canfestival/config_utils.py
author Andrey Skvortsov <andrej.skvortzov@gmail.com
Mon, 18 Apr 2016 18:48:15 +0300
changeset 1476 49f1763a5613
parent 1278 74afc7e86d00
child 1571 486f94a8032c
permissions -rw-r--r--
fixes sometimes happened error during project compilation

Traceback (most recent call last):
File "./Beremiz.py", line 1229, in run_with_except_hook
run_old(*args, **kw)
File
"/home/developer/WorkData/PLC/beremiz/beremiz/util/ProcessLogger.py",
line 68, in run
self.endcallback(self.Proc.pid, err)
File
"/home/developer/WorkData/PLC/beremiz/beremiz/util/ProcessLogger.py",
line 169, in finish
if self.timeout: self.timeout.cancel()
AttributeError: ProcessLogger instance has no attribute 'timeout'
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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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IECToCOType = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10,
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               "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08,
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               "LREAL":0x11,"STRING":0x09,"BYTE":0x05,"WORD":0x06,"DWORD":0x07,
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               "LWORD":0x1B,"WSTRING":0x0B}
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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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PDOTypeBaseIndex = {RPDO : 0x1400, TPDO : 0x1800}
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PDOTypeBaseCobId = {RPDO : 0x200, TPDO : 0x180}
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VariableIncrement = 0x100
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VariableStartIndex = {TPDO : 0x2000, RPDO : 0x4000}
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VariableDirText = {TPDO : "__I", RPDO : "__Q"}
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VariableTypeOffset = dict(zip(["","X","B","W","D","L"], range(6)))
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TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)]
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#-------------------------------------------------------------------------------
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#                  Specific exception for PDO mapping errors
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#-------------------------------------------------------------------------------
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class PDOmappingException(Exception):
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    pass
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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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    model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8)
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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 & 0xFFFFFF00 == model:
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                    return PDOidx, subindex
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    return None
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def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping):
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    """
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    Build concise DCF value for configuring a PDO
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    @param idx: index of PDO parameters
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    @param cobid: PDO generated COB ID
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    @param transmittype : PDO transmit type
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    @param pdomapping: list of PDO mappings
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    @return: a tuple of value and number of parameters to add to DCF 
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    """
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    dcfdata=[]
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    # Create entry for RPDO or TPDO parameters and Disable PDO
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    #           ---- INDEX -----   --- SUBINDEX ----   ----- SIZE ------   ------ DATA ------
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    dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x80000000 + cobid, 4)]
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    # Set Transmit type
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    dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)]
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    if len(pdomapping) > 0:
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        # Disable Mapping
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        dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(0x00, 1)]
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        # Map Variables
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        for subindex, (name, loc_infos) in enumerate(pdomapping):
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            value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"]
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            dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4)]
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        # Re-enable Mapping
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        dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1)]
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    # Re-Enable PDO
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    dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(cobid, 4)]
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    return "".join(dcfdata), len(dcfdata)
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class ConciseDCFGenerator:
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    def __init__(self, nodelist, nodename):
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        # Dictionary of location informations classed by name
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        self.IECLocations = {}
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        # Dictionary of location that have not been mapped yet
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        self.LocationsNotMapped = {}
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        # Dictionary of location informations classed by name
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        self.MasterMapping = {}
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        # List of COB IDs available
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        self.ListCobIDAvailable = range(0x180, 0x580)
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        # Dictionary of mapping value where unexpected variables are stored
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        self.TrashVariables = {}
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        # Dictionary of pointed variables
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        self.PointedVariables = {}
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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.MasterNode.SetNodeName(nodename)
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        self.PrepareMasterNode()
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    def GetPointedVariables(self):
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        return self.PointedVariables
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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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        self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode)
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        # Adding trash mappable variables for unused mapped datas
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        idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID()
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        # Add an entry for storing unexpected all variable
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        self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode)
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        for subidx, (size, typeidx) in enumerate(TrashVariables):
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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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            self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
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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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        for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()):
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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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            # 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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            self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode)
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            self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid)
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            self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid)
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            self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid)        
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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 AddParamsToDCF(self, nodeid, data, nbparams):
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        """
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        Add entry to DCF, for the requested nodeID
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        @param nodeid: id of the slave (int)
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        @param data: data to add to slave DCF (string)
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        @param nbparams: number of params added to slave DCF (int)
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        """
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        # Get current DCF for slave
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        nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid)
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        # Extract data and number of params in current DCF
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        if nodeDCF != None and nodeDCF != '':
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            tmpnbparams = [i for i in nodeDCF[:4]]
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            tmpnbparams.reverse()
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            nbparams += int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)
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            data = nodeDCF[4:] + data
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        # Build new DCF
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        dcf = LE_to_BE(nbparams, 0x04) + data
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        # Set new DCF for slave
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        self.MasterNode.SetEntry(0x1F22, nodeid, dcf)
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    def GetEmptyPDO(self, nodeid, pdotype, start_index=None):
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        """
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        Search a not configured PDO for a slave
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        @param node: the slave node object
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        @param pdotype: type of PDO to generated (RPDO or TPDO)
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        @param start_index: Index where search must start (default: None)
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        @return tuple of PDO index, COB ID and number of subindex defined
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        """
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        # If no start_index defined, start with PDOtype base index
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        if start_index is None:
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            index = PDOTypeBaseIndex[pdotype]
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        else:
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            index = start_index
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        # Search for all PDO possible index until find a configurable PDO
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        # starting from start_index
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        while index < PDOTypeBaseIndex[pdotype] + 0x200:
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            values = self.NodeList.GetSlaveNodeEntry(nodeid, index + 0x200)
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            if values != None and values[0] > 0:
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                # Check that all subindex upper than 0 equal 0 => configurable PDO
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                if reduce(lambda x, y: x and y, map(lambda x: x == 0, values[1:]), True):
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                    cobid = self.NodeList.GetSlaveNodeEntry(nodeid, index, 1)
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                    # If no COB ID defined in PDO, generate a new one (not used)
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                    if cobid == 0:
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                        if len(self.ListCobIDAvailable) == 0:
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                            return None
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                        # Calculate COB ID from standard values
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                        if index < PDOTypeBaseIndex[pdotype] + 4:
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                            cobid = PDOTypeBaseCobId[pdotype] + 0x100 * (index - PDOTypeBaseIndex[pdotype]) + nodeid
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                        if cobid not in self.ListCobIDAvailable:
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                            cobid = self.ListCobIDAvailable.pop(0)
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                    return index, cobid, values[0]
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            index += 1
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        return None
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    def AddPDOMapping(self, nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs):
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        """
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        Record a new mapping request for a slave, and add related slave config to the DCF
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        @param nodeid: id of the slave (int)
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        @param pdotype: type of PDO to generated (RPDO or TPDO)
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        @param pdomapping: list od variables to map with PDO
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        """
340
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        # Add an entry to MasterMapping
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        self.MasterMapping[pdocobid] = {"type" : InvertPDOType[pdotype], 
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            "mapping" : [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]}
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        # Return the data to add to DCF
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        if sync_TPDOs:
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            return GeneratePDOMappingDCF(pdoindex, pdocobid, 0x01, pdomapping)
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        else:
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            return GeneratePDOMappingDCF(pdoindex, pdocobid, 0xFF, pdomapping)
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        return 0, ""
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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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        #-------------------------------------------------------------------------------
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        #               Verify that locations correspond to real slave variables
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        #-------------------------------------------------------------------------------
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   329
        
