edouard@2165: #!/usr/bin/env python edouard@2165: # -*- coding: utf-8 -*- edouard@2165: edouard@2165: # This file is part of Beremiz edouard@2165: # edouard@2165: # Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT edouard@2165: # RTES Lab : CRKim, JBLee, youcu edouard@2165: # Higen Motor : Donggu Kang edouard@2165: # edouard@2165: # See COPYING file for copyrights details. edouard@2165: andrej@2405: from __future__ import absolute_import andrej@2437: from __future__ import division Laurent@2111: import os Laurent@2111: andrej@2405: from etherlab.EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName Laurent@2111: Laurent@2111: SLAVE_PDOS_CONFIGURATION_DECLARATION = """ Laurent@2111: /* Slave %(slave)d, "%(device_type)s" Laurent@2111: * Vendor ID: 0x%(vendor).8x Laurent@2111: * Product code: 0x%(product_code).8x Laurent@2111: * Revision number: 0x%(revision_number).8x Laurent@2111: */ Laurent@2111: Laurent@2111: ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = { Laurent@2111: %(pdos_entries_infos)s Laurent@2111: }; Laurent@2111: Laurent@2111: ec_pdo_info_t slave_%(slave)d_pdos[] = { Laurent@2111: %(pdos_infos)s Laurent@2111: }; Laurent@2111: Laurent@2111: ec_sync_info_t slave_%(slave)d_syncs[] = { Laurent@2111: %(pdos_sync_infos)s Laurent@2111: {0xff} Laurent@2111: }; Laurent@2111: """ Laurent@2111: Laurent@2111: SLAVE_CONFIGURATION_TEMPLATE = """ Laurent@2111: if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) { Edouard@2116: SLOGF(LOG_CRITICAL, "EtherCAT failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d."); Edouard@2121: goto ecat_failed; Laurent@2111: } Laurent@2111: Laurent@2111: if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) { Edouard@2116: SLOGF(LOG_CRITICAL, "EtherCAT failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d."); Edouard@2117: goto ecat_failed; Laurent@2111: } Laurent@2111: """ Laurent@2111: Laurent@2111: SLAVE_INITIALIZATION_TEMPLATE = """ Laurent@2111: { Laurent@2111: uint8_t value[%(data_size)d]; Laurent@2111: EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s); Laurent@2111: if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) { Edouard@2116: SLOGF(LOG_CRITICAL, "EtherCAT Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%d", abort_code); Edouard@2117: goto ecat_failed; Laurent@2111: } Laurent@2111: } Laurent@2111: """ Laurent@2111: Laurent@2111: SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """ Laurent@2111: { Laurent@2111: uint8_t value[%(data_size)d]; Laurent@2111: if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) { Edouard@2116: SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code); Edouard@2117: goto ecat_failed; Laurent@2111: } Laurent@2111: %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value); Laurent@2111: } Laurent@2111: """ Laurent@2111: andrej@2360: Laurent@2111: def ConfigureVariable(entry_infos, str_completion): Laurent@2111: entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None) Laurent@2111: if entry_infos["data_type"] is None: andrej@2378: msg = _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"] andrej@2378: raise ValueError(msg) andrej@2355: Laurent@2111: if not entry_infos.get("no_decl", False): andrej@2377: if "real_var" in entry_infos: Laurent@2111: str_completion["located_variables_declaration"].append( Laurent@2111: "IEC_%(var_type)s %(real_var)s;" % entry_infos) Laurent@2111: else: Laurent@2111: entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] Laurent@2111: str_completion["located_variables_declaration"].extend( Laurent@2111: ["IEC_%(var_type)s %(real_var)s;" % entry_infos, Laurent@2111: "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos]) Laurent@2111: for declaration in entry_infos.get("extra_declarations", []): Laurent@2111: entry_infos["extra_decl"] = declaration