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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

    19

#General Public License for more details.

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#

    21

#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

    23

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

    24

    25

from types import *

    26

    27

# Translation between IEC types and Can Open types

    28

IECToCOType = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10,

    29

               "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08,

    30

               "LREAL":0x11,"STRING":0x09,"BYTE":0x05,"WORD":0x06,"DWORD":0x07,

    31

               "LWORD":0x1B,"WSTRING":0x0B}

    32

    33

# Constants for PDO types 

    34

RPDO = 1

    35

TPDO = 2

    36

    37

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

    38

InvertPDOType = {RPDO : TPDO, TPDO : RPDO}

    39

    40

VariableIncrement = 0x100

    41

VariableStartIndex = {TPDO : 0x2000, RPDO : 0x4000}

    42

VariableDirText = {TPDO : "__I", RPDO : "__Q"}

    43

VariableTypeOffset = dict(zip(["","X","B","W","D","L"], range(6)))

    44

    45

TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)]

    46

    47

def LE_to_BE(value, size):

    48

    """

    49

    Convert Little Endian to Big Endian

    50

    @param value: value expressed in integer

    51

    @param size: number of bytes generated

    52

    @return: a string containing the value converted

    53

    """

    54

    55

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

    56

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

    57

    list_car.reverse()

    58

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

    59

    60

    61

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

    62

    """

    63

    Find the PDO indexes of a node

    64

    @param node: node 

    65

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

    66

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

    67

    @return: a list of indexes found

    68

    """

    69

    70

    indexes = []

    71

    if type & RPDO:

    72

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

    73

    if type & TPDO:

    74

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

    75

    if not parameters:

    76

        return [idx + 0x200 for idx in indexes]

    77

    else:

    78

        return indexes

    79

    80

    81

def SearchNodePDOMapping(loc_infos, node):

    82

    """

    83

    Find the PDO indexes of a node

    84

    @param node: node 

    85

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

    86

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

    87

    @return: a list of indexes found

    88

    """

    89

    90

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

    91

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

    92

    93

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

    94

        values = node.GetEntry(PDOidx)

    95

        if values != None:

    96

            for subindex, mapping in enumerate(values):

    97

                if subindex != 0 and mapping == model:

    98

                    return PDOidx, subindex

    99

    return None

   100

   101

   102

def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping):

   103

    """

   104

    Build concise DCF value for configuring a PDO

   105

    @param idx: index of PDO parameters

   106

    @param cobid: PDO generated COB ID

   107

    @param transmittype : PDO transmit type

   108

    @param pdomapping: list of PDO mappings

   109

    @return: a tuple of value and number of parameters to add to DCF 

   110

    """

   111

   112

    # Create entry for RPDO or TPDO parameters and Disable PDO

   113

    dcfdata = LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE((0x80000000 + cobid), 4)

   114

    # Set Transmit type synchrone

   115

    dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)

   116

    # Re-Enable PDO

   117

    #         ---- INDEX -----   --- SUBINDEX ----   ----- SIZE ------   ------ DATA ------

   118

    dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4)

   119

    nbparams = 3

   120

    # Map Variables

   121

    for subindex, (name, loc_infos) in enumerate(pdomapping):

   122

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

   123

        dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4)

   124

        nbparams += 1

   125

    return dcfdata, nbparams

   126

   127

class ConciseDCFGenerator:

   128

   129

    def __init__(self, nodelist, nodename):

   130

        # Dictionary of location informations classed by name

   131

        self.IECLocations = {}

   132

        # Dictionary of location that have not been mapped yet

   133

        self.LocationsNotMapped = {}

   134

        # Dictionary of location informations classed by name

   135

        self.MasterMapping = {}

   136

        # List of COB IDs available

   137

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

   138

        self.SlavesPdoNumber = {}

   139

        # Dictionary of mapping value where unexpected variables are stored

   140

        self.TrashVariables = {}

   141

   142

        self.NodeList = nodelist

   143

        self.Manager = self.NodeList.Manager

   144

        self.MasterNode = self.Manager.GetCurrentNodeCopy()

   145

        self.MasterNode.SetNodeName(nodename)

   146

        self.PrepareMasterNode()

   147

   148

   149

    def RemoveUsedNodeCobId(self, node):

   150

        """

   151

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

   152

        @param node: node

   153

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

   154

        """

   155

   156

        # Get list of all node TPDO and RPDO indexes

   157

        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

   158

        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

   159

   160

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

   161

        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

   162

            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

   163

            # Extract COB ID, if PDO isn't active

   164

            if pdo_cobid > 0x600 :

   165

                pdo_cobid -= 0x80000000

   166

            # Remove COB ID from the list of available COB ID

   167

            if pdo_cobid in self.ListCobIDAvailable:

   168

                self.ListCobIDAvailable.remove(pdo_cobid)

   169

   170

        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

   171

   172

   173

    def PrepareMasterNode(self):

   174

        """

   175

        Add mandatory entries for DCF generation into MasterNode.

