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#!/usr/bin/env python

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# -*- coding: utf-8 -*-

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#This file is part of Beremiz, a Integrated Development Environment for

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#programming IEC 61131-3 automates supporting plcopen standard and CanFestival. 

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#

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#Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD

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#

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#See COPYING file for copyrights details.

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#

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#This library is free software; you can redistribute it and/or

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#modify it under the terms of the GNU General Public

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#License as published by the Free Software Foundation; either

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#version 2.1 of the License, or (at your option) any later version.

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#

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#This library is distributed in the hope that it will be useful,

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#but WITHOUT ANY WARRANTY; without even the implied warranty of

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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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#General Public License for more details.

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#

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#You should have received a copy of the GNU General Public

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#License along with this library; if not, write to the Free Software

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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA

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from types import *

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# Translation between IEC types and Can Open types

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# Constants for PDO types 

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RPDO = 1

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TPDO = 2

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SlavePDOType = {"I" : TPDO, "Q" : RPDO}

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InvertPDOType = {RPDO : TPDO, TPDO : RPDO}

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def LE_to_BE(value, size):

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    """

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    Convert Little Endian to Big Endian

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    @param value: value expressed in integer

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    @param size: number of bytes generated

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    @return: a string containing the value converted

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    """

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    data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value

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    list_car = [data[i:i+2] for i in xrange(0, len(data), 2)]

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    list_car.reverse()

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    return "".join([chr(int(car, 16)) for car in list_car])

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def GetNodePDOIndexes(node, type, parameters = False):

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    """

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    Find the PDO indexes of a node

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    @param node: node 

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    @param type: type of PDO searched (RPDO or TPDO or both)

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    @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)

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    @return: a list of indexes found

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    """

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    indexes = []

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    if type & RPDO:

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        indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF])

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    if type & TPDO:

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        indexes.extend([idx for idx in node.GetIndexes() if 0x1800 <= idx <= 0x19FF])

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    if not parameters:

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        return [idx + 0x200 for idx in indexes]

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    else:

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        return indexes

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def SearchNodePDOMapping(loc_infos, node):

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    """

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    Find the PDO indexes of a node

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    @param node: node 

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    @param type: type of PDO searched (RPDO or TPDO or both)

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    @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)

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    @return: a list of indexes found

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    """

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    typeinfos = node.GetEntryInfos(loc_infos["type"])

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    model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]

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    for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]):

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        values = node.GetEntry(PDOidx)

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        if values != None:

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            for subindex, mapping in enumerate(values):

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                if subindex != 0 and mapping == model:

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                    return PDOidx, subindex

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    return None

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class ConciseDCFGenerator:

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    def __init__(self, nodelist):

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        # Dictionary of location informations classed by name

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        # Dictionary of location informations classed by name

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        # List of COB IDs available

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        self.ListCobIDAvailable = range(0x180, 0x580)

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        self.SlavesPdoNumber = {}

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        # Dictionary of mapping value where unexpected variables are stored

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        self.NodeList = nodelist

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        self.Manager = self.NodeList.Manager

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        self.MasterNode = self.Manager.GetCurrentNodeCopy()

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        self.PrepareMasterNode()

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    def RemoveUsedNodeCobId(self, node):

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        """

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        Remove all PDO COB ID used by the given node from the list of available COB ID

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        @param node: node

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        @return: a tuple of number of RPDO and TPDO for the node

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        """

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        # Get list of all node TPDO and RPDO indexes

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        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

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        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

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        # Mark all the COB ID of the node already mapped PDO as not available

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        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

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            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

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            # Extract COB ID, if PDO isn't active

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            if pdo_cobid > 0x600 :

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                pdo_cobid -= 0x80000000

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            # Remove COB ID from the list of available COB ID

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            if pdo_cobid in self.ListCobIDAvailable:

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                self.ListCobIDAvailable.remove(pdo_cobid)

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        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

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    def PrepareMasterNode(self):

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        """

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        Add mandatory entries for DCF generation into MasterNode.

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        """

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        # Adding DCF entry into Master node

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        if not self.MasterNode.IsEntry(0x1F22):

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            self.MasterNode.AddEntry(0x1F22, 1, "")

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        # Adding trash mappable variables for unused mapped datas

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        # Add an entry for storing unexpected all variable

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            # Add a subentry for storing unexpected variable of this size

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            self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, self.MasterNode)

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            self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode)

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            # Store the mapping value for this entry

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        RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode)

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        # Store the indexes of the first RPDO and TPDO available for MasterNode

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        self.CurrentPDOParamsIdx = {RPDO : 0x1400 + RPDOnumber, TPDO : 0x1800 + TPDOnumber}

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        # Prepare MasterNode with all nodelist slaves

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            node = nodeinfos["Node"]

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            node.SetNodeID(nodeid)

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            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

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            # Store the number of TPDO and RPDO for this node

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            self.SlavesPdoNumber[nodeid] = {RPDO : RPDOnumber, TPDO : TPDOnumber}

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            # Get Slave's default SDO server parameters

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            RSDO_cobid = node.GetEntry(0x1200,0x01)

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            if not RSDO_cobid:

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                RSDO_cobid = 0x600 + nodeid

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            TSDO_cobid = node.GetEntry(0x1200,0x02)

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            if not TSDO_cobid:

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                TSDO_cobid = 0x580 + nodeid

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            # Configure Master's SDO parameters entries

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    def GetMasterNode(self):

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        """

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        Return MasterNode.

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        """

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        return self.MasterNode

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    def GetNewCobID(self, nodeid, type):

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        """

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        Select a COB ID from the list of those available

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        @param type: type of PDO (RPDO or TPDO)

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        @return: a tuple of the COD ID and PDO index or None

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        """

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        # Verify that there is still some cobid available

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        if len(self.ListCobIDAvailable) == 0:

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            return None

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        # Get the number of PDO of the type given for the node

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        nbSlavePDO = self.SlavesPdoNumber[nodeid][type]

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        if type == RPDO:

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            if nbSlavePDO < 4:

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                # For the four first RPDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid

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                newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)

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                # Return calculated cobid if it's still available

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                if newcobid in self.ListCobIDAvailable:

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                    self.ListCobIDAvailable.remove(newcobid)

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                    return newcobid, 0x1400 + nbSlavePDO

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            # Return the first cobid available if no cobid found

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            return self.ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO

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        elif type == TPDO:

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            if nbSlavePDO < 4:

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                # For the four first TPDO -> cobid = 0x180 + ( numPdo parameters * 0x100) + nodeid

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                newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)

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                # Return calculated cobid if it's still available

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                if newcobid in self.ListCobIDAvailable:

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                    self.ListCobIDAvailable.remove(newcobid)

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                    return newcobid, 0x1800 + nbSlavePDO

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            # Return the first cobid available if no cobid found

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            return self.ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO

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        return None

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    def GenerateDCF(self, locations, current_location, sync_TPDOs):

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        """

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        Generate Concise DCF of MasterNode for the locations list given

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        @param locations: list of locations to be mapped

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        @param current_location: tuple of the located prefixes not to be considered

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        @param sync_TPDOs: indicate if TPDO must be synchronous

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        """

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        for location in locations:

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            name = location["NAME"]

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                    raise ValueError, "Conflict type for location \"%s\"" % name 

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            else:

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                # Get only the part of the location that concern this node

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                loc = location["LOC"][len(current_location):]

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                # loc correspond to (ID, INDEX, SUBINDEX [,BIT])

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                if len(loc) not in (3, 4):

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                    raise ValueError, "Bad location size : %s"%str(loc)

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                direction = location["DIR"]

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                sizelocation = location["SIZE"]

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                # Extract and check nodeid

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                nodeid, index, subindex = loc[:3]

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                # Check Id is in slave node list

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                    raise ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,name)

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                # Get the model for this node (made from EDS)

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                # Extract and check index and subindex

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                if not node.IsEntry(index, subindex):

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                    raise ValueError, "No such index/subindex (%x,%x) in ID : %d (variable %s)" % (index,subindex,nodeid,name)

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                #Get the entry info

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                subentry_infos = node.GetSubentryInfos(index, subindex)

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                # If a PDO mappable

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                if subentry_infos and subentry_infos["pdo"]:

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                    if sizelocation == "X" and len(loc) > 3:

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                        numbit = loc[4]

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                    elif sizelocation != "X" and len(loc) > 3:

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                        raise ValueError, "Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)

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                    else:

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                        numbit = None

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                    entryinfos = node.GetSubentryInfos(index, subindex)

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                    if entryinfos["type"] != COlocationtype:

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                        raise ValueError, "Invalid type \"%s\"-> %d != %d  for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, entryinfos["type"] , name)

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                    typeinfos = node.GetEntryInfos(COlocationtype)

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                else:

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                    raise ValueError, "Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)

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            node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"]

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            result = SearchNodePDOMapping(locationinfos, node)

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            if result != None:

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                index, subindex = result

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                    mapping = [None]

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                    values = node.GetEntry(index)

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                    for value in values[1:]:

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                        mapping.append(value % 0x100)

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            else:

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        #-------------------------------------------------------------------------------

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        #                         Build concise DCF for the others locations

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        #-------------------------------------------------------------------------------

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            node = nodelist.SlaveNodes[nodeid]["Node"]

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            for pdotype in (TPDO, RPDO):

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                pdosize = 0

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                pdomapping = []

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                for name, loc_infos in locations[pdotype]:

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                    pdosize += loc_infos["size"]

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                    # If pdo's size > 64 bits

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                    if pdosize > 64:

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                        pdosize = loc_infos["size"]

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                        pdomapping = [(name, loc_infos)]

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                    else:

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                        pdomapping.append((name, loc_infos))

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                if len(pdomapping) > 0:

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        #-------------------------------------------------------------------------------

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        #                         Master Node Configuration

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        #-------------------------------------------------------------------------------

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            if len(pdo_infos["mapping"]) > 2: