--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/objdictgen/config_utils.py Fri Jul 06 10:53:15 2007 +0200
@@ -0,0 +1,448 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+#This file is part of CanFestival, a library implementing CanOpen Stack.
+#
+#Copyright (C): Edouard TISSERANT, Francis DUPIN 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 Lesser 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
+#Lesser General Public License for more details.
+#
+#You should have received a copy of the GNU Lesser 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 *
+
+DicoTypes = {"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":0x02,"WORD":0x03,"DWORD":0x04,
+ "LWORD":0x1B,"WSTRING":0x0B}
+
+DictLocations = {}
+DictCobID = {}
+DictLocationsNotMapped = {}
+ListCobIDAvailable = []
+SlavesPdoNumber = {}
+
+# Constants for PDO types
+RPDO = 1
+TPDO = 2
+SlavePDOType = {"I" : TPDO, "Q" : RPDO}
+InvertPDOType = {RPDO : TPDO, TPDO : RPDO}
+
+DefaultTransmitType = 0x01
+
+GenerateMasterMapping = lambda x:[None] + [(loc_infos["type"], name) for name, loc_infos in x]
+
+TrashVariableSizes = {1 : 0x01, 8 : 0x05, 16 : 0x06, 32 : 0x07, 64 : 0x1B}
+
+
+def GetSlavePDOIndexes(slave, type, parameters = False):
+ indexes = []
+ if type & RPDO:
+ indexes.extend([idx for idx in slave.GetIndexes() if 0x1400 <= idx <= 0x15FF])
+ if type & TPDO:
+ indexes.extend([idx for idx in slave.GetIndexes() if 0x1800 <= idx <= 0x19FF])
+ if not parameters:
+ return [idx + 0x200 for idx in indexes]
+ else:
+ return indexes
+
+
+def LE_to_BE(value, size): # Convert Little Endian to Big Endian
+ 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 SearchSlavePDOMapping(loc_infos, slave): # Search the TPDO or RPDO mapping where location is defined on the slave
+ typeinfos = slave.GetEntryInfos(loc_infos["type"])
+ model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]
+ slavePDOidxlist = GetSlavePDOIndexes(slave, loc_infos["pdotype"])
+
+ for PDOidx in slavePDOidxlist:
+ values = slave.GetEntry(PDOidx)
+
+ for subindex, mapping in enumerate(values):
+ if subindex != 0 and mapping == model:
+ return PDOidx, subindex
+ return None
+
+def GenerateMappingDCF(cobid, idx, pdomapping, mapped): # Build concise 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(DefaultTransmitType, 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(0x00000000 + cobid, 4)
+
+ nbparams = 3
+ if mapped == False and pdomapping != None:
+ # 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(loc_infos["size"] >> 3, 4) + LE_to_BE(value, loc_infos["size"] >> 3)
+ nbparams += 1
+ return dcfdata, nbparams
+
+
+
+def GetNewCobID(nodeid, type): # Return a cobid not used
+ global ListCobIDAvailable, SlavesPdoNumber
+
+ if len(ListCobIDAvailable) == 0:
+ return None
+
+ nbSlavePDO = SlavesPdoNumber[nodeid][type]
+ if type == RPDO:
+ if nbSlavePDO < 4:
+ # For the fourth PDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid
+ newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)
+ if newcobid in ListCobIDAvailable:
+ ListCobIDAvailable.remove(newcobid)
+ return newcobid, 0x1400 + nbSlavePDO
+ return ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO
+
+ elif type == TPDO:
+ if nbSlavePDO < 4:
+ # For the fourth PDO -> cobid = 0x180 + (numPdo parameters * 0x100) + nodeid
+ newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)
+ if newcobid in ListCobIDAvailable:
+ ListCobIDAvailable.remove(newcobid)
+ return newcobid, 0x1800 + nbSlavePDO
+ return ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO
+
+ for number in xrange(4):
+ if type == RPDO:
+ # For the fourth PDO -> cobid = 0x200 + ( numPdo * 0x100) + nodeid
+ newcobid = (0x200 + number * 0x100 + nodeid)
+ elif type == TPDO:
