--- a/config_utils.py Thu Aug 16 12:03:00 2007 +0200
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,429 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-
-#This file is part of Beremiz, a Integrated Development Environment for
-#programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
-#
-#Copyright (C) 2007: Edouard TISSERANT 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 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
-#General Public License for more details.
-#
-#You should have received a copy of the GNU 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}
-
-DefaultTransmitTypeMaster = 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)
- if values != None:
- 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(DefaultTransmitTypeSlave, 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(0x04, 4) + LE_to_BE(value, 4)
- 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, DefaultTransmitTypeSlave
-
- 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)}
- DefaultTransmitTypeSlave = 0xFF
- # Master Node initialisation
-
- manager = nodelist.Manager
- masternode = manager.GetCurrentNodeCopy()
- if not masternode.IsEntry(0x1F22):
- masternode.AddEntry(0x1F22, 1, "")
- manager.AddSubentriesToCurrent(0x1F22, 127, masternode)
- # Adding trash mappable variables for unused mapped datas
- idxTrashVariables = 0x2000 + masternode.GetNodeID()
- TrashVariableValue = {}
- manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes), masternode)
- for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()):
- manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, masternode)
- manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, masternode)
- TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
-
-
- # Extract Master Node current empty mapping index
- 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():
- 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 = masternode.GetEntry(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 = masternode.GetEntry(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
- masternode.SetEntry(0x1F22, nodeid, dcf)
-
-
- #-------------------------------------------------------------------------------
- # Master Node Configuration
- #-------------------------------------------------------------------------------
-
- # Configure Master's SDO parameters entries
- for nodeid, SDOparams in DictSDOparams.items():
- SdoClient_index = [0x1280 + nodeid]
- manager.ManageEntriesOfCurrent(SdoClient_index,[], masternode)
- 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
-
- masternode.SetEntry(SdoClient_index[0], 0x01, RSDO_cobid)
- masternode.SetEntry(SdoClient_index[0], 0x02, TSDO_cobid)
- masternode.SetEntry(SdoClient_index[0], 0x03, nodeid)
-
- # 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, [], masternode)
- masternode.SetEntry(current_idx, 0x01, cobid)
- masternode.SetEntry(current_idx, 0x02, DefaultTransmitTypeMaster)
- if len(pdo_infos["mapping"]) > 2:
- manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, masternode)
-
- # 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 masternode.IsEntry(mapvariableidx):
- manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
- new_index = True
- nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
- else:
- nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
- mapvariableidxbase = mapvariableidx
- while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF:
- mapvariableidx += 0x800
- if not manager.IsCurrentEntry(mapvariableidx):
- manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
- new_index = True
- nbsubentries = masternode.GetEntry(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, masternode)
- nbsubentries += 1
- masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
- masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
-
- # Map Variable
- typeinfos = manager.GetEntryInfos(typeidx)
- if typeinfos != None:
- value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
- masternode.SetEntry(current_idx + 0x200, subindex, value)
- else:
- masternode.SetEntry(current_idx + 0x200, subindex, TrashVariableValue[variable])
-
- CurrentPDOParamsIdx[pdo_infos["type"]] += 1
- #masternode.Print()
- return masternode
-
-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.CurrentNode.Print()
- #masternode.Print()
\ No newline at end of file