#!/usr/bin/env python # check ethercat slaves configuration with SDO commands # author: Sebastien BLANCHET # version: 1.0 # date: 2014-07-24 # the program reads a configuration file and check value # if a value mismatches, it proposes to overwrite it # requirement: # - python 2.6 # - IgH Ethercat Master http://etherlab.org/en/ethercat/index.php import os, shlex, sys, subprocess from optparse import OptionParser # full path to ethercat command ethercatCmd="/opt/etherlab/bin/ethercat" lineCounter=0 def getAbsoluteSlavePosition(alias, relpos): """ get slave absolution position parameters: alias slave alias relpos relative position """ cmd = "%s -a %d -p %d slaves" % (ethercatCmd, alias, relpos ) if options.verbose: print cmd args = shlex.split(cmd) process = subprocess.Popen( args, stdout=subprocess.PIPE, stderr=subprocess.PIPE ) (stdoutdata, stderrdata) = process.communicate() # print "STDOUT", stdoutdata # print "STDERR", stderrdata # check process return code if process.wait() != 0: print cmd print stderrdata print "Error while determining absolute slave position" sys.exit(1) elif len(stdoutdata) == 0: textMsg = "line %d, no slaves found @ %d:%d" % (lineCounter, alias, relpos) if options.skipMissing: print "Warning:", textMsg return else: print "Error:", textMsg sys.exit(1) # parse stdout tokens = stdoutdata.split() result = int(tokens[0]) if options.verbose: print "alias %d:%d -> absPos %d" % (alias, relpos, result) return int(result) def parseValue( valueStr, dataType): """" parse string according to its data type""" integerTypes = [ "bool", "int8", "int16", "int32", "int64", "uint8", "uint16", "uint32", "uint64" ] floatTypes = ["float", "double"] stringTypes= ["string"] if dataType in integerTypes: result = int( valueStr, 0 ) elif dataType in floatTypes: result = float(valueStr) elif dataType in stringTypes: result = valueStr else: print "Error: unsupported data type: %s" % dataType sys.exit(1) return result def printSdoComment( absPos, index, subindex): """ search comment in sdo dictionnary """ cmd = "%s -p %d slaves" % (ethercatCmd, absPos ) os.system( cmd ) cmd = "%s -p %d sdos" % (ethercatCmd, absPos ) if options.verbose: print cmd args = shlex.split(cmd) process = subprocess.Popen( args, stdout=subprocess.PIPE, stderr=subprocess.PIPE ) # get dictionnary output in stdoutdata (stdoutdata, stderrdata) = process.communicate() # print "STDOUT", stdoutdata # print "STDERR", stderrdata # check process return code if process.wait() != 0: print cmd print stderrdata print "command error: %s" % (cmd) sys.exit(1) # search comment in dictionnary and print it for line in stdoutdata.splitlines(): if line.strip().startswith( "0x%04x:%02x" % (index, subindex) ): print line.lstrip() def parseLine( line ): """ parse configuration line line syntax: alias relpos index subindex type action value """ MaxColumnsNum = 7 line = line.strip() # print line tokens = line.split(None, MaxColumnsNum-1) if len(line) == 0 or line.startswith("#"): return # print tokens if (len(tokens) != MaxColumnsNum): print "Error: line %d token #%d is missing" \ % (lineCounter, len(tokens)+1) sys.exit(1) tokIdx=0 # token index try: alias = int(tokens[tokIdx], 0) tokIdx += 1 relpos = int(tokens[tokIdx], 0) ; tokIdx += 1 index = int(tokens[tokIdx], 0) tokIdx += 1 subindex = int(tokens[tokIdx], 0) tokIdx += 1 dataType = tokens[tokIdx] tokIdx += 1 action = tokens[tokIdx] tokIdx += 1 reqValueStr = tokens[tokIdx] reqValue = parseValue( reqValueStr, dataType) tokIdx += 1 except ValueError: print "Error line %d, token #%d (%s ) has invalid value" \ % ( lineCounter, tokIdx, tokens[tokIdx] ) sys.exit(1) if options.dryRun: return absPos = getAbsoluteSlavePosition( alias, relpos) if