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   330
        # Get list of locations check if exists and mappables -> put them in IECLocations
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        for location in locations:
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   332
            COlocationtype = IECToCOType[location["IEC_TYPE"]]
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            name = location["NAME"]
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   334
            if name in self.IECLocations:
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   335
                if self.IECLocations[name]["type"] != COlocationtype:
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339fa2542481 improved english spelling and grammar and internationalization updated
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   336
                    raise PDOmappingException, _("Type conflict for location \"%s\"") % name 
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   337
            else:
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   338
                # Get only the part of the location that concern this node
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   339
                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 (2, 3, 4):
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                    raise PDOmappingException, _("Bad location size : %s") % str(loc)
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                elif len(loc) == 2:
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                    continue
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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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   352
                
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   353
                # Check Id is in slave node list
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   354
                if nodeid not in self.NodeList.SlaveNodes.keys():
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                    raise PDOmappingException, _("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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   358
                node = self.NodeList.SlaveNodes[nodeid]["Node"]
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   359
                
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   360
                # Extract and check index and subindex
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   361
                if not node.IsEntry(index, subindex):
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   362
                    raise PDOmappingException, _("No such index/subindex (%x,%x) in ID : %d (variable %s)") % (index,subindex,nodeid,name)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
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   363
                
c0741cc16c99 Basic CANOpen master node test compiles and run.
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   364
                # Get the entry info
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   365
                subentry_infos = node.GetSubentryInfos(index, subindex)
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   366
                
c0741cc16c99 Basic CANOpen master node test compiles and run.
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   367
                # If a PDO mappable
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   368
                if subentry_infos and subentry_infos["pdo"]:
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   369
                    if sizelocation == "X" and len(loc) > 3:
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a20fb174f46e Bug on bit locations generation fixed
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diff changeset
   370
                        numbit = loc[3]
58
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   371
                    elif sizelocation != "X" and len(loc) > 3:
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diff changeset
   372
                        raise PDOmappingException, _("Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))") % (name,nodeid,index,subindex)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
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   373
                    else:
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   374
                        numbit = None
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   375
                    
