laurent@2022: import os, shutil laurent@2022: import cPickle laurent@2022: from xml.dom import minidom laurent@2022: laurent@2022: import wx laurent@2022: laurent@2022: from xmlclass import * Edouard@2048: from ConfigTreeNode import ConfigTreeNode Edouard@2048: from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY laurent@2043: from ConfigEditor import NodeEditor, CIA402NodeEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE laurent@2041: laurent@2041: try: Edouard@2049: from MotionLibrary import Headers, AxisXSD laurent@2041: HAS_MCL = True laurent@2041: except: laurent@2041: HAS_MCL = False laurent@2041: Edouard@2048: CONFNODEFOLDER = os.path.split(os.path.realpath(__file__))[0] laurent@2041: laurent@2041: TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L", laurent@2041: "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L", laurent@2041: "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"} laurent@2041: laurent@2041: DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64", laurent@2041: "USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64", laurent@2041: "BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"} laurent@2041: laurent@2041: VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY} laurent@2022: laurent@2032: #-------------------------------------------------- laurent@2041: # Remote Exec Etherlab Commands laurent@2032: #-------------------------------------------------- laurent@2032: laurent@2041: SCAN_COMMAND = """ laurent@2041: import commands laurent@2041: result = commands.getoutput("ethercat slaves") laurent@2041: slaves = [] laurent@2041: for slave_line in result.splitlines(): laurent@2041: chunks = slave_line.split() laurent@2041: idx, pos, state, flag = chunks[:4] laurent@2041: name = " ".join(chunks[4:]) laurent@2041: alias, position = pos.split(":") laurent@2041: slave = {"idx": int(idx), laurent@2041: "alias": int(alias), laurent@2041: "position": int(position), laurent@2041: "name": name} laurent@2041: details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"]) laurent@2041: for details_line in details.splitlines(): laurent@2041: details_line = details_line.strip() laurent@2041: for header, param in [("Vendor Id:", "vendor_id"), laurent@2041: ("Product code:", "product_code"), laurent@2041: ("Revision number:", "revision_number")]: laurent@2041: if details_line.startswith(header): laurent@2042: slave[param] = details_line.split()[-1] laurent@2041: break laurent@2041: slaves.append(slave) laurent@2041: returnVal = slaves laurent@2041: """ laurent@2041: laurent@2041: #-------------------------------------------------- laurent@2041: # Ethercat Node laurent@2041: #-------------------------------------------------- laurent@2041: Edouard@2048: class _EthercatSlaveCTN: laurent@2041: laurent@2041: NODE_PROFILE = None laurent@2041: EditorType = NodeEditor laurent@2034: laurent@2053: def GetIconPath(self): laurent@2053: return os.path.join(CONFNODEFOLDER, "images", "Slave.png") laurent@2043: laurent@2034: def ExtractHexDecValue(self, value): laurent@2034: return ExtractHexDecValue(value) laurent@2041: laurent@2034: def GetSizeOfType(self, type): Edouard@2048: return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None) laurent@2032: laurent@2041: def GetSlavePos(self): laurent@2041: return self.BaseParams.getIEC_Channel() laurent@2032: laurent@2032: def GetParamsAttributes(self, path = None): laurent@2041: if path: laurent@2041: parts = path.split(".", 1) laurent@2041: if self.MandatoryParams and parts[0] == self.MandatoryParams[0]: laurent@2041: return self.MandatoryParams[1].getElementInfos(parts[0], parts[1]) Edouard@2048: elif self.CTNParams and parts[0] == self.CTNParams[0]: Edouard@2048: return self.CTNParams[1].getElementInfos(parts[0], parts[1]) laurent@2041: else: laurent@2041: params = [] laurent@2041: if wx.VERSION < (2, 8, 0) and self.MandatoryParams: laurent@2041: params.append(self.MandatoryParams[1].getElementInfos(self.MandatoryParams[0])) Edouard@2048: slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos()) laurent@2041: params.append({ laurent@2041: 'use': 'required', laurent@2041: 'type': 'element', laurent@2041: 'name': 'SlaveParams', laurent@2041: 'value': None, laurent@2041: 'children': [{ laurent@2041: 'use': 'optional', Edouard@2048: 'type': self.CTNParent.GetSlaveTypesLibrary(self.NODE_PROFILE), laurent@2041: 'name': 'Type', laurent@2041: 'value': (slave_type["device_type"], slave_type)}, laurent@2041: {'use': 'optional', laurent@2041: 'type': 'unsignedLong', laurent@2041: 'name': 'Alias', Edouard@2048: 'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())}] laurent@2041: }) Edouard@2048: if self.CTNParams: Edouard@2048: params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0])) laurent@2041: return params laurent@2041: laurent@2041: def SetParamsAttribute(self, path, value): laurent@2041: position = self.BaseParams.getIEC_Channel() Edouard@2048: value, changed = ConfigTreeNode.SetParamsAttribute(self, path, value) laurent@2041: # Filter IEC_Channel, Slave_Type and Alias that have specific behavior laurent@2041: if path == "BaseParams.IEC_Channel": Edouard@2048: self.CTNParent.SetSlavePosition(position, value) laurent@2041: elif path == "SlaveParams.Type": Edouard@2048: self.CTNParent.SetSlaveType(position, value) Edouard@2048: slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos()) laurent@2041: value = (slave_type["device_type"], slave_type) laurent@2041: changed = True laurent@2041: elif path == "SlaveParams.Alias": Edouard@2048: self.CTNParent.SetSlaveAlias(position, value) laurent@2041: changed = True laurent@2041: return value, changed laurent@2032: laurent@2034: def GetSlaveInfos(self): Edouard@2048: return self.CTNParent.GetSlaveInfos(self.GetSlavePos()) laurent@2041: laurent@2032: def GetVariableLocationTree(self): laurent@2032: return {"name": self.BaseParams.getName(), Edouard@2048: "type": LOCATION_CONFNODE, laurent@2032: "location": self.GetFullIEC_Channel(), Edouard@2048: "children": self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), self.GetCurrentLocation(), self.BaseParams.getName()) laurent@2041: } laurent@2032: Edouard@2048: def CTNGenerate_C(self, buildpath, locations): laurent@2032: """ laurent@2032: Generate C code Edouard@2048: @param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5) laurent@2032: @param locations: List of complete variables locations \ laurent@2032: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) laurent@2032: "NAME" : name of the variable (generally "__IW0_1_2" style) laurent@2032: "DIR" : direction "Q","I" or "M" laurent@2032: "SIZE" : size "X", "B", "W", "D", "L" laurent@2032: "LOC" : tuple of interger for IEC location (0,1,2,...) laurent@2032: }, ...] laurent@2032: @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND laurent@2032: """ laurent@2041: return [],"",False laurent@2041: laurent@2041: #-------------------------------------------------- laurent@2043: # Ethercat CIA402 Node laurent@2041: #-------------------------------------------------- laurent@2041: laurent@2041: if HAS_MCL: laurent@2041: laurent@2041: NODE_VARIABLES = [ laurent@2041: ("ControlWord", 0x6040, 0x00, "UINT", "Q"), laurent@2041: ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), Laurent@2057: # ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"), laurent@2041: ("StatusWord", 0x6041, 0x00, "UINT", "I"), laurent@2041: ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"), laurent@2041: ("ActualPosition", 0x6064, 0x00, "DINT", "I"), laurent@2041: ] laurent@2041: Edouard@2048: class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN): laurent@2041: XSD = """ laurent@2041: laurent@2043: laurent@2041: laurent@2041: %s laurent@2041: laurent@2041: laurent@2041: laurent@2041: """ % AxisXSD laurent@2041: laurent@2041: NODE_PROFILE = 402 laurent@2043: EditorType = CIA402NodeEditor