--- a/etherlab/EthercatCFileGenerator.py Fri Apr 05 00:14:00 2013 +0200
+++ b/etherlab/EthercatCFileGenerator.py Thu Apr 11 10:32:58 2013 +0200
@@ -25,13 +25,13 @@
SLAVE_CONFIGURATION_TEMPLATE = """
if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) {
- SLOGF(LOG_CRITICAL, "Failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.\\n");
+ SLOGF(LOG_CRITICAL, "EtherCAT failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.");
return -1;
}
if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) {
- SLOGF(LOG_CRITICAL, "Failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.\\n");
- return -1;
+ SLOGF(LOG_CRITICAL, "EtherCAT failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.");
+ goto ecat_failed;
}
"""
@@ -40,8 +40,8 @@
uint8_t value[%(data_size)d];
EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s);
if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) {
- SLOGF(LOG_CRITICAL, "Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code);
- return -1;
+ SLOGF(LOG_CRITICAL, "EtherCAT Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%d", abort_code);
+ goto ecat_failed;
}
}
"""
@@ -50,8 +50,8 @@
{
uint8_t value[%(data_size)d];
if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
- SLOGF(LOG_CRITICAL, "Failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%ud\\n", abort_code);
- return -1;
+ SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);
+ goto ecat_failed;
}
%(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);
}
--- a/etherlab/plc_etherlab.c Fri Apr 05 00:14:00 2013 +0200
+++ b/etherlab/plc_etherlab.c Thu Apr 11 10:32:58 2013 +0200
@@ -47,21 +47,26 @@
uint32_t abort_code;
size_t result_size;
- master = ecrt_request_master(%(master_number)d);
- if (!master) return -1;
+ master = ecrt_request_master(%(master_number)d);
+ if (!master) {
+ SLOGF(LOG_CRITICAL, "EtherCAT master request failed!");
+ return -1;
+ }
- domain1 = ecrt_master_create_domain(master);
- if (!domain1) return -1;
+ if(!(domain1 = ecrt_master_create_domain(master))){
+ SLOGF(LOG_CRITICAL, "EtherCAT Domain Creation failed!");
+ goto ecat_failed;
+ }
// slaves PDO configuration
%(slaves_configuration)s
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
- SLOGF(LOG_CRITICAL, "PDO entry registration failed!\n");
- return -1;
+ SLOGF(LOG_CRITICAL, "EtherCAT PDO registration failed!");
+ goto ecat_failed;
}
- ecrt_master_set_send_interval(master, common_ticktime__);
+ ecrt_master_set_send_interval(master, common_ticktime__);
// slaves initialization
%(slaves_initialization)s
@@ -69,25 +74,32 @@
// extracting default value for not mapped entry in output PDOs
%(slaves_output_pdos_default_values_extraction)s
- if (ecrt_master_activate(master))
- return -1;
+ if (ecrt_master_activate(master)){
+ SLOGF(LOG_CRITICAL, "EtherCAT Master activation failed");
+ goto ecat_failed;
+ }
if (!(domain1_pd = ecrt_domain_data(domain1))) {
- SLOGF(LOG_CRITICAL, "domain1_pd: 0x%%.6lx\n", (unsigned long)domain1_pd);
- return -1;
+ SLOGF(LOG_CRITICAL, "Failed to map EtherCAT process data");
+ goto ecat_failed;
}
- SLOGF(LOG_INFO, "Master %(master_number)d activated...\n");
+ SLOGF(LOG_INFO, "Master %(master_number)d activated.");
first_sent = 0;
return 0;
+
+ecat_failed:
+ ecrt_release_master(master);
+ return -1;
+
}
void __cleanup_%(location)s(void)
{
- //release master
- ecrt_release_master(master);
+ //release master
+ ecrt_release_master(master);
first_sent = 0;
}
--- a/etherlab/runtime_etherlab.py Fri Apr 05 00:14:00 2013 +0200
+++ b/etherlab/runtime_etherlab.py Thu Apr 11 10:32:58 2013 +0200
@@ -1,6 +1,7 @@
import subprocess,sys,ctypes
from threading import Thread
import ctypes,time,re
+from targets.typemapping import LogLevelsDict
SDOAnswered = PLCBinary.SDOAnswered
SDOAnswered.restype = None
@@ -12,11 +13,12 @@
def SDOThreadProc(*params):
global Result
if params[0] == "upload":
- command = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
+ cmdfmt = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
else:
- command = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
+ cmdfmt = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
- proc = subprocess.Popen(command % params[1:], stdout=subprocess.PIPE, shell=True)
+ command = cmdfmt % params[1:]
+ proc = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True)
res = proc.wait()
output = proc.communicate()[0]
@@ -35,6 +37,10 @@
Result = res == 0
SDOAnswered()
+ if res != 0 :
+ PLCObject.LogMessage(
+ LogLevelsDict["WARNING"],
+ "%s : %s"%(command,output))
def EthercatSDOUpload(pos, index, subindex, var_type):
global SDOThread
@@ -73,9 +79,14 @@
log = log.rpartition(last)[2]
if log :
last = log.rpartition('\n')[2]
- for msg in re.findall(r'<\d>\[\s*\d*\.\d*\]\s*(EtherCAT\s*.*)$',
- log, re.MULTILINE):
- PLCObject.LogMessage(msg)
+ for lvl,msg in re.findall(
+ r'<(\d)>\[\s*\d*\.\d*\]\s*(EtherCAT\s*.*)$',
+ log, re.MULTILINE):
+ PLCObject.LogMessage(
+ LogLevelsDict[{
+ "4":"WARNING",
+ "3":"CRITICAL"}.get(lvl,"DEBUG")],
+ msg)
time.sleep(0.5)
def _runtime_etherlab_init():
@@ -89,4 +100,3 @@
StopKMSGThread = True
KMSGPollThread = None
-