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# -*- coding: utf-8 -*-
#
# LinuxCNC fake Python HAL module for unit testing
#
# Copyright 2014 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 __future__ import division, absolute_import, print_function, unicode_literals
HAL_BIT = 1
HAL_FLOAT = 2
HAL_S32 = 3
HAL_U32 = 4
HAL_IN = 16
HAL_OUT = 32
HAL_IO = HAL_IN | HAL_OUT
HAL_RO = 64
HAL_RW = 192
class _Pin(object):
def __init__(self, halName, halType, halDir):
assert(halType in (HAL_BIT, HAL_FLOAT, HAL_S32, HAL_U32))
assert(halDir in (HAL_IN, HAL_OUT, HAL_IO))
self.halName = halName
self.halType = halType
self.halDir = halDir
self.signals = []
if self.halType == HAL_FLOAT:
self.setHalData(0.0)
else:
self.setHalData(0)
def setHalData(self, v):
if self.halType == HAL_BIT:
assert(v in (0, 1))
elif self.halType == HAL_FLOAT:
assert(isinstance(v, float))
elif self.halType == HAL_S32:
assert(v >= -2147483648 and v <= 2147483647) #@nocy
#@cy assert(v >= -2147483648LL and v <= 2147483647LL)
elif self.halType == HAL_U32:
assert(v >= 0 and v <= 2147483647)
else:
assert(0)
self.halData = v
if self.halDir in (HAL_OUT, HAL_IO):
for signal in self.signals:
signal.setHalData(v)
def _connectSignal(self, signal):
if self.halDir == HAL_IN:
assert(not self.signals)
self.signals.append(signal)
class _Param(_Pin):
def __init__(self, halName, halType, halDir):
assert(halType in (HAL_BIT, HAL_FLOAT, HAL_S32, HAL_U32))
assert(halDir in (HAL_RO, HAL_RW))
self.halName = halName
self.halType = halType
self.halDir = halDir
if self.halType == HAL_FLOAT:
self.setHalData(0.0)
else:
self.setHalData(0)
class _Signal(object):
def __init__(self, halName):
self.halName = halName
self.halType = None
self.connectedPins = []
def connectPin(self, pin):
assert(pin.halDir in (HAL_IN, HAL_OUT, HAL_IO))
assert(pin not in self.connectedPins)
if self.halType is None:
assert(not self.connectedPins)
self.halType = pin.halType
assert(self.halType == pin.halType)
self.connectedPins.append(pin)
pin._connectSignal(self)
def setHalData(self, v):
for pin in self.connectedPins:
if pin.halDir in (HAL_IN, HAL_IO):
pin.setHalData(v)
class component(object):
def __init__(self, name):
self.__pins = {}
self.__params = {}
self.__signals = {}
self.__ready = False
def newpin(self, p, t, d):
assert(p not in self.__pins)
assert(p not in self.__params)
assert(not self.__ready)
assert(not self.__signals)
self.__pins[p] = _Pin(p, t, d)
def newparam(self, p, t, d):
assert(p not in self.__pins)
assert(p not in self.__params)
assert(not self.__ready)
assert(not self.__signals)
self.__params[p] = _Param(p, t, d)
def __sanitizePinName(self, pinName):
assert(pinName.startswith("awlsim."))
pinName = pinName[7:]
assert(pinName)
return pinName
def __importHalFile(self, filename):
assert(not self.__signals)
with open(filename, "r") as fp:
lines = fp.readlines()
import re
setp_re = re.compile(r'^setp\s+([\w\.\-]+)\s+([\w\.\-]+)$')
net_re = re.compile(r'^net\s+([\w\.\-]+)\s+<?=?>?\s*([\w\.\-]+)(?:\s+<?=?>?\s*([\w\.\-]+))?$')
for line in lines:
line = line.strip()
if not line:
continue
if line.startswith("#"):
continue
m = setp_re.match(line)
if m: # setp statement
halName, value = m.group(1), m.group(2)
halName = self.__sanitizePinName(halName)
value = int(value)
try:
self.__params[halName].setHalData(value)
except KeyError:
self.__pins[halName].setHalData(value)
continue
m = net_re.match(line)
if m: # net statement
if len(m.groups()) == 2:
sigName, pin0Name, pin1Name =\
m.group(1), m.group(2), None
else:
sigName, pin0Name, pin1Name =\
m.group(1), m.group(2), m.group(3)
if sigName in self.__signals:
sig = self.__signals[sigName]
else:
sig = _Signal(sigName)
self.__signals[sigName] = sig
if pin0Name:
sig.connectPin(self.__pins[self.__sanitizePinName(pin0Name)])
if pin1Name:
sig.connectPin(self.__pins[self.__sanitizePinName(pin1Name)])
# Ignore other statements
def ready(self):
import os
halFile = os.environ.get("FAKEHAL_HALFILE")
if halFile:
self.__importHalFile(halFile)
self.__ready = True
def __getitem__(self, k):
assert(self.__ready)
try:
pin = self.__pins[k]
assert(pin.halDir in (HAL_IN, HAL_IO))
return pin.halData
except KeyError:
param = self.__params[k]
assert(param.halDir in (HAL_RW, HAL_RO))
return param.halData
def __setitem__(self, k, v):
assert(self.__ready)
pin = self.__pins[k]
assert(pin.halDir in (HAL_OUT, HAL_IO))
pin.setHalData(v)
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