Zultron/2022 09 19 rebase for PRs: 5 pdo config #18
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Fix test_dot test. External projects may have mgr classes without a separate category, i.e. in the `all` class, which causes collisions. I'm not sury why this was ever this way in the first place. Other changes for cleanliness only; nothing fixed: - Remove redundant piece of conditional - Improve assertion exception messages
...and `update()` that interface from `get_feedback()`. This fixes issues with the manager class. It also shows that for a more intuitive interface, interfaces should be reset from a `reset()` method in the base `read()`, and `update()` renamed to `set()`.
Will be used by subclasses
When dumping drive params, uploading some objects is expected to fail; suppressing stderr silences the cryptic & out of context error messages printed by the `ethercat` command
The `dump_param_values()` method uploads all device SDO values and
returns in a dict of `{sdo_obj : value}` pairs.
Remove unneeded fixtures
The dash character in e.g. `-1` confuses the `ethercat` utility. Fix up the `ethercat download` command to explicitly signal the end of options.
The `LCECCommand.upload()` method can now handle string types.
The `munge_config()` method was too rigid, requiring each key to be named. It also clobbered bits of the original. Instead, copy the whole raw device config, avoiding skipped and clobbered keys, and munge just the bits that need munging.
Add objects shown in manual (and seen on drives) but not in original ESI from Inovance - 2002-06h, 2002-07h: Stop mode settings - 2004-18h: Forced DO output in non-OP state - 2005-08h, 2005-0Ah: Electronic gear ratio settings - 200D-03h: Offline autotuning setting
The `index` attribute was unused other than to compute pin names in the `HALDevice` class. Replace it with a generic string used for generated identifiers.
The base `Device` class `index` attribute, unused outside this class, was removed. Generate HAL pins by munging the `address` attribute instead.
LinuxCNC doesn't support these
Add a general `ConfigIO` class. It covers several cases, broken down
into categories:
- Config file source:
- POSIX path for reading or writing
- Python `importlib` resource (possibly in an "egg" zip file)
- Config file use case:
- Open as IOStream object (can use as context manager; has `read()`,
etc. methods)
- Read (path + resource) or write (path only) YAML data
This will clean up config data handling for both the device manager
classes and their tests. It makes sharing config data from package
resources easier, both internally within this package, and also for
use by external packages (the latter being the main motivation for
this change).
Following previous commit for `errors`.
Command and config classes don't have access to device class `name` attribute. This was a design error.
- Generate device config as class method - Update test data for self-consistency
Real device configs should be usable in tests
In addition to YAML configs, also move XML ESI files. Some rework in `hw_device_mgr.ethercat.xml_reader.EtherCATXMLReader` needed to support this. Use logger instead of `print()` in ESI parser so scripts can control output.
To best generate lcec `ethercat.xml` files, the device's distributed clock config should come from the ESI file. Adding that showed that the ESI reading methods were tied to the SDO parser and not reusable. Those are now separated out into `classmethod`s, and cached as well. Also, added more complete plumbing for the XML parser `LcId` param.
- Improve ESI Dc OpMode test cases - Add DC test YAML data
ESI descriptions may have `TxPdo` or `RxPdo` elements with `Entry` subelements referring to dictionary objects not in the `Dictionary` definition. This commit parses those entries and adds them to the SDO list. It also adds default datatypes for an ESI with no `Dictionary` definition at all. Still missing is parsing the PDO mapping from those elements. Also: - Add `BITARR8` data type (iTegva) - Clean up int formatting - Add extra sanity checks
- Add PDO mapping objects to `BogusServo.xml` - Add note to `BogusIO.xml`
…-19-rebase_for_PRs-3-minor-core
…ltron/2022-09-19-rebase_for_PRs-4-config_io
…tron/2022-09-19-rebase_for_PRs-5-pdo_config
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This is 5 of 9 in a series of PRs refactoring the
hw_device_mgrto run outside ROS, handle file resources more intelligently, manage PDO configurations, improve abstraction, improve CiA402 homing, simplify initialization, fix astate_cmdrace condition, and other fixes and improvements.This PR is based on & should be merged after #17 .
This fifth PR adds the ability to configure device PDOs (and DCs) from the
device_config.yaml. Abstract support extends down to thecia_301module; theethercatmodule implements extra ESI parsing needed to configure a PDO; and thelcecmodule implements writing anethercat.conf.xmlconfiguration file.