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#!/usr/bin/env python

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

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#

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#

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#

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#

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#

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from types import *

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# 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

PDOTypeBaseIndex = {RPDO : 0x1400, TPDO : 0x1800}

    40

PDOTypeBaseCobId = {RPDO : 0x200, TPDO : 0x180}

    41

    42

VariableIncrement = 0x100

    43

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

    44

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

    45

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

    46

    47

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

    48

    49

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

    50

#                  Specific exception for PDO mapping errors

    51

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

    52

    53

class PDOmappingException(Exception):

    54

    pass

    55

    56

    57

def LE_to_BE(value, size):

    58

    """

    59

    Convert Little Endian to Big Endian

    60

    @param value: value expressed in integer

    61

    @param size: number of bytes generated

    62

    @return: a string containing the value converted

    63

    """

    64

    65

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

    66

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

    67

    list_car.reverse()

    68

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

    69

    70

    71

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

    72

    """

    73

    Find the PDO indexes of a node

    74

    @param node: node 

    75

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

    76

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

    77

    @return: a list of indexes found

    78

    """

    79

    80

    indexes = []

    81

    if type & RPDO:

    82

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

    83

    if type & TPDO:

    84

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

    85

    if not parameters:

    86

        return [idx + 0x200 for idx in indexes]

    87

    else:

    88

        return indexes

    89

    90

    91

def SearchNodePDOMapping(loc_infos, node):

    92

    """

    93

    Find the PDO indexes of a node

    94

    @param node: node 

    95

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

    96

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

    97

    @return: a list of indexes found

    98

    """

    99

   100

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

   101

   102

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

   103

        values = node.GetEntry(PDOidx)

   104

        if values != None:

   105

            for subindex, mapping in enumerate(values):

   106

                if subindex != 0 and mapping & 0xFFFFFF00 == model:

   107

                    return PDOidx, subindex

   108

    return None

   109

   110

   111

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

   112

    """

   113

    Build concise DCF value for configuring a PDO

   114

    @param idx: index of PDO parameters

   115

    @param cobid: PDO generated COB ID

   116

    @param transmittype : PDO transmit type

   117

    @param pdomapping: list of PDO mappings

   118

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

   119

    """

   120

   121

    dcfdata=[]

   122

    # Create entry for RPDO or TPDO parameters and Disable PDO

   123

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

   124

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

   125

    # Set Transmit type

   126

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

   127

    if len(pdomapping) > 0:

   128

        # Disable Mapping

   129

        dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(0x00, 1)]

   130

        # Map Variables

   131

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

   132

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

   133

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

   134

        # Re-enable Mapping

   135

        dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1)]

   136

    # Re-Enable PDO

   137

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

   138

    return "".join(dcfdata), len(dcfdata)

   139

   140

class ConciseDCFGenerator:

   141

   142

    def __init__(self, nodelist, nodename):

   143

        # Dictionary of location informations classed by name

   144

        self.IECLocations = {}

   145

        # Dictionary of location that have not been mapped yet

   146

        self.LocationsNotMapped = {}

   147

        # Dictionary of location informations classed by name

   148

        self.MasterMapping = {}

   149

        # List of COB IDs available

   150

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

   151

        # Dictionary of mapping value where unexpected variables are stored

   152

        self.TrashVariables = {}

   153

        # Dictionary of pointed variables

   154

        self.PointedVariables = {}

   155

   156

        self.NodeList = nodelist

   157

        self.Manager = self.NodeList.Manager

   158

        self.MasterNode = self.Manager.GetCurrentNodeCopy()

   159

        self.MasterNode.SetNodeName(nodename)

   160

        self.PrepareMasterNode()

   161

   162

    def GetPointedVariables(self):

   163

        return self.PointedVariables

   164

   165

    def RemoveUsedNodeCobId(self, node):

   166

        """

   167

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

   168

        @param node: node

   169

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

   170

        """

   171

   172

        # Get list of all node TPDO and RPDO indexes

   173

        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

   174

        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

   175

   176

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

   177

        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

   178

            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

   179

            # Extract COB ID, if PDO isn't active

   180

            if pdo_cobid > 0x600 :

   181

                pdo_cobid -= 0x80000000

   182

            # Remove COB ID from the list of available COB ID

   183

            if pdo_cobid in self.ListCobIDAvailable:

   184

                self.ListCobIDAvailable.remove(pdo_cobid)

   185

   186

        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

   187

   188

   189

    def PrepareMasterNode(self):

   190

        """

   191

        Add mandatory entries for DCF generation into MasterNode.

