--- a/etherlab/EthercatCFileGenerator.py Thu May 02 10:21:47 2013 +0200
+++ b/etherlab/EthercatCFileGenerator.py Thu May 02 13:40:35 2013 +0200
@@ -202,347 +202,348 @@
# Extract slave device informations
device, module_extra_params = 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()
-
- # 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
- # init commands when initializing slave in master code template strings
- initCmds = []
- for initCmd in device_coe.getInitCmd():
- initCmds.append({
- "Index": ExtractHexDecValue(initCmd.getIndex()),
- "Subindex": ExtractHexDecValue(initCmd.getSubIndex()),
- "Value": initCmd.getData().getcontent()})
- initCmds.extend(slave.getStartupCommands())
- for initCmd in initCmds:
- index = initCmd["Index"]
- subindex = initCmd["Subindex"]
- entry = device_entries.get((index, subindex), None)
- if entry is not None:
- data_size = entry["BitSize"] / 8
- data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"]
- init_cmd_infos = {
- "index": index,
- "subindex": subindex,
- "data": data_str,
- "data_type": DATATYPECONVERSION.get(entry["Type"]),
- "data_size": data_size
- }
- 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": [],
- "pdos_sync_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
+ # init commands when initializing slave in master code template strings
+ initCmds = []
+ for initCmd in device_coe.getInitCmd():
+ initCmds.append({
+ "Index": ExtractHexDecValue(initCmd.getIndex()),
+ "Subindex": ExtractHexDecValue(initCmd.getSubIndex()),
+ "Value": initCmd.getData().getcontent()})
+ initCmds.extend(slave.getStartupCommands())
+ for initCmd in initCmds:
+ index = initCmd["Index"]
+ subindex = initCmd["Subindex"]
+ entry = device_entries.get((index, subindex), None)
+ if entry is not None:
+ data_size = entry["BitSize"] / 8
+ data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"]
+ init_cmd_infos = {
+ "index": index,
+ "subindex": subindex,
+ "data": data_str,
+ "data_type": DATATYPECONVERSION.get(entry["Type"]),
+ "data_size": data_size
+ }
+ 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": [],
+ "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,
+ "name": sync_manager.getcontent(),
+ "slave": slave_idx,
+ "pdos": [],
+ "pdos_number": 0,
}
- pdos_infos.update(type_infos)
-
- sync_managers = []
- for sync_manager_idx, sync_manager in enumerate(device.getSm()):
- sync_manager_infos = {
- "index": sync_manager_idx,
- "name": sync_manager.getcontent(),
- "slave": slave_idx,
- "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
+ if sync_manager_direction:
+ sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"
+ else:
+ sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"
+ if sync_manager_watchdog:
+ 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),
+ "assigned": pdo.getSm() is not None
}
-
- sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
- sync_manager_direction = sync_manager_control_byte & 0x0c
- sync_manager_watchdog = sync_manager_control_byte & 0x40
- if sync_manager_direction:
- sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"
- else:
- sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"
- if sync_manager_watchdog:
- 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),
- "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)
- start_excluding_index = 0
- 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:]
- 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 = []
+ 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)
+ start_excluding_index = 0
+ 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:]
+ 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())
+ entry_infos = {
+ "index": index,
+ "subindex": subindex,
+ "name": ExtractName(entry.getName()),
+ "bitlen": entry.getBitLen(),
+ }
+ 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_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"]) !=
+ 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
+ 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"
+ entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
+ 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):
+ if sync_manager["name"] == pdo_type:
+ 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,
+ "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),
+ ("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"]
+ 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,
- "name": ExtractName(entry.getName()),
- "bitlen": entry.getBitLen(),
+ "name": entry["Name"],
+ "bitlen": entry["BitSize"],
}
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_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"]) !=
+ 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"]:
+ while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
+ dynamic_pdos[pdo_type]["current_index"] += 1
+ 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"])
- 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"]) !=
- 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
- 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"
- entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
- 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):
- if sync_manager["name"] == pdo_type:
- 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,
- "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),
- ("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"]
- 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,
- "name": entry["Name"],
- "bitlen": entry["BitSize"],
- }
- entry_infos.update(type_infos)
-
- 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"]) !=
- 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"]:
- while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
- dynamic_pdos[pdo_type]["current_index"] += 1
- 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,
- "entries": [],
- "entries_number": 0,
- "fixed": False}
- dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
- dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
- 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, " +
- "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, " +
- ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") +
- ", %(watchdog)s},") % sync_manager_infos)
- 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")
+ 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,
+ "entries": [],
+ "entries_number": 0,
+ "fixed": False}
+ dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
+ dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
+ 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, " +
+ "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, " +
+ ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") +
+ ", %(watchdog)s},") % sync_manager_infos)
+ 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",