laurent@2043: laurent@2053: def GetIconPath(self): laurent@2053: return os.path.join(CONFNODEFOLDER, "images", "CIA402Slave.png") laurent@2041: Edouard@2048: def CTNGenerate_C(self, buildpath, locations): laurent@2041: """ laurent@2041: Generate C code Edouard@2048: @param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5) laurent@2041: @param locations: List of complete variables locations \ laurent@2041: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) laurent@2041: "NAME" : name of the variable (generally "__IW0_1_2" style) laurent@2041: "DIR" : direction "Q","I" or "M" laurent@2041: "SIZE" : size "X", "B", "W", "D", "L" laurent@2041: "LOC" : tuple of interger for IEC location (0,1,2,...) laurent@2041: }, ...] laurent@2041: @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND laurent@2041: """ laurent@2041: current_location = self.GetCurrentLocation() laurent@2041: laurent@2041: location_str = "_".join(map(lambda x:str(x), current_location)) laurent@2041: laurent@2045: plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c") laurent@2045: plc_cia402node_file = open(plc_cia402node_filepath, 'r') laurent@2045: plc_cia402node_code = plc_cia402node_file.read() laurent@2045: plc_cia402node_file.close() laurent@2041: laurent@2041: str_completion = { laurent@2041: "location": location_str, laurent@2041: "MCL_headers": Headers, laurent@2041: "extern_located_variables_declaration": [], laurent@2041: "entry_variables": [], laurent@2041: "init_axis_params": [], laurent@2041: "init_entry_variables": [], laurent@2041: } laurent@2041: laurent@2041: for variable in NODE_VARIABLES: laurent@2041: var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable)) laurent@2041: var_infos["location"] = location_str laurent@2041: var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"]) laurent@2041: var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos laurent@2041: laurent@2041: str_completion["extern_located_variables_declaration"].append( laurent@2041: "IEC_%(var_type)s *%(var_name)s;" % var_infos) laurent@2041: str_completion["entry_variables"].append( laurent@2041: " IEC_%(var_type)s *%(name)s;" % var_infos) laurent@2041: str_completion["init_entry_variables"].append( laurent@2043: " __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos) laurent@2041: Edouard@2048: self.CTNParent.FileGenerator.DeclareVariable( laurent@2041: self.GetSlavePos(), var_infos["index"], var_infos["subindex"], laurent@2041: var_infos["var_type"], var_infos["dir"], var_infos["var_name"]) laurent@2041: Edouard@2048: params = self.CTNParams[1].getElementInfos(self.CTNParams[0]) laurent@2041: for param in params["children"]: laurent@2041: if param["value"] is not None: laurent@2041: param_infos = { laurent@2041: "location": location_str, laurent@2041: "param_name": param["name"], laurent@2041: } laurent@2041: if param["type"] == "boolean": laurent@2041: param_infos["param_value"] = {True: "true", False: "false"}[param["value"]] laurent@2041: else: laurent@2041: param_infos["param_value"] = str(param["value"]) laurent@2041: str_completion["init_axis_params"].append( laurent@2043: " __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos) laurent@2041: laurent@2041: for element in ["extern_located_variables_declaration", laurent@2041: "entry_variables", laurent@2041: "init_axis_params", laurent@2041: "init_entry_variables"]: laurent@2041: str_completion[element] = "\n".join(str_completion[element]) laurent@2041: laurent@2045: Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str) laurent@2045: cia402nodefile = open(Gen_CIA402Nodefile_path, 'w') laurent@2045: cia402nodefile.write(plc_cia402node_code % str_completion) laurent@2045: cia402nodefile.close() laurent@2041: Edouard@2048: return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True laurent@2029: laurent@2022: #-------------------------------------------------- laurent@2022: # Ethercat MASTER laurent@2022: #-------------------------------------------------- laurent@2022: laurent@2022: EtherCATConfigClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd")) laurent@2022: laurent@2022: def ExtractHexDecValue(value): laurent@2022: try: laurent@2022: return int(value) laurent@2022: except: laurent@2022: pass laurent@2022: try: laurent@2022: return int(value.replace("#", "0"), 16) laurent@2022: except: laurent@2029: raise ValueError, "Invalid value for HexDecValue \"%s\"" % value laurent@2022: laurent@2022: def GenerateHexDecValue(value, base=10): laurent@2022: if base == 10: laurent@2022: return str(value) laurent@2022: elif base == 16: laurent@2022: return "#x%.8x" % value laurent@2022: else: laurent@2029: raise ValueError, "Not supported base" laurent@2022: laurent@2022: cls = EtherCATConfigClasses.get("Config_Slave", None) laurent@2022: if cls: laurent@2022: laurent@2022: def getType(self): laurent@2022: slave_info = self.getInfo() laurent@2022: return {"device_type": slave_info.getName(), laurent@2022: "vendor": GenerateHexDecValue(slave_info.getVendorId()), laurent@2022: "product_code": GenerateHexDecValue(slave_info.getProductCode(), 16), laurent@2022: "revision_number": GenerateHexDecValue(slave_info.getRevisionNo(), 16)} laurent@2022: setattr(cls, "getType", getType) laurent@2022: laurent@2022: def setType(self, type_infos): laurent@2022: slave_info = self.getInfo() laurent@2022: slave_info.setName(type_infos["device_type"]) laurent@2022: slave_info.setVendorId(ExtractHexDecValue(type_infos["vendor"])) laurent@2022: slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"])) laurent@2022: slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"])) laurent@2022: setattr(cls, "setType", setType) laurent@2022: Edouard@2048: class _EthercatCTN: laurent@2022: XSD = """ laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: laurent@2022: """ laurent@2041: Edouard@2048: CTNChildrenTypes = [("EthercatSlave", _EthercatSlaveCTN, "Ethercat Slave")] laurent@2041: if HAS_MCL: Edouard@2048: CTNChildrenTypes.append(("EthercatCIA402Slave", _EthercatCIA402SlaveCTN, "Ethercat CIA402 Slave")) laurent@2032: laurent@2022: def __init__(self): laurent@2022: filepath = self.ConfigFileName() laurent@2022: laurent@2022: self.Config = EtherCATConfigClasses["EtherCATConfig"]() laurent@2022: if os.path.isfile(filepath): laurent@2022: xmlfile = open(filepath, 'r') laurent@2022: tree = minidom.parse(xmlfile) laurent@2022: xmlfile.close() laurent@2022: laurent@2022: for child in tree.childNodes: laurent@2022: if child.nodeType == tree.ELEMENT_NODE and child.nodeName == "EtherCATConfig": laurent@2051: self.Config.loadXMLTree(child) laurent@2022: self.CreateConfigBuffer(True) laurent@2022: else: laurent@2022: self.CreateConfigBuffer(False) Edouard@2048: self.OnCTNSave() laurent@2022: laurent@2022: def ExtractHexDecValue(self, value): laurent@2022: return ExtractHexDecValue(value) laurent@2022: laurent@2022: def GetSizeOfType(self, type): Edouard@2048: return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None) laurent@2022: laurent@2022: def ConfigFileName(self): Edouard@2048: return os.path.join(self.CTNPath(), "config.xml") laurent@2022: laurent@2022: def GetSlaves(self): laurent@2022: slaves = [] laurent@2022: for slave in self.Config.getConfig().getSlave(): laurent@2041: slaves.append(slave.getInfo().getPhysAddr()) laurent@2022: slaves.sort() laurent@2022: return slaves laurent@2022: laurent@2022: def GetSlave(self, slave_pos): laurent@2022: for slave in self.Config.getConfig().getSlave(): laurent@2022: slave_info = slave.getInfo() laurent@2041: if slave_info.getPhysAddr() == slave_pos: laurent@2022: return slave laurent@2022: return None laurent@2022: laurent@2042: def _ScanNetwork(self): Edouard@2048: app_frame = self.GetCTRoot().AppFrame laurent@2042: laurent@2042: execute = True Edouard@2048: if len(self.Children) > 0: laurent@2042: dialog = wx.MessageDialog(app_frame, laurent@2042: _("The current network configuration will be deleted.