diff -r 9460872f1440 -r fec77f2b9e07 etherlab/EthercatCFileGenerator.py --- a/etherlab/EthercatCFileGenerator.py Fri Sep 28 17:15:53 2018 +0300 +++ b/etherlab/EthercatCFileGenerator.py Fri Sep 28 17:20:11 2018 +0300 @@ -72,7 +72,7 @@ entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None) if entry_infos["data_type"] is None: raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"] - + if not entry_infos.get("no_decl", False): if entry_infos.has_key("real_var"): str_completion["located_variables_declaration"].append( @@ -88,40 +88,40 @@ "IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos) elif not entry_infos.has_key("real_var"): entry_infos["real_var"] = "beremiz" + entry_infos["var_name"] - + 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, " + + (" {%(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, " + + (" %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos) elif entry_infos["dir"] == "Q": str_completion["publish_variables"].append( - (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + + (" EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + "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, " + + (" {%(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 + " + + (" %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos) elif entry_infos["dir"] == "Q": str_completion["publish_variables"].append( - (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + + (" EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + "%(real_var)s);") % entry_infos) def ExclusionSortFunction(x, y): @@ -134,22 +134,22 @@ return -cmp(x["matching"], y["matching"]) class _EthercatCFileGenerator: - + def __init__(self, controler): self.Controler = controler - + self.Slaves = [] self.UsedVariables = {} def __del__(self): - self.Controler = None - + self.Controler = None + def DeclareSlave(self, slave_index, slave): self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave)) def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False): slave_variables = self.UsedVariables.setdefault(slave_index, {}) - + entry_infos = slave_variables.get((index, subindex), None) if entry_infos is None: slave_variables[(index, subindex)] = { @@ -164,16 +164,16 @@ else: raise ValueError, _("Output variables can't be defined with different locations (%s and %s)") % (entry_infos["infos"][2], name) else: - raise ValueError, _("Definition conflict for location \"%s\"") % name - + raise ValueError, _("Definition conflict for location \"%s\"") % name + def GenerateCFile(self, filepath, location_str, master_number): - + # Extract etherlab master code template plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c") plc_etherlab_file = open(plc_etherlab_filepath, 'r') plc_etherlab_code = plc_etherlab_file.read() plc_etherlab_file.close() - + # Initialize strings for formatting master code template str_completion = { "location": location_str, @@ -189,49 +189,49 @@ "retrieve_variables": [], "publish_variables": [], } - + # Initialize variable storing variable mapping state for slave_entries in self.UsedVariables.itervalues(): for entry_infos in slave_entries.itervalues(): entry_infos["mapped"] = False - + # Sort slaves by position (IEC_Channel) self.Slaves.sort() # Initialize dictionary storing alias auto-increment position values alias = {} - + # Generating code for each slave for (slave_idx, slave_alias, slave) in self.Slaves: type_infos = slave.getType() - + # Defining slave alias and auto-increment position if alias.get(slave_alias) is not None: alias[slave_alias] += 1 else: alias[slave_alias] = 0 slave_pos = (slave_alias, alias[slave_alias]) - + # Extract slave device informations device, module_extra_params = self.Controler.GetModuleInfos(type_infos) if device is None: raise ValueError, _("No informations found for device %s!") % (type_infos["device_type"]) - + # Extract slaves variables to be mapped slave_variables = self.UsedVariables.get(slave_idx, {}) - + # Extract slave device object dictionary entries device_entries = device.GetEntriesList() - + # Adding code for declaring slave in master code template strings for element in ["vendor", "product_code", "revision_number"]: type_infos[element] = ExtractHexDecValue(type_infos[element]) type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos))) - + # Extract slave device CoE informations device_coe = device.getCoE() if device_coe is not None: - - # If device support CanOpen over Ethernet, adding code for calling + + # If device support CanOpen over Ethernet, adding code for calling # init commands when initializing slave in master code template strings initCmds = [] for initCmd in device_coe.getInitCmd(): @@ -256,37 +256,37 @@ } init_cmd_infos.update(type_infos) str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos - + # Extract slave device PDO configuration capabilities PdoAssign = device_coe.getPdoAssign() PdoConfig = device_coe.getPdoConfig() else: PdoAssign = PdoConfig = False - + # Test if slave has a configuration or need one if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign: - + str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos - - # Initializing + + # Initializing pdos_infos = { "pdos_entries_infos": [], "pdos_infos": [], - "pdos_sync_infos": [], + "pdos_sync_infos": [], } pdos_infos.update(type_infos) - + sync_managers = [] for sync_manager_idx, sync_manager in enumerate(device.getSm()): sync_manager_infos = { - "index": sync_manager_idx, + "index": sync_manager_idx, "name": sync_manager.getcontent(), "slave": slave_idx, - "pdos": [], + "pdos": [], "pdos_number": 0, } - + sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte()) sync_manager_direction = sync_manager_control_byte & 0x0c sync_manager_watchdog = sync_manager_control_byte & 0x40 @@ -298,50 +298,50 @@ sync_manager_infos["watchdog"] = "EC_WD_ENABLE" else: sync_manager_infos["watchdog"] = "EC_WD_DISABLE" - + sync_managers.append(sync_manager_infos) - + pdos_index = [] exclusive_pdos = {} selected_pdos = [] for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + [(pdo, "Outputs") for pdo in device.getRxPdo()]): - + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) pdos_index.append(pdo_index) - + excluded_list = pdo.getExclude() if len(excluded_list) > 0: exclusion_list = [pdo_index] for excluded in excluded_list: exclusion_list.append(ExtractHexDecValue(excluded.getcontent())) exclusion_list.sort() - + exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), []) - + entries = pdo.getEntry() pdo_mapping_match = { - "index": pdo_index, - "matching": 0, - "count": len(entries), + "index": pdo_index, + "matching": 0, + "count": len(entries), "assigned": pdo.getSm() is not None } exclusion_scope.append(pdo_mapping_match) - + for entry in entries: index = ExtractHexDecValue(entry.getIndex().getcontent()) subindex = ExtractHexDecValue(entry.getSubIndex()) if slave_variables.get((index, subindex), None) is not None: pdo_mapping_match["matching"] += 1 - + if pdo.getFixed() != True: pdo_mapping_match["matching"] += \ module_extra_params["max_pdo_size"] - \ pdo_mapping_match["count"] - + elif pdo.getMandatory(): selected_pdos.append(pdo_index) - + excluded_pdos = [] for exclusion_scope in exclusive_pdos.itervalues(): exclusion_scope.sort(ExclusionSortFunction) @@ -349,22 +349,22 @@ if exclusion_scope[0]["matching"] > 0: selected_pdos.append(exclusion_scope[0]["index"]) start_excluding_index = 1 - excluded_pdos.extend([pdo["index"] - for pdo in exclusion_scope[start_excluding_index:] + excluded_pdos.extend([pdo["index"] + for pdo in exclusion_scope[start_excluding_index:] if PdoAssign or not pdo["assigned"]]) - + for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] + [(pdo, "Outputs") for pdo in device.getRxPdo()]): entries = pdo.getEntry() - + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) if pdo_index in excluded_pdos: continue - + pdo_needed = pdo_index in selected_pdos - + entries_infos = [] - + for entry in entries: index = ExtractHexDecValue(entry.getIndex().getcontent()) subindex = ExtractHexDecValue(entry.getSubIndex()) @@ -376,30 +376,30 @@ } entry_infos.update(type_infos) entries_infos.append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) - + entry_declaration = slave_variables.get((index, subindex), None) if entry_declaration is not None and not entry_declaration["mapped"]: pdo_needed = True - - entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], + + entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], entry_declaration["infos"]))) entry_declaration["mapped"] = True - + entry_type = entry.getDataType().getcontent() if entry_infos["var_type"] != entry_type: message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] - if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != + if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != self.Controler.GetSizeOfType(entry_type)): raise ValueError, message else: self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") - - if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or + + if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or entry_infos["dir"] == "Q" and pdo_type != "Outputs"): raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] - + ConfigureVariable(entry_infos, str_completion) - + elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None: data_type = entry.getDataType().getcontent() entry_infos["dir"] = "Q" @@ -407,18 +407,18 @@ entry_infos["data_type"] = DATATYPECONVERSION.get(data_type) entry_infos["var_type"] = data_type entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos - + ConfigureVariable(entry_infos, str_completion) - + str_completion["slaves_output_pdos_default_values_extraction"] += \ SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos - + 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): @@ -426,40 +426,40 @@ sm = sm_idx if sm is None: raise ValueError, _("No sync manager available for %s pdo!") % pdo_type - + sync_managers[sm]["pdos_number"] += 1 sync_managers[sm]["pdos"].append( {"slave": slave_idx, "index": pdo_index, "name": ExtractName(pdo.getName()), - "type": pdo_type, + "type": pdo_type, "entries": entries_infos, "entries_number": len(entries_infos), "fixed": pdo.getFixed() == True}) - + if PdoConfig and PdoAssign: dynamic_pdos = {} dynamic_pdos_number = 0 - for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), + for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), ("Outputs", 0x1a00, 0x1C00)]: for sync_manager in sync_managers: if sync_manager["name"] == category: category_infos = dynamic_pdos.setdefault(category, {}) category_infos["sync_manager"] = sync_manager - category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] + category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] if not pdo["fixed"] and pdo["type"] == category] category_infos["current_index"] = min_index category_infos["max_index"] = max_index break - + for (index, subindex), entry_declaration in slave_variables.iteritems(): - + if not entry_declaration["mapped"]: entry = device_entries.get((index, subindex), None) if entry is None: raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \ (index, subindex, type_infos["device_type"]) - + entry_infos = { "index": index, "subindex": subindex, @@ -467,31 +467,31 @@ "bitlen": entry["BitSize"], } entry_infos.update(type_infos) - - entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], + + entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], entry_declaration["infos"]))) entry_declaration["mapped"] = True - + if entry_infos["var_type"] != entry["Type"]: message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"] - if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != + if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != self.Controler.GetSizeOfType(entry["Type"])): raise ValueError, message else: self.Controler.GetCTRoot().logger.write_warning(message + "\n") - + if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]: pdo_type = "Inputs" elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]: pdo_type = "Outputs" else: raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"] - + if not dynamic_pdos.has_key(pdo_type): raise ValueError, _("No Sync manager defined for %s!") % pdo_type - + ConfigureVariable(entry_infos, str_completion) - + if len(dynamic_pdos[pdo_type]["pdos"]) > 0: pdo = dynamic_pdos[pdo_type]["pdos"][0] elif module_extra_params["add_pdo"]: @@ -500,12 +500,12 @@ if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]: raise ValueError, _("No more free PDO index available for %s!") % pdo_type pdos_index.append(dynamic_pdos[pdo_type]["current_index"]) - + dynamic_pdos_number += 1 pdo = {"slave": slave_idx, "index": dynamic_pdos[pdo_type]["current_index"], "name": "Dynamic PDO %d" % dynamic_pdos_number, - "type": pdo_type, + "type": pdo_type, "entries": [], "entries_number": 0, "fixed": False} @@ -514,55 +514,55 @@ dynamic_pdos[pdo_type]["pdos"].append(pdo) else: break - + pdo["entries"].append(" {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos) if entry_infos["bitlen"] < module_extra_params["pdo_alignment"]: pdo["entries"].append(" {0x0000, 0x00, %d}, /* None */" % ( module_extra_params["pdo_alignment"] - entry_infos["bitlen"])) pdo["entries_number"] += 1 - + if pdo["entries_number"] == module_extra_params["max_pdo_size"]: dynamic_pdos[pdo_type]["pdos"].pop(0) - + pdo_offset = 0 entry_offset = 0 for sync_manager_infos in sync_managers: - + for pdo_infos in sync_manager_infos["pdos"]: pdo_infos["offset"] = entry_offset pdo_entries = pdo_infos["entries"] pdos_infos["pdos_infos"].append( - (" {0x%(index).4x, %(entries_number)d, " + + (" {0x%(index).4x, %(entries_number)d, " + "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos) entry_offset += len(pdo_entries) pdos_infos["pdos_entries_infos"].extend(pdo_entries) - + sync_manager_infos["offset"] = pdo_offset pdo_offset_shift = sync_manager_infos["pdos_number"] pdos_infos["pdos_sync_infos"].append( - (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + + (" {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") + ", %(watchdog)s},") % sync_manager_infos) - pdo_offset += pdo_offset_shift - + pdo_offset += pdo_offset_shift + for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]: pdos_infos[element] = "\n".join(pdos_infos[element]) - + str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos - + for (index, subindex), entry_declaration in slave_variables.iteritems(): if not entry_declaration["mapped"]: message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \ (index, subindex, type_infos["device_type"]) self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n") - - for element in ["used_pdo_entry_offset_variables_declaration", - "used_pdo_entry_configuration", - "located_variables_declaration", - "retrieve_variables", + + for element in ["used_pdo_entry_offset_variables_declaration", + "used_pdo_entry_configuration", + "located_variables_declaration", + "retrieve_variables", "publish_variables"]: str_completion[element] = "\n".join(str_completion[element]) - + etherlabfile = open(filepath, 'w') etherlabfile.write(plc_etherlab_code % str_completion) etherlabfile.close()