+ # For the fourth PDO -> cobid = 0x180 + (numPdo * 0x100) + nodeid
+ newcobid = (0x180 + number * 0x100 + nodeid)
+ else:
+ return None
+ if newcobid in ListCobIDAvailable:
+ ListCobIDAvailable.remove(newcobid)
+ return newcobid
+ return ListCobIDAvailable.pop(0)
+
+
+def GenerateConciseDCF(locations, busname, nodelist):
+ global DictLocations, DictCobID, DictLocationsNotMapped, ListCobIDAvailable, SlavesPdoNumber
+
+ DictLocations = {}
+ DictCobID = {}
+ DictLocationsNotMapped = {}
+ DictSDOparams = {}
+ ListCobIDAvailable = range(0x180, 0x580)
+ SlavesPdoNumber = {}
+ DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)}
+
+ # Master Node initialisation
+ manager = nodelist.Manager
+ manager.AddSubentriesToCurrent(0x1F22, 127)
+
+ # Adding trash mappable variables for unused mapped datas
+ idxTrashVariables = 0x2000 + manager.GetCurrentNodeID()
+ TrashVariableValue = {}
+ manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes))
+ for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()):
+ manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None)
+ manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None)
+ TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
+
+ # Extract Master Node current empty mapping index
+ masternode = manager.GetCurrentNode()
+ CurrentPDOParamsIdx = {RPDO : 0x1400 + len(GetSlavePDOIndexes(masternode, RPDO)),
+ TPDO : 0x1800 + len(GetSlavePDOIndexes(masternode, TPDO))}
+
+
+ # Get list of all Slave's CobID and Slave's default SDO server parameters
+ for nodeid, nodeinfos in nodelist.SlaveNodes.items():
+ node = nodeinfos["Node"]
+ node.SetNodeID(nodeid)
+ DictSDOparams[nodeid] = {"RSDO" : node.GetEntry(0x1200,0x01), "TSDO" : node.GetEntry(0x1200,0x02)}
+ slaveRpdoIndexes = GetSlavePDOIndexes(node, RPDO, True)
+ slaveTpdoIndexes = GetSlavePDOIndexes(node, TPDO, True)
+ SlavesPdoNumber[nodeid] = {RPDO : len(slaveRpdoIndexes), TPDO : len(slaveTpdoIndexes)}
+ for PdoIdx in slaveRpdoIndexes + slaveTpdoIndexes:
+ pdo_cobid = node.GetEntry(PdoIdx, 0x01)
+ if pdo_cobid > 0x600 :
+ pdo_cobid -= 0x80000000
+ if pdo_cobid in ListCobIDAvailable:
+ ListCobIDAvailable.remove(pdo_cobid)
+
+ # Get list of locations check if exists and mappables -> put them in DictLocations
+ for locationtype, name in locations:
+ if name in DictLocations.keys():
+ if DictLocations[name]["type"] != DicoTypes[locationtype]:
+ raise ValueError, "Conflict type for location \"%s\"" % name
+ else:
+ loc = [i for i in name.split("_") if len(i) > 0]
+ if len(loc) not in (4, 5):
+ continue
+
+ prefix = loc[0][0]
+
+ # Extract and check busname
+ if loc[0][1].isdigit():
+ sizelocation = ""
+ busnamelocation = int(loc[0][1:])
+ else:
+ sizelocation = loc[0][1]
+ busnamelocation = int(loc[0][2:])
+ if busnamelocation != busname:
+ continue # A ne pas remplacer par un message d'erreur
+
+ # Extract and check nodeid
+ nodeid = int(loc[1])
+ if nodeid not in nodelist.SlaveNodes.keys():
+ continue
+ node = nodelist.SlaveNodes[nodeid]["Node"]
+
+ # Extract and check index and subindex
+ index = int(loc[2])
+ subindex = int(loc[3])
+ if not node.IsEntry(index, subindex):
+ continue
+ subentry_infos = node.GetSubentryInfos(index, subindex)
+
+ if subentry_infos and subentry_infos["pdo"]:
+ if sizelocation == "X" and len(loc) > 4:
+ numbit = loc[4]
+ elif sizelocation != "X" and len(loc) > 4:
+ continue
+ else:
+ numbit = None
+
+ locationtype = DicoTypes[locationtype]
+ entryinfos = node.GetSubentryInfos(index, subindex)
+ if entryinfos["type"] != locationtype:
+ raise ValueError, "Invalid type for location \"%s\"" % name
+
+ typeinfos = node.GetEntryInfos(locationtype)
+ DictLocations[name] = {"type":locationtype, "pdotype":SlavePDOType[prefix],
+ "nodeid": nodeid, "index": index,"subindex": subindex,