166
121b18748de0 Preliminary CANopen slave generation support
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   376
                    if location["IEC_TYPE"] != "BOOL" and subentry_infos["type"] != COlocationtype:
361
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diff changeset
   377
                        raise PDOmappingException, _("Invalid type \"%s\"-> %d != %d  for location\"%s\"") % (location["IEC_TYPE"], COlocationtype, subentry_infos["type"] , name)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
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   378
                    
c0741cc16c99 Basic CANOpen master node test compiles and run.
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   379
                    typeinfos = node.GetEntryInfos(COlocationtype)
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   380
                    self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],
c0741cc16c99 Basic CANOpen master node test compiles and run.
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   381
                                                "nodeid": nodeid, "index": index,"subindex": subindex,
c0741cc16c99 Basic CANOpen master node test compiles and run.
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diff changeset
   382
                                                "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation}
c0741cc16c99 Basic CANOpen master node test compiles and run.
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diff changeset
   383
                else:
361
331d698e1118 Adding support for internationalization
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parents: 340
diff changeset
   384
                    raise PDOmappingException, _("Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))") % (name,nodeid,index,subindex)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
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diff changeset
   385
        
c0741cc16c99 Basic CANOpen master node test compiles and run.
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diff changeset
   386
        #-------------------------------------------------------------------------------
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   387
        #                         Search for locations already mapped
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   388
        #-------------------------------------------------------------------------------
c0741cc16c99 Basic CANOpen master node test compiles and run.
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diff changeset
   389
        
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   390
        for name, locationinfos in self.IECLocations.items():
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   391
            node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"]
c0741cc16c99 Basic CANOpen master node test compiles and run.
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diff changeset
   392
            
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   393
            # Search if slave has a PDO mapping this locations
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   394
            result = SearchNodePDOMapping(locationinfos, node)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   395
            if result != None:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   396
                index, subindex = result
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   397
                # Get COB ID of the PDO
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   398
                cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   399
                
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   400
                # Add PDO to MasterMapping
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   401
                if cobid not in self.MasterMapping.keys():
80
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   402
                    # Verify that PDO transmit type is conform to sync_TPDOs
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   403
                    transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   404
                    if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF:
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   405
                        if sync_TPDOs:
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   406
                            # Change TransmitType to SYNCHRONE
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   407
                            data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, [])
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   408
                        else:
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   409
                            # Change TransmitType to ASYCHRONE
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
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diff changeset
   410
                            data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, [])
d7eb6e22b02e Bug on Master DCF generation fixed
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parents: 78
diff changeset
   411
                        
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   412
                        # Add entry to slave dcf to change transmit type of 
d7eb6e22b02e Bug on Master DCF generation fixed
lbessard
parents: 78
diff changeset
   413
                        self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams)
d7eb6e22b02e Bug on Master DCF generation fixed
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parents: 78
diff changeset
   414
                                    
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   415
                    mapping = [None]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   416
                    values = node.GetEntry(index)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   417
                    # Store the size of each entry mapped in PDO
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   418
                    for value in values[1:]:
78
274a343d49d0 Bug on Master config generation fixed
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parents: 61
diff changeset
   419
                        if value != 0:
274a343d49d0 Bug on Master config generation fixed
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parents: 61
diff changeset
   420
                            mapping.append(value % 0x100)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   421
                    self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   422
            
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   423
                # Indicate that this PDO entry must be saved
270
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   424
                if locationinfos["bit"] is not None:
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   425
                    if not isinstance(self.MasterMapping[cobid]["mapping"][subindex], ListType):
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   426
                        self.MasterMapping[cobid]["mapping"][subindex] = [1] * self.MasterMapping[cobid]["mapping"][subindex]
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   427
                    if locationinfos["bit"] < len(self.MasterMapping[cobid]["mapping"][subindex]):
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   428
                        self.MasterMapping[cobid]["mapping"][subindex][locationinfos["bit"]] = (locationinfos["type"], name)
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   429
                else:
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   430
                    self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
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diff changeset
   431
                
