of those available lbessard@34: @param nodeid: id of the slave (int) lbessard@34: @param data: data to add to slave DCF (string) lbessard@34: @param nbparams: number of params added to slave DCF (int) lbessard@34: """ lbessard@34: # Get current DCF for slave lbessard@34: nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid) lbessard@34: lbessard@34: # Extract data and number of params in current DCF lbessard@34: if nodeDCF != None and nodeDCF != '': lbessard@34: tmpnbparams = [i for i in nodeDCF[:4]] lbessard@34: tmpnbparams.reverse() lbessard@34: nbparams += int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16) lbessard@34: data = nodeDCF[4:] + data lbessard@34: lbessard@34: # Build new DCF lbessard@34: dcf = LE_to_BE(nbparams, 0x04) + data lbessard@34: # Set new DCF for slave lbessard@34: self.MasterNode.SetEntry(0x1F22, nodeid, dcf) lbessard@34: lbessard@34: def AddPDOMapping(self, nodeid, pdotype, pdomapping, sync_TPDOs): lbessard@34: """ lbessard@34: Select a COB ID from the list of those available lbessard@34: @param nodeid: id of the slave (int) lbessard@34: @param pdotype: type of PDO to generated (RPDO or TPDO) lbessard@34: @param pdomapping: list od variables to map with PDO lbessard@34: """ lbessard@34: # Get a new cob id lbessard@34: result = self.GetNewCobID(nodeid, pdotype) lbessard@34: if result: lbessard@34: new_cobid, new_idx = result lbessard@34: lbessard@34: # Increment the number of PDO of this type for node lbessard@34: self.SlavesPdoNumber[nodeid][pdotype] += 1 lbessard@34: lbessard@34: # Add an entry to MasterMapping lbessard@34: self.MasterMapping[new_cobid] = {"type" : InvertPDOType[pdotype], lbessard@34: "mapping" : [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]} lbessard@34: lbessard@34: # Return the data to add to DCF lbessard@34: if sync_TPDOs: lbessard@34: return GeneratePDOMappingDCF(new_idx, new_cobid, 0x01, pdomapping) lbessard@34: else: lbessard@34: return GeneratePDOMappingDCF(new_idx, new_cobid, 0xFF, pdomapping) lbessard@34: return 0, "" lbessard@34: greg@27: def GenerateDCF(self, locations, current_location, sync_TPDOs): greg@27: """ greg@27: Generate Concise DCF of MasterNode for the locations list given greg@27: @param locations: list of locations to be mapped greg@27: @param current_location: tuple of the located prefixes not to be considered greg@27: @param sync_TPDOs: indicate if TPDO must be synchronous greg@27: """ greg@27: lbessard@35: #------------------------------------------------------------------------------- lbessard@35: # Verify that locations correspond to real slave variables lbessard@35: #------------------------------------------------------------------------------- lbessard@35: lbessard@34: # Get list of locations check if exists and mappables -> put them in IECLocations greg@27: for location in locations: lbessard@34: COlocationtype = IECToCOType[location["IEC_TYPE"]] greg@27: name = location["NAME"] lbessard@34: if name in self.IECLocations: lbessard@34: if self.IECLocations[name]["type"] != COlocationtype: greg@27: raise ValueError, "Conflict type for location \"%s\"" % name greg@27: else: greg@27: # Get only the part of the location that concern this node greg@27: loc = location["LOC"][len(current_location):] greg@27: # loc correspond to (ID, INDEX, SUBINDEX [,BIT]) greg@27: if len(loc) not in (3, 4): greg@27: raise ValueError, "Bad location size : %s"%str(loc) greg@27: greg@27: direction = location["DIR"] greg@27: greg@27: sizelocation = location["SIZE"] greg@27: greg@27: # Extract and check nodeid greg@27: nodeid, index, subindex = loc[:3] greg@27: greg@27: # Check Id is in slave node list lbessard@34: if nodeid not in self.NodeList.SlaveNodes.keys(): greg@27: raise ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,name) greg@27: greg@27: # Get the model for this node (made from EDS) lbessard@34: node = self.NodeList.SlaveNodes[nodeid]["Node"] greg@27: greg@27: # Extract and check index and subindex greg@27: if not node.IsEntry(index, subindex): greg@27: raise ValueError, "No such index/subindex (%x,%x) in ID : %d (variable %s)" % (index,subindex,nodeid,name) greg@27: lbessard@35: # Get the entry info greg@27: subentry_infos = node.GetSubentryInfos(index, subindex) greg@27: greg@27: # If a PDO mappable greg@27: if subentry_infos and subentry_infos["pdo"]: greg@27: if sizelocation == "X" and len(loc) > 3: greg@27: numbit = loc[4] greg@27: elif sizelocation != "X" and len(loc) > 3: greg@27: raise ValueError, "Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex) greg@27: else: greg@27: numbit = None greg@27: greg@27: entryinfos = node.GetSubentryInfos(index, subindex) greg@27: if entryinfos["type"] != COlocationtype: greg@27: raise ValueError, "Invalid type \"%s\"-> %d != %d for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, entryinfos["type"] , name) greg@27: greg@27: typeinfos = node.GetEntryInfos(COlocationtype) lbessard@34: self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction], lbessard@34: "nodeid": nodeid, "index": index,"subindex": subindex, lbessard@34: "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation} greg@27: else: greg@27: raise ValueError, "Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex) lbessard@34: lbessard@34: #------------------------------------------------------------------------------- lbessard@34: # Search for locations already mapped lbessard@34: #------------------------------------------------------------------------------- lbessard@34: lbessard@34: for name, locationinfos in self.IECLocations.items(): greg@27: node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"] lbessard@34: lbessard@34: # Search if slave has a PDO mapping this locations greg@27: result = SearchNodePDOMapping(locationinfos, node) greg@27: if result != None: greg@27: index, subindex = result lbessard@34: # Get COB ID of the PDO lbessard@34: cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1) lbessard@34: lbessard@34: # Verify that PDO transmit type is conform to sync_TPDOs lbessard@34: transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2) lbessard@34: if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF: lbessard@34: if sync_TPDOs: lbessard@34: # Change TransmitType to SYNCHRONE lbessard@34: data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, []) lbessard@34: else: lbessard@34: # Change TransmitType to ASYCHRONE lbessard@34: data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, []) greg@27: lbessard@34: # Add entry to slave dcf to change transmit type of lbessard@34: self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams) lbessard@34: lbessard@34: # Add PDO to MasterMapping lbessard@34: if cobid not in self.MasterMapping.keys(): greg@27: mapping = [None] greg@27: values = node.GetEntry(index) lbessard@34: # Store the size of each entry mapped in PDO greg@27: for value in values[1:]: greg@27: mapping.append(value % 0x100) lbessard@34: self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping} lbessard@34: lbessard@34: # Indicate that this PDO entry must be saved lbessard@34: self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name) greg@27: greg@27: else: lbessard@34: # Add location to those that haven't been mapped yet lbessard@34: if locationinfos["nodeid"] not in self.LocationsNotMapped.keys(): lbessard@34: self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []} lbessard@34: self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos)) greg@27: greg@27: #------------------------------------------------------------------------------- greg@27: # Build concise DCF for the others locations greg@27: #------------------------------------------------------------------------------- greg@27: lbessard@34: for nodeid, locations in self.LocationsNotMapped.items(): greg@27: node = nodelist.SlaveNodes[nodeid]["Node"] lbessard@34: lbessard@34: # Initialize number of params and data to add to node DCF lbessard@34: nbparams = 0 lbessard@34: dataparams = "" lbessard@34: lbessard@34: # Generate the best PDO mapping for each type of PDO greg@27: for pdotype in (TPDO, RPDO): greg@27: pdosize = 0 greg@27: pdomapping = [] greg@27: for name, loc_infos in locations[pdotype]: greg@27: pdosize += loc_infos["size"] greg@27: # If pdo's size > 64 bits greg@27: if pdosize > 64: lbessard@34: # Generate a new PDO Mapping lbessard@34: data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs) lbessard@34: dataparams += data lbessard@34: nbparams += nbaddedparams greg@27: pdosize = loc_infos["size"] greg@27: pdomapping = [(name, loc_infos)] greg@27: else: greg@27: pdomapping.append((name, loc_infos)) lbessard@34: # If there isn't locations yet but there is still a PDO to generate greg@27: if len(pdomapping) > 0: lbessard@34: # Generate a new PDO Mapping lbessard@34: data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs) lbessard@34: dataparams += data lbessard@34: nbparams += nbaddedparams lbessard@34: lbessard@34: # Add number of params and data to node DCF lbessard@34: self.AddParamsToDCF(nodeid, dataparams, nbparams) lbessard@34: greg@27: #------------------------------------------------------------------------------- greg@27: # Master Node Configuration greg@27: #------------------------------------------------------------------------------- greg@27: lbessard@34: # Generate Master's Configuration from informations stored in MasterMapping lbessard@34: for cobid, pdo_infos in self.MasterMapping.items(): lbessard@34: # Get next PDO index in MasterNode for this PDO type lbessard@34: current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]] lbessard@34: lbessard@34: # Search if there is already a PDO in MasterNode with this cob id lbessard@34: for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True): lbessard@34: if self.MasterNode.GetEntry(idx, 1) == cobid: lbessard@34: current_idx = idx lbessard@34: lbessard@34: # Add a PDO to MasterNode if not PDO have been found lbessard@34: if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]: lbessard@34: addinglist = [current_idx, current_idx + 0x200] lbessard@34: self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode) lbessard@34: self.MasterNode.SetEntry(current_idx, 0x01, cobid) lbessard@34: lbessard@34: # Increment the number of PDO for this PDO type lbessard@34: self.CurrentPDOParamsIdx[pdo_infos["type"]] += 1 lbessard@34: lbessard@34: # Change the transmit type of the PDO lbessard@34: if sync_TPDOs: lbessard@34: self.MasterNode.SetEntry(current_idx, 0x02, 0x01) lbessard@34: else: lbessard@34: self.MasterNode.SetEntry(current_idx, 0x02, 0xFF) lbessard@34: lbessard@34: # Add some subentries to PDO mapping if there is not enough greg@27: if len(pdo_infos["mapping"]) > 2: lbessard@34: self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, self.MasterNode) lbessard@34: lbessard@34: # Generate MasterNode's PDO mapping greg@27: for subindex, variable in enumerate(pdo_infos["mapping"]): greg@27: if subindex == 0: greg@27: continue greg@27: new_index = False greg@27: lbessard@34: if type(variable) == IntType: lbessard@34: # If variable is an integer then variable is unexpected lbessard@34: self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable]) lbessard@34: else: lbessard@34: typeidx, varname = variable lbessard@34: variable_infos = self.IECLocations[varname] greg@27: lbessard@34: # Calculate base index for storing variable lbessard@34: mapvariableidx = VariableStartIndex[variable_infos["pdotype"]] + \ lbessard@34: VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \ lbessard@34: variable_infos["nodeid"] greg@27: lbessard@34: # Search for an entry that has an empty subindex lbessard@34: while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000: lbessard@34: # Entry doesn't exist lbessard@34: if not self.MasterNode.IsEntry(mapvariableidx): lbessard@34: # Generate entry name lbessard@34: indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]], lbessard@34: variable_infos["sizelocation"], lbessard@34: '_'.join(map(str,current_location)), lbessard@34: variable_infos["nodeid"]) lbessard@34: # Add entry to MasterNode lbessard@34: self.Manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, self.MasterNode) lbessard@34: new_index = True lbessard@34: nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00) greg@27: else: lbessard@34: # Get Number of subentries already defined lbessard@34: nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00) lbessard@34: # if entry is full, go to next entry possible or stop now lbessard@34: if nbsubentries == 0xFF: lbessard@34: mapvariableidx += 8 * VariableIncrement lbessard@34: else: lbessard@34: break lbessard@34: lbessard@34: # Verify that a not full entry has been found lbessard@34: if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000: lbessard@34: # Generate subentry name lbessard@34: if variable_infos["bit"] != None: lbessard@34: subindexname = "%(index)d_%(subindex)d_%(bit)d"%variable_infos lbessard@34: else: lbessard@34: subindexname = "%(index)d_%(subindex)d"%variable_infos lbessard@34: # If entry have just been created, no subentry have to be added greg@27: if not new_index: lbessard@34: self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode) greg@27: nbsubentries += 1 lbessard@34: # Add informations to the new subentry created lbessard@34: self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname}) lbessard@34: self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx}) greg@27: lbessard@34: # Set value of the PDO mapping lbessard@34: typeinfos = self.Manager.GetEntryInfos(typeidx) greg@27: if typeinfos != None: greg@27: value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"] lbessard@34: self.MasterNode.SetEntry(current_idx + 0x200, subindex, value) greg@27: etisserant@26: def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs): etisserant@22: """ etisserant@22: Fills a CanFestival network editor model, with DCF with requested PDO mappings. etisserant@22: @param locations: List of complete variables locations \ etisserant@22: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) etisserant@22: "NAME" : name of the variable (generally "__IW0_1_2" style) etisserant@22: "DIR" : direction "Q","I" or "M" etisserant@22: "SIZE" : size "X", "B", "W", "D", "L" etisserant@22: "LOC" : tuple of interger for IEC location (0,1,2,...) etisserant@22: }, ...] etisserant@22: @param nodelist: CanFestival network editor model etisserant@22: @return: a modified copy of the given CanFestival network editor model etisserant@22: """ etisserant@22: greg@27: dcfgenerator = ConciseDCFGenerator(nodelist) greg@27: dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs) greg@27: return dcfgenerator.GetMasterNode() greg@27: lbessard@34: if __name__ == "__main__": lbessard@35: import os, sys, getopt lbessard@35: lbessard@35: def usage(): lbessard@35: print """ lbessard@35: Usage of config_utils.py test : lbessard@35: lbessard@35: %s [options] lbessard@35: lbessard@35: Options: lbessard@35: --help (-h) lbessard@35: Displays help informations for config_utils lbessard@35: lbessard@35: --reset (-r) lbessard@35: Reset the reference result of config_utils test. lbessard@35: Use with caution. Be sure that config_utils lbessard@35: is currently working properly. lbessard@35: """%sys.argv[0] lbessard@35: lbessard@35: # Boolean that indicate if reference result must be redefined lbessard@35: reset = False lbessard@35: lbessard@35: # Extract command options lbessard@35: try: lbessard@35: opts, args = getopt.getopt(sys.argv[1:], "hr", ["help","reset"]) lbessard@35: except getopt.GetoptError: lbessard@35: # print help information and exit: lbessard@35: usage() lbessard@35: sys.exit(2) lbessard@35: lbessard@35: # Test each option lbessard@35: for o, a in opts: lbessard@35: if o in ("-h", "--help"): lbessard@35: usage() lbessard@35: sys.exit() lbessard@35: elif o in ("-r", "--reset"): lbessard@35: reset = True lbessard@35: lbessard@35: # Extract workspace base folder lbessard@34: base_folder = sys.path[0] lbessard@34: for i in xrange(3): lbessard@34: base_folder = os.path.split(base_folder)[0] lbessard@35: # Add CanFestival folder to search pathes lbessard@34: sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen")) lbessard@34: lbessard@11: from nodemanager import * lbessard@11: from nodelist import * lbessard@34: lbessard@35: # Open the test nodelist contained into test_config folder lbessard@34: manager = NodeManager() lbessard@11: nodelist = NodeList(manager) lbessard@34: result = nodelist.LoadProject("test_config") lbessard@34: lbessard@35: # List of locations, we try to map for test lbessard@34: locations = [{"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24576_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24576,1)}, lbessard@34: {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_2","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,2)}, lbessard@34: {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_3","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,3)}, lbessard@34: {"IEC_TYPE":"INT","NAME":"__QW0_1_64_25617_2","DIR":"Q","SIZE":"W","LOC":(0,1,64,25617,1)}, lbessard@34: {"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24578_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24578,1)}, lbessard@34: {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_1","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,1)}, lbessard@34: {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_2","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,2)}, lbessard@34: {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_3","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,3)}, lbessard@34: {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_4","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,4)}] lbessard@34: lbessard@35: # Generate MasterNode configuration lbessard@35: try: lbessard@35: masternode = GenerateConciseDCF(locations, (0, 1), nodelist, True) lbessard@35: except ValueError, message: lbessard@35: print "%s\nTest Failed!"%message lbessard@35: sys.exit() lbessard@35: lbessard@35: # Get Text corresponding to MasterNode lbessard@35: result = masternode.PrintString() lbessard@35: lbessard@35: # If reset has been choosen lbessard@35: if reset: lbessard@35: # Write Text into reference result file lbessard@35: file = open("test_config/result.txt", "w") lbessard@35: file.write(result) lbessard@35: file.close() lbessard@35: lbessard@35: print "Reset Successful!" lbessard@35: else: lbessard@35: # Test each line of the result with the reference result lbessard@35: test = [line.rstrip() for line in result.splitlines()] lbessard@35: lbessard@35: file = open("test_config/result.txt", "r") lbessard@35: model = [line.rstrip() for line in file.readlines() if line.rstrip()] lbessard@35: file.close() lbessard@35: lbessard@35: errors = 0 lbessard@35: for i, line in enumerate(model): lbessard@35: if i >= len(test): lbessard@35: errors += 1 lbessard@35: print "Line %d disappear :\n%s\n"%(i + 1, line) lbessard@35: elif line != test[i]: lbessard@35: errors += 1 lbessard@35: print "Error on line %d :\n%s\nInstead of :\n%s\n"%(i + 1, test[i], line) lbessard@35: for i in xrange(len(model), len(test)): lbessard@34: errors += 1 lbessard@35: print "Line %d appear :\n%s\n"%(i + 1, test[i]) lbessard@35: lbessard@35: if errors > 0: lbessard@35: print "%d errors found.\nTest Failed!"%errors lbessard@35: else: lbessard@35: print "Test Successful!"