# HG changeset patch
# User Laurent Bessard
# Date 1348435557 -7200
# Node ID 49242019a9ca9a82948ec90bc5c9248d4d105eb2
# Parent 7d0ebbff1d083345702aa18bc42486b6bf7d4190
Fix C code Generator to use CoE section contained in the slave ESI file for defining Ethercat network configuration
diff -r 7d0ebbff1d08 -r 49242019a9ca etherlab/etherlab.py
--- a/etherlab/etherlab.py Sat Sep 22 12:07:06 2012 +0200
+++ b/etherlab/etherlab.py Sun Sep 23 23:25:57 2012 +0200
@@ -61,16 +61,6 @@
class _EthercatSlaveCTN:
- XSD = """
-
-
-
-
-
-
-
- """
-
NODE_PROFILE = None
EditorType = NodeEditor
@@ -184,7 +174,6 @@
-
%s
@@ -361,7 +350,6 @@
-
@@ -655,13 +643,8 @@
slaves = self.GetSlaves()
for slave_pos in slaves:
slave = self.GetSlave(slave_pos)
- slave_node = self.GetChildByIECLocation([slave_pos])
- if slave_node.CTNParams is not None:
- slave_infos = slave_node.CTNParams[1]
- else:
- slave_infos = None
if slave is not None:
- self.FileGenerator.DeclareSlave(slave_pos, slave.getInfo().getAutoIncAddr(), slave.getType(), slave_infos)
+ self.FileGenerator.DeclareSlave(slave_pos, slave.getInfo().getAutoIncAddr(), slave.getType())
for location in locations:
loc = location["LOC"][len(current_location):]
@@ -821,9 +804,9 @@
def __del__(self):
self.Controler = None
-
- def DeclareSlave(self, slave_index, slave_alias, slave, slave_infos):
- self.Slaves.append((slave_index, slave_alias, slave, slave_infos))
+
+ def DeclareSlave(self, slave_index, slave_alias, slave):
+ self.Slaves.append((slave_index, slave_alias, slave))
def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name):
slave_variables = self.UsedVariables.setdefault(slave_index, {})
@@ -838,14 +821,15 @@
def GenerateCFile(self, filepath, location_str, etherlab_node_infos):
+ # 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,
- "configure_pdos": int(etherlab_node_infos.getConfigurePDOs()),
"master_number": etherlab_node_infos.getMasterNumber(),
"located_variables_declaration": [],
"used_pdo_entry_offset_variables_declaration": [],
@@ -859,35 +843,48 @@
"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 = {}
- for (slave_idx, slave_alias, type_infos, slave_infos) in self.Slaves:
+
+ # Generating code for each slave
+ for (slave_idx, slave_alias, type_infos) in self.Slaves:
+
+ # 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 = self.Controler.GetModuleInfos(type_infos)
if device is not None:
-
+
+ # Extract slaves variables to be mapped
slave_variables = self.UsedVariables.get(slave_idx, {})
+
+ # Extract slave device object dictionary entries
device_entries = device.GetEntriesList()
- if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0:
+ # 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:
- 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)))
-
- 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
-
- for initCmd in device.getInitCmd():
+ # If device support CanOpen over Ethernet, adding code for calling
+ # init commands when initializing slave in master code template strings
+ for initCmd in device_coe.getInitCmd():
index = ExtractHexDecValue(initCmd.getIndex())
subindex = ExtractHexDecValue(initCmd.getSubIndex())
entry = device_entries.get((index, subindex), None)
@@ -903,7 +900,20 @@
}
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
pdos_infos = {
"pdos_entries_infos": [],
"pdos_infos": [],
@@ -989,7 +999,7 @@
ConfigureVariable(entry_infos, str_completion)
- elif pdo_type == "Outputs" and entry.getDataType() is not None:
+ elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:
entry_infos["dir"] = "Q"
entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
entry_infos["var_type"] = entry.getDataType().getcontent()
@@ -1024,7 +1034,7 @@
"entries_number": len(entries_infos),
"fixed": pdo.getFixed() == True})
- if slave_infos is None or slave_infos.getDynamicPDOs():
+ if PdoConfig and PdoAssign:
dynamic_pdos = {}
dynamic_pdos_number = 0
for category, min_index, max_index in [("Inputs", 0x1600, 0x1800),
@@ -1104,11 +1114,11 @@
if pdo["entries_number"] == 255:
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"]
@@ -1130,7 +1140,13 @@
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",
@@ -1216,17 +1232,12 @@
setattr(cls, "ExtractDataTypes", ExtractDataTypes)
- def getInitCmd(self):
+ def getCoE(self):
mailbox = self.getMailbox()
- if mailbox is None:
- return []
-
- coe = mailbox.getCoE()
- if coe is None:
- return []
-
- return coe.getInitCmd()
- setattr(cls, "getInitCmd", getInitCmd)
+ if mailbox is not None:
+ return mailbox.getCoE()
+ return None
+ setattr(cls, "getCoE", getCoE)
def GetEntriesList(self):
if self.DataTypes is None:
diff -r 7d0ebbff1d08 -r 49242019a9ca etherlab/plc_cia402node.c
--- a/etherlab/plc_cia402node.c Sat Sep 22 12:07:06 2012 +0200
+++ b/etherlab/plc_cia402node.c Sun Sep 23 23:25:57 2012 +0200
@@ -48,7 +48,8 @@
%(init_entry_variables)s
*__IW%(location)s_0 = __MK_Alloc_AXIS_REF();
__CIA402Node_%(location)s.axis = __MK_GetPublic_AXIS_REF(*__IW%(location)s_0);
- return 0;
+ *(__CIA402Node_%(location)s.ModesOfOperation) = 0x08;
+ return 0;
}
void __cleanup_%(location)s()
diff -r 7d0ebbff1d08 -r 49242019a9ca etherlab/plc_etherlab.c
--- a/etherlab/plc_etherlab.c Sat Sep 22 12:07:06 2012 +0200
+++ b/etherlab/plc_etherlab.c Sun Sep 23 23:25:57 2012 +0200
@@ -21,9 +21,6 @@
// declaration of interface variables
%(located_variables_declaration)s
-// Optional features
-#define CONFIGURE_PDOS %(configure_pdos)d
-
// process data
uint8_t *domain1_pd = NULL;
%(used_pdo_entry_offset_variables_declaration)s
@@ -34,9 +31,7 @@
};
/*****************************************************************************/
-#if CONFIGURE_PDOS
%(pdos_configuration_declaration)s
-#endif
int rt_fd = -1;
CstructMstrAttach MstrAttach;
@@ -64,10 +59,8 @@
domain1 = ecrt_master_create_domain(master);
if (!domain1) return -1;
-#if CONFIGURE_PDOS
- fprintf(stdout, "Configure PDOs...\n");
- %(slaves_configuration)s
-#endif
+ // slaves PDO configuration
+%(slaves_configuration)s
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "PDO entry registration failed!\n");
@@ -76,8 +69,10 @@
ecrt_master_set_send_interval(master, common_ticktime__);
+ // slaves initialization
%(slaves_initialization)s
+ // extracting default value for not mapped entry in output PDOs
%(slaves_output_pdos_default_values_extraction)s
sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0);