diff -r 1c64b84c0609 -r ae8fecf082a1 etherlab/etherlab.py --- a/etherlab/etherlab.py Thu Feb 16 18:40:13 2012 +0100 +++ b/etherlab/etherlab.py Wed Feb 22 01:39:22 2012 +0100 @@ -7,7 +7,7 @@ from xmlclass import * from plugger import PlugTemplate from PLCControler import UndoBuffer, LOCATION_PLUGIN, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY -from ConfigEditor import ConfigEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE +from ConfigEditor import ConfigEditor, DS402NodeEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE #-------------------------------------------------- # Ethercat DS402 Node @@ -15,8 +15,10 @@ NODE_VARIABLES = [ ("ControlWord", 0x6040, 0x00, "UINT", "Q"), + ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), ("StatusWord", 0x6041, 0x00, "UINT", "I"), ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"), + ("ActualPosition", 0x6064, 0x00, "DINT", "I"), ("ErrorCode", 0x603f, 0x00, "UINT", "I"), ] @@ -30,6 +32,13 @@ """ + EditorType = DS402NodeEditor + + def ExtractHexDecValue(self, value): + return ExtractHexDecValue(value) + + def GetSizeOfType(self, type): + return TYPECONVERSION.get(self.GetPlugRoot().GetBaseType(type), None) def _GetChildBySomething(self, something, toks): return self @@ -57,7 +66,7 @@ """ return self.PlugParent.GetCurrentLocation() + (self.BaseParams.getIEC_Channel(), 0) - def GetSlaveInfos(self): + def GetSlaveTypeInfos(self): slave_type = self.EtherlabDS402Slave.getNode_Type() for module_type, vendor_id, product_code, revision_number in self.PlugParent.GetModulesByProfile(402): @@ -69,17 +78,40 @@ return None + def GetSlaveInfos(self): + slave_typeinfos = self.GetSlaveTypeInfos() + if slave_typeinfos is not None: + device = self.PlugParent.GetModuleInfos(slave_typeinfos) + if device is not None: + infos = slave_typeinfos.copy() + entries = device.GetEntriesList() + entries_list = entries.items() + entries_list.sort() + infos.update({"physics": device.getPhysics(), + "sync_managers": device.GetSyncManagers(), + "entries": [entry[1] for entry in entries_list]}) + return infos + return None + def GetVariableLocationTree(self): - slave_infos = self.GetSlaveInfos() + slave_typeinfos = self.GetSlaveTypeInfos() vars = [] - if slave_infos is not None: - vars = self.PlugParent.GetDeviceLocationTree(self.GetCurrentLocation(), slave_infos) + if slave_typeinfos is not None: + vars = self.PlugParent.GetDeviceLocationTree(self.GetCurrentLocation(), slave_typeinfos) return {"name": self.BaseParams.getName(), "type": LOCATION_PLUGIN, "location": self.GetFullIEC_Channel(), "children": vars} + PluginMethods = [ + {"bitmap" : os.path.join("images", "EditCfile"), + "name" : _("Edit Node"), + "tooltip" : _("Edit Node"), + "method" : "_OpenView"}, + ] + + def PlugGenerate_C(self, buildpath, locations): """ Generate C code @@ -99,65 +131,53 @@ slave_pos = current_location[-2:] - slave_infos = self.GetSlaveInfos() + slave_typeinfos = self.GetSlaveTypeInfos() device = None - if slave_infos is not None: - device = self.PlugParent.GetModuleInfos(slave_infos) + if slave_typeinfos is not None: + device = self.PlugParent.GetModuleInfos(slave_typeinfos) if device is None: raise (ValueError, _("No information found for DS402 node \"%s\" at location %s!") % ( - slave_infos["device_type"], ".".join(current_location))) + slave_typeinfos["device_type"], ".".join(current_location))) - slave_idx = self.PlugParent.FileGenerator.DeclareSlave(slave_pos, slave_infos) + self.PlugParent.FileGenerator.DeclareSlave(slave_pos, slave_typeinfos) plc_ds402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_ds402node.c") plc_ds402node_file = open(plc_ds402node_filepath, 'r') plc_ds402node_code = plc_ds402node_file.read() plc_ds402node_file.close() + from plugins.motion import Headers + str_completion = { "location": location_str, - "MCL_includes": "", - "located_variables_declaration": [], + "MCL_headers": Headers, + "extern_located_variables_declaration": [], "entry_variables": [], - "extern_pdo_entry_configuration": [], - "retrieve_variables": [], - "publish_variables": [], + "init_entry_variables": [], } - variables = {} for variable in NODE_VARIABLES: var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable)) var_infos["location"] = location_str - var_infos["slave"] = slave_idx var_infos["var_size"] = self.PlugParent.GetSizeOfType(var_infos["var_type"]) var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos - var_infos["real_var"] = "__DS402Node_%(location)s.%(name)s" % var_infos - var_infos.update(slave_infos) - variables[(var_infos["index"], var_infos["subindex"])] = var_infos["name"] - - str_completion["entry_variables"].append(" IEC_%(var_type)s %(name)s;" % var_infos) - - ConfigureVariable(var_infos, str_completion) - - str_completion["extern_pdo_entry_configuration"].append( - "extern unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % var_infos) - - if var_infos["var_type"] == "BOOL": - str_completion["extern_pdo_entry_configuration"].append( - "extern unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % var_infos) + str_completion["extern_located_variables_declaration"].append( + "IEC_%(var_type)s *%(var_name)s;" % var_infos) + str_completion["entry_variables"].append( + " IEC_%(var_type)s *%(name)s;" % var_infos) + str_completion["init_entry_variables"].append( + " __DS402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos) self.PlugParent.FileGenerator.DeclareVariable( slave_pos, var_infos["index"], var_infos["subindex"], - var_infos["var_type"], var_infos["dir"], var_infos["var_name"], False) - - for element in ["located_variables_declaration", + var_infos["var_type"], var_infos["dir"], var_infos["var_name"]) + + for element in ["extern_located_variables_declaration", "entry_variables", - "extern_pdo_entry_configuration", - "retrieve_variables", - "publish_variables"]: + "init_entry_variables"]: str_completion[element] = "\n".join(str_completion[element]) Gen_DS402Nodefile_path = os.path.join(buildpath, "ds402node_%s.c"%location_str) @@ -165,12 +185,6 @@ ds402nodefile.write(plc_ds402node_code % str_completion) ds402nodefile.close() - for location in locations: - loc = location["LOC"][len(current_location):] - if variables.get(loc, None) is None: - self.PlugParent.FileGenerator.DeclareVariable( - slave_pos, loc[0], loc[1], location["IEC_TYPE"], location["DIR"], location["NAME"]) - return [(Gen_DS402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))],"",True @@ -598,14 +612,23 @@ if entry_infos["data_type"] is None: raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"] - if not entry_infos.has_key("real_var"): - entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] - str_completion["located_variables_declaration"].append( - "IEC_%(var_type)s %(real_var)s;" % entry_infos) - str_completion["located_variables_declaration"].append( - "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos) + entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] + str_completion["located_variables_declaration"].extend( + ["IEC_%(var_type)s %(real_var)s;" % entry_infos, + "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos]) + + str_completion["used_pdo_entry_offset_variables_declaration"].append( + "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) if entry_infos["data_type"] == "BIT": + str_completion["used_pdo_entry_offset_variables_declaration"].append( + "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos) + + str_completion["used_pdo_entry_configuration"].append( + (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + + "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + + "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos) + if entry_infos["dir"] == "I": str_completion["retrieve_variables"].append( (" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + @@ -616,6 +639,10 @@ "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos) else: + str_completion["used_pdo_entry_configuration"].append( + (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + + "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos) + if entry_infos["dir"] == "I": str_completion["retrieve_variables"].append( (" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + @@ -625,25 +652,6 @@ (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + "%(real_var)s);") % entry_infos) -def ConfigurePDO(entry_infos, str_completion): - str_completion["used_pdo_entry_offset_variables_declaration"].append( - "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos) - - if entry_infos["var_type"] == "BOOL": - str_completion["used_pdo_entry_offset_variables_declaration"].append( - "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos) - - str_completion["used_pdo_entry_configuration"].append( - (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + - "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + - "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos) - - else: - - str_completion["used_pdo_entry_configuration"].append( - (" {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + - "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos) - class _EthercatCFileGenerator: def __init__(self, controler): @@ -660,14 +668,13 @@ self.Slaves.sort() return self.Slaves.index((slave_identifier, slave)) - def DeclareVariable(self, slave_identifier, index, subindex, iec_type, dir, name, configure=True): + def DeclareVariable(self, slave_identifier, index, subindex, iec_type, dir, name): slave_variables = self.UsedVariables.setdefault(slave_identifier, {}) entry_infos = slave_variables.get((index, subindex), None) if entry_infos is None: slave_variables[(index, subindex)] = { "infos": (iec_type, dir, name), - "configure": configure, "mapped": False} elif entry_infos["infos"] != (iec_type, dir, name): raise ValueError, _("Definition conflict for location \"%s\"") % name @@ -764,6 +771,7 @@ sync_managers.append(sync_manager_infos) pdos_index = [] + excluded_pdos = [] for only_mandatory in [True, False]: for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + [(pdo, "Outputs") for pdo in device.getRxPdo()]): @@ -777,6 +785,9 @@ pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) pdos_index.append(pdo_index) + if pdo_index in excluded_pdos: + continue + entries_infos = [] for entry in entries: @@ -805,11 +816,14 @@ entry_infos["dir"] == "Q" and pdo_type != "Outputs"): raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] - if entry_declaration["configure"]: - ConfigureVariable(entry_infos, str_completion) - ConfigurePDO(entry_infos, str_completion) - + ConfigureVariable(entry_infos, str_completion) + if pdo_needed: + for excluded in pdo.getExclude(): + excluded_index = ExtractHexDecValue(excluded.getcontent()) + if excluded_index not in excluded_pdos: + excluded_pdos.append(excluded_index) + sm = pdo.getSm() if sm is None: for sm_idx, sync_manager in enumerate(sync_managers): @@ -874,9 +888,7 @@ if not dynamic_pdos.has_key(pdo_type): raise ValueError, _("No Sync manager defined for %s!") % pdo_type - if entry_declaration["configure"]: - ConfigureVariable(entry_infos, str_completion) - ConfigurePDO(entry_infos, str_completion) + ConfigureVariable(entry_infos, str_completion) if len(dynamic_pdos[pdo_type]["pdos"]) > 0: pdo = dynamic_pdos[pdo_type]["pdos"][0]