main.py 8.1 KB

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  1. # -*- coding: utf-8 -*-
  2. #
  3. # AWL simulator - LinuxCNC HAL interface
  4. #
  5. # Copyright 2013-2015 Michael Buesch <m@bues.ch>
  6. #
  7. # This program is free software; you can redistribute it and/or modify
  8. # it under the terms of the GNU General Public License as published by
  9. # the Free Software Foundation; either version 2 of the License, or
  10. # (at your option) any later version.
  11. #
  12. # This program is distributed in the hope that it will be useful,
  13. # but WITHOUT ANY WARRANTY; without even the implied warranty of
  14. # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  15. # GNU General Public License for more details.
  16. #
  17. # You should have received a copy of the GNU General Public License along
  18. # with this program; if not, write to the Free Software Foundation, Inc.,
  19. # 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  20. #
  21. from __future__ import division, absolute_import, print_function, unicode_literals
  22. from awlsim.common.compat import *
  23. from awlsim.common.datatypehelpers import *
  24. from awlsim.core.hardware import *
  25. from awlsim.core.util import *
  26. class SigBit(object):
  27. def __init__(self, hal, halName, byteOffset, bitOffset):
  28. self.hal = hal
  29. self.halName = halName
  30. self.byteOffset = byteOffset
  31. self.bitOffset = bitOffset
  32. self.setMask = 1 << bitOffset
  33. self.clrMask = ~(1 << bitOffset)
  34. def readInput(self, destBuf):
  35. if self.hal[self.halName]:
  36. destBuf[self.byteOffset] |= self.setMask
  37. else:
  38. destBuf[self.byteOffset] &= self.clrMask
  39. def writeOutput(self, srcBuf):
  40. self.hal[self.halName] = (srcBuf[self.byteOffset] >> self.bitOffset) & 1
  41. class SigU8(object):
  42. def __init__(self, hal, halName, offset):
  43. self.hal = hal
  44. self.halName = halName
  45. self.offset = offset
  46. def readInput(self, destBuf):
  47. destBuf[self.offset] = self.hal[self.halName] & 0xFF
  48. def writeOutput(self, srcBuf):
  49. self.hal[self.halName] = srcBuf[self.offset] & 0xFF
  50. class SigU16(object):
  51. def __init__(self, hal, halName, offset):
  52. self.hal = hal
  53. self.halName = halName
  54. self.offset = offset
  55. def readInput(self, destBuf):
  56. word = self.hal[self.halName] & 0xFFFF
  57. destBuf[self.offset] = (word >> 8) & 0xFF
  58. destBuf[self.offset + 1] = word & 0xFF
  59. def writeOutput(self, srcBuf):
  60. word = (srcBuf[self.offset] << 8) |\
  61. srcBuf[self.offset + 1]
  62. self.hal[self.halName] = word & 0xFFFF
  63. class SigS16(object):
  64. def __init__(self, hal, halName, offset):
  65. self.hal = hal
  66. self.halName = halName
  67. self.offset = offset
  68. def readInput(self, destBuf):
  69. word = self.hal[self.halName] & 0xFFFF
  70. destBuf[self.offset] = (word >> 8) & 0xFF
  71. destBuf[self.offset + 1] = word & 0xFF
  72. def writeOutput(self, srcBuf):
  73. word = (srcBuf[self.offset] << 8) |\
  74. srcBuf[self.offset + 1]
  75. self.hal[self.halName] = wordToSignedPyInt(word)
  76. class SigU31(object):
  77. def __init__(self, hal, halName, offset):
  78. self.hal = hal
  79. self.halName = halName
  80. self.offset = offset
  81. def readInput(self, destBuf):
  82. dword = self.hal[self.halName] & 0x7FFFFFFF
  83. destBuf[self.offset] = (dword >> 24) & 0xFF
  84. destBuf[self.offset + 1] = (dword >> 16) & 0xFF
  85. destBuf[self.offset + 2] = (dword >> 8) & 0xFF
  86. destBuf[self.offset + 3] = dword & 0xFF
  87. def writeOutput(self, srcBuf):
  88. dword = (srcBuf[self.offset] << 24) |\
  89. (srcBuf[self.offset + 1] << 16) |\
  90. (srcBuf[self.offset + 2] << 8) |\
  91. srcBuf[self.offset + 3]
  92. self.hal[self.halName] = dword & 0x7FFFFFFF
  93. class SigS32(object):
  94. def __init__(self, hal, halName, offset):
  95. self.hal = hal
  96. self.halName = halName
  97. self.offset = offset
  98. def readInput(self, destBuf):
  99. dword = self.hal[self.halName] & 0xFFFFFFFF
  100. destBuf[self.offset] = (dword >> 24) & 0xFF
  101. destBuf[self.offset + 1] = (dword >> 16) & 0xFF
  102. destBuf[self.offset + 2] = (dword >> 8) & 0xFF
  103. destBuf[self.offset + 3] = dword & 0xFF
  104. def writeOutput(self, srcBuf):
  105. dword = (srcBuf[self.offset] << 24) |\
  106. (srcBuf[self.offset + 1] << 16) |\
  107. (srcBuf[self.offset + 2] << 8) |\
  108. srcBuf[self.offset + 3]
  109. self.hal[self.halName] = dwordToSignedPyInt(dword)
  110. class SigFloat(object):
  111. def __init__(self, hal, halName, offset):
  112. self.hal = hal
