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# -*- coding: utf-8 -*-
#
# AWL simulator - LinuxCNC HAL interface
#
# Copyright 2013 Michael Buesch <m@bues.ch>
#
# This program 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 of the License, or
# (at your option) any later version.
#
# This program 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 program; if not, write to the Free Software Foundation, Inc.,
# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
#
from awlsim.hardware import *
from awlsim.util import *
from awlsim.datatypehelpers import *
class HardwareInterface(AbstractHardwareInterface):
name = "LinuxCNC"
paramDescs = [
HwParamDesc_pyobject("hal", pyTypeDesc = "<class 'hal.component'>",
description = "LinuxCNC HAL instance object",
mandatory = True),
HwParamDesc_int("inputSize",
description = "Input area size",
mandatory = True),
HwParamDesc_int("outputSize",
description = "Output area size",
mandatory = True),
]
def __init__(self, sim, parameters={}):
AbstractHardwareInterface.__init__(self,
sim = sim,
parameters = parameters)
self.linuxCNC_initialized = False
def doStartup(self):
if not self.linuxCNC_initialized:
try:
import hal as LinuxCNC_HAL
self.LinuxCNC_HAL = LinuxCNC_HAL
except ImportError as e:
self.raiseException("Failed to import LinuxCNC HAL module"
":\n%s" % str(e))
# Get the LinuxCNC-HAL-component object
self.hal = self.getParam("hal")
# Get parameters
self.inputSize = self.getParam("inputSize")
self.outputSize = self.getParam("outputSize")
# Signal LinuxCNC that we are ready.
self.hal.ready()
self.linuxCNC_initialized = True
def doShutdown(self):
pass
@staticmethod
def __storeDWord(bytearr, offset, dword):
bytearr[offset] = (dword >> 24) & 0xFF
bytearr[offset + 1] = (dword >> 16) & 0xFF
bytearr[offset + 2] = (dword >> 8) & 0xFF
bytearr[offset + 3] = dword & 0xFF
def readInputs(self):
hal, base, size = self.hal, self.inputAddressBase, self.inputSize
# Start with empty data
inData = bytearray(size)
# Get the data from the HAL pins
for offset in range(size):
address = base + offset
for bitNr in range(8):
if hal["input.bit.%d.%d.active" % (address, bitNr)]:
if hal["input.bit.%d.%d" % (address, bitNr)]:
inData[offset] |= 1 << bitNr
else:
inData[offset] &= ~(1 << bitNr)
if size - offset < 4:
continue
if hal["input.u32.%d.active" % address]:
self.__storeDWord(inData, offset,
hal["input.u32.%d" % address])
if hal["input.s32.%d.active" % address]:
self.__storeDWord(inData, offset,
hal["input.u32.%d" % address] & 0xFFFFFFFF)
if hal["input.float.%d.active" % address]:
self.__storeDWord(inData, offset,
pyFloatToDWord(hal["input.u32.%d" % address]))
self.sim.cpu.storeInputRange(base, inData)
def writeOutputs(self):
hal, base, size = self.hal, self.outputAddressBase, self.outputSize
# Get the output data from the CPU
outData = self.sim.cpu.fetchOutputRange(base, size)
# Copy the data to the HAL pins
for offset in range(size):
address = base + offset
byteData = outData[offset]
for bitNr in range(8):
hal["output.bit.%d.%d" % (address, bitNr)] = (byteData >> bitNr) & 1
if size - offset < 4:
continue
dwordData = (byteData << 24) | (outData[offset + 1] << 16) |\
(outData[offset + 2] << 8) | outData[offset + 3]
hal["output.u32.%d" % address] = dwordData & 0x7FFFFFFF
hal["output.s32.%d" % address] = dwordToSignedPyInt(dwordData)
hal["output.float.%d" % address] = dwordToPyFloat(dwordData)
def directReadInput(self, accessWidth, accessOffset):
pass#TODO
def directWriteOutput(self, accessWidth, accessOffset, data):
pass#TODO
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