absPos == None and options.skipMissing: return actValue = readValue( absPos, index, subindex, dataType ) # print "act=", actValue, "req=", reqValue # check if actual value matches configuration file requested value if reqValue != actValue : print "Error: line %d values mismatch for %d:0x%x:0x%x" \ ". act=%s, req=%s" \ % (lineCounter, absPos, index, subindex, actValue, reqValue ) printSdoComment( absPos, index, subindex) if action == "write": if options.autoYes: yesReplace = True else: ans = raw_input( "Do you want to write the new value [y/N] ? ") yesReplace = ans.lower().startswith("y") if not yesReplace: print "Exit without writing new value" sys.exit(1) writeValue( absPos, index, subindex, dataType, reqValueStr ) # check value after writing actValue = readValue( absPos, index, subindex, dataType ) if reqValue != actValue: print "Error: writing has failed" sys.exit(1) else: print "Error: values do not match" sys.exit(1) def readValue( absPos, index, subindex, dataType): """ read a value through SDO parameters: absPos absolute position index sdo index subindex sdo subindex dataType sdo data type """ cmd = "%s -p %d upload -t %s 0x%x 0x%x" \ % (ethercatCmd, absPos, dataType, index, subindex ) if options.verbose: print cmd args = shlex.split(cmd) process = subprocess.Popen( args, stdout=subprocess.PIPE, stderr=subprocess.PIPE ) (stdoutdata, stderrdata) = process.communicate() # print "STDOUT", stdoutdata # print "STDERR", stderrdata # check process return code if process.wait() != 0: print cmd print stderrdata print "Error line %d" % (lineCounter) sys.exit(1) # parse stdout tokens = stdoutdata.split() result = parseValue( tokens[0], dataType ) if options.verbose: print "read", result, "@ %d:0x%x:0x%x" % ( absPos, index, subindex) return result def writeValue( absPos, index, subindex, dataType, reqValueStr): """ write a value through SDO parameters: absPos absolute position index sdo index subindex sdo subindex dataType sdo data type reqValueStr requested value as string """ cmd = "%s -p %d download -t %s 0x%x 0x%x %s" \ % (ethercatCmd, absPos, dataType, index, subindex, reqValueStr ) if options.verbose: print cmd args = shlex.split(cmd) process = subprocess.Popen( args, stdout=subprocess.PIPE, stderr=subprocess.PIPE ) (stdoutdata, stderrdata) = process.communicate() # print "STDOUT", stdoutdata # print "STDERR", stderrdata # check process return code if process.wait() != 0: print cmd print stderrdata sys.exit(1) def main(): global ethercatCmd global lineCounter global options usage = "usage: %prog CONFIG_FILENAME" parser = OptionParser( usage, description="Check ethercat slaves configuration" \ " through SDO commands") parser.add_option( "-d", "--dry-run", dest="dryRun", action="store_true", default=False, help="dry run: parse config file but emit no ethercat"\ " commands" ) parser.add_option( "-m", "--master", dest="masterIndex", type="int", default=0, help="ethercat master index: Default = %default" ) parser.add_option( "-s", "--skip-missing", dest="skipMissing", action="store_true", default=False, help="skip missing slaves" ) parser.add_option( "-v", "--verbose", dest="verbose", action="store_true", default=False, help="verbose mode" ) parser.add_option( "-y", "--yes", dest="autoYes", action="store_true", default=False, help="automatically answer yes to all questions" ) ( options, args ) = parser.parse_args() if options.masterIndex: ethercatCmd += " -m %d" % options.masterIndex if len(args) == 0: print "Error, config file is missing" sys.exit(1) configFile = args[0]; file = open( configFile, 'r') for line in file: lineCounter = lineCounter + 1 parseLine( line ) sys.exit( 0 ) if __name__ == "__main__": main()