  113. self.halName = halName
  114. self.offset = offset
  115. def readInput(self, destBuf):
  116. dword = pyFloatToDWord(self.hal[self.halName])
  117. destBuf[self.offset] = (dword >> 24) & 0xFF
  118. destBuf[self.offset + 1] = (dword >> 16) & 0xFF
  119. destBuf[self.offset + 2] = (dword >> 8) & 0xFF
  120. destBuf[self.offset + 3] = dword & 0xFF
  121. def writeOutput(self, srcBuf):
  122. dword = (srcBuf[self.offset] << 24) |\
  123. (srcBuf[self.offset + 1] << 16) |\
  124. (srcBuf[self.offset + 2] << 8) |\
  125. srcBuf[self.offset + 3]
  126. self.hal[self.halName] = dwordToPyFloat(dword)
  127. class HardwareInterface(AbstractHardwareInterface):
  128. name = "LinuxCNC"
  129. paramDescs = [
  130. HwParamDesc_pyobject("hal",
  131. description = "LinuxCNC HAL instance object",
  132. mandatory = True),
  133. HwParamDesc_int("inputSize",
  134. description = "Input area size",
  135. defaultValue = 32,
  136. mandatory = True),
  137. HwParamDesc_int("outputSize",
  138. description = "Output area size",
  139. defaultValue = 32,
  140. mandatory = True),
  141. ]
  142. def __init__(self, sim, parameters={}):
  143. AbstractHardwareInterface.__init__(self,
  144. sim = sim,
  145. parameters = parameters)
  146. self.linuxCNC_initialized = False
  147. def doStartup(self):
  148. if not self.linuxCNC_initialized:
  149. try:
  150. import hal as LinuxCNC_HAL
  151. self.LinuxCNC_HAL = LinuxCNC_HAL
  152. except ImportError as e:
  153. self.raiseException("Failed to import LinuxCNC HAL module"
  154. ":\n%s" % str(e))
  155. # Get the LinuxCNC-HAL-component object
  156. self.hal = self.getParam("hal")
  157. # Get parameters
  158. self.inputSize = self.getParam("inputSize")
  159. self.outputSize = self.getParam("outputSize")
  160. self.__configDone = False
  161. # Signal LinuxCNC that we are ready.
  162. self.hal.ready()
  163. self.linuxCNC_initialized = True
  164. def doShutdown(self):
  165. pass
  166. #TODO find overlappings
  167. def __buildTable(self, baseName, addressBase, size):
  168. tab = []
  169. for address in range(addressBase, addressBase + size):
  170. offset = address - addressBase
  171. for bitNr in range(8):
  172. if self.hal["%s.bit.%d.%d.active" % (baseName, address, bitNr)]:
  173. tab.append(SigBit(self.hal,
  174. "%s.bit.%d.%d" % (baseName, address, bitNr),
  175. offset, bitNr))
  176. if self.hal["%s.u8.%d.active" % (baseName, address)]:
  177. tab.append(SigU8(self.hal,
  178. "%s.u8.%d" % (baseName, address),
  179. offset))
  180. if address % 2:
  181. continue
  182. if size - offset < 2:
  183. continue
  184. if self.hal["%s.u16.%d.active" % (baseName, address)]:
  185. tab.append(SigU16(self.hal,
  186. "%s.u16.%d" % (baseName, address),
  187. offset))
  188. if self.hal["%s.s16.%d.active" % (baseName, address)]:
  189. tab.append(SigS16(self.hal,
  190. "%s.s16.%d" % (baseName, address),
  191. offset))
  192. if size - offset < 4:
  193. continue
  194. if self.hal["%s.u31.%d.active" % (baseName, address)]:
  195. tab.append(SigU31(self.hal,
  196. "%s.u31.%d" % (baseName, address),
  197. offset))
  198. if self.hal["%s.s32.%d.active" % (baseName, address)]:
  199. tab.append(SigS32(self.hal,
  200. "%s.s32.%d" % (baseName, address),
  201. offset))
  202. if self.hal["%s.float.%d.active" % (baseName, address)]:
  203. tab.append(SigFloat(self.hal,
  204. "%s.float.%d" % (baseName, address),
  205. offset))
  206. return tab
  207. def __tryBuildConfig(self):
  208. if not self.hal["config.ready"]:
  209. return
  210. self.__activeInputs = self.__buildTable("input",
  211. self.inputAddressBase, self.inputSize)
  212. #TODO dump the input table
  213. self.__activeOutputs = self.__buildTable("output",
  214. self.outputAddressBase, self.outputSize)
  215. #TODO dump the input table
  216. self.__configDone = True
  217. printInfo("HAL configuration done")
  218. def readInputs(self):
  219. if not self.__configDone:
  220. self.__tryBuildConfig()
  221. if not self.__configDone:
  222. return
  223. data = bytearray(self.inputSize)
  224. for desc in self.__activeInputs:
  225. desc.readInput(data)
  226. self.sim.cpu.storeInputRange(self.inputAddressBase, data)
  227. def writeOutputs(self):
  228. if not self.__configDone:
  229. return
  230. data = self.sim.cpu.fetchOutputRange(self.outputAddressBase,
  231. self.outputSize)
  232. for desc in self.__activeOutputs:
  233. desc.writeOutput(data)
  234. def directReadInput(self, accessWidth, accessOffset):
  235. pass#TODO
  236. def directWriteOutput(self, accessWidth, accessOffset, data):
  237. pass#TODO