\nDo you want to continue?"), laurent@2042: _("Scan Network"), laurent@2042: wx.YES_NO|wx.ICON_QUESTION) laurent@2042: execute = dialog.ShowModal() == wx.ID_YES laurent@2042: dialog.Destroy() laurent@2042: laurent@2042: if execute: laurent@2042: error, returnVal = self.RemoteExec(SCAN_COMMAND, returnVal = None) laurent@2042: if error != 0: laurent@2042: dialog = wx.MessageDialog(app_frame, returnVal, "Error", wx.OK|wx.ICON_ERROR) laurent@2042: dialog.ShowModal() laurent@2042: dialog.Destroy() laurent@2042: elif returnVal is not None: Edouard@2048: for child in self.IECSortedChildren(): laurent@2042: self._doRemoveChild(child) laurent@2042: laurent@2042: for slave in returnVal: laurent@2042: type_infos = { laurent@2042: "vendor": slave["vendor_id"], laurent@2042: "product_code": slave["product_code"], laurent@2042: "revision_number":slave["revision_number"], laurent@2042: } laurent@2042: device = self.GetModuleInfos(type_infos) laurent@2042: if device is not None: Edouard@2048: if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers(): Edouard@2048: CTNType = "EthercatCIA402Slave" laurent@2042: else: Edouard@2048: CTNType = "EthercatSlave" Edouard@2048: self.CTNAddChild("slave%s" % slave["idx"], CTNType, slave["idx"]) laurent@2042: self.SetSlaveAlias(slave["idx"], slave["alias"]) laurent@2042: type_infos["device_type"] = device.getType().getcontent() laurent@2042: self.SetSlaveType(slave["idx"], type_infos) laurent@2042: Edouard@2048: def CTNAddChild(self, CTNName, CTNType, IEC_Channel=0): laurent@2041: """ Edouard@2048: Create the confnodes that may be added as child to this node self Edouard@2048: @param CTNType: string desining the confnode class name (get name from CTNChildrenTypes) Edouard@2048: @param CTNName: string for the name of the confnode instance laurent@2041: """ Edouard@2048: newConfNodeOpj = ConfigTreeNode.CTNAddChild(self, CTNName, CTNType, IEC_Channel) Edouard@2048: Edouard@2048: slave = self.GetSlave(newConfNodeOpj.BaseParams.getIEC_Channel()) laurent@2041: if slave is None: laurent@2041: slave = EtherCATConfigClasses["Config_Slave"]() laurent@2041: slave_infos = slave.getInfo() laurent@2041: slave_infos.setName("undefined") Edouard@2048: slave_infos.setPhysAddr(newConfNodeOpj.BaseParams.getIEC_Channel()) laurent@2041: slave_infos.setAutoIncAddr(0) laurent@2041: self.Config.getConfig().appendSlave(slave) laurent@2041: self.BufferConfig() Edouard@2048: self.OnCTNSave() Edouard@2048: Edouard@2048: return newConfNodeOpj Edouard@2048: Edouard@2048: def _doRemoveChild(self, CTNInstance): Edouard@2048: slave_pos = CTNInstance.GetSlavePos() laurent@2022: config = self.Config.getConfig() laurent@2022: for idx, slave in enumerate(config.getSlave()): laurent@2022: slave_infos = slave.getInfo() laurent@2041: if slave_infos.getPhysAddr() == slave_pos: laurent@2022: config.removeSlave(idx) laurent@2022: self.BufferConfig() Edouard@2048: self.OnCTNSave() Edouard@2048: ConfigTreeNode._doRemoveChild(self, CTNInstance) laurent@2041: laurent@2041: def SetSlavePosition(self, slave_pos, new_pos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: slave_info = slave.getInfo() laurent@2041: slave_info.setPhysAddr(new_pos) laurent@2022: self.BufferConfig() laurent@2041: laurent@2041: def GetSlaveAlias(self, slave_pos): laurent@2041: slave = self.GetSlave(slave_pos) laurent@2041: if slave is not None: laurent@2041: slave_info = slave.getInfo() laurent@2041: return slave_info.getAutoIncAddr() laurent@2022: return None laurent@2022: laurent@2041: def SetSlaveAlias(self, slave_pos, alias): laurent@2041: slave = self.GetSlave(slave_pos) laurent@2041: if slave is not None: laurent@2041: slave_info = slave.getInfo() laurent@2041: slave_info.setAutoIncAddr(alias) laurent@2041: self.BufferConfig() laurent@2041: laurent@2022: def GetSlaveType(self, slave_pos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: return slave.getType() laurent@2022: return None laurent@2022: laurent@2022: def SetSlaveType(self, slave_pos, type_infos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: slave.setType(type_infos) laurent@2022: self.BufferConfig() laurent@2022: laurent@2022: def GetSlaveInfos(self, slave_pos): laurent@2022: slave = self.GetSlave(slave_pos) laurent@2022: if slave is not None: laurent@2022: type_infos = slave.getType() laurent@2022: device = self.GetModuleInfos(type_infos) laurent@2022: if device is not None: laurent@2022: infos = type_infos.copy() laurent@2029: entries = device.GetEntriesList() laurent@2029: entries_list = entries.items() laurent@2029: entries_list.sort() laurent@2038: entries = [] laurent@2038: current_index = None laurent@2038: current_entry = None laurent@2038: for (index, subindex), entry in entries_list: laurent@2038: entry["children"] = [] laurent@2038: if index != current_index: laurent@2038: current_index = index laurent@2038: current_entry = entry laurent@2038: entries.append(entry) laurent@2038: elif current_entry is not None: laurent@2038: current_entry["children"].append(entry) laurent@2038: else: laurent@2038: entries.append(entry) laurent@2022: infos.update({"physics": device.getPhysics(), laurent@2029: "sync_managers": device.GetSyncManagers(), laurent@2038: "entries": entries}) laurent@2022: return infos laurent@2022: return None laurent@2022: laurent@2022: def GetModuleInfos(self, type_infos): Edouard@2048: return self.CTNParent.GetModuleInfos(type_infos) laurent@2022: laurent@2041: def GetSlaveTypesLibrary(self, profile_filter=None): Edouard@2048: return self.CTNParent.GetModulesLibrary(profile_filter) laurent@2041: laurent@2041: def GetDeviceLocationTree(self, slave_pos, current_location, device_name): laurent@2041: slave = self.GetSlave(slave_pos) laurent@2041: if slave is not None: laurent@2041: type_infos = slave.getType() laurent@2041: laurent@2041: vars = [] laurent@2041: laurent@2041: device = self.GetModuleInfos(type_infos) laurent@2041: if device is not None: laurent@2041: sync_managers = [] laurent@2041: for sync_manager in device.getSm(): laurent@2041: sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) laurent@2041: sync_manager_direction = sync_manager_control_byte & 0x0c laurent@2041: if sync_manager_direction: laurent@2041: sync_managers.append(LOCATION_VAR_OUTPUT) laurent@2041: else: laurent@2041: sync_managers.append(LOCATION_VAR_INPUT) laurent@2041: laurent@2041: entries = device.GetEntriesList().items() laurent@2041: entries.sort() laurent@2041: for (index, subindex), entry in entries: laurent@2041: var_size = self.GetSizeOfType(entry["Type"]) laurent@2041: if var_size is not None: laurent@2041: var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None) laurent@2041: if var_class is not None: laurent@2041: if var_class == LOCATION_VAR_INPUT: laurent@2041: var_dir = "%I" laurent@2041: else: laurent@2041: var_dir = "%Q" laurent@2041: laurent@2041: vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]), laurent@2041: "type": var_class, laurent@2041: "size": var_size, laurent@2041: "IEC_type": entry["Type"], laurent@2041: "var_name": "%s_%4.4x_%2.2x" % ("_".join(device_name.split()), index, subindex), laurent@2041: "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location + laurent@2041: (index, subindex)))), laurent@2041: "description": "", laurent@2041: "children": []}) laurent@2032: laurent@2032: return vars laurent@2032: Edouard@2048: def CTNTestModified(self): laurent@2022: return self.ChangesToSave or not self.ConfigIsSaved() laurent@2022: Edouard@2048: def OnCTNSave(self): laurent@2022: filepath = self.ConfigFileName() laurent@2022: laurent@2022: text = "\n" laurent@2022: extras = {"xmlns:xsi":"http://www.w3.org/2001/XMLSchema-instance", laurent@2022: "xsi:noNamespaceSchemaLocation" : "EtherCATInfo.xsd"} laurent@2022: text += self.Config.generateXMLText("EtherCATConfig", 0, extras) laurent@2022: laurent@2022: xmlfile = open(filepath,"w") laurent@2022: xmlfile.write(text.encode("utf-8")) laurent@2022: xmlfile.close() laurent@2022: laurent@2022: self.ConfigBuffer.CurrentSaved() laurent@2022: return True laurent@2022: laurent@2032: def _Generate_C(self, buildpath, locations): laurent@2032: current_location = self.GetCurrentLocation() laurent@2032: # define a unique name for the generated C file laurent@2032: location_str = "_".join(map(lambda x:str(x), current_location)) laurent@2032: laurent@2032: Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str) laurent@2032: laurent@2032: self.FileGenerator = _EthercatCFileGenerator(self) laurent@2032: Edouard@2048: LocationCFilesAndCFLAGS, LDFLAGS, extra_files = ConfigTreeNode._Generate_C(self, buildpath, locations) laurent@2032: laurent@2032: self.FileGenerator.GenerateCFile(Gen_Ethercatfile_path, location_str, self.EtherlabNode) laurent@2032: laurent@2032: LocationCFilesAndCFLAGS.append( laurent@2032: (current_location, Edouard@2048: [(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))], laurent@2032: True)) laurent@2032: LDFLAGS.append("-lethercat -lrtdm") laurent@2032: laurent@2032: return LocationCFilesAndCFLAGS, LDFLAGS, extra_files laurent@2032: Edouard@2048: ConfNodeMethods = [ Edouard@2048: {"bitmap" : os.path.join(CONFNODEFOLDER, "images", "ScanNetwork"), laurent@2042: "name" : _("Scan Network"), laurent@2042: "tooltip" : _("Scan Network"), laurent@2042: "method" : "_ScanNetwork"}, laurent@2042: ] laurent@2042: Edouard@2048: def CTNGenerate_C(self, buildpath, locations): laurent@2022: """ laurent@2022: Generate C code Edouard@2048: @param current_location: Tupple containing confnode IEC location : %I0.0.4.5 => (0,0,4,5) laurent@2022: @param locations: List of complete variables locations \ laurent@2022: [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) laurent@2022: "NAME" : name of the variable (generally "__IW0_1_2" style) laurent@2022: "DIR" : direction "Q","I" or "M" laurent@2022: "SIZE" : size "X", "B", "W", "D", "L" laurent@2022: "LOC" : tuple of interger for IEC location (0,1,2,...) laurent@2022: }, ...] laurent@2022: @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND laurent@2022: """ laurent@2022: current_location = self.GetCurrentLocation() laurent@2032: laurent@2032: slaves = self.GetSlaves() laurent@2032: for slave_pos in slaves: laurent@2032: slave = self.GetSlave(slave_pos) laurent@2032: if slave is not None: laurent@2041: self.FileGenerator.DeclareSlave(slave_pos, slave.getInfo().getAutoIncAddr(), slave.getType()) laurent@2022: laurent@2022: for location in locations: laurent@2022: loc = location["LOC"][len(current_location):] laurent@2041: slave_pos = loc[0] laurent@2041: if slave_pos in slaves and len(loc) == 3: laurent@2032: self.FileGenerator.DeclareVariable( laurent@2041: slave_pos, loc[1], loc[2], location["IEC_TYPE"], location["DIR"], location["NAME"]) laurent@2032: laurent@2032: return [],"",False laurent@2032: laurent@2022: #------------------------------------------------------------------------------- laurent@2022: # Current Buffering Management Functions laurent@2022: #------------------------------------------------------------------------------- laurent@2022: laurent@2022: """ laurent@2022: Return a copy of the config laurent@2022: """ laurent@2022: def Copy(self, model): laurent@2022: return cPickle.loads(cPickle.dumps(model)) laurent@2022: laurent@2022: def CreateConfigBuffer(self, saved): laurent@2022: self.ConfigBuffer = UndoBuffer(cPickle.dumps(self.Config), saved) laurent@2022: laurent@2022: def BufferConfig(self): laurent@2022: self.ConfigBuffer.Buffering(cPickle.dumps(self.Config)) laurent@2022: laurent@2022: def ConfigIsSaved(self): laurent@2022: if self.ConfigBuffer is not None: laurent@2022: return self.ConfigBuffer.IsCurrentSaved() laurent@2022: else: laurent@2022: return True laurent@2022: laurent@2022: def LoadPrevious(self): laurent@2022: self.Config = cPickle.loads(self.ConfigBuffer.Previous()) laurent@2022: laurent@2022: def LoadNext(self): laurent@2022: self.Config = cPickle.loads(self.ConfigBuffer.Next()) laurent@2022: laurent@2022: def GetBufferState(self): laurent@2022: first = self.ConfigBuffer.IsFirst() laurent@2022: last = self.ConfigBuffer.IsLast() laurent@2022: return not first, not last laurent@2022: laurent@2022: laurent@2022: SLAVE_PDOS_CONFIGURATION_DECLARATION = """ laurent@2022: /* Slave %(slave)d, "%(device_type)s" laurent@2022: * Vendor ID: 0x%(vendor).8x laurent@2022: * Product code: 0x%(product_code).8x laurent@2022: * Revision number: 0x%(revision_number).8x laurent@2022: */ laurent@2022: laurent@2022: ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = { laurent@2022: %(pdos_entries_infos)s laurent@2022: }; laurent@2022: laurent@2022: ec_pdo_info_t slave_%(slave)d_pdos[] = { laurent@2022: %(pdos_infos)s laurent@2022: }; laurent@2022: laurent@2022: ec_sync_info_t slave_%(slave)d_syncs[] = { laurent@2022: %(pdos_sync_infos)s laurent@2022: {0xff} laurent@2022: }; laurent@2022: """ laurent@2022: laurent@2022: SLAVE_CONFIGURATION_TEMPLATE = """ laurent@2022: if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) { laurent@2022: fprintf(stderr, "Failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.\\n"); laurent@2022: return -1; laurent@2022: } laurent@2022: laurent@2022: if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) { laurent@2022: fprintf(stderr, "Failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.\\n"); laurent@2022: return -1; laurent@2022: } laurent@2022: """ laurent@2022: laurent@2032: SLAVE_INITIALIZATION_TEMPLATE = """ laurent@2032: { laurent@2032: uint8_t value[] = {%(data)s}; laurent@2032: if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) { laurent@2032: fprintf(stderr, "Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code); laurent@2032: return -1; laurent@2032: } laurent@2032: } laurent@2032: """ laurent@2032: laurent@2039: SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """ laurent@2039: { laurent@2039: uint8_t value[%(data_size)d]; laurent@2039: if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) { laurent@2039: fprintf(stderr, "Failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code); laurent@2039: return -1; laurent@2039: } laurent@2039: for (i = 0; i < result_size; i++) { laurent@2039: %(real_var)s = (%(real_var)s << 8) + value[i]; laurent@2039: } laurent@2039: } laurent@2039: """ laurent@2039: laurent@2029: def ConfigureVariable(entry_infos, str_completion): laurent@2032: entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None) laurent@2032: if entry_infos["data_type"] is None: laurent@2029: raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"] laurent@2039: laurent@2039: if entry_infos.has_key("real_var"): laurent@2039: str_completion["located_variables_declaration"].append( laurent@2039: "IEC_%(var_type)s %(real_var)s;" % entry_infos) laurent@2039: else: laurent@2039: entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] laurent@2039: str_completion["located_variables_declaration"].extend( laurent@2039: ["IEC_%(var_type)s %(real_var)s;" % entry_infos, laurent@2039: "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos]) laurent@2034: laurent@2034: str_completion["used_pdo_entry_offset_variables_declaration"].append( laurent@2034: "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) laurent@2032: laurent@2032: if entry_infos["data_type"] == "BIT": laurent@2034: str_completion["used_pdo_entry_offset_variables_declaration"].append( laurent@2034: "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos) laurent@2034: laurent@2034: str_completion["used_pdo_entry_configuration"].append( laurent@2034: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + laurent@2034: "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2034: "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos) laurent@2034: laurent@2032: if entry_infos["dir"] == "I": laurent@2032: str_completion["retrieve_variables"].append( laurent@2032: (" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2032: "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos) laurent@2032: elif entry_infos["dir"] == "Q": laurent@2032: str_completion["publish_variables"].append( laurent@2032: (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2032: "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos) laurent@2032: laurent@2032: else: laurent@2034: str_completion["used_pdo_entry_configuration"].append( laurent@2034: (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + laurent@2034: "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos) laurent@2034: laurent@2032: if entry_infos["dir"] == "I": laurent@2032: str_completion["retrieve_variables"].append( laurent@2032: (" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + laurent@2032: "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos) laurent@2032: elif entry_infos["dir"] == "Q": laurent@2032: str_completion["publish_variables"].append( laurent@2032: (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + laurent@2032: "%(real_var)s);") % entry_infos) laurent@2032: laurent@2022: class _EthercatCFileGenerator: laurent@2022: laurent@2032: def __init__(self, controler): laurent@2022: self.Controler = controler laurent@2032: laurent@2032: self.Slaves = [] laurent@2022: self.UsedVariables = {} laurent@2032: laurent@2022: def __del__(self): laurent@2032: self.Controler = None laurent@2032: laurent@2041: def DeclareSlave(self, slave_index, slave_alias, slave): laurent@2041: self.Slaves.append((slave_index, slave_alias, slave)) laurent@2041: laurent@2041: def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name): laurent@2041: slave_variables = self.UsedVariables.setdefault(slave_index, {}) laurent@2022: laurent@2022: entry_infos = slave_variables.get((index, subindex), None) laurent@2022: if entry_infos is None: laurent@2029: slave_variables[(index, subindex)] = { laurent@2029: "infos": (iec_type, dir, name), laurent@2029: "mapped": False} laurent@2029: elif entry_infos["infos"] != (iec_type, dir, name): laurent@2022: raise ValueError, _("Definition conflict for location \"%s\"") % name laurent@2029: laurent@2032: def GenerateCFile(self, filepath, location_str, etherlab_node_infos): laurent@2022: laurent@2022: plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c") laurent@2022: plc_etherlab_file = open(plc_etherlab_filepath, 'r') laurent@2022: plc_etherlab_code = plc_etherlab_file.read() laurent@2022: plc_etherlab_file.close() laurent@2022: laurent@2022: str_completion = { laurent@2022: "location": location_str, laurent@2032: "configure_pdos": int(etherlab_node_infos.getConfigurePDOs()), laurent@2032: "master_number": etherlab_node_infos.getMasterNumber(), laurent@2022: "located_variables_declaration": [], laurent@2022: "used_pdo_entry_offset_variables_declaration": [], laurent@2022: "used_pdo_entry_configuration": [], laurent@2022: "pdos_configuration_declaration": "", laurent@2022: "slaves_declaration": "", laurent@2022: "slaves_configuration": "", laurent@2039: "slaves_output_pdos_default_values_extraction": "", laurent@2032: "slaves_initialization": "", laurent@2022: "retrieve_variables": [], laurent@2022: "publish_variables": [], laurent@2022: } laurent@2022: laurent@2029: for slave_entries in self.UsedVariables.itervalues(): laurent@2029: for entry_infos in slave_entries.itervalues(): laurent@2029: entry_infos["mapped"] = False laurent@2029: laurent@2041: self.Slaves.sort() laurent@2041: alias = {} laurent@2041: for (slave_idx, slave_alias, type_infos) in self.Slaves: laurent@2041: if alias.get(slave_alias) is not None: laurent@2041: alias[slave_alias] += 1 laurent@2041: else: laurent@2041: alias[slave_alias] = 0 laurent@2041: slave_pos = (slave_alias, alias[slave_alias]) laurent@2032: laurent@2032: device = self.Controler.GetModuleInfos(type_infos) laurent@2032: if device is not None: laurent@2032: laurent@2041: slave_variables = self.UsedVariables.get(slave_idx, {}) laurent@2032: device_entries = device.GetEntriesList() laurent@2022: laurent@2032: if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0: laurent@2022: laurent@2032: for element in ["vendor", "product_code", "revision_number"]: laurent@2032: type_infos[element] = ExtractHexDecValue(type_infos[element]) laurent@2032: type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) laurent@2032: laurent@2032: str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos laurent@2032: str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos laurent@2032: laurent@2032: for initCmd in device.getInitCmd(): laurent@2032: index = ExtractHexDecValue(initCmd.getIndex()) laurent@2032: subindex = ExtractHexDecValue(initCmd.getSubIndex()) laurent@2032: entry = device_entries.get((index, subindex), None) laurent@2032: if entry is not None: laurent@2032: data_size = entry["BitSize"] / 8 laurent@2032: data = ("%%.%dx" % (data_size * 2)) % initCmd.getData().getcontent() laurent@2032: data_str = ",".join(["0x%s" % data[i:i+2] for i in xrange(0, data_size * 2, 2)]) laurent@2032: init_cmd_infos = { laurent@2032: "index": index, laurent@2032: "subindex": subindex, laurent@2032: "data": data_str, laurent@2032: "data_size": data_size laurent@2032: } laurent@2032: init_cmd_infos.update(type_infos) laurent@2032: str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos laurent@2032: laurent@2032: pdos_infos = { laurent@2032: "pdos_entries_infos": [], laurent@2032: "pdos_infos": [], laurent@2032: "pdos_sync_infos": [], laurent@2032: } laurent@2032: pdos_infos.update(type_infos) laurent@2032: laurent@2032: sync_managers = [] laurent@2032: for sync_manager_idx, sync_manager in enumerate(device.getSm()): laurent@2032: sync_manager_infos = { laurent@2032: "index": sync_manager_idx, laurent@2032: "name": sync_manager.getcontent(), laurent@2032: "slave": slave_idx, laurent@2032: "pdos": [], laurent@2032: "pdos_number": 0, laurent@2032: } laurent@2022: laurent@2032: sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) laurent@2032: sync_manager_direction = sync_manager_control_byte & 0x0c laurent@2032: sync_manager_watchdog = sync_manager_control_byte & 0x40 laurent@2032: if sync_manager_direction: laurent@2032: sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT" laurent@2032: else: laurent@2032: sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT" laurent@2032: if sync_manager_watchdog: laurent@2032: sync_manager_infos["watchdog"] = "EC_WD_ENABLE" laurent@2032: else: laurent@2032: sync_manager_infos["watchdog"] = "EC_WD_DISABLE" laurent@2032: laurent@2032: sync_managers.append(sync_manager_infos) laurent@2022: laurent@2032: pdos_index = [] laurent@2034: excluded_pdos = [] laurent@2032: for only_mandatory in [True, False]: laurent@2032: for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + laurent@2032: [(pdo, "Outputs") for pdo in device.getRxPdo()]): laurent@2032: entries = pdo.getEntry() laurent@2032: laurent@2032: pdo_needed = pdo.getMandatory() laurent@2032: if pdo_needed is None: laurent@2032: pdo_needed = False laurent@2032: if only_mandatory != pdo_needed: laurent@2032: continue laurent@2032: laurent@2032: pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) laurent@2032: pdos_index.append(pdo_index) laurent@2034: if pdo_index in excluded_pdos: laurent@2034: continue laurent@2034: laurent@2032: entries_infos = [] laurent@2032: laurent@2032: for entry in entries: laurent@2032: index = ExtractHexDecValue(entry.getIndex().getcontent()) laurent@2032: subindex = ExtractHexDecValue(entry.getSubIndex()) laurent@2029: entry_infos = { laurent@2029: "index": index, laurent@2029: "subindex": subindex, laurent@2032: "name": ExtractName(entry.getName()), laurent@2032: "bitlen": entry.getBitLen(), laurent@2023: } laurent@2029: entry_infos.update(type_infos) laurent@2032: entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) laurent@2029: laurent@2032: entry_declaration = slave_variables.get((index, subindex), None) laurent@2032: if entry_declaration is not None and not entry_declaration["mapped"]: laurent@2032: pdo_needed = True laurent@2032: laurent@2032: entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"]))) laurent@2032: entry_declaration["mapped"] = True laurent@2032: laurent@2045: entry_type = entry.getDataType().getcontent() laurent@2045: if entry_infos["var_type"] != entry_type: laurent@2045: message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] laurent@2045: if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != laurent@2045: self.Controler.GetSizeOfType(entry_type)): laurent@2045: raise ValueError, message laurent@2045: else: Edouard@2048: self.Controler.GetCTRoot().logger.write_warning(message + "\n") laurent@2032: laurent@2032: if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or laurent@2032: entry_infos["dir"] == "Q" and pdo_type != "Outputs"): laurent@2032: raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] laurent@2032: laurent@2034: ConfigureVariable(entry_infos, str_completion) laurent@2039: laurent@2039: elif pdo_type == "Outputs" and entry.getDataType() is not None: laurent@2039: entry_infos["dir"] = "Q" laurent@2039: entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8) laurent@2039: entry_infos["var_type"] = entry.getDataType().getcontent() laurent@2039: entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos laurent@2039: laurent@2039: ConfigureVariable(entry_infos, str_completion) laurent@2039: laurent@2039: str_completion["slaves_output_pdos_default_values_extraction"] += \ laurent@2039: SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos laurent@2034: laurent@2032: if pdo_needed: laurent@2034: for excluded in pdo.getExclude(): laurent@2034: excluded_index = ExtractHexDecValue(excluded.getcontent()) laurent@2034: if excluded_index not in excluded_pdos: laurent@2034: excluded_pdos.append(excluded_index) laurent@2034: laurent@2032: sm = pdo.getSm() laurent@2032: if sm is None: laurent@2032: for sm_idx, sync_manager in enumerate(sync_managers): laurent@2032: if sync_manager["name"] == pdo_type: laurent@2032: sm = sm_idx laurent@2032: if sm is None: laurent@2032: raise ValueError, _("No sync manager available for %s pdo!") % pdo_type laurent@2032: laurent@2032: sync_managers[sm]["pdos_number"] += 1 laurent@2032: sync_managers[sm]["pdos"].append( laurent@2032: {"slave": slave_idx, laurent@2032: "index": pdo_index, laurent@2032: "name": ExtractName(pdo.getName()), laurent@2032: "type": pdo_type, laurent@2032: "entries": entries_infos, laurent@2032: "entries_number": len(entries_infos), laurent@2032: "fixed": pdo.getFixed() == True}) laurent@2032: laurent@2032: dynamic_pdos = {} laurent@2032: dynamic_pdos_number = 0 laurent@2032: for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), laurent@2032: ("Outputs", 0x1a00, 0x1C00)]: laurent@2032: for sync_manager in sync_managers: laurent@2032: if sync_manager["name"] == category: laurent@2032: category_infos = dynamic_pdos.setdefault(category, {}) laurent@2032: category_infos["sync_manager"] = sync_manager laurent@2032: category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] laurent@2032: if not pdo["fixed"] and pdo["type"] == category] laurent@2032: category_infos["current_index"] = min_index laurent@2032: category_infos["max_index"] = max_index laurent@2032: break laurent@2032: laurent@2032: for (index, subindex), entry_declaration in slave_variables.iteritems(): laurent@2032: laurent@2032: if not entry_declaration["mapped"]: laurent@2032: entry = device_entries.get((index, subindex), None) laurent@2032: if entry is None: laurent@2032: raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \ laurent@2032: (index, subindex, type_infos["device_type"]) laurent@2032: laurent@2032: entry_infos = { laurent@2032: "index": index, laurent@2032: "subindex": subindex, laurent@2032: "name": entry["Name"], laurent@2032: "bitlen": entry["BitSize"], laurent@2032: } laurent@2032: entry_infos.update(type_infos) laurent@2032: laurent@2032: entry_infos.update(dict(zip(["var_type", "dir", "var_name", "real_var"], entry_declaration["infos"]))) laurent@2032: entry_declaration["mapped"] = True laurent@2032: laurent@2032: if entry_infos["var_type"] != entry["Type"]: laurent@2045: message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] laurent@2045: if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != laurent@2045: self.Controler.GetSizeOfType(entry["Type"])): laurent@2045: raise ValueError, message laurent@2045: else: Edouard@2048: self.Controler.GetCTRoot().logger.write_warning(message + "\n") laurent@2032: laurent@2032: if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: laurent@2032: pdo_type = "Inputs" laurent@2032: elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]: laurent@2032: pdo_type = "Outputs" laurent@2032: else: laurent@2032: raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] laurent@2032: laurent@2032: if not dynamic_pdos.has_key(pdo_type): laurent@2032: raise ValueError, _("No Sync manager defined for %s!") % pdo_type laurent@2032: laurent@2034: ConfigureVariable(entry_infos, str_completion) laurent@2032: laurent@2032: if len(dynamic_pdos[pdo_type]["pdos"]) > 0: laurent@2032: pdo = dynamic_pdos[pdo_type]["pdos"][0] laurent@2032: else: laurent@2032: while dynamic_pdos[pdo_type]["current_index"] in pdos_index: laurent@2032: dynamic_pdos[pdo_type]["current_index"] += 1 laurent@2032: if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: laurent@2032: raise ValueError, _("No more free PDO index available for %s!") % pdo_type laurent@2032: pdos_index.append(dynamic_pdos[pdo_type]["current_index"]) laurent@2029: laurent@2032: dynamic_pdos_number += 1 laurent@2032: pdo = {"slave": slave_idx, laurent@2032: "index": dynamic_pdos[pdo_type]["current_index"], laurent@2032: "name": "Dynamic PDO %d" % dynamic_pdos_number, laurent@2032: "type": pdo_type, laurent@2032: "entries": [], laurent@2032: "entries_number": 0, laurent@2032: "fixed": False} laurent@2032: dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1 laurent@2032: dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo) laurent@2032: dynamic_pdos[pdo_type]["pdos"].append(pdo) laurent@2032: laurent@2032: pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) laurent@2032: pdo["entries_number"] += 1 laurent@2032: laurent@2032: if pdo["entries_number"] == 255: laurent@2032: dynamic_pdos[pdo_type]["pdos"].pop(0) laurent@2032: laurent@2032: pdo_offset = 0 laurent@2032: entry_offset = 0 laurent@2032: for sync_manager_infos in sync_managers: laurent@2022: laurent@2032: for pdo_infos in sync_manager_infos["pdos"]: laurent@2032: pdo_infos["offset"] = entry_offset laurent@2032: pdo_entries = pdo_infos["entries"] laurent@2032: pdos_infos["pdos_infos"].append( laurent@2032: (" {0x%(index).4x, %(entries_number)d, " + laurent@2032: "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) laurent@2032: entry_offset += len(pdo_entries) laurent@2032: pdos_infos["pdos_entries_infos"].extend(pdo_entries) laurent@2022: laurent@2032: sync_manager_infos["offset"] = pdo_offset edouard_and_laurent@2047: pdo_offset_shift = sync_manager_infos["pdos_number"] laurent@2032: pdos_infos["pdos_sync_infos"].append( laurent@2032: (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + edouard_and_laurent@2047: ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") + edouard_and_laurent@2047: ", %(watchdog)s},") % sync_manager_infos) edouard_and_laurent@2047: pdo_offset += pdo_offset_shift laurent@2032: laurent@2032: for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: laurent@2032: pdos_infos[element] = "\n".join(pdos_infos[element]) laurent@2032: laurent@2032: str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos laurent@2022: laurent@2023: for element in ["used_pdo_entry_offset_variables_declaration", laurent@2023: "used_pdo_entry_configuration", laurent@2023: "located_variables_declaration", laurent@2023: "retrieve_variables", laurent@2023: "publish_variables"]: laurent@2022: str_completion[element] = "\n".join(str_completion[element]) laurent@2022: laurent@2032: etherlabfile = open(filepath, 'w') laurent@2022: etherlabfile.write(plc_etherlab_code % str_completion) laurent@2022: etherlabfile.close() laurent@2022: laurent@2022: #-------------------------------------------------- Edouard@2048: # Ethercat ConfNode laurent@2022: #-------------------------------------------------- laurent@2022: laurent@2022: EtherCATInfoClasses = GenerateClassesFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd")) laurent@2022: laurent@2029: cls = EtherCATInfoClasses["EtherCATInfo.xsd"].get("DeviceType", None) laurent@2029: if cls: laurent@2029: cls.DataTypes = None laurent@2029: laurent@2032: def GetProfileNumbers(self): laurent@2032: profiles = [] laurent@2032: laurent@2032: for profile in self.getProfile(): laurent@2032: profile_content = profile.getcontent() laurent@2032: if profile_content is None: laurent@2032: continue laurent@2032: laurent@2032: for content_element in profile_content["value"]: laurent@2032: if content_element["name"] == "ProfileNo": laurent@2032: profiles.append(content_element["value"]) laurent@2032: laurent@2032: return profiles laurent@2032: setattr(cls, "GetProfileNumbers", GetProfileNumbers) laurent@2032: laurent@2029: def GetProfileDictionaries(self): laurent@2029: dictionaries = [] laurent@2029: laurent@2029: for profile in self.getProfile(): laurent@2029: laurent@2029: profile_content = profile.getcontent() laurent@2029: if profile_content is None: laurent@2031: continue laurent@2029: laurent@2029: for content_element in profile_content["value"]: laurent@2029: if content_element["name"] == "Dictionary": laurent@2029: dictionaries.append(content_element["value"]) laurent@2029: elif content_element["name"] == "DictionaryFile": laurent@2029: raise ValueError, "DictionaryFile for defining Device Profile is not yet supported!" laurent@2029: laurent@2029: return dictionaries laurent@2029: setattr(cls, "GetProfileDictionaries", GetProfileDictionaries) laurent@2029: laurent@2029: def ExtractDataTypes(self): laurent@2029: self.DataTypes = {} laurent@2029: laurent@2029: for dictionary in self.GetProfileDictionaries(): laurent@2029: laurent@2029: datatypes = dictionary.getDataTypes() laurent@2029: if datatypes is not None: laurent@2029: laurent@2029: for datatype in datatypes.getDataType(): laurent@2029: content = datatype.getcontent() laurent@2029: if content is not None and content["name"] == "SubItem": laurent@2029: self.DataTypes[datatype.getName()] = datatype laurent@2029: laurent@2029: setattr(cls, "ExtractDataTypes", ExtractDataTypes) laurent@2029: laurent@2032: def getInitCmd(self): laurent@2032: mailbox = self.getMailbox() laurent@2032: if mailbox is None: laurent@2032: return [] laurent@2032: laurent@2032: coe = mailbox.getCoE() laurent@2032: if coe is None: laurent@2032: return [] laurent@2032: laurent@2032: return coe.getInitCmd() laurent@2032: setattr(cls, "getInitCmd", getInitCmd) laurent@2032: laurent@2029: def GetEntriesList(self): laurent@2029: if self.DataTypes is None: laurent@2029: self.ExtractDataTypes() laurent@2029: laurent@2029: entries = {} laurent@2029: laurent@2029: for dictionary in self.GetProfileDictionaries(): laurent@2029: laurent@2029: for object in dictionary.getObjects().getObject(): laurent@2029: entry_index = object.getIndex().getcontent() laurent@2029: index = ExtractHexDecValue(entry_index) laurent@2029: entry_type = object.getType() laurent@2029: entry_name = ExtractName(object.getName()) laurent@2029: laurent@2029: entry_type_infos = self.DataTypes.get(entry_type, None) laurent@2029: if entry_type_infos is not None: laurent@2029: content = entry_type_infos.getcontent() laurent@2029: for subitem in content["value"]: laurent@2029: entry_subidx = subitem.getSubIdx() laurent@2029: if entry_subidx is None: laurent@2029: entry_subidx = "0" laurent@2029: subidx = ExtractHexDecValue(entry_subidx) laurent@2029: subitem_access = "" laurent@2032: subitem_pdomapping = "" laurent@2029: subitem_flags = subitem.getFlags() laurent@2029: if subitem_flags is not None: laurent@2029: access = subitem_flags.getAccess() laurent@2029: if access is not None: laurent@2029: subitem_access = access.getcontent() laurent@2032: pdomapping = subitem_flags.getPdoMapping() laurent@2032: if pdomapping is not None: laurent@2032: subitem_pdomapping = pdomapping.upper() laurent@2029: entries[(index, subidx)] = { laurent@2029: "Index": entry_index, laurent@2029: "SubIndex": entry_subidx, laurent@2029: "Name": "%s - %s" % laurent@2029: (entry_name.decode("utf-8"), laurent@2029: ExtractName(subitem.getDisplayName(), laurent@2029: subitem.getName()).decode("utf-8")), laurent@2029: "Type": subitem.getType(), laurent@2029: "BitSize": subitem.getBitSize(), laurent@2029: "Access": subitem_access, laurent@2032: "PDOMapping": subitem_pdomapping, laurent@2029: "PDO index": "", laurent@2029: "PDO name": "", laurent@2029: "PDO type": ""} laurent@2029: else: laurent@2029: entry_access = "" laurent@2032: entry_pdomapping = "" laurent@2029: entry_flags = object.getFlags() laurent@2029: if entry_flags is not None: laurent@2029: access = entry_flags.getAccess() laurent@2029: if access is not None: laurent@2029: entry_access = access.getcontent() laurent@2032: pdomapping = entry_flags.getPdoMapping() laurent@2032: if pdomapping is not None: laurent@2032: entry_pdomapping = pdomapping.upper() laurent@2029: entries[(index, 0)] = { laurent@2029: "Index": entry_index, laurent@2029: "SubIndex": "0", laurent@2029: "Name": entry_name, laurent@2029: "Type": entry_type, laurent@2029: "BitSize": object.getBitSize(), laurent@2029: "Access": entry_access, laurent@2032: "PDOMapping": entry_pdomapping, laurent@2029: "PDO index": "", laurent@2029: "PDO name": "", laurent@2029: "PDO type": ""} laurent@2029: laurent@2029: for TxPdo in self.getTxPdo(): laurent@2029: ExtractPdoInfos(TxPdo, "Transmit", entries) laurent@2029: for RxPdo in self.getRxPdo(): laurent@2029: ExtractPdoInfos(RxPdo, "Receive", entries) laurent@2029: laurent@2029: return entries laurent@2029: setattr(cls, "GetEntriesList", GetEntriesList) laurent@2029: laurent@2029: def GetSyncManagers(self): laurent@2029: sync_managers = [] laurent@2029: for sync_manager in self.getSm(): laurent@2029: sync_manager_infos = {} laurent@2029: for name, value in [("Name", sync_manager.getcontent()), laurent@2029: ("Start Address", sync_manager.getStartAddress()), laurent@2029: ("Default Size", sync_manager.getDefaultSize()), laurent@2029: ("Control Byte", sync_manager.getControlByte()), laurent@2029: ("Enable", sync_manager.getEnable())]: laurent@2029: if value is None: laurent@2029: value ="" laurent@2029: sync_manager_infos[name] = value laurent@2029: sync_managers.append(sync_manager_infos) laurent@2029: return sync_managers laurent@2029: setattr(cls, "GetSyncManagers", GetSyncManagers) laurent@2029: laurent@2022: def GroupItemCompare(x, y): laurent@2022: if x["type"] == y["type"]: laurent@2022: if x["type"] == ETHERCAT_GROUP: laurent@2031: return cmp(x["order"], y["order"]) laurent@2022: else: laurent@2031: return cmp(x["name"], y["name"]) laurent@2022: elif x["type"] == ETHERCAT_GROUP: laurent@2022: return -1 laurent@2022: return 1 laurent@2022: laurent@2022: def SortGroupItems(group): laurent@2022: for item in group["children"]: laurent@2022: if item["type"] == ETHERCAT_GROUP: laurent@2022: SortGroupItems(item) laurent@2022: group["children"].sort(GroupItemCompare) laurent@2022: laurent@2022: def ExtractName(names, default=None): laurent@2022: if len(names) == 1: laurent@2022: return names[0].getcontent() laurent@2022: else: laurent@2022: for name in names: laurent@2022: if name.getLcId() == 1033: laurent@2022: return name.getcontent() laurent@2022: return default laurent@2022: laurent@2029: def ExtractPdoInfos(pdo, pdo_type, entries): laurent@2022: pdo_index = pdo.getIndex().getcontent() laurent@2029: pdo_name = ExtractName(pdo.getName()) laurent@2029: for pdo_entry in pdo.getEntry(): laurent@2029: entry_index = pdo_entry.getIndex().getcontent() laurent@2029: entry_subindex = pdo_entry.getSubIndex() laurent@2029: index = ExtractHexDecValue(entry_index) laurent@2029: subindex = ExtractHexDecValue(entry_subindex) laurent@2029: laurent@2029: entry = entries.get((index, subindex), None) laurent@2029: if entry is not None: laurent@2029: entry["PDO index"] = pdo_index laurent@2029: entry["PDO name"] = pdo_name laurent@2029: entry["PDO type"] = pdo_type laurent@2029: else: laurent@2031: entry_type = pdo_entry.getDataType() laurent@2031: if entry_type is not None: laurent@2031: if pdo_type == "Transmit": laurent@2031: access = "ro" laurent@2032: pdomapping = "T" laurent@2031: else: laurent@2031: access = "wo" laurent@2032: pdomapping = "R" laurent@2031: entries[(index, subindex)] = { laurent@2031: "Index": entry_index, laurent@2031: "SubIndex": entry_subindex, laurent@2031: "Name": ExtractName(pdo_entry.getName()), laurent@2031: "Type": entry_type.getcontent(), laurent@2031: "Access": access, laurent@2032: "PDOMapping": pdomapping, laurent@2031: "PDO index": pdo_index, laurent@2031: "PDO name": pdo_name, laurent@2031: "PDO type": pdo_type} laurent@2022: laurent@2022: class RootClass: laurent@2022: Edouard@2048: CTNChildrenTypes = [("EthercatNode",_EthercatCTN,"Ethercat Master")] laurent@2022: laurent@2022: def __init__(self): laurent@2022: self.LoadModulesLibrary() laurent@2022: laurent@2022: def GetModulesLibraryPath(self): Edouard@2048: library_path = os.path.join(self.CTNPath(), "modules") laurent@2022: if not os.path.exists(library_path): laurent@2022: os.mkdir(library_path) laurent@2022: return library_path laurent@2022: laurent@2022: def _ImportModuleLibrary(self): Edouard@2048: dialog = wx.FileDialog(self.GetCTRoot().AppFrame, _("Choose an XML file"), os.getcwd(), "", _("XML files (*.xml)|*.xml|All files|*.*"), wx.OPEN) laurent@2022: if dialog.ShowModal() == wx.ID_OK: laurent@2022: filepath = dialog.GetPath() laurent@2022: if os.path.isfile(filepath): laurent@2022: shutil.copy(filepath, self.GetModulesLibraryPath()) laurent@2022: self.LoadModulesLibrary() laurent@2022: else: Edouard@2048: self.GetCTRoot().logger.write_error(_("No such XML file: %s\n") % filepath) laurent@2022: dialog.Destroy() laurent@2022: Edouard@2048: ConfNodeMethods = [ Edouard@2048: {"bitmap" : os.path.join(CONFNODEFOLDER, "images", "ImportESI"), laurent@2022: "name" : _("Import module library"), laurent@2022: "tooltip" : _("Import module library"), laurent@2022: "method" : "_ImportModuleLibrary"}, laurent@2022: ] laurent@2022: Edouard@2048: def CTNGenerate_C(self, buildpath, locations): laurent@2023: return [],"",False laurent@2023: laurent@2022: def LoadModulesLibrary(self): laurent@2022: self.ModulesLibrary = {} laurent@2022: laurent@2022: library_path = self.GetModulesLibraryPath() laurent@2022: laurent@2022: files = os.listdir(library_path) laurent@2022: for file in files: laurent@2022: filepath = os.path.join(library_path, file) laurent@2022: if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml": laurent@2022: xmlfile = open(filepath, 'r') laurent@2022: xml_tree = minidom.parse(xmlfile) laurent@2022: xmlfile.close() laurent@2022: laurent@2022: modules_infos = None laurent@2022: for child in xml_tree.childNodes: laurent@2022: if child.nodeType == xml_tree.ELEMENT_NODE and child.nodeName == "EtherCATInfo": laurent@2022: modules_infos = EtherCATInfoClasses["EtherCATInfo.xsd"]["EtherCATInfo"]() laurent@2051: modules_infos.loadXMLTree(child) laurent@2022: laurent@2022: if modules_infos is not None: laurent@2022: vendor = modules_infos.getVendor() laurent@2022: laurent@2031: vendor_category = self.ModulesLibrary.setdefault(ExtractHexDecValue(vendor.getId()), laurent@2031: {"name": ExtractName(vendor.getName(), _("Miscellaneous")), laurent@2031: "groups": {}}) laurent@2022: laurent@2022: for group in modules_infos.getDescriptions().getGroups().getGroup(): laurent@2022: group_type = group.getType() laurent@2022: laurent@2022: vendor_category["groups"].setdefault(group_type, {"name": ExtractName(group.getName(), group_type), laurent@2022: "parent": group.getParentGroup(), laurent@2022: "order": group.getSortOrder(), laurent@2022: "devices": []}) laurent@2022: laurent@2022: for device in modules_infos.getDescriptions().getDevices().getDevice(): laurent@2022: device_group = device.getGroupType() laurent@2022: if not vendor_category["groups"].has_key(device_group): laurent@2022: raise ValueError, "Not such group \"%\"" % device_group laurent@2022: vendor_category["groups"][device_group]["devices"].append((device.getType().getcontent(), device)) laurent@2022: laurent@2041: def GetModulesLibrary(self, profile_filter=None): laurent@2022: library = [] laurent@2022: children_dict = {} laurent@2022: for vendor_id, vendor in self.ModulesLibrary.iteritems(): laurent@2022: groups = [] laurent@2022: for group_type, group in vendor["groups"].iteritems(): laurent@2022: group_infos = {"name": group["name"], laurent@2022: "order": group["order"], laurent@2022: "type": ETHERCAT_GROUP, laurent@2041: "infos": None, laurent@2022: "children": children_dict.setdefault(group_type, [])} laurent@2022: device_dict = {} laurent@2022: for device_type, device in group["devices"]: laurent@2041: if profile_filter is None or profile_filter in device.GetProfileNumbers(): laurent@2041: device_infos = {"name": ExtractName(device.getName()), laurent@2041: "type": ETHERCAT_DEVICE, laurent@2041: "infos": {"device_type": device_type, laurent@2041: "vendor": vendor_id, laurent@2041: "product_code": device.getType().getProductCode(), laurent@2041: "revision_number": device.getType().getRevisionNo()}, laurent@2041: "children": []} laurent@2041: group_infos["children"].append(device_infos) laurent@2041: device_type_occurrences = device_dict.setdefault(device_type, []) laurent@2041: device_type_occurrences.append(device_infos) laurent@2022: for device_type_occurrences in device_dict.itervalues(): laurent@2022: if len(device_type_occurrences) > 1: laurent@2022: for occurrence in device_type_occurrences: laurent@2022: occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"] laurent@2041: if len(group_infos["children"]) > 0: laurent@2041: if group["parent"] is not None: laurent@2041: parent_children = children_dict.setdefault(group["parent"], []) laurent@2041: parent_children.append(group_infos) laurent@2041: else: laurent@2041: groups.append(group_infos) laurent@2041: if len(groups) > 0: laurent@2041: library.append({"name": vendor["name"], laurent@2041: "type": ETHERCAT_VENDOR, laurent@2041: "infos": None, laurent@2041: "children": groups}) laurent@2031: library.sort(lambda x, y: cmp(x["name"], y["name"])) laurent@2022: return library laurent@2022: laurent@2022: def GetModuleInfos(self, type_infos): laurent@2031: vendor = self.ModulesLibrary.get(ExtractHexDecValue(type_infos["vendor"]), None) laurent@2022: if vendor is not None: laurent@2022: for group_name, group in vendor["groups"].iteritems(): laurent@2022: for device_type, device in group["devices"]: laurent@2029: product_code = ExtractHexDecValue(device.getType().getProductCode()) laurent@2029: revision_number = ExtractHexDecValue(device.getType().getRevisionNo()) laurent@2042: if (product_code == ExtractHexDecValue(type_infos["product_code"]) and laurent@2029: revision_number == ExtractHexDecValue(type_infos["revision_number"])): laurent@2022: return device laurent@2022: return None laurent@2041: laurent@2041: