diff -r 6be032177e2a -r ecf4d203c4d4 confnodes/canfestival/config_utils.py --- a/confnodes/canfestival/config_utils.py Tue May 08 16:31:12 2012 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,737 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- - -#This file is part of Beremiz, a Integrated Development Environment for -#programming IEC 61131-3 automates supporting plcopen standard and CanFestival. -# -#Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD -# -#See COPYING file for copyrights details. -# -#This library is free software; you can redistribute it and/or -#modify it under the terms of the GNU General Public -#License as published by the Free Software Foundation; either -#version 2.1 of the License, or (at your option) any later version. -# -#This library is distributed in the hope that it will be useful, -#but WITHOUT ANY WARRANTY; without even the implied warranty of -#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU -#General Public License for more details. -# -#You should have received a copy of the GNU General Public -#License along with this library; if not, write to the Free Software -#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - -from types import * - -# Translation between IEC types and Can Open types -IECToCOType = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10, - "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08, - "LREAL":0x11,"STRING":0x09,"BYTE":0x05,"WORD":0x06,"DWORD":0x07, - "LWORD":0x1B,"WSTRING":0x0B} - -# Constants for PDO types -RPDO = 1 -TPDO = 2 - -SlavePDOType = {"I" : TPDO, "Q" : RPDO} -InvertPDOType = {RPDO : TPDO, TPDO : RPDO} -PDOTypeBaseIndex = {RPDO : 0x1400, TPDO : 0x1800} -PDOTypeBaseCobId = {RPDO : 0x200, TPDO : 0x180} - -VariableIncrement = 0x100 -VariableStartIndex = {TPDO : 0x2000, RPDO : 0x4000} -VariableDirText = {TPDO : "__I", RPDO : "__Q"} -VariableTypeOffset = dict(zip(["","X","B","W","D","L"], range(6))) - -TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)] - -#------------------------------------------------------------------------------- -# Specific exception for PDO mapping errors -#------------------------------------------------------------------------------- - -class PDOmappingException(Exception): - pass - - -def LE_to_BE(value, size): - """ - Convert Little Endian to Big Endian - @param value: value expressed in integer - @param size: number of bytes generated - @return: a string containing the value converted - """ - - data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value - list_car = [data[i:i+2] for i in xrange(0, len(data), 2)] - list_car.reverse() - return "".join([chr(int(car, 16)) for car in list_car]) - - -def GetNodePDOIndexes(node, type, parameters = False): - """ - Find the PDO indexes of a node - @param node: node - @param type: type of PDO searched (RPDO or TPDO or both) - @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False) - @return: a list of indexes found - """ - - indexes = [] - if type & RPDO: - indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF]) - if type & TPDO: - indexes.extend([idx for idx in node.GetIndexes() if 0x1800 <= idx <= 0x19FF]) - if not parameters: - return [idx + 0x200 for idx in indexes] - else: - return indexes - - -def SearchNodePDOMapping(loc_infos, node): - """ - Find the PDO indexes of a node - @param node: node - @param type: type of PDO searched (RPDO or TPDO or both) - @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False) - @return: a list of indexes found - """ - - model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) - - for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]): - values = node.GetEntry(PDOidx) - if values != None: - for subindex, mapping in enumerate(values): - if subindex != 0 and mapping & 0xFFFFFF00 == model: - return PDOidx, subindex - return None - - -def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping): - """ - Build concise DCF value for configuring a PDO - @param idx: index of PDO parameters - @param cobid: PDO generated COB ID - @param transmittype : PDO transmit type - @param pdomapping: list of PDO mappings - @return: a tuple of value and number of parameters to add to DCF - """ - - # Create entry for RPDO or TPDO parameters and Disable PDO - dcfdata = LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x80000000 + cobid, 4) - # Set Transmit type synchrone - dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1) - # Re-Enable PDO - # ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------ - dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(cobid, 4) - nbparams = 3 - if len(pdomapping) > 0: - dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1) - nbparams += 1 - # Map Variables - for subindex, (name, loc_infos) in enumerate(pdomapping): - value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"] - dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4) - nbparams += 1 - return dcfdata, nbparams - -class ConciseDCFGenerator: - - def __init__(self, nodelist, nodename): - # Dictionary of location informations classed by name - self.IECLocations = {} - # Dictionary of location that have not been mapped yet - self.LocationsNotMapped = {} - # Dictionary of location informations classed by name - self.MasterMapping = {} - # List of COB IDs available - self.ListCobIDAvailable = range(0x180, 0x580) - # Dictionary of mapping value where unexpected variables are stored - self.TrashVariables = {} - # Dictionary of pointed variables - self.PointedVariables = {} - - self.NodeList = nodelist - self.Manager = self.NodeList.Manager - self.MasterNode = self.Manager.GetCurrentNodeCopy() - self.MasterNode.SetNodeName(nodename) - self.PrepareMasterNode() - - def GetPointedVariables(self): - return self.PointedVariables - - def RemoveUsedNodeCobId(self, node): - """ - Remove all PDO COB ID used by the given node from the list of available COB ID - @param node: node - @return: a tuple of number of RPDO and TPDO for the node - """ - - # Get list of all node TPDO and RPDO indexes - nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True) - nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True) - - # Mark all the COB ID of the node already mapped PDO as not available - for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes: - pdo_cobid = node.GetEntry(PdoIdx, 0x01) - # Extract COB ID, if PDO isn't active - if pdo_cobid > 0x600 : - pdo_cobid -= 0x80000000 - # Remove COB ID from the list of available COB ID - if pdo_cobid in self.ListCobIDAvailable: - self.ListCobIDAvailable.remove(pdo_cobid) - - return len(nodeRpdoIndexes), len(nodeTpdoIndexes) - - - def PrepareMasterNode(self): - """ - Add mandatory entries for DCF generation into MasterNode. - """ - - # Adding DCF entry into Master node - if not self.MasterNode.IsEntry(0x1F22): - self.MasterNode.AddEntry(0x1F22, 1, "") - self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode) - - # Adding trash mappable variables for unused mapped datas - idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID() - # Add an entry for storing unexpected all variable - self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode) - for subidx, (size, typeidx) in enumerate(TrashVariables): - # Add a subentry for storing unexpected variable of this size - self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, self.MasterNode) - self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode) - # Store the mapping value for this entry - self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size - - RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode) - - # Store the indexes of the first RPDO and TPDO available for MasterNode - self.CurrentPDOParamsIdx = {RPDO : 0x1400 + RPDOnumber, TPDO : 0x1800 + TPDOnumber} - - # Prepare MasterNode with all nodelist slaves - for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()): - node = nodeinfos["Node"] - node.SetNodeID(nodeid) - - RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node) - - # Get Slave's default SDO server parameters - RSDO_cobid = node.GetEntry(0x1200,0x01) - if not RSDO_cobid: - RSDO_cobid = 0x600 + nodeid - TSDO_cobid = node.GetEntry(0x1200,0x02) - if not TSDO_cobid: - TSDO_cobid = 0x580 + nodeid - - # Configure Master's SDO parameters entries - self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode) - self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid) - self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid) - self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid) - - - def GetMasterNode(self): - """ - Return MasterNode. - """ - return self.MasterNode - - def AddParamsToDCF(self, nodeid, data, nbparams): - """ - Add entry to DCF, for the requested nodeID - @param nodeid: id of the slave (int) - @param data: data to add to slave DCF (string) - @param nbparams: number of params added to slave DCF (int) - """ - # Get current DCF for slave - nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid) - - # Extract data and number of params in current DCF - if nodeDCF != None and nodeDCF != '': - tmpnbparams = [i for i in nodeDCF[:4]] - tmpnbparams.reverse() - nbparams += int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16) - data = nodeDCF[4:] + data - - # Build new DCF - dcf = LE_to_BE(nbparams, 0x04) + data - # Set