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   432
            else:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   433
                # Add location to those that haven't been mapped yet
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   434
                if locationinfos["nodeid"] not in self.LocationsNotMapped.keys():
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   435
                    self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   436
                self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   437
    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   438
        #-------------------------------------------------------------------------------
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   439
        #                         Build concise DCF for the others locations
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   440
        #-------------------------------------------------------------------------------
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   441
        
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   442
        for nodeid, locations in self.LocationsNotMapped.items():
61
a20fb174f46e Bug on bit locations generation fixed
lbessard
parents: 59
diff changeset
   443
            node = self.NodeList.SlaveNodes[nodeid]["Node"]
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   444
            
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   445
            # Initialize number of params and data to add to node DCF
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   446
            nbparams = 0
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   447
            dataparams = ""
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   448
            
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   449
            # Generate the best PDO mapping for each type of PDO
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   450
            for pdotype in (TPDO, RPDO):
340
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   451
                if len(locations[pdotype]) > 0:
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   452
                    pdosize = 0
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   453
                    pdomapping = []
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   454
                    result = self.GetEmptyPDO(nodeid, pdotype)
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   455
                    if result is None:
415
339fa2542481 improved english spelling and grammar and internationalization updated
laurent
parents: 361
diff changeset
   456
                        raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid
340
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   457
                    pdoindex, pdocobid, pdonbparams = result
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   458
                    for name, loc_infos in locations[pdotype]:
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   459
                        pdosize += loc_infos["size"]
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   460
                        # If pdo's size > 64 bits
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   461
                        if pdosize > 64 or len(pdomapping) >= pdonbparams:
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   462
                            # Generate a new PDO Mapping
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   463
                            data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   464
                            dataparams += data
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   465
                            nbparams += nbaddedparams
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   466
                            pdosize = loc_infos["size"]
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   467
                            pdomapping = [(name, loc_infos)]
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   468
                            result = self.GetEmptyPDO(nodeid, pdotype, pdoindex + 1)
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   469
                            if result is None:
415
339fa2542481 improved english spelling and grammar and internationalization updated
laurent
parents: 361
diff changeset
   470
                                raise PDOmappingException, _("Unable to define PDO mapping for node %02x") % nodeid
340
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   471
                            pdoindex, pdocobid, pdonbparams = result
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   472
                        else:
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   473
                            pdomapping.append((name, loc_infos))
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   474
                    # If there isn't locations yet but there is still a PDO to generate
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   475
                    if len(pdomapping) > 0:
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   476
                        # Generate a new PDO Mapping
340
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   477
                        data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   478
                        dataparams += data
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   479
                        nbparams += nbaddedparams
340
651b8fb572e7 Adding support for using only PDO define in EDS file and not configured for adding mapping in node
greg
parents: 307
diff changeset
   480
                
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   481
            # Add number of params and data to node DCF
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   482
            self.AddParamsToDCF(nodeid, dataparams, nbparams)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   483
        
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   484
        #-------------------------------------------------------------------------------
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   485
        #                         Master Node Configuration
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   486
        #-------------------------------------------------------------------------------
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   487
        
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   488
        # Generate Master's Configuration from informations stored in MasterMapping
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   489
        for cobid, pdo_infos in self.MasterMapping.items():
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   490
            # Get next PDO index in MasterNode for this PDO type
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   491
            current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   492
            
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   493
            # Search if there is already a PDO in MasterNode with this cob id
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   494
            for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True):
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   495
                if self.MasterNode.GetEntry(idx, 1) == cobid:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   496
                    current_idx = idx
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   497
            
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   498
            # Add a PDO to MasterNode if not PDO have been found
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   499
            if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   500
                addinglist = [current_idx, current_idx + 0x200]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   501
                self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   502
                self.MasterNode.SetEntry(current_idx, 0x01, cobid)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   503
                
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   504
                # Increment the number of PDO for this PDO type
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   505
                self.CurrentPDOParamsIdx[pdo_infos["type"]] += 1
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   506
            
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   507
            # Change the transmit type of the PDO
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   508
            if sync_TPDOs:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   509
                self.MasterNode.SetEntry(current_idx, 0x02, 0x01)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   510
            else:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   511
                self.MasterNode.SetEntry(current_idx, 0x02, 0xFF)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   512
            
270
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   513
            mapping = []
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   514
            for item in pdo_infos["mapping"]:
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   515
                if isinstance(item, ListType):
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   516
                    mapping.extend(item)
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   517
                else:
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   518
                    mapping.append(item)
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   519
            
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   520
            # Add some subentries to PDO mapping if there is not enough
270
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   521
            if len(mapping) > 1:
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   522
                self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(mapping) - 1, self.MasterNode)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   523
            