   192

        """

   193

   194

        # Adding DCF entry into Master node

   195

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

   196

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

   197

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

   198

   199

        # Adding trash mappable variables for unused mapped datas

   200

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

   201

        # Add an entry for storing unexpected all variable

   202

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

   203

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

   204

            # Add a subentry for storing unexpected variable of this size

   205

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

   206

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

   207

            # Store the mapping value for this entry

   208

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

   209

   210

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

   211

   212

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

   213

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

   214

   215

        # Prepare MasterNode with all nodelist slaves

   216

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

   217

            node = nodeinfos["Node"]

   218

            node.SetNodeID(nodeid)

   219

   220

            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

   221

   222

            # Get Slave's default SDO server parameters

   223

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

   224

            if not RSDO_cobid:

   225

                RSDO_cobid = 0x600 + nodeid

   226

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

   227

            if not TSDO_cobid:

   228

                TSDO_cobid = 0x580 + nodeid

   229

   230

            # Configure Master's SDO parameters entries

   231

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

   232

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

   233

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

   234

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

   235

   236

   237

    def GetMasterNode(self):

   238

        """

   239

        Return MasterNode.

   240

        """

   241

        return self.MasterNode

   242

   243

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

   244

        """

   245

        Add entry to DCF, for the requested nodeID

   246

        @param nodeid: id of the slave (int)

   247

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

   248

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

   249

        """

   250

        # Get current DCF for slave

   251

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

   252

   253

        # Extract data and number of params in current DCF

   254

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

   255

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

   256

            tmpnbparams.reverse()

   257

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

   258

            data = nodeDCF[4:] + data

   259

   260

        # Build new DCF

   261

        dcf = LE_to_BE(nbparams, 0x04) + data

   262

        # Set new DCF for slave

   263

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

   264

   265

    def GetEmptyPDO(self, nodeid, pdotype, start_index=None):

   266

        """

   267

        Search a not configured PDO for a slave

   268

        @param node: the slave node object

   269

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

   270

        @param start_index: Index where search must start (default: None)

   271

        @return tuple of PDO index, COB ID and number of subindex defined

   272

        """

   273

        # If no start_index defined, start with PDOtype base index

   274

        if start_index is None:

   275

            index = PDOTypeBaseIndex[pdotype]

   276

        else:

   277

            index = start_index

   278

   279

        # Search for all PDO possible index until find a configurable PDO

   280

        # starting from start_index

   281

        while index < PDOTypeBaseIndex[pdotype] + 0x200:

   282

            values = self.NodeList.GetSlaveNodeEntry(nodeid, index + 0x200)

   283

            if values != None and values[0] > 0:

   284

                # Check that all subindex upper than 0 equal 0 => configurable PDO

   285

                if reduce(lambda x, y: x and y, map(lambda x: x == 0, values[1:]), True):

   286

                    cobid = self.NodeList.GetSlaveNodeEntry(nodeid, index, 1)

   287

                    # If no COB ID defined in PDO, generate a new one (not used)

   288

                    if cobid == 0:

   289

                        if len(self.ListCobIDAvailable) == 0:

   290

                            return None

   291

                        # Calculate COB ID from standard values

   292

                        if index < PDOTypeBaseIndex[pdotype] + 4:

   293

                            cobid = PDOTypeBaseCobId[pdotype] + 0x100 * (index - PDOTypeBaseIndex[pdotype]) + nodeid

   294

                        if cobid not in self.ListCobIDAvailable:

   295

                            cobid = self.ListCobIDAvailable.pop(0)

   296

                    return index, cobid, values[0]

   297

            index += 1

   298

        return None

   299

   300

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

   301

        """

   302

        Record a new mapping request for a slave, and add related slave config to the DCF

   303

        @param nodeid: id of the slave (int)

   304

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

   305

        @param pdomapping: list od variables to map with PDO

   306

        """

   307

        # Add an entry to MasterMapping

   308

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

   309

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

   310

   311

        # Return the data to add to DCF

   312

        if sync_TPDOs:

   313

            return GeneratePDOMappingDCF(pdoindex, pdocobid, 0x01, pdomapping)

   314

        else:

   315

            return GeneratePDOMappingDCF(pdoindex, pdocobid, 0xFF, pdomapping)

   316

        return 0, ""

   317

   318

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

   319

        """

   320

        Generate Concise DCF of MasterNode for the locations list given

   321

        @param locations: list of locations to be mapped

   322

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

   323

        @param sync_TPDOs: indicate if TPDO must be synchronous

   324

        """

   325

   326

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

   327

        #               Verify that locations correspond to real slave variables

   328

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

   329

   330

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

   331

        for location in locations:

   332

            COlocationtype = IECToCOType[location["IEC_TYPE"]]

   333

            name = location["NAME"]

   334

            if name in self.IECLocations:

   335

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

   336

                    raise PDOmappingException, _("Type conflict for location \"%s\"") % name 

   337

            else:

   338

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

   339

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

   340

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

   341

                if len(loc) not in (2, 3, 4):

   342

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

   343

                elif len(loc) == 2:

   344

                    continue

   345

   346

                direction = location["DIR"]

   347

   348

                sizelocation = location["SIZE"]