new DCF for slave - self.MasterNode.SetEntry(0x1F22, nodeid, dcf) - - def GetEmptyPDO(self, nodeid, pdotype, start_index=None): - """ - Search a not configured PDO for a slave - @param node: the slave node object - @param pdotype: type of PDO to generated (RPDO or TPDO) - @param start_index: Index where search must start (default: None) - @return tuple of PDO index, COB ID and number of subindex defined - """ - # If no start_index defined, start with PDOtype base index - if start_index is None: - index = PDOTypeBaseIndex[pdotype] - else: - index = start_index - - # Search for all PDO possible index until find a configurable PDO - # starting from start_index - while index < PDOTypeBaseIndex[pdotype] + 0x200: - values = self.NodeList.GetSlaveNodeEntry(nodeid, index + 0x200) - if values != None and values[0] > 0: - # Check that all subindex upper than 0 equal 0 => configurable PDO - if reduce(lambda x, y: x and y, map(lambda x: x == 0, values[1:]), True): - cobid = self.NodeList.GetSlaveNodeEntry(nodeid, index, 1) - # If no COB ID defined in PDO, generate a new one (not used) - if cobid == 0: - if len(self.ListCobIDAvailable) == 0: - return None - # Calculate COB ID from standard values - if index < PDOTypeBaseIndex[pdotype] + 4: - cobid = PDOTypeBaseCobId[pdotype] + 0x100 * (index - PDOTypeBaseIndex[pdotype]) + nodeid - if cobid not in self.ListCobIDAvailable: - cobid = self.ListCobIDAvailable.pop(0) - return index, cobid, values[0] - index += 1 - return None - - def AddPDOMapping(self, nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs): - """ - Record a new mapping request for a slave, and add related slave config to the DCF - @param nodeid: id of the slave (int) - @param pdotype: type of PDO to generated (RPDO or TPDO) - @param pdomapping: list od variables to map with PDO - """ - # Add an entry to MasterMapping - self.MasterMapping[pdocobid] = {"type" : InvertPDOType[pdotype], - "mapping" : [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]} - - # Return the data to add to DCF - if sync_TPDOs: - return GeneratePDOMappingDCF(pdoindex, pdocobid, 0x01, pdomapping) - else: - return GeneratePDOMappingDCF(pdoindex, pdocobid, 0xFF, pdomapping) - return 0, "" - - def GenerateDCF(self, locations, current_location, sync_TPDOs): - """ - Generate Concise DCF of MasterNode for the locations list given - @param locations: list of locations to be mapped - @param current_location: tuple of the located prefixes not to be considered - @param sync_TPDOs: indicate if TPDO must be synchronous - """ - - #------------------------------------------------------------------------------- - # Verify that locations correspond to real slave variables - #------------------------------------------------------------------------------- - - # Get list of locations check if exists and mappables -> put them in IECLocations - for location in locations: - COlocationtype = IECToCOType[location["IEC_TYPE"]] - name = location["NAME"] - if name in self.IECLocations: - if self.IECLocations[name]["type"] != COlocationtype: - raise PDOmappingException, _("Type conflict for location \"%s\"") % name - else: - # Get only the part of the location that concern this node - loc = location["LOC"][len(current_location):] - # loc correspond to (ID, INDEX, SUBINDEX [,BIT]) - if len(loc) not in (2, 3, 4): - raise PDOmappingException, _("Bad location size : %s") % str(loc) - elif len(loc) == 2: - continue - - direction = location["DIR"] - - sizelocation = location["SIZE"] - - # Extract and check nodeid - nodeid, index, subindex = loc[:3] - - # Check Id is in slave node list - if nodeid not in self.NodeList.SlaveNodes.keys(): - raise PDOmappingException, _("Non existing node ID : %d (variable %s)") % (nodeid,name) - - # Get the model for this node (made from EDS) - node = self.NodeList.SlaveNodes[nodeid]["Node"] - - # Extract and check index and subindex - if not node.IsEntry(index, subindex): - raise PDOmappingException, _("No such index/subindex (%x,%x) in ID : %d (variable %s)") % (index,subindex,nodeid,name) - - # Get the entry info - subentry_infos = node.GetSubentryInfos(index, subindex) - - # If a PDO mappable - if subentry_infos and subentry_infos["pdo"]: - if sizelocation == "X" and len(loc) > 3: - numbit = loc[3] - elif sizelocation != "X" and len(loc) > 3: - raise PDOmappingException, _("Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))") % (name,nodeid,index,subindex) - else: - numbit = None - - if location["IEC_TYPE"] != "BOOL" and subentry_infos["type"] != COlocationtype: - raise PDOmappingException, _("Invalid type \"%s\"-> %d != %d for location\"%s\"") % (location["IEC_TYPE"], COlocationtype, subentry_infos["type"] , name) - - typeinfos = node.GetEntryInfos(COlocationtype) - self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction], - "nodeid": nodeid, "index": index,"subindex": subindex, - "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation} - else: - raise PDOmappingException, _("Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))") % (name,nodeid,index,subindex) - - #------------------------------------------------------------------------------- - # Search for locations already mapped - #------------------------------------------------------------------------------- - - for name, locationinfos in self.IECLocations.items(): - node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"] - - # Search if slave has a PDO mapping this locations - result = SearchNodePDOMapping(locationinfos, node) - if result != None: - index, subindex = result - # Get COB ID of the PDO - cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1) - - # Add PDO to MasterMapping - if cobid not in self.MasterMapping.keys(): - # Verify that PDO transmit type is conform to sync_TPDOs - transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2) - if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF: - if sync_TPDOs: - # Change TransmitType to SYNCHRONE - data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, []) - else: - # Change TransmitType to ASYCHRONE - data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, []) - - # Add entry to slave dcf to change transmit type of - self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams) - - mapping = [None] - values = node.GetEntry(index) - # Store the size of each entry mapped in PDO - for value in values[1:]: - if value != 0: - mapping.append(value % 0x100) - self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping} - - # Indicate that this PDO entry must be saved - if locationinfos["bit"] is not None: - if not isinstance(self.MasterMapping[cobid]["mapping"][subindex], ListType): - self.MasterMapping[cobid]["mapping"][subindex] = [1] * self.MasterMapping[cobid]["mapping"][subindex] - if locationinfos["bit"] < len(self.MasterMapping[cobid]["mapping"][subindex]): - self.MasterMapping[cobid]["mapping"][subindex][locationinfos["bit"]] = (locationinfos["type"], name) - else: - self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name) - - else: - # Add location to those that haven't been mapped yet - if locationinfos["nodeid"] not in self.LocationsNotMapped.keys(): - self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []} - self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos)) - - #------------------------------------------------------------------------------- - # Build concise DCF for the others locations - #------------------------------------------------------------------------------- - - for nodeid, locations in self.LocationsNotMapped.items(): - node = self.NodeList.SlaveNodes[nodeid]["Node"] - - # Initialize number of params and data to add to node DCF - nbparams = 0 - dataparams = "" - - # Generate the best PDO mapping for each type of PDO - for pdotype in (TPDO, RPDO): - if len(locations[pdotype]) > 0: - pdosize = 0 - pdomapping = [] - result = self.GetEmptyPDO(nodeid, pdotype) - if result is None: - raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid - pdoindex, pdocobid, pdonbparams = result - for name, loc_infos in locations[pdotype]: - pdosize += loc_infos["size"] - # If pdo's size > 64 bits - if pdosize > 64 or len(pdomapping) >= pdonbparams: - # Generate a new PDO Mapping - data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs) - dataparams += data - nbparams += nbaddedparams - pdosize = loc_infos["size"] - pdomapping = [(name, loc_infos)] - result = self.GetEmptyPDO(nodeid, pdotype, pdoindex + 1) - if result is None: - raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid - pdoindex, pdocobid, pdonbparams = result - else: - pdomapping.append((name, loc_infos)) - # If there isn't locations yet but there is still a PDO to generate - if len(pdomapping) > 0: - # Generate a new PDO Mapping - data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs) - dataparams += data - nbparams += nbaddedparams - - # Add number of params and data to node DCF - self.AddParamsToDCF(nodeid, dataparams, nbparams) - - #------------------------------------------------------------------------------- - # Master Node Configuration - #------------------------------------------------------------------------------- - - # Generate Master's Configuration from informations stored in MasterMapping - for cobid, pdo_infos in self.MasterMapping.items(): - # Get next PDO index in MasterNode for this PDO type - current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]] - - # Search if there is already a PDO in MasterNode with this cob id - for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True): - if self.MasterNode.GetEntry(idx, 1) == cobid: - current_idx = idx - - # Add a PDO to MasterNode if not PDO have been found - if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]: - addinglist = [current_idx, current_idx + 0x200] - self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode) - self.MasterNode.SetEntry(current_idx, 0x01, cobid) - - # Increment the number of PDO for this PDO type - self.CurrentPDOParamsIdx[pdo_infos["type"]] += 1 - - # Change the transmit type of the PDO - if sync_TPDOs: - self.MasterNode.SetEntry(current_idx, 0x02, 0x01) - else: - self.MasterNode.SetEntry(current_idx, 0x02, 0xFF) - - mapping = [] - for item in pdo_infos["mapping"]: - if isinstance(item, ListType): - mapping.extend(item) - else: - mapping.append(item) - - # Add some subentries to PDO mapping if there is not enough - if len(mapping) > 1: - self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(mapping) - 1, self.MasterNode) - - # Generate MasterNode's PDO mapping - for subindex, variable in enumerate(mapping): - if subindex == 0: - continue - new_index = False - - if isinstance(variable, (IntType, LongType)): - # If variable is an integer then variable is unexpected - self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable]) - else: - typeidx, varname = variable - variable_infos = self.IECLocations[varname] - - # Calculate base index for storing variable - mapvariableidx = VariableStartIndex[variable_infos["pdotype"]] + \ - VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \ - variable_infos["nodeid"] - - # Generate entry name - indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]], - variable_infos["sizelocation"], - '_'.join(map(str,current_location)), - variable_infos["nodeid"]) - - # Search for an entry that has an empty subindex - while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000: - # Entry doesn't exist - if not self.MasterNode.IsEntry(mapvariableidx): - # Add entry to MasterNode - self.Manager.AddMapVariableToCurrent(mapvariableidx, "beremiz"+indexname, 3, 1, self.MasterNode) - new_index = True - nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00) - else: - # Get Number of subentries already defined - nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00) - # if entry is full, go to next entry possible or stop now - if nbsubentries == 0xFF: - mapvariableidx += 8 * VariableIncrement - else: - break - - # Verify that a not full entry has been found - if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000: - # Generate subentry name - if variable_infos["bit"] != None: - subindexname = "%(index)d_%(subindex)d_%(bit)d"%variable_infos - else: - subindexname = "%(index)d_%(subindex)d"%variable_infos - # If entry have just been created, no subentry have to be added - if not new_index: - self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode) - nbsubentries += 1 - # Add informations to the new subentry created - self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname}) - self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx}) - - # Set value of the PDO mapping - typeinfos = self.Manager.GetEntryInfos(typeidx) - if typeinfos != None: - value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"] - self.MasterNode.SetEntry(current_idx + 0x200, subindex, value) - - # Add variable to pointed variables - self.PointedVariables[(mapvariableidx, nbsubentries)] = "%s_%s"%(indexname, subindexname) - -def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs, nodename): - """ - Fills a CanFestival network editor model, with DCF with requested PDO mappings. - @param locations: List of complete variables locations \ - [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...) - "NAME" : name of the variable (generally "__IW0_1_2" style) - "DIR" : direction "Q","I" or "M" - "SIZE" : size "X", "B", "W", "D", "L" - "LOC" : tuple of interger for IEC location (0,1,2,...) - }, ...] - @param nodelist: CanFestival network editor model - @return: a modified copy of the given CanFestival network editor model - """ - - dcfgenerator = ConciseDCFGenerator(nodelist, nodename) - dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs) - masternode,pointers = dcfgenerator.GetMasterNode(), dcfgenerator.GetPointedVariables() - # allow access to local OD from Master PLC - pointers.update(LocalODPointers(locations, current_location, masternode)) - return masternode,pointers - -def LocalODPointers(locations, current_location, slave): - IECLocations = {} - pointers = {} - for location in locations: - COlocationtype = IECToCOType[location["IEC_TYPE"]] - name = location["NAME"] - if name in IECLocations: - if IECLocations[name] != COlocationtype: - raise PDOmappingException, _("Type conflict for location \"%s\"") % name - else: - # Get only the part of the location that concern this node - loc = location["LOC"][len(current_location):] - # loc correspond to (ID, INDEX, SUBINDEX [,BIT]) - if len(loc) not in (2, 3, 4): - raise PDOmappingException, _("Bad location size : %s") % str(loc) - elif len(loc) != 2: - continue - - # Extract and check nodeid - index, subindex = loc[:2] - - # Extract and check index and subindex - if not slave.IsEntry(index, subindex): - raise PDOmappingException, _("No such index/subindex (%x,%x) (variable %s)") % (index, subindex, name) - - # Get the entry info - subentry_infos = slave.GetSubentryInfos(index, subindex) - if subentry_infos["type"] != COlocationtype: - raise PDOmappingException, _("Invalid type \"%s\"-> %d != %d for location\"%s\"") % (location["IEC_TYPE"], COlocationtype, subentry_infos["type"] , name) - - IECLocations[name] = COlocationtype - pointers[(index, subindex)] = name - return pointers - -if __name__ == "__main__": - import os, sys, getopt - - def usage(): - print """ -Usage of config_utils.py test : - - %s [options] - -Options: - --help (-h) - Displays help informations for config_utils - - --reset (-r) - Reset the reference result of config_utils test. - Use with caution. Be sure that config_utils - is currently working properly. -"""%sys.argv[0] - - # Boolean that indicate if reference result must be redefined - reset = False - - # Extract command options - try: - opts, args = getopt.getopt(sys.argv[1:], "hr", ["help","reset"]) - except getopt.GetoptError: - # print help information and exit: - usage() - sys.exit(2) - - # Test each option - for o, a in opts: - if o in ("-h", "--help"): - usage() - sys.exit() - elif o in ("-r", "--reset"): - reset = True - - # Extract workspace base folder - base_folder = sys.path[0] - for i in xrange(3): - base_folder = os.path.split(base_folder)[0] - # Add CanFestival folder to search pathes - sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen")) - - from nodemanager import * - from nodelist import * - - # Open the test nodelist contained into test_config folder - manager = NodeManager() - nodelist = NodeList(manager) - result = nodelist.LoadProject("test_config") - - # List of locations, we try to map for test - locations = [{"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24576_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24576,1)}, - {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_2","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,2)}, - {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_3","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,3)}, - {"IEC_TYPE":"INT","NAME":"__QW0_1_64_25617_2","DIR":"Q","SIZE":"W","LOC":(0,1,64,25617,1)}, - {"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24578_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24578,1)}, - {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_1","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,1)}, - {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_2","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,2)}, - {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_3","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,3)}, - {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_4","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,4)}, - {"IEC_TYPE":"UDINT","NAME":"__ID0_1_4096_0","DIR":"I","SIZE":"D","LOC":(0,1,4096,0)}] - - # Generate MasterNode configuration - try: - masternode, pointedvariables = GenerateConciseDCF(locations, (0, 1), nodelist, True, "TestNode") - except ValueError, message: - print "%s\nTest Failed!"%message - sys.exit() - - import pprint - # Get Text corresponding to MasterNode - result_node = masternode.PrintString() - result_vars = pprint.pformat(pointedvariables) - result = result_node + "\n********POINTERS*********\n" + result_vars + "\n" - - # If reset has been choosen - if reset: - # Write Text into reference result file - testfile = open("test_config/result.txt", "w") - testfile.write(result) - testfile.close() - - print "Reset Successful!" - else: - import os - - testfile = open("test_config/result_tmp.txt", "w") - testfile.write(result) - testfile.close() - - os.system("diff test_config/result.txt test_config/result_tmp.txt") - os.remove("test_config/result_tmp.txt")