+ "bit": numbit, "size": typeinfos["size"], "busname": busname, "sizelocation": sizelocation}
+
+ # Create DictCobID with variables already mapped and add them in DictValidLocations
+ for name, locationinfos in DictLocations.items():
+ node = nodelist.SlaveNodes[locationinfos["nodeid"]]["Node"]
+ result = SearchSlavePDOMapping(locationinfos, node)
+ if result != None:
+ index, subindex = result
+ cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
+ if cobid not in DictCobID.keys():
+ DefaultNodeTransmitType = node.GetEntry(index - 0x200, 2)
+ if not 1 <= DefaultNodeTransmitType <= 240:
+ result = GenerateMappingDCF(cobid, index - 0x200, None, True)
+ data, nbaddedparams = GenerateMappingDCF(cobid, index - 0x200, None, True)
+ nodeDCF = nodelist.GetMasterNodeEntry(0x1F22, locationinfos["nodeid"])
+ 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)
+ dataparams = nodeDCF[4:]
+ else:
+ nbparams = 0
+ dataparams = ""
+ dataparams += data
+ nbparams += nbaddedparams
+ dcf = LE_to_BE(nbparams, 0x04) + dataparams
+ manager.SetCurrentEntry(0x1F22, locationinfos["nodeid"], dcf, "value", None)
+
+ mapping = [None]
+ values = node.GetEntry(index)
+ for value in values[1:]:
+ mapping.append(value % 0x100)
+ DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
+
+ DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name)
+
+ else:
+ if locationinfos["nodeid"] not in DictLocationsNotMapped.keys():
+ DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
+ DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
+
+ # Check Master Pdo parameters for cobid already used and remove it in ListCobIDAvailable
+ ListPdoParams = [idx for idx in masternode.GetIndexes() if 0x1400 <= idx <= 0x15FF or 0x1800 <= idx <= 0x19FF]
+ for idx in ListPdoParams:
+ cobid = manager.GetCurrentEntry(idx, 0x01)
+ if cobid not in DictCobID.keys():
+ ListCobIDAvailable.pop(cobid)
+
+
+ #-------------------------------------------------------------------------------
+ # Build concise DCF for the others locations
+ #-------------------------------------------------------------------------------
+
+ for nodeid, locations in DictLocationsNotMapped.items():
+
+ # Get current concise DCF
+ node = nodelist.SlaveNodes[nodeid]["Node"]
+ nodeDCF = nodelist.GetMasterNodeEntry(0x1F22, nodeid)
+
+ 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)
+ dataparams = nodeDCF[4:]
+ else:
+ nbparams = 0
+ dataparams = ""
+
+ for pdotype in (TPDO, RPDO):
+ pdosize = 0
+ pdomapping = []
+ for name, loc_infos in locations[pdotype]:
+ pdosize += loc_infos["size"]
+ # If pdo's size > 64 bits
+ if pdosize > 64:
+ result = GetNewCobID(nodeid, pdotype)
+ if result:
+ SlavesPdoNumber[nodeid][pdotype] += 1
+ new_cobid, new_idx = result
+ data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
+ dataparams += data
+ nbparams += nbaddedparams
+ DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
+ pdosize = loc_infos["size"]
+ pdomapping = [(name, loc_infos)]
+ else:
+ pdomapping.append((name, loc_infos))
+ if len(pdomapping) > 0:
+ result = GetNewCobID(nodeid, pdotype)
+ if result:
+ SlavesPdoNumber[nodeid][pdotype] += 1
+ new_cobid, new_idx = result
+ data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
+ dataparams += data
+ nbparams += nbaddedparams
+ DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
+
+ dcf = LE_to_BE(nbparams, 0x04) + dataparams
+ manager.SetCurrentEntry(0x1F22, nodeid, dcf, "value", None)
+
+
+ #-------------------------------------------------------------------------------
+ # Master Node Configuration
+ #-------------------------------------------------------------------------------
+
+
+ # Configure Master's SDO parameters entries
+ for nodeid, SDOparams in DictSDOparams.items():
+ SdoClient_index = [0x1280 + nodeid]
