diff -r 1b4b335e19ea -r b98d9e08231f etherlab/CommonEtherCATFunction.py --- a/etherlab/CommonEtherCATFunction.py Wed Nov 13 11:21:04 2019 +0100 +++ b/etherlab/CommonEtherCATFunction.py Mon Nov 25 08:10:45 2019 +0100 @@ -50,10 +50,9 @@ return name.getcontent() return default -# -------------------------------------------------- +#-------------------------------------------------- # Remote Exec Etherlab Commands -# -------------------------------------------------- - +#-------------------------------------------------- # --------------------- for master --------------------------- MASTER_STATE = """ @@ -84,18 +83,21 @@ returnVal = result """ -# ethercat sdos -p (slave position) -SLAVE_SDO = """ +# ethercat upload -p (slave position) -t (type) (index) (sub index) +SDO_UPLOAD = """ import commands -result = commands.getoutput("ethercat sdos -p %d") -returnVal =result -""" - -# ethercat upload -p (slave position) (main index) (sub index) -GET_SLOW_SDO = """ -import commands -result = commands.getoutput("ethercat upload -p %d %s %s") -returnVal =result +sdo_data = [] +input_data = "%s" +slave_pos = %d +command_string = "" +for sdo_token in input_data.split(","): + if len(sdo_token) > 1: + sdo_token = sdo_token.strip() + type, idx, subidx = sdo_token.split(" ") + command_string = "ethercat upload -p " + str(slave_pos) + " -t " + type + " " + idx + " " + subidx + result = commands.getoutput(command_string) + sdo_data.append(result) +returnVal =sdo_data """ # ethercat download -p (slave position) (main index) (sub index) (value) @@ -119,6 +121,25 @@ returnVal =result """ +# ethercat reg_read -p (slave position) (address) (size) +MULTI_REG_READ = """ +import commands +output = [] +addr, size = range(2) +slave_num = %d +reg_info_str = "%s" +reg_info_list = reg_info_str.split("|") +for slave_idx in range(slave_num): + for reg_info in reg_info_list: + param = reg_info.split(",") + result = commands.getoutput("ethercat reg_read -p " + + str(slave_idx) + " " + + param[addr] + " " + + param[size]) + output.append(str(slave_idx) + "," + param[addr] + "," + result) +returnVal = output +""" + # ethercat sii_write -p (slave position) - (contents) SII_WRITE = """ import subprocess @@ -143,6 +164,12 @@ returnVal =result """ +# ethercat pdos +PDOS = """ +import commands +result = commands.getoutput("ethercat pdos -p 0") +returnVal =result +""" # -------------------------------------------------- # Common Method For EtherCAT Management @@ -152,14 +179,40 @@ # ----- Data Structure for ethercat management ---- SlaveState = "" + # SDO base data type for Ethercatmaster + BaseDataTypes = { + "bool": ["BOOLEAN", "BOOL", "BIT"], + "uint8": ["BYTE", "USINT", "BIT1", "BIT2", "BIT3", "BIT4", "BIT5", "BIT6", + "BIT7", "BIT8", "BITARR8", "UNSIGNED8"], + "uint16": ["BITARR16", "UNSIGNED16", "UINT"], + "uint32": ["BITARR32", "UNSIGNED24", "UINT24", "UNSIGNED32", "UDINT"], + "uint64": ["UNSINED40", "UINT40", "UNSIGNED48", "UINT48", "UNSIGNED56", + "UINT56", "UNSIGNED64", "ULINT"], + "int8": ["INTEGER8", "SINT"], + "int16": ["INTEGER16", "INT"], + "int32": ["INTEGER24", "INT24", "INTEGER32", "DINT"], + "int64": ["INTEGER40", "INT40", "INTEGER48", "INT48", "INTEGER56", "INT56", + "INTEGER64", "LINT"], + "float": ["REAL", "REAL32"], + "double": ["LREAL", "REAL64"], + "string": ["VISUBLE_STRING", "STRING(n)"], + "octet_string": ["OCTET_STRING"], + "unicode_string": ["UNICODE_STRING"] + } + # category of SDO data DatatypeDescription, CommunicationObject, ManufacturerSpecific, \ ProfileSpecific, Reserved, AllSDOData = range(6) - # store the execution result of "ethercat sdos" command into SaveSDOData. - SaveSDOData = [] - - # Flags for checking "write" permission of OD entries + # SDO data informations: index, sub-index, type, bit size, category-name + SDOVariables = [] + SDOSubEntryData = [] + + # defalut value of SDO data in XML + # Not Used + DefaultValueDic = {} + + # Flags for checking "write" permission of OD entries CheckPREOP = False CheckSAFEOP = False CheckOP = False @@ -241,15 +294,6 @@ # ------------------------------------------------------------------------------- # Used SDO Management # ------------------------------------------------------------------------------- - def GetSlaveSDOFromSlave(self): - """ - Get SDO objects information of current slave using "ethercat sdos -p %d" command. - Command example : "ethercat sdos -p 0" - @return return_val : execution results of "ethercat sdos" command (need to be parsed later) - """ - _error, return_val = self.Controler.RemoteExec(SLAVE_SDO % (self.Controler.GetSlavePos()), return_val=None) - return return_val - def SDODownload(self, data_type, idx, sub_idx, value): """ Set an SDO object value to user-specified value using "ethercat download" command. @@ -258,11 +302,14 @@ @param idx : index of the SDO entry @param sub_idx : subindex of the SDO entry @param value : value of SDO entry - """ - _error, _return_val = self.Controler.RemoteExec( - SDO_DOWNLOAD % (data_type, self.Controler.GetSlavePos(), idx, sub_idx, value), - return_val=None) - + """ + valid_type = self.GetValidDataType(data_type) + _error, return_val = self.Controler.RemoteExec( + SDO_DOWNLOAD%(valid_type, self.Controler.GetSlavePos(), + idx, sub_idx, value), return_val = None) + + return return_val + def BackupSDODataSet(self): """ Back-up current SDO entry information to restore the SDO data @@ -282,12 +329,316 @@ for dummy in range(6): self.SaveSDOData.append([]) + def GetAllSDOValuesFromSlave(self): + """ + Get SDO values of All SDO entries. + @return return_val: list of result of "SDO_UPLOAD" + """ + entry_infos = "" + alldata_idx = len(self.SDOVariables) + counter = 0 + for category in self.SDOVariables: + counter +=1 + # for avoid redundant repetition + if counter == alldata_idx: + continue + + for entry in category: + valid_type = self.GetValidDataType(entry["type"]) + for_command_string = "%s %s %s ," % \ + (valid_type, entry["idx"], entry["subIdx"]) + entry_infos += for_command_string + + error, return_val = self.Controler.RemoteExec(SDO_UPLOAD%(entry_infos, self.Controler.GetSlavePos()), return_val = None) + + return return_val + + def GetSDOValuesFromSlave(self, entries_info): + """ + Get SDO values of some SDO entries. + @param entries_info: dictionary of SDO entries that is wanted to know the value. + @return return_val: list of result of "SDO_UPLOAD" + """ + entry_infos = "" + + entries_info_list = entries_info.items() + entries_info_list.sort() + + for (idx, subIdx), entry in entries_info_list: + valid_type = self.GetValidDataType(entry["type"]) + for_command_string = "%s %s %s ," % \ + (valid_type, str(idx), str(subIdx)) + entry_infos += for_command_string + + error, return_val = self.Controler.RemoteExec(SDO_UPLOAD%(entry_infos, self.Controler.GetSlavePos()), return_val = None) + + return return_val + + def ExtractObjects(self): + """ + Extract object type items from imported ESI xml. + And they are stuctured as dictionary. + @return objects: dictionary of objects + """ + objects = {} + + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + + if device is not None : + for dictionary in device.GetProfileDictionaries(): + dictionary.load() + for object in dictionary.getObjects().getObject(): + object_index = ExtractHexDecValue(object.getIndex().getcontent()) + objects[(object_index)] = object + + return objects + + def