From cd57956805493234cd64b377b49f825bd092fef5 Mon Sep 17 00:00:00 2001
From: Martin Teichmann <martin.teichmann@xfel.eu>
Date: Fri, 5 Feb 2021 17:34:13 +0000
Subject: [PATCH] support an analog output
---
devices.py | 14 ++++++++++++++
ebpfcat.py | 18 +++++++++++++-----
terminals.py | 7 +++++++
testsystem.py | 18 +++++++++++-------
4 files changed, 45 insertions(+), 12 deletions(-)
diff --git a/devices.py b/devices.py
index 07f8734..529676b 100644
--- a/devices.py
+++ b/devices.py
@@ -13,3 +13,17 @@ class AnalogInput(Device):
def update(self):
self.value = self.data
+
+
+class AnalogOutput(Device):
+ value = DeviceVar()
+ data = TerminalVar()
+
+ def __init__(self, data):
+ self.data = data
+
+ def program(self):
+ self.data = self.value
+
+ def update(self):
+ self.data = self.value
diff --git a/ebpfcat.py b/ebpfcat.py
index 096f0d9..195331b 100644
--- a/ebpfcat.py
+++ b/ebpfcat.py
@@ -1,5 +1,5 @@
from asyncio import ensure_future, gather, sleep
-from struct import pack, unpack, calcsize
+from struct import pack, unpack, calcsize, pack_into, unpack_from
from time import time
from .arraymap import ArrayMap, ArrayGlobalVarDesc
from .ethercat import ECCmd, EtherCat, Packet, Terminal
@@ -38,8 +38,14 @@ class TerminalVar(MemoryDesc):
self.terminal = value.terminal
self.position = value.desc.position
instance.__dict__[self.name] = value
- else:
+ elif instance.sync_group.current_data is None:
super().__set__(instance.sync_group, value)
+ else:
+ pv = instance.__dict__.get(self.name)
+ data = instance.sync_group.current_data
+ start = self.terminal.bases[self.position[0]] + self.position[1]
+ fmt = "<" + pv.desc.size
+ pack_into(fmt, data, start, value)
def __get__(self, instance, owner):
if instance is None:
@@ -53,7 +59,7 @@ class TerminalVar(MemoryDesc):
data = instance.sync_group.current_data
start = self.terminal.bases[self.position[0]] + self.position[1]
fmt = "<" + pv.desc.size
- return unpack(fmt, data[start:start+calcsize(fmt)])[0]
+ return unpack_from(fmt, data, start)[0]
def __set_name__(self, name, owner):
self.name = name
@@ -203,9 +209,11 @@ class SyncGroup:
async def run(self):
await gather(*[t.to_operational() for t in self.terminals])
+ self.current_data = self.asm_packet
while True:
- self.ec.send_packet(self.asm_packet)
- self.current_data = await self.ec.receive_index(self.packet_index)
+ self.ec.send_packet(self.current_data)
+ data = await self.ec.receive_index(self.packet_index)
+ self.current_data = bytearray(data)
for dev in self.devices:
dev.update()
diff --git a/terminals.py b/terminals.py
index 4ed4df3..467d3cb 100644
--- a/terminals.py
+++ b/terminals.py
@@ -5,6 +5,13 @@ class Generic(EBPFTerminal):
pass
+class EL4104(EBPFTerminal):
+ ch1_value = PacketDesc((1, 0), 'H')
+ ch2_value = PacketDesc((1, 2), 'H')
+ ch3_value = PacketDesc((1, 4), 'H')
+ ch4_value = PacketDesc((1, 6), 'H')
+
+
class EL3164(EBPFTerminal):
ch1_attrs = PacketDesc((0, 0), 'H')
ch2_attrs = PacketDesc((0, 4), 'H')
diff --git a/testsystem.py b/testsystem.py
index 9772f02..58ca91d 100644
--- a/testsystem.py
+++ b/testsystem.py
@@ -1,10 +1,10 @@
from asyncio import gather, sleep, ensure_future
-from .terminals import EL3164, Generic
-from .devices import AnalogInput
+from .terminals import EL3164, EL4104, Generic
+from .devices import AnalogInput, AnalogOutput
from .ebpfcat import FastEtherCat, FastSyncGroup, SyncGroup
tdigi = Generic()
-tout = Generic()
+tout = EL4104()
tin = EL3164()
ec = FastEtherCat("eth0", [tdigi, tin, tout])
@@ -22,15 +22,19 @@ async def main():
#ensure_future(monitor(ec))
ai = AnalogInput(tin.ch1_value)
- fsg = FastSyncGroup(ec, [ai])
- #fsg = SyncGroup(ec, [ai])
+ ao = AnalogOutput(tout.ch1_value)
+ #fsg = FastSyncGroup(ec, [ai])
+ fsg = SyncGroup(ec, [ai, ao])
+
+ ao.value = 0
fsg.start()
for i in range(10):
await sleep(0.1)
- fsg.properties.read()
- print(i, ai.value, ec.ebpf.count, ec.ebpf.allcount)
+ #fsg.properties.read()
+ ao.value = 3000 * i
+ print(i, ai.value, ao.data, await tout.get_state())
if __name__ == "__main__":
from asyncio import get_event_loop
--
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