   176

        """

   177

   178

        # Adding DCF entry into Master node

   179

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

   180

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

   181

        self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode)

   182

   183

        # Adding trash mappable variables for unused mapped datas

   184

        idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID()

   185

        # Add an entry for storing unexpected all variable

   186

        self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode)

   187

        for subidx, (size, typeidx) in enumerate(TrashVariables):

   188

            # Add a subentry for storing unexpected variable of this size

   189

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

   190

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

   191

            # Store the mapping value for this entry

   192

            self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size

   193

   194

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

   195

   196

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

   197

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

   198

   199

        # Prepare MasterNode with all nodelist slaves

   200

        for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()):

   201

            node = nodeinfos["Node"]

   202

            node.SetNodeID(nodeid)

   203

   204

            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

   205

   206

            # Store the number of TPDO and RPDO for this node

   207

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

   208

   209

            # Get Slave's default SDO server parameters

   210

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

   211

            if not RSDO_cobid:

   212

                RSDO_cobid = 0x600 + nodeid

   213

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

   214

            if not TSDO_cobid:

   215

                TSDO_cobid = 0x580 + nodeid

   216

   217

            # Configure Master's SDO parameters entries

   218

            self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode)

   219

            self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid)

   220

            self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid)

   221

            self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid)        

   222

   223

   224

    def GetMasterNode(self):

   225

        """

   226

        Return MasterNode.

   227

        """

   228

        return self.MasterNode

   229

   230

   231

    def GetNewCobID(self, nodeid, type):

   232

        """

   233

        Select a COB ID from the list of those available

   234

        @param nodeid: id of the slave (int)

   235

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

   236

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

   237

        """

   238

        # Verify that there is still some cobid available

   239

        if len(self.ListCobIDAvailable) == 0:

   240

            return None

   241

   242

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

   243

        nbSlavePDO = self.SlavesPdoNumber[nodeid][type]

   244

        if type == RPDO:

   245

            if nbSlavePDO < 4:

   246

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

   247

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

   248

                # Return calculated cobid if it's still available

   249

                if newcobid in self.ListCobIDAvailable:

   250

                    self.ListCobIDAvailable.remove(newcobid)

   251

                    return newcobid, 0x1400 + nbSlavePDO

   252

            # Return the first cobid available if no cobid found

   253

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

   254

   255

        elif type == TPDO:

   256

            if nbSlavePDO < 4:

   257

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

   258

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

   259

                # Return calculated cobid if it's still available

   260

                if newcobid in self.ListCobIDAvailable:

   261

                    self.ListCobIDAvailable.remove(newcobid)

   262

                    return newcobid, 0x1800 + nbSlavePDO

   263

            # Return the first cobid available if no cobid found

   264

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

   265

   266

        return None

   267

   268

   269

    def AddParamsToDCF(self, nodeid, data, nbparams):

   270

        """

   271

        Select a COB ID from the list of those available

   272

        @param nodeid: id of the slave (int)

   273

        @param data: data to add to slave DCF (string)

   274

        @param nbparams: number of params added to slave DCF (int)

   275

        """

   276

        # Get current DCF for slave

   277

        nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid)

   278

   279

        # Extract data and number of params in current DCF

   280

        if nodeDCF != None and nodeDCF != '':

   281

            tmpnbparams = [i for i in nodeDCF[:4]]

   282

            tmpnbparams.reverse()

   283

            nbparams += int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)

   284

            data = nodeDCF[4:] + data

   285

   286

        # Build new DCF

   287

        dcf = LE_to_BE(nbparams, 0x04) + data

   288

        # Set new DCF for slave

   289

        self.MasterNode.SetEntry(0x1F22, nodeid, dcf)