Laurent@2111: str_completion["located_variables_declaration"].append( andrej@2407: "IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos) andrej@2377: elif "real_var" not in entry_infos: Laurent@2111: entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] andrej@2355: Laurent@2111: str_completion["used_pdo_entry_offset_variables_declaration"].append( Laurent@2111: "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) andrej@2355: Laurent@2111: if entry_infos["data_type"] == "BIT": Laurent@2111: str_completion["used_pdo_entry_offset_variables_declaration"].append( Laurent@2111: "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos) andrej@2355: Laurent@2111: str_completion["used_pdo_entry_configuration"].append( andrej@2407: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + andrej@2407: "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + andrej@2407: "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos) andrej@2355: Laurent@2111: if entry_infos["dir"] == "I": Laurent@2111: str_completion["retrieve_variables"].append( andrej@2407: (" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + andrej@2407: "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos) Laurent@2111: elif entry_infos["dir"] == "Q": Laurent@2111: str_completion["publish_variables"].append( andrej@2407: (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + andrej@2407: "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos) andrej@2355: Laurent@2111: else: Laurent@2111: str_completion["used_pdo_entry_configuration"].append( andrej@2355: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + Laurent@2111: "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos) andrej@2355: Laurent@2111: if entry_infos["dir"] == "I": Laurent@2111: str_completion["retrieve_variables"].append( andrej@2355: (" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + Laurent@2111: "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos) Laurent@2111: elif entry_infos["dir"] == "Q": Laurent@2111: str_completion["publish_variables"].append( andrej@2355: (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + Laurent@2111: "%(real_var)s);") % entry_infos) Laurent@2111: andrej@2360: Laurent@2111: def ExclusionSortFunction(x, y): Laurent@2111: if x["matching"] == y["matching"]: Laurent@2111: if x["assigned"] and not y["assigned"]: Laurent@2111: return -1 Laurent@2111: elif not x["assigned"] and y["assigned"]: Laurent@2111: return 1 Laurent@2111: return cmp(x["count"], y["count"]) Laurent@2111: return -cmp(x["matching"], y["matching"]) Laurent@2111: andrej@2360: andrej@2397: class _EthercatCFileGenerator(object): andrej@2355: Laurent@2111: def __init__(self, controler): Laurent@2111: self.Controler = controler andrej@2355: Laurent@2111: self.Slaves = [] Laurent@2111: self.UsedVariables = {} Laurent@2111: Laurent@2111: def __del__(self): andrej@2355: self.Controler = None andrej@2355: Laurent@2111: def DeclareSlave(self, slave_index, slave): Laurent@2111: self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave)) Laurent@2111: Laurent@2111: def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False): Laurent@2111: slave_variables = self.UsedVariables.setdefault(slave_index, {}) andrej@2355: Laurent@2111: entry_infos = slave_variables.get((index, subindex), None) Laurent@2111: if entry_infos is None: Laurent@2111: slave_variables[(index, subindex)] = { Laurent@2111: "infos": (iec_type, dir, name, no_decl, []), Laurent@2111: "mapped": False} Laurent@2111: return name Laurent@2111: elif entry_infos["infos"][:2] == (iec_type, dir): Laurent@2111: if name != entry_infos["infos"][2]: Laurent@2111: if dir == "I": Laurent@2111: entry_infos["infos"][4].append(name) Laurent@2111: return entry_infos["infos"][2] Laurent@2111: else: andrej@2425: msg = _("Output variables can't be defined with different locations ({a1} and {a2})").\ andrej@2425: format(a1=entry_infos["infos"][2], a2=name) andrej@2378: raise ValueError(msg) Laurent@2111: else: andrej@2378: raise ValueError(_("Definition conflict for location \"%s\"") % name) andrej@2355: Laurent@2111: def GenerateCFile(self, filepath, location_str, master_number): andrej@2355: Laurent@2111: # Extract etherlab master code template Laurent@2111: plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c") Laurent@2111: plc_etherlab_file = open(plc_etherlab_filepath, 'r') Laurent@2111: plc_etherlab_code = plc_etherlab_file.read() Laurent@2111: plc_etherlab_file.close() andrej@2355: Laurent@2111: # Initialize strings for formatting master code template Laurent@2111: str_completion = { Laurent@2111: "location": location_str, Laurent@2111: "master_number": master_number, Laurent@2111: "located_variables_declaration": [], Laurent@2111: "used_pdo_entry_offset_variables_declaration": [], Laurent@2111: "used_pdo_entry_configuration": [], Laurent@2111: "pdos_configuration_declaration": "", Laurent@2111: "slaves_declaration": "", Laurent@2111: "slaves_configuration": "", Laurent@2111: "slaves_output_pdos_default_values_extraction": "", Laurent@2111: "slaves_initialization": "", Laurent@2111: "retrieve_variables": [], Laurent@2111: "publish_variables": [], Laurent@2111: } andrej@2355: Laurent@2111: # Initialize variable storing variable mapping state Laurent@2111: for slave_entries in self.UsedVariables.itervalues(): Laurent@2111: for entry_infos in slave_entries.itervalues(): Laurent@2111: entry_infos["mapped"] = False andrej@2355: Laurent@2111: # Sort slaves by position (IEC_Channel) Laurent@2111: self.Slaves.sort() Laurent@2111: # Initialize dictionary storing alias auto-increment position values Laurent@2111: alias = {} andrej@2355: Laurent@2111: # Generating code for each slave Laurent@2111: for (slave_idx, slave_alias, slave) in self.Slaves: Laurent@2111: type_infos = slave.getType() andrej@2355: Laurent@2111: # Defining slave alias and auto-increment position Laurent@2111: if alias.get(slave_alias) is not None: Laurent@2111: alias[slave_alias] += 1 Laurent@2111: else: Laurent@2111: alias[slave_alias] = 0 Laurent@2111: slave_pos = (slave_alias, alias[slave_alias]) andrej@2355: Laurent@2111: # Extract slave device informations Laurent@2137: device, module_extra_params = self.Controler.GetModuleInfos(type_infos) Laurent@2144: if device is None: andrej@2378: msg = _("No informations found for device %s!") \ andrej@2378: % (type_infos["device_type"]) andrej@2378: raise ValueError(msg) andrej@2355: Laurent@2144: # Extract slaves variables to be mapped Laurent@2144: slave_variables = self.UsedVariables.get(slave_idx, {}) andrej@2355: Laurent@2144: # Extract slave device object dictionary entries Laurent@2144: device_entries = device.GetEntriesList() andrej@2355: Laurent@2144: # Adding code for declaring slave in master code template strings Laurent@2144: for element in ["vendor", "product_code", "revision_number"]: Laurent@2144: type_infos[element] = ExtractHexDecValue(type_infos[element]) Laurent@2144: type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) andrej@2355: Laurent@2144: # Extract slave device CoE informations Laurent@2144: device_coe = device.getCoE() Laurent@2144: if device_coe is not None: andrej@2355: andrej@2355: # If device support CanOpen over Ethernet, adding code for calling Laurent@2144: # init commands when initializing slave in master code template strings Laurent@2144: initCmds = [] Laurent@2144: for initCmd in device_coe.getInitCmd(): Laurent@2144: initCmds.append({ Laurent@2144: "Index": ExtractHexDecValue(initCmd.getIndex()), Laurent@2144: "Subindex": ExtractHexDecValue(initCmd.getSubIndex()), Laurent@2144: "Value": initCmd.getData().getcontent()}) Laurent@2144: initCmds.extend(slave.getStartupCommands()) Laurent@2144: for initCmd in initCmds: Laurent@2144: index = initCmd["Index"] Laurent@2144: subindex = initCmd["Subindex"] Laurent@2144: entry = device_entries.get((index, subindex), None) Laurent@2144: if entry is not None: andrej@2437: data_size = entry["BitSize"] // 8 Laurent@2144: data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"] Laurent@2144: init_cmd_infos = { Laurent@2144: "index": index, Laurent@2144: "subindex": subindex, Laurent@2144: "data": data_str, Laurent@2144: "data_type": DATATYPECONVERSION.get(entry["Type"]), Laurent@2144: "data_size": data_size Laurent@2144: } Laurent@2144: init_cmd_infos.update(type_infos) Laurent@2144: str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos andrej@2355: Laurent@2144: # Extract slave device PDO configuration capabilities Laurent@2144: PdoAssign = device_coe.getPdoAssign() Laurent@2144: PdoConfig = device_coe.getPdoConfig() Laurent@2144: else: Laurent@2144: PdoAssign = PdoConfig = False andrej@2355: Laurent@2144: # Test if slave has a configuration or need one Laurent@2144: if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign: andrej@2355: Laurent@2144: str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos Laurent@2144: str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos andrej@2355: andrej@2355: # Initializing Laurent@2144: pdos_infos = { Laurent@2144: "pdos_entries_infos": [], Laurent@2144: "pdos_infos": [], andrej@2355: "pdos_sync_infos": [], Laurent@2144: } Laurent@2144: pdos_infos.update(type_infos) andrej@2355: Laurent@2144: sync_managers = [] Laurent@2144: for sync_manager_idx, sync_manager in enumerate(device.getSm()): Laurent@2144: sync_manager_infos = { andrej@2355: "index": sync_manager_idx, Laurent@2144: "name": sync_manager.getcontent(), Laurent@2144: "slave": slave_idx, andrej@2355: "pdos": [], Laurent@2144: "pdos_number": 0, Laurent@2111: } andrej@2355: Laurent@2144: sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) Laurent@2144: sync_manager_direction = sync_manager_control_byte & 0x0c Laurent@2144: sync_manager_watchdog = sync_manager_control_byte & 0x40 Laurent@2144: if sync_manager_direction: Laurent@2144: sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" Laurent@2144: else: Laurent@2144: sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" Laurent@2144: if sync_manager_watchdog: Laurent@2144: sync_manager_infos["watchdog"] = "EC_WD_ENABLE" Laurent@2144: else: Laurent@2144: sync_manager_infos["watchdog"] = "EC_WD_DISABLE" andrej@2355: Laurent@2144: sync_managers.append(sync_manager_infos) andrej@2355: Laurent@2144: pdos_index = [] Laurent@2144: exclusive_pdos = {} Laurent@2144: selected_pdos = [] Laurent@2144: for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + Laurent@2144: [(pdo, "Outputs") for pdo in device.getRxPdo()]): andrej@2355: Laurent@2144: pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) Laurent@2144: pdos_index.append(pdo_index) andrej@2355: Laurent@2144: excluded_list = pdo.getExclude() Laurent@2144: if len(excluded_list) > 0: Laurent@2144: exclusion_list = [pdo_index] Laurent@2144: for excluded in excluded_list: Laurent@2144: exclusion_list.append(ExtractHexDecValue(excluded.getcontent())) Laurent@2144: exclusion_list.sort() andrej@2355: Laurent@2144: exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), []) andrej@2355: Laurent@2144: entries = pdo.getEntry() Laurent@2144: pdo_mapping_match = { andrej@2355: "index": pdo_index, andrej@2355: "matching": 0, andrej@2355: "count": len(entries), Laurent@2144: "assigned": pdo.getSm() is not None Laurent@2111: } Laurent@2144: exclusion_scope.append(pdo_mapping_match) andrej@2355: Laurent@2111: for entry in entries: Laurent@2111: index = ExtractHexDecValue(entry.getIndex().getcontent()) Laurent@2111: subindex = ExtractHexDecValue(entry.getSubIndex()) Laurent@2144: if slave_variables.get((index, subindex), None) is not None: Laurent@2144: pdo_mapping_match["matching"] += 1 andrej@2355: andrej@2374: if pdo.getFixed() is not True: Laurent@2144: pdo_mapping_match["matching"] += \ Laurent@2144: module_extra_params["max_pdo_size"] - \ Laurent@2144: pdo_mapping_match["count"] andrej@2355: Laurent@2144: elif pdo.getMandatory(): Laurent@2144: selected_pdos.append(pdo_index) andrej@2355: Laurent@2144: excluded_pdos = [] Laurent@2144: for exclusion_scope in exclusive_pdos.itervalues(): Laurent@2144: exclusion_scope.sort(ExclusionSortFunction) Laurent@2144: start_excluding_index = 0 Laurent@2144: if exclusion_scope[0]["matching"] > 0: Laurent@2144: selected_pdos.append(exclusion_scope[0]["index"]) Laurent@2144: start_excluding_index = 1 andrej@2381: excluded_pdos.extend([ andrej@2381: pdo["index"] andrej@2355: for pdo in exclusion_scope[start_excluding_index:] Laurent@2144: if PdoAssign or not pdo["assigned"]]) andrej@2355: Laurent@2144: for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + Laurent@2144: [(pdo, "Outputs") for pdo in device.getRxPdo()]): Laurent@2144: entries = pdo.getEntry() andrej@2355: Laurent@2144: pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) Laurent@2144: if pdo_index in excluded_pdos: Laurent@2144: continue andrej@2355: Laurent@2144: pdo_needed = pdo_index in selected_pdos andrej@2355: Laurent@2144: entries_infos = [] andrej@2355: Laurent@2144: for entry in entries: Laurent@2144: index = ExtractHexDecValue(entry.getIndex().getcontent()) Laurent@2144: subindex = ExtractHexDecValue(entry.getSubIndex()) Laurent@2144: entry_infos = { Laurent@2144: "index": index, Laurent@2144: "subindex": subindex, Laurent@2144: "name": ExtractName(entry.getName()), Laurent@2144: "bitlen": entry.getBitLen(), Laurent@2144: } Laurent@2144: entry_infos.update(type_infos) Laurent@2144: entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) andrej@2355: Laurent@2144: entry_declaration = slave_variables.get((index, subindex), None) Laurent@2144: if entry_declaration is not None and not entry_declaration["mapped"]: Laurent@2144: pdo_needed = True andrej@2355: andrej@2355: entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], Laurent@2144: entry_declaration["infos"]))) Laurent@2144: entry_declaration["mapped"] = True andrej@2355: Laurent@2144: entry_type = entry.getDataType().getcontent() Laurent@2144: if entry_infos["var_type"] != entry_type: Laurent@2144: message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] andrej@2379: if self.Controler.GetSizeOfType(entry_infos["var_type"]) != \ andrej@2379: self.Controler.GetSizeOfType(entry_type): andrej@2378: raise ValueError(message) Laurent@2144: else: Laurent@2144: self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") andrej@2355: andrej@2379: if (entry_infos["dir"] == "I" and pdo_type != "Inputs") or \ andrej@2379: (entry_infos["dir"] == "Q" and pdo_type != "Outputs"): andrej@2378: raise ValueError(_("Wrong direction for location \"%s\"!") % entry_infos["var_name"]) andrej@2355: Laurent@2144: ConfigureVariable(entry_infos, str_completion) andrej@2355: Laurent@2144: elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None: Laurent@2144: data_type = entry.getDataType().getcontent() Laurent@2144: entry_infos["dir"] = "Q" andrej@2437: entry_infos["data_size"] = max(1, entry_infos["bitlen"] // 8) Laurent@2144: entry_infos["data_type"] = DATATYPECONVERSION.get(data_type) Laurent@2144: entry_infos["var_type"] = data_type Laurent@2144: entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos andrej@2355: Laurent@2144: ConfigureVariable(entry_infos, str_completion) andrej@2355: Laurent@2144: str_completion["slaves_output_pdos_default_values_extraction"] += \ Laurent@2144: SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos andrej@2355: Laurent@2144: if pdo_needed: Laurent@2144: for excluded in pdo.getExclude(): Laurent@2144: excluded_index = ExtractHexDecValue(excluded.getcontent()) Laurent@2144: if excluded_index not in excluded_pdos: Laurent@2144: excluded_pdos.append(excluded_index) andrej@2355: Laurent@2144: sm = pdo.getSm() Laurent@2144: if sm is None: Laurent@2144: for sm_idx, sync_manager in enumerate(sync_managers): Laurent@2144: if sync_manager["name"] == pdo_type: Laurent@2144: sm = sm_idx Laurent@2144: if sm is None: andrej@2378: raise ValueError(_("No sync manager available for %s pdo!") % pdo_type) andrej@2355: Laurent@2144: sync_managers[sm]["pdos_number"] += 1 Laurent@2144: sync_managers[sm]["pdos"].append( Laurent@2144: {"slave": slave_idx, Laurent@2144: "index": pdo_index, Laurent@2144: "name": ExtractName(pdo.getName()), andrej@2355: "type": pdo_type, Laurent@2144: "entries": entries_infos, Laurent@2144: "entries_number": len(entries_infos), andrej@2374: "fixed": pdo.getFixed() is True}) andrej@2355: Laurent@2144: if PdoConfig and PdoAssign: Laurent@2144: dynamic_pdos = {} Laurent@2144: dynamic_pdos_number = 0 andrej@2355: for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), Laurent@2144: ("Outputs", 0x1a00, 0x1C00)]: Laurent@2144: for sync_manager in sync_managers: Laurent@2144: if sync_manager["name"] == category: Laurent@2144: category_infos = dynamic_pdos.setdefault(category, {}) Laurent@2144: category_infos["sync_manager"] = sync_manager andrej@2355: category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] Laurent@2144: if not pdo["fixed"] and pdo["type"] == category] Laurent@2144: category_infos["current_index"] = min_index Laurent@2144: category_infos["max_index"] = max_index Laurent@2144: break andrej@2355: Laurent@2144: for (index, subindex), entry_declaration in slave_variables.iteritems(): andrej@2355: Laurent@2144: if not entry_declaration["mapped"]: Laurent@2144: entry = device_entries.get((index, subindex), None) Laurent@2144: if entry is None: andrej@2425: msg = _("Unknown entry index 0x{a1:.4x}, subindex 0x{a2:.2x} for device {a3}").\ andrej@2425: format(a1=index, a2=subindex, a3=type_infos["device_type"]) andrej@2378: raise ValueError(msg) andrej@2355: Laurent@2111: entry_infos = { Laurent@2111: "index": index, Laurent@2111: "subindex": subindex, Laurent@2144: "name": entry["Name"], Laurent@2144: "bitlen": entry["BitSize"], Laurent@2111: } Laurent@2111: entry_infos.update(type_infos) andrej@2355: andrej@2355: entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], Laurent@2144: entry_declaration["infos"]))) Laurent@2144: entry_declaration["mapped"] = True andrej@2355: Laurent@2144: if entry_infos["var_type"] != entry["Type"]: Laurent@2144: message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] andrej@2379: if self.Controler.GetSizeOfType(entry_infos["var_type"]) != \ andrej@2379: self.Controler.GetSizeOfType(entry["Type"]): andrej@2378: raise ValueError(message) Laurent@2144: else: Laurent@2144: self.Controler.GetCTRoot().logger.write_warning(message + "\n") andrej@2355: Laurent@2144: if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: Laurent@2144: pdo_type = "Inputs" Laurent@2144: elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]: Laurent@2144: pdo_type = "Outputs" Laurent@2144: else: andrej@2378: msg = _("Wrong direction for location \"%s\"!") \ andrej@2378: % entry_infos["var_name"] andrej@2378: raise ValueError(msg) andrej@2355: andrej@2377: if pdo_type not in dynamic_pdos: andrej@2378: msg = _("No Sync manager defined for %s!") % pdo_type andrej@2378: raise ValueError(msg) andrej@2355: Laurent@2144: ConfigureVariable(entry_infos, str_completion) andrej@2355: Laurent@2144: if len(dynamic_pdos[pdo_type]["pdos"]) > 0: Laurent@2144: pdo = dynamic_pdos[pdo_type]["pdos"][0] Laurent@2144: elif module_extra_params["add_pdo"]: Laurent@2144: while dynamic_pdos[pdo_type]["current_index"] in pdos_index: Laurent@2144: dynamic_pdos[pdo_type]["current_index"] += 1 Laurent@2144: if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: andrej@2378: raise ValueError(_("No more free PDO index available for %s!") % pdo_type) Laurent@2144: pdos_index.append(dynamic_pdos[pdo_type]["current_index"]) andrej@2355: Laurent@2144: dynamic_pdos_number += 1 Laurent@2144: pdo = {"slave": slave_idx, Laurent@2144: "index": dynamic_pdos[pdo_type]["current_index"], Laurent@2144: "name": "Dynamic PDO %d" % dynamic_pdos_number, andrej@2355: "type": pdo_type, Laurent@2144: "entries": [], Laurent@2144: "entries_number": 0, Laurent@2144: "fixed": False} Laurent@2144: dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1 Laurent@2144: dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo) Laurent@2144: dynamic_pdos[pdo_type]["pdos"].append(pdo) Laurent@2144: else: Laurent@2144: break andrej@2355: Laurent@2144: pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) Laurent@2144: if entry_infos["bitlen"] < module_extra_params["pdo_alignment"]: Laurent@2144: pdo["entries"].append(" {0x0000, 0x00, %d}, /* None */" % ( andrej@2407: module_extra_params["pdo_alignment"] - entry_infos["bitlen"])) Laurent@2144: pdo["entries_number"] += 1 andrej@2355: Laurent@2144: if pdo["entries_number"] == module_extra_params["max_pdo_size"]: Laurent@2144: dynamic_pdos[pdo_type]["pdos"].pop(0) andrej@2355: Laurent@2144: pdo_offset = 0 Laurent@2144: entry_offset = 0 Laurent@2144: for sync_manager_infos in sync_managers: andrej@2355: Laurent@2144: for pdo_infos in sync_manager_infos["pdos"]: Laurent@2144: pdo_infos["offset"] = entry_offset Laurent@2144: pdo_entries = pdo_infos["entries"] Laurent@2144: pdos_infos["pdos_infos"].append( andrej@2355: (" {0x%(index).4x, %(entries_number)d, " + Laurent@2144: "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) Laurent@2144: entry_offset += len(pdo_entries) Laurent@2144: pdos_infos["pdos_entries_infos"].extend(pdo_entries) andrej@2355: Laurent@2144: sync_manager_infos["offset"] = pdo_offset Laurent@2144: pdo_offset_shift = sync_manager_infos["pdos_number"] Laurent@2144: pdos_infos["pdos_sync_infos"].append( andrej@2355: (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + Laurent@2144: ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") + Laurent@2144: ", %(watchdog)s},") % sync_manager_infos) andrej@2355: pdo_offset += pdo_offset_shift andrej@2355: Laurent@2144: for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: Laurent@2144: pdos_infos[element] = "\n".join(pdos_infos[element]) andrej@2355: Laurent@2144: str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos andrej@2355: Laurent@2144: for (index, subindex), entry_declaration in slave_variables.iteritems(): Laurent@2144: if not entry_declaration["mapped"]: andrej@2425: message = _("Entry index 0x{a1:.4x}, subindex 0x{a2:.2x} not mapped for device {a3}").\ andrej@2425: format(a1=index, a2=subindex, a3=type_infos["device_type"]) Laurent@2144: self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") andrej@2355: andrej@2355: for element in ["used_pdo_entry_offset_variables_declaration", andrej@2355: "used_pdo_entry_configuration", andrej@2355: "located_variables_declaration", andrej@2355: "retrieve_variables", Laurent@2111: "publish_variables"]: Laurent@2111: str_completion[element] = "\n".join(str_completion[element]) andrej@2355: Laurent@2111: etherlabfile = open(filepath, 'w') Laurent@2111: etherlabfile.write(plc_etherlab_code % str_completion) Laurent@2111: etherlabfile.close()