ExtractAllDataTypes(self): + """ + Extract all data types from imported ESI xml. + @return dataTypes: dictionary of datatypes + """ + dataTypes = {} + + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + + for dictionary in device.GetProfileDictionaries(): + dictionary.load() + + datatypes = dictionary.getDataTypes() + if datatypes is not None: + + for datatype in datatypes.getDataType(): + dataTypes[datatype.getName()] = datatype + return dataTypes + + def IsBaseDataType(self, datatype): + """ + Check if the datatype is a base data type. + @return baseTypeFlag: true if datatype is a base data type, unless false + """ + baseTypeFlag = False + for baseDataTypeList in self.BaseDataTypes.values(): + if datatype in baseDataTypeList: + baseTypeFlag = True + break + return baseTypeFlag + + def GetBaseDataType(self, datatype): + """ + Get a base data type corresponding the datatype. + @param datatype: Some data type (string format) + @return base data type + """ + if self.IsBaseDataType(datatype): + return datatype + elif not datatype.find("STRING") == -1: + return datatype + else: + datatypes = self.ExtractAllDataTypes() + base_datatype = datatypes[datatype].getBaseType() + return self.GetBaseDataType(base_datatype) + + def GetValidDataType(self, datatype): + """ + Convert the datatype into a data type that is possible to download/upload + in etherlab master stack. + @param datatype: Some data type (string format) + @return base_type: vaild data type + """ + base_type = self.GetBaseDataType(datatype) + + if re.match("STRING\([0-9]*\)", datatype) is not None: + return "string" + else: + for key, value in self.BaseDataTypes.items(): + if base_type in value: + return key + return base_type + + # Not Used + def GetAllEntriesList(self): + """ + Get All entries information that includes index, sub-index, name, + type, bit size, PDO mapping, and default value. + @return self.entries: dictionary of entry + """ + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + self.entries = device.GetEntriesList() + datatypes = self.ExtractAllDataTypes() + objects = self.ExtractObjects() + entries_list = self.entries.items() + entries_list.sort() + + # append sub entries + for (index, subidx), entry in entries_list: + # entry_* is string type + entry_type = entry["Type"] + entry_index = entry["Index"] + + try: + object_info = objects[index].getInfo() + except: + continue + + if object_info is not None: + obj_content = object_info.getcontent() + + typeinfo = datatypes.get(entry_type, None) + bitsize = typeinfo.getBitSize() + type_content = typeinfo.getcontent() + + # ArrayInfo type + if type_content is not None and type_content["name"] == "ArrayInfo": + for arrayinfo in type_content["value"]: + element_num = arrayinfo.getElements() + first_subidx = arrayinfo.getLBound() + for offset in range(element_num): + new_subidx = int(first_subidx) + offset + entry_subidx = hex(new_subidx) + if obj_content["value"][new_subidx]["name"] == "SubItem": + subitem = obj_content["value"][new_subidx]["value"] + subname = subitem[new_subidx].getName() + if subname is not None: + entry_name = "%s - %s" % \ + (ExtractName(objects[index].getName()), subname) + else: + entry_name = ExtractName(objects[index].getName()) + self.entries[(index, new_subidx)] = { + "Index": entry_index, + "SubIndex": entry_subidx, + "Name": entry_name, + "Type": typeinfo.getBaseType(), + "BitSize": str(bitsize/element_num), + "Access": entry["Access"], + "PDOMapping": entry["PDOMapping"]} + try: + value_info = subitem[new_subidx].getInfo().getcontent()\ + ["value"][0]["value"][0] + self.AppendDefaultValue(index, new_subidx, value_info) + except: + pass + + try: + value_info = subitem[subidx].getInfo().getcontent()\ + ["value"][0]["value"][0] + self.AppendDefaultValue(index, subidx, value_info) + except: + pass + + # EnumInfo type + elif type_content is not None and type_content["name"] == "EnumInfo": + self.entries[(index, subidx)]["EnumInfo"] = {} + + for enuminfo in type_content["value"]: + text = enuminfo.getText() + enum = enuminfo.getEnum() + self.entries[(index, subidx)]["EnumInfo"][str(enum)] = text + + self.entries[(index, subidx)]["DefaultValue"] = "0x00" + + # another types + else: + if subidx == 0x00: + tmp_subidx = 0x00 + + try: + if obj_content["value"][tmp_subidx]["name"] == "SubItem": + sub_name = entry["Name"].split(" - ")[1] + for num in range(len(obj_content["value"])): + if sub_name == \ + obj_content["value"][num]["value"][num].getName(): + subitem_content = obj_content["value"][tmp_subidx]\ + ["value"][tmp_subidx] + value_info = subitem_content.getInfo().getcontent()\ + ["value"][0]["value"][0] + tmp_subidx += 1 + break + else: + value_info = None + + else: + value_info = \ + obj_content["value"][tmp_subidx]["value"][tmp_subidx] + + self.AppendDefaultValue(index, subidx, value_info) + + except: + pass + + return self.entries + + # Not Used + def AppendDefaultValue(self, index, subidx, value_info=None): + """ + Get the default value from the ESI xml + @param index: entry index + @param subidx: entry sub index + @param value_info: dictionary of infomation about default value + + """ + # there is not default value. + if value_info == None: + return + + raw_value = value_info["value"] + + # default value is hex binary type. + if value_info["name"] == "DefaultData": + raw_value_bit = list(hex(raw_value).split("0x")[1]) + + datatype = self.GetValidDataType(self.entries[(index, subidx)]["Type"]) + if datatype is "string" or datatype is "octet_string": + + if "L" in raw_value_bit: + raw_value_bit.remove("L") + + default_value = "".join(raw_value_bit).decode("hex") + + elif datatype is "unicode_string": + default_value = "".join(raw_value_bit).decode("hex").\ + decode("utf-8") + + else: + bit_num = len(raw_value_bit) + # padding + if not bit_num%2 == 0: + raw_value_bit.insert(0, "0") + + default_value_bit = [] + + # little endian -> big endian + for num in range(bit_num): + if num%2 == 0: + default_value_bit.insert(0, raw_value_bit[num]) + default_value_bit.insert(1, raw_value_bit[num+1]) + + default_value = "0x%s" % "".join(default_value_bit) + + # default value is string type. + # this case is not tested yet. + elif value_info["name"] == "DefaultString": + default_value = raw_value + + # default value is Hex or Dec type. + elif value_info["name"] == "DefaultValue": + default_value = "0x" + hex(ExtractHexDecValue(raw_value)) + + self.entries[(index, subidx)]["DefaultValue"] = default_value + # ------------------------------------------------------------------------------- # Used PDO Monitoring # ------------------------------------------------------------------------------- def RequestPDOInfo(self): """ - Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method). + Load slave information from RootClass (XML data) and parse the information + (calling SlavePDOData() method). """ # Load slave information from ESI XML file (def EthercatMaster.py) slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) @@ -314,6 +665,13 @@ pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) entries = pdo.getEntry() pdo_name = ExtractName(pdo.getName()) + excludes = pdo.getExclude() + exclude_list = [] + Sm = pdo.getSm() + + if excludes : + for exclude in excludes: + exclude_list.append(ExtractHexDecValue(exclude.getcontent())) # Initialize entry number count count = 0 @@ -329,13 +687,15 @@ "entry_index": index, "subindex": subindex, "name": ExtractName(entry.getName()), - "bitlen": entry.getBitLen(), - "type": entry.getDataType().getcontent() + "bitlen": entry.getBitLen() } + if entry.getDataType() is not None: + entry_infos["type"] = entry.getDataType().getcontent() self.TxPDOInfo.append(entry_infos) count += 1 - categorys = {"pdo_index": pdo_index, "name": pdo_name, "number_of_entry": count} + categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "sm" : Sm, + "number_of_entry" : count, "exclude_list" : exclude_list} self.TxPDOCategory.append(categorys) # Parsing RxPDO entries @@ -344,6 +704,13 @@ pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) entries = pdo.getEntry() pdo_name = ExtractName(pdo.getName()) + excludes = pdo.getExclude() + exclude_list = [] + Sm = pdo.getSm() + + if excludes : + for exclude in excludes: + exclude_list.append(ExtractHexDecValue(exclude.getcontent())) # Initialize entry number count count = 0 @@ -359,14 +726,16 @@ "entry_index": index, "subindex": subindex, "name": ExtractName(entry.getName()), - "bitlen": str(entry.getBitLen()), - "type": entry.getDataType().getcontent() + "bitlen": str(entry.getBitLen()) } + if entry.getDataType() is not None: + entry_infos["type"] = entry.getDataType().getcontent() self.RxPDOInfo.append(entry_infos) count += 1 - categorys = {"pdo_index": pdo_index, "name": pdo_name, "number_of_entry": count} - self.RxPDOCategory.append(categorys) + categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "sm" : Sm, + "number_of_entry" : count, "exclude_list" : exclude_list} + self.RxPDOCategory.append(categorys) def GetTxPDOCategory(self): """ @@ -404,10 +773,10 @@ """ Initialize PDO management data structure. """ - self.TxPDOInfos = [] - self.TxPDOCategorys = [] - self.RxPDOInfos = [] - self.RxPDOCategorys = [] + self.TxPDOInfo = [] + self.TxPDOCategory = [] + self.RxPDOInfo = [] + self.RxPDOCategory = [] # ------------------------------------------------------------------------------- # Used EEPROM Management @@ -496,11 +865,11 @@ smartview_infos[cfg] = str(int(bootstrap_data[4*iter+2:4*(iter+1)]+bootstrap_data[4*iter:4*iter+2], 16)) # get protocol (profile) types supported by mailbox; - - mb = device.getMailbox() - if mb is not None: - for mailbox_protocol in mailbox_protocols: - if getattr(mb, "get%s" % mailbox_protocol)() is not None: - smartview_infos["supported_mailbox"] += "%s, " % mailbox_protocol + with device.getMailbox() as mb: + if mb is not None: + for mailbox_protocol in mailbox_protocols: + if getattr(mb, "get%s" % mailbox_protocol)() is not None: + smartview_infos["supported_mailbox"] += "%s, " % mailbox_protocol smartview_infos["supported_mailbox"] = smartview_infos["supported_mailbox"].strip(", ") # get standard configuration of mailbox; - @@ -515,24 +884,24 @@ pass # get device identity from - - # vendor ID; by default, pre-defined value in self.ModulesLibrary - # if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID. + # vendor ID; by default, pre-defined value in self.ModulesLibrary + # if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID. for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]: if available_device[0] == type_infos["device_type"]: smartview_infos["vendor_id"] = "0x" + "{:0>8x}".format(vendor_id) - # product code; + # product code; if device.getType().getProductCode() is not None: product_code = device.getType().getProductCode() smartview_infos["product_code"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(product_code)) - # revision number; + # revision number; if device.getType().getRevisionNo() is not None: revision_no = device.getType().getRevisionNo() smartview_infos["revision_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(revision_no)) - # serial number; + # serial number; if device.getType().getSerialNo() is not None: serial_no = device.getType().getSerialNo() smartview_infos["serial_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(serial_no)) @@ -548,14 +917,14 @@ @param decnum : decimal value @return hex_data : hexadecimal representation of input value in decimal """ - value = "%x" % decnum + value = "%x" % int(decnum, 16) value_len = len(value) if (value_len % 2) == 0: hex_len = value_len else: hex_len = (value_len // 2) * 2 + 2 - hex_data = ("{:0>"+str(hex_len)+"x}").format(decnum) + hex_data = ("{:0>"+str(hex_len)+"x}").format(int(decnum, 16)) return hex_data @@ -750,7 +1119,7 @@ data = "" for eeprom_element in device.getEeprom().getcontent(): if eeprom_element["name"] == "BootStrap": - data = "{:0>16x}".format(eeprom_element) + data = "{:0>16x}".format(int(eeprom_element,16)) eeprom += self.GenerateEEPROMList(data, 0, 16) # get Standard Mailbox for EEPROM offset 0x0030-0x0037; - @@ -794,11 +1163,11 @@ # get supported mailbox protocols for EEPROM offset 0x0038-0x0039; data = 0 - mb = device.getMailbox() - if mb is not None: - for bit, mbprot in enumerate(mailbox_protocols): - if getattr(mb, "get%s" % mbprot)() is not None: - data += 1 << bit + with device.getMailbox() as mb: + if mb is not None: + for bit, mbprot in enumerate(mailbox_protocols): + if getattr(mb, "get%s" % mbprot)() is not None: + data += 1 << bit data = "{:0>4x}".format(data) eeprom.append(data[2:4]) eeprom.append(data[0:2]) @@ -808,11 +1177,12 @@ eeprom.append("00") # get EEPROM size for EEPROM offset 0x007c-0x007d; + # Modify by jblee because of update IDE module (minidom -> lxml) data = "" - for eeprom_element in device.getEeprom().getcontent(): - if eeprom_element["name"] == "ByteSize": - eeprom_size = int(str(eeprom_element)) - data = "{:0>4x}".format(int(eeprom_element)//1024*8-1) + for eeprom_element in device.getEeprom().getchildren(): + if eeprom_element.tag == "ByteSize": + eeprom_size = int(objectify.fromstring(eeprom_element.tostring()).text) + data = "{:0>4x}".format(eeprom_size/1024*8-1) if data == "": eeprom.append("00") @@ -822,7 +1192,7 @@ eeprom.append(data[0:2]) # Version for EEPROM 0x007e-0x007f; - # According to "EtherCAT Slave Device Description(V0.3.0)" + # According to "EtherCAT Slave Device Description(V0.3.0)" eeprom.append("01") eeprom.append("00") @@ -915,7 +1285,7 @@ vendor_specific_data += "{:0>2x}".format(ord(data[character])) data = "" - # element2-1; ---- + # element2-1; ---- data = device.getGroupType() if data is not None and isinstance(data, text): for vendor_spec_string in vendor_spec_strings: @@ -978,6 +1348,7 @@ vendor_specific_data += "{:0>2x}".format(len(data)) for character in range(len(data)): vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" # element4; ---- @@ -1183,42 +1554,41 @@ # word 3 : Physical Layer Port info. and CoE Details eeprom.append("01") # Physical Layer Port info - assume 01 # CoE Details; ----- - coe_details = 0 - mb = device.getMailbox() coe_details = 1 # sdo enabled - if mb is not None: - coe = mb.getCoE() - if coe is not None: - for bit, flag in enumerate(["SdoInfo", "PdoAssign", "PdoConfig", - "PdoUpload", "CompleteAccess"]): - if getattr(coe, "get%s" % flag)() is not None: - coe_details += 1 << bit - eeprom.append("{:0>2x}".format(coe_details)) - - # word 4 : FoE Details and EoE Details - # FoE Details; ----- - if mb is not None and mb.getFoE() is not None: - eeprom.append("01") - else: - eeprom.append("00") - # EoE Details; ----- - if mb is not None and mb.getEoE() is not None: - eeprom.append("01") - else: - eeprom.append("00") - - # word 5 : SoE Channels(reserved) and DS402 Channels - # SoE Details; ----- - if mb is not None and mb.getSoE() is not None: - eeprom.append("01") - else: - eeprom.append("00") - # DS402Channels; -----: DS402Channels - ds402ch = False - if mb is not None: - coe = mb.getCoE() - if coe is not None: - ds402ch = coe.getDS402Channels() + with device.getMailbox() as mb + if mb is not None: + coe = mb.getCoE() + if coe is not None: + for bit, flag in enumerate(["SdoInfo", "PdoAssign", "PdoConfig", + "PdoUpload", "CompleteAccess"]): + if getattr(coe, "get%s" % flag)() is not None: + coe_details += 1 << bit + eeprom.append("{:0>2x}".format(coe_details)) + + # word 4 : FoE Details and EoE Details + # FoE Details; ----- + if mb is not None and mb.getFoE() is not None: + eeprom.append("01") + else: + eeprom.append("00") + # EoE Details; ----- + if mb is not None and mb.getEoE() is not None: + eeprom.append("01") + else: + eeprom.append("00") + + # word 5 : SoE Channels(reserved) and DS402 Channels + # SoE Details; ----- + if mb is not None and mb.getSoE() is not None: + eeprom.append("01") + else: + eeprom.append("00") + # DS402Channels; -----: DS402Channels + ds402ch = False + if mb is not None: + coe = mb.getCoE() + if coe is not None: + ds402ch = coe.getDS402Channels() eeprom.append("01" if ds402ch in [True, 1] else "00") # word 6 : SysmanClass(reserved) and Flags @@ -1546,6 +1916,24 @@ return_val=None) return return_val + def MultiRegRead(self, slave_num, reg_infos): + """ + + @slave_num: + @param addr_info: + @return return_val: + """ + reg_info_str = "" + for reg_info in reg_infos: + reg_info_str = reg_info_str + "%s|" % reg_info + reg_info_str = reg_info_str.strip("|") + + _error, return_val = self.Controler.RemoteExec(\ + MULTI_REG_READ%(slave_num, reg_info_str), + return_val = None) + + return return_val + def RegWrite(self, address, data): """ Write data to slave ESC register using "ethercat reg_write -p %d %s %s" command. @@ -1567,6 +1955,40 @@ _error, _return_val = self.Controler.RemoteExec(RESCAN % (self.Controler.GetSlavePos()), return_val=None) # ------------------------------------------------------------------------------- + # Used DC Configuration + #------------------------------------------------------------------------------- + def LoadESIData(self): + return_data = [] + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + if device.getDc() is not None: + for OpMode in device.getDc().getOpMode(): + temp_data = { + "desc" : OpMode.getDesc() if OpMode.getDesc() is not None else "Unused", + "assign_activate" : OpMode.getAssignActivate() \ + if OpMode.getAssignActivate() is not None else "#x0000", + "cycletime_sync0" : OpMode.getCycleTimeSync0().getcontent() \ + if OpMode.getCycleTimeSync0() is not None else None, + "shifttime_sync0" : OpMode.getShiftTimeSync0().getcontent() \ + if OpMode.getShiftTimeSync0() is not None else None, + "cycletime_sync1" : OpMode.getShiftTimeSync1().getcontent() \ + if OpMode.getShiftTimeSync1() is not None else None, + "shifttime_sync1" : OpMode.getShiftTimeSync1().getcontent() \ + if OpMode.getShiftTimeSync1() is not None else None + } + + if OpMode.getCycleTimeSync0() is not None: + temp_data["cycletime_sync0_factor"] = OpMode.getCycleTimeSync0().getFactor() + + if OpMode.getCycleTimeSync1() is not None: + temp_data["cycletime_sync1_factor"] = OpMode.getCycleTimeSync1().getFactor() + + return_data.append(temp_data) + + return return_data + + #------------------------------------------------------------------------------- # Common Use Methods # ------------------------------------------------------------------------------- def CheckConnect(self, cyclic_flag):