   290

   291

    def AddPDOMapping(self, nodeid, pdotype, pdomapping, sync_TPDOs):

   292

        """

   293

        Select a COB ID from the list of those available

   294

        @param nodeid: id of the slave (int)

   295

        @param pdotype: type of PDO to generated (RPDO or TPDO)

   296

        @param pdomapping: list od variables to map with PDO

   297

        """

   298

        # Get a new cob id

   299

        result = self.GetNewCobID(nodeid, pdotype)

   300

        if result:

   301

            new_cobid, new_idx = result

   302

   303

            # Increment the number of PDO of this type for node

   304

            self.SlavesPdoNumber[nodeid][pdotype] += 1

   305

   306

            # Add an entry to MasterMapping

   307

            self.MasterMapping[new_cobid] = {"type" : InvertPDOType[pdotype], 

   308

                "mapping" : [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]}

   309

   310

            # Return the data to add to DCF

   311

            if sync_TPDOs:

   312

                return GeneratePDOMappingDCF(new_idx, new_cobid, 0x01, pdomapping)

   313

            else:

   314

                return GeneratePDOMappingDCF(new_idx, new_cobid, 0xFF, pdomapping)

   315

        return 0, ""

   316

   317

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

   318

        """

   319

        Generate Concise DCF of MasterNode for the locations list given

   320

        @param locations: list of locations to be mapped

   321

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

   322

        @param sync_TPDOs: indicate if TPDO must be synchronous

   323

        """

   324

   325

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

   326

        #               Verify that locations correspond to real slave variables

   327

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

   328

   329

        # Get list of locations check if exists and mappables -> put them in IECLocations

   330

        for location in locations:

   331

            COlocationtype = IECToCOType[location["IEC_TYPE"]]

   332

            name = location["NAME"]

   333

            if name in self.IECLocations:

   334

                if self.IECLocations[name]["type"] != COlocationtype:

   335

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

   336

            else:

   337

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

   338

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

   339

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

   340

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

   341

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

   342

   343

                direction = location["DIR"]

   344

   345

                sizelocation = location["SIZE"]

   346

   347

                # Extract and check nodeid

   348

                nodeid, index, subindex = loc[:3]

   349

   350

                # Check Id is in slave node list

   351

                if nodeid not in self.NodeList.SlaveNodes.keys():

   352

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

   353

   354

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

   355

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

   356

   357

                # Extract and check index and subindex

   358

                if not node.IsEntry(index, subindex):

   359

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

   360

   361

                # Get the entry info

   362

                subentry_infos = node.GetSubentryInfos(index, subindex)

   363

   364

                # If a PDO mappable

   365

                if subentry_infos and subentry_infos["pdo"]:

   366

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

   367

                        numbit = loc[3]

   368

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

   369

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

   370

                    else:

   371

                        numbit = None

   372

   373

                    entryinfos = node.GetSubentryInfos(index, subindex)

   374

                    if location["IEC_TYPE"] != "BOOL" and entryinfos["type"] != COlocationtype:

   375

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

   376

   377

                    typeinfos = node.GetEntryInfos(COlocationtype)

   378

                    self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],

   379

                                                "nodeid": nodeid, "index": index,"subindex": subindex,

   380

                                                "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation}

   381

                else:

   382

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

   383

   384

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

   385

        #                         Search for locations already mapped

   386

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

   387

   388

        for name, locationinfos in self.IECLocations.items():

   389

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

   390

   391

            # Search if slave has a PDO mapping this locations

   392

            result = SearchNodePDOMapping(locationinfos, node)

   393

            if result != None:

   394

                index, subindex = result

   395

                # Get COB ID of the PDO

   396

                cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)

   397

   398

                # Verify that PDO transmit type is conform to sync_TPDOs

   399

                transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)

   400

                if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF:

   401

                    if sync_TPDOs:

   402

                        # Change TransmitType to SYNCHRONE

   403

                        data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, [])

   404

                    else:

   405

                        # Change TransmitType to ASYCHRONE

   406

                        data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, [])

   407

   408

                    # Add entry to slave dcf to change transmit type of 

   409

                    self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams)

   410

   411

                # Add PDO to MasterMapping

   412

                if cobid not in self.MasterMapping.keys():

   413

                    mapping = [None]

   414

                    values = node.GetEntry(index)

   415

                    # Store the size of each entry mapped in PDO

   416

                    for value in values[1:]:

   419

                    self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}

   420

   421

                # Indicate that this PDO entry must be saved

   422

                self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name)

   423

   424

            else:

   425

                # Add location to those that haven't been mapped yet

   426

                if locationinfos["nodeid"] not in self.LocationsNotMapped.keys():

   427

                    self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}

   428

                self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))

   429

   430

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

   431

        #                         Build concise DCF for the others locations

   432

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

   433

   434

        for nodeid, locations in self.LocationsNotMapped.items():

   435

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

   436

   437

            # Initialize number of params and data to add to node DCF

   438

            nbparams = 0

   439

            dataparams = ""

   440

   441

            # Generate the best PDO mapping for each type of PDO

   442

            for pdotype in (TPDO, RPDO):

   443

                pdosize = 0

   444

                pdomapping = []

   445

                for name, loc_infos in locations[pdotype]:

   446

                    pdosize += loc_infos["size"]

   447

                    # If pdo's size > 64 bits

   448

                    if pdosize > 64:

   449

                        # Generate a new PDO Mapping

   450

                        data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs)

   451

                        dataparams += data

   452

                        nbparams += nbaddedparams

   453

                        pdosize = loc_infos["size"]

   454

                        pdomapping = [(name, loc_infos)]

   455

                    else:

   456

                        pdomapping.append((name, loc_infos))

   457

                # If there isn't locations yet but there is still a PDO to generate

   458

                if len(pdomapping) > 0:

   459

                    # Generate a new PDO Mapping

   460

                    data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs)

   461

                    dataparams += data

   462

                    nbparams += nbaddedparams

   463

   464

            # Add number of params and data to node DCF

   465

            self.AddParamsToDCF(nodeid, dataparams, nbparams)

   466

   467

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

   468

        #                         Master Node Configuration

   469

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

   470

   471

        # Generate Master's Configuration from informations stored in MasterMapping

   472

        for cobid, pdo_infos in self.MasterMapping.items():

   473

            # Get next PDO index in MasterNode for this PDO type

   474

            current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]]

   475

   476

            # Search if there is already a PDO in MasterNode with this cob id

   477

            for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True):

   478

                if self.MasterNode.GetEntry(idx, 1) == cobid:

   479

                    current_idx = idx

   480

   481

            # Add a PDO to MasterNode if not PDO have been found

   482

            if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]:

   483

                addinglist = [current_idx, current_idx + 0x200]

   484

                self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode)

   485

                self.MasterNode.SetEntry(current_idx, 0x01, cobid)

   486

   487

                # Increment the number of PDO for this PDO type

   488

                self.CurrentPDOParamsIdx[pdo_infos["type"]] += 1

   489

   490

            # Change the transmit type of the PDO

   491

            if sync_TPDOs:

   492

                self.MasterNode.SetEntry(current_idx, 0x02, 0x01)

   493

            else:

   494

                self.MasterNode.SetEntry(current_idx, 0x02, 0xFF)

   495

   496

            # Add some subentries to PDO mapping if there is not enough

   497

            if len(pdo_infos["mapping"]) > 1:

   498

                self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 1, self.MasterNode)

   499

   500

            # Generate MasterNode's PDO mapping

   501

            for subindex, variable in enumerate(pdo_infos["mapping"]):

   502

                if subindex == 0:

   503

                    continue

   504

                new_index = False

   505

   506

                if type(variable) == IntType:

   507

                    # If variable is an integer then variable is unexpected

   508

                    self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable])

   509

                else:

   510

                    typeidx, varname = variable

   511

                    variable_infos = self.IECLocations[varname]

   512

   513

                    # Calculate base index for storing variable

   514

                    mapvariableidx = VariableStartIndex[variable_infos["pdotype"]] + \

   515

                                     VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \

   516

                                     variable_infos["nodeid"]

   517

   518

                    # Search for an entry that has an empty subindex 

   519

                    while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:

   520

                        # Entry doesn't exist

   521

                        if not self.MasterNode.IsEntry(mapvariableidx):    

   522

                            # Generate entry name

   523

                            indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]],

   524

                                                     variable_infos["sizelocation"],

   525

                                                     '_'.join(map(str,current_location)),

   526

                                                     variable_infos["nodeid"])

   527

                            # Add entry to MasterNode

   528

                            self.Manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, self.MasterNode)