   349

   350

                # Extract and check nodeid

   351

                nodeid, index, subindex = loc[:3]

   352

   353

                # Check Id is in slave node list

   354

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

   355

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

   356

   357

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

   358

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

   359

   360

                # Extract and check index and subindex

   361

                if not node.IsEntry(index, subindex):

   362

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

   363

   364

                # Get the entry info

   365

                subentry_infos = node.GetSubentryInfos(index, subindex)

   366

   367

                # If a PDO mappable

   368

                if subentry_infos and subentry_infos["pdo"]:

   369

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

   370

                        numbit = loc[3]

   371

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

   372

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

   373

                    else:

   374

                        numbit = None

   375

   376

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

   377

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

   378

   379

                    typeinfos = node.GetEntryInfos(COlocationtype)

   380

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

   381

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

   382

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

   383

                else:

   384

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

   385

   386

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

   387

        #                         Search for locations already mapped

   388

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

   389

   390

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

   391

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

   392

   393

            # Search if slave has a PDO mapping this locations

   394

            result = SearchNodePDOMapping(locationinfos, node)

   395

            if result != None:

   396

                index, subindex = result

   397

                # Get COB ID of the PDO

   398

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

   399

   400

                # Add PDO to MasterMapping

   401

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

   402

                    # Verify that PDO transmit type is conform to sync_TPDOs

   403

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

   404

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

   405

                        if sync_TPDOs:

   406

                            # Change TransmitType to SYNCHRONE

   407

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

   408

                        else:

   409

                            # Change TransmitType to ASYCHRONE

   410

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

   411

   412

                        # Add entry to slave dcf to change transmit type of 

   413

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

   414

   415

                    mapping = [None]

   416

                    values = node.GetEntry(index)

   417

                    # Store the size of each entry mapped in PDO

   418

                    for value in values[1:]:

   419

                        if value != 0:

   420

                            mapping.append(value % 0x100)

   421

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

   422

   423

                # Indicate that this PDO entry must be saved

   424

                if locationinfos["bit"] is not None:

   425

                    if not isinstance(self.MasterMapping[cobid]["mapping"][subindex], ListType):

   426

                        self.MasterMapping[cobid]["mapping"][subindex] = [1] * self.MasterMapping[cobid]["mapping"][subindex]

   427

                    if locationinfos["bit"] < len(self.MasterMapping[cobid]["mapping"][subindex]):

   428

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

   429

                else:

   430

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

   431

   432

            else:

   433

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

   434

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

   435

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

   436

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

   437

   438

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

   439

        #                         Build concise DCF for the others locations

   440

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

   441

   442

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

   443

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

   444

   445

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

   446

            nbparams = 0

   447

            dataparams = ""

   448

   449

            # Generate the best PDO mapping for each type of PDO

   450

            for pdotype in (TPDO, RPDO):

   451

                if len(locations[pdotype]) > 0:

   452

                    pdosize = 0

   453

                    pdomapping = []

   454

                    result = self.GetEmptyPDO(nodeid, pdotype)

   455

                    if result is None:

   456

                        raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid

   457

                    pdoindex, pdocobid, pdonbparams = result

   458

                    for name, loc_infos in locations[pdotype]:

   459

                        pdosize += loc_infos["size"]

   460

                        # If pdo's size > 64 bits

   461

                        if pdosize > 64 or len(pdomapping) >= pdonbparams:

   462

                            # Generate a new PDO Mapping

   463

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

   464

                            dataparams += data

   465

                            nbparams += nbaddedparams

   466

                            pdosize = loc_infos["size"]

   467

                            pdomapping = [(name, loc_infos)]

   468

                            result = self.GetEmptyPDO(nodeid, pdotype, pdoindex + 1)

   469

                            if result is None:

   470

                                raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid

   471

                            pdoindex, pdocobid, pdonbparams = result

   472

                        else:

   473

                            pdomapping.append((name, loc_infos))

   474

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

   475

                    if len(pdomapping) > 0:

   476

                        # Generate a new PDO Mapping

   477

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

   478

                        dataparams += data

   479

                        nbparams += nbaddedparams

   480

   481

            # Add number of params and data to node DCF

   482

            self.AddParamsToDCF(nodeid, dataparams, nbparams)

   483

   484

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

   485

        #                         Master Node Configuration

   486

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

   487

   488

        # Generate Master's Configuration from informations stored in MasterMapping

   489

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

   490

            # Get next PDO index in MasterNode for this PDO type

   491

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

   492

   493

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

   494

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

   495

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

   496

                    current_idx = idx

   497

   498

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

   499

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

   500

                addinglist = [current_idx, current_idx + 0x200]

   501

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

   502

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

   503

   504

                # Increment the number of PDO for this PDO type

   505

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

   506

   507

            # Change the transmit type of the PDO

   508

            if sync_TPDOs:

   509

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

   510

            else:

   511

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

   512

   513

            mapping = []