+ manager.ManageEntriesOfCurrent(SdoClient_index,[])
+ if SDOparams["RSDO"] != None:
+ RSDO_cobid = SDOparams["RSDO"]
+ else:
+ RSDO_cobid = 0x600 + nodeid
+
+ if SDOparams["TSDO"] != None:
+ TSDO_cobid = SDOparams["TSDO"]
+ else:
+ TSDO_cobid = 0x580 + nodeid
+
+ manager.SetCurrentEntry(SdoClient_index[0], 0x01, RSDO_cobid, "value", None)
+ manager.SetCurrentEntry(SdoClient_index[0], 0x02, TSDO_cobid, "value", None)
+ manager.SetCurrentEntry(SdoClient_index[0], 0x03, nodeid, "value", None)
+
+ # Configure Master's PDO parameters entries and set cobid, transmit type
+ for cobid, pdo_infos in DictCobID.items():
+ current_idx = CurrentPDOParamsIdx[pdo_infos["type"]]
+ addinglist = [current_idx, current_idx + 0x200]
+ manager.ManageEntriesOfCurrent(addinglist, [])
+ manager.SetCurrentEntry(current_idx, 0x01, cobid, "value", None)
+ manager.SetCurrentEntry(current_idx, 0x02, DefaultTransmitType, "value", None)
+ if len(pdo_infos["mapping"]) > 2:
+ manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2)
+
+ # Create Master's PDO mapping
+ for subindex, variable in enumerate(pdo_infos["mapping"]):
+ if subindex == 0:
+ continue
+ new_index = False
+
+ if type(variable) != IntType:
+
+ typeidx, varname = variable
+ indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["busname"]) + "_" + str(DictLocations[variable[1]]["nodeid"])
+ mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] + DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]
+
+ if not manager.IsCurrentEntry(mapvariableidx):
+ manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1)
+ new_index = True
+ nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00)
+ else:
+ nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00)
+ mapvariableidxbase = mapvariableidx
+ while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF:
+ mapvariableidx += 0x800
+ if not manager.IsCurrentEntry(mapvariableidx):
+ manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1)
+ new_index = True
+ nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00)
+ if mapvariableidx < 0x6000:
+ if DictLocations[variable[1]]["bit"] != None:
+ subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"])
+ else:
+ subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"])
+ if not new_index:
+ manager.AddSubentriesToCurrent(mapvariableidx, 1)
+ nbsubentries += 1
+ manager.SetCurrentEntry(mapvariableidx, nbsubentries, subindexname, "name", None)
+ manager.SetCurrentEntry(mapvariableidx, nbsubentries, typeidx, "type", None)
+
+ # Map Variable
+ typeinfos = manager.GetEntryInfos(typeidx)
+ if typeinfos != None:
+ value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
+ manager.SetCurrentEntry(current_idx + 0x200, subindex, value, "value", None)
+ else:
+ manager.SetCurrentEntry(current_idx + 0x200, subindex, TrashVariableValue[variable], "value", None)
+
+ CurrentPDOParamsIdx[pdo_infos["type"]] += 1
+
+if __name__ == "__main__":
+ from nodemanager import *
+ from nodelist import *
+ import sys
+
+ manager = NodeManager(sys.path[0])
+ nodelist = NodeList(manager)
+ result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping")
+
+ if result != None:
+ print result
+ else:
+ print "MasterNode :"
+ manager.CurrentNode.Print()
+ for nodeid, node in nodelist.SlaveNodes.items():
+ print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)
+ node["Node"].Print()
+
+ #filepath = "/home/deobox/beremiz/test_nodelist/listlocations.txt"
+ filepath = "/home/deobox/Desktop/TestMapping/listlocations.txt"
+
+ file = open(filepath,'r')
+ locations = [location.split(' ') for location in [line.strip() for line in file.readlines() if len(line) > 0]]
+ file.close()
+ GenerateConciseDCF(locations, 32, nodelist)
+ print "MasterNode :"
+ manager.GetCurrentNode().Print()