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   524
            # Generate MasterNode's PDO mapping
270
3b8fb275cf7e Bug on bit mapping in CanFestival plugin fixed
lbessard
parents: 225
diff changeset
   525
            for subindex, variable in enumerate(mapping):
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   526
                if subindex == 0:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   527
                    continue
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   528
                new_index = False
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   529
                
225
aed21ae6658f Some instance type test improved
lbessard
parents: 166
diff changeset
   530
                if isinstance(variable, (IntType, LongType)):
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   531
                    # If variable is an integer then variable is unexpected
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   532
                    self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable])
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   533
                else:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   534
                    typeidx, varname = variable
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   535
                    variable_infos = self.IECLocations[varname]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   536
                    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   537
                    # Calculate base index for storing variable
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   538
                    mapvariableidx = VariableStartIndex[variable_infos["pdotype"]] + \
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   539
                                     VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   540
                                     variable_infos["nodeid"]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   541
                    
163
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   542
                    # Generate entry name
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   543
                    indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]],
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   544
                                                 variable_infos["sizelocation"],
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   545
                                                 '_'.join(map(str,current_location)),
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   546
                                                 variable_infos["nodeid"])    
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   547
                    
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   548
                    # Search for an entry that has an empty subindex 
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   549
                    while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   550
                        # Entry doesn't exist
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   551
                        if not self.MasterNode.IsEntry(mapvariableidx):    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   552
                            # Add entry to MasterNode
163
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   553
                            self.Manager.AddMapVariableToCurrent(mapvariableidx, "beremiz"+indexname, 3, 1, self.MasterNode)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   554
                            new_index = True
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   555
                            nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   556
                        else:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   557
                            # Get Number of subentries already defined
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   558
                            nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   559
                            # if entry is full, go to next entry possible or stop now
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   560
                            if nbsubentries == 0xFF:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   561
                                mapvariableidx += 8 * VariableIncrement
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   562
                            else:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   563
                                break
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   564
                                
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   565
                    # Verify that a not full entry has been found
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   566
                    if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   567
                        # Generate subentry name
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   568
                        if variable_infos["bit"] != None:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   569
                            subindexname = "%(index)d_%(subindex)d_%(bit)d"%variable_infos
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   570
                        else:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   571
                            subindexname = "%(index)d_%(subindex)d"%variable_infos
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   572
                        # If entry have just been created, no subentry have to be added
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   573
                        if not new_index:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   574
                            self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   575
                            nbsubentries += 1
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   576
                        # Add informations to the new subentry created
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   577
                        self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   578
                        self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   579
                        
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   580
                        # Set value of the PDO mapping
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   581
                        typeinfos = self.Manager.GetEntryInfos(typeidx)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   582
                        if typeinfos != None:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   583
                            value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   584
                            self.MasterNode.SetEntry(current_idx + 0x200, subindex, value)
163
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   585
                        
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   586
                        # Add variable to pointed variables
482ca562d414 Support for extern pointer for located variables + Preliminary slave code (broken)
etisserant
parents: 155
diff changeset
   587
                        self.PointedVariables[(mapvariableidx, nbsubentries)] = "%s_%s"%(indexname, subindexname)
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   588
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   589
def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs, nodename):
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   590
    """
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   591
    Fills a CanFestival network editor model, with DCF with requested PDO mappings.
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   592
    @param locations: List of complete variables locations \
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   593
        [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   594
        "NAME" : name of the variable (generally "__IW0_1_2" style)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   595
        "DIR" : direction "Q","I" or "M"
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   596
        "SIZE" : size "X", "B", "W", "D", "L"
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   597
        "LOC" : tuple of interger for IEC location (0,1,2,...)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   598
        }, ...]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   599
    @param nodelist: CanFestival network editor model
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   600
    @return: a modified copy of the given CanFestival network editor model
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   601
    """
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   602
    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   603
    dcfgenerator = ConciseDCFGenerator(nodelist, nodename)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   604
    dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs)
307
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   605
    masternode,pointers = dcfgenerator.GetMasterNode(), dcfgenerator.GetPointedVariables()
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   606
    # allow access to local OD from Master PLC
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   607
    pointers.update(LocalODPointers(locations, current_location, masternode))
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   608
    return masternode,pointers
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   609
166
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   610
def LocalODPointers(locations, current_location, slave):
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   611
    IECLocations = {}
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   612
    pointers = {}
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   613
    for location in locations:
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   614
        COlocationtype = IECToCOType[location["IEC_TYPE"]]
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   615
        name = location["NAME"]
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   616
        if name in IECLocations:
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   617
            if IECLocations[name] != COlocationtype:
415
339fa2542481 improved english spelling and grammar and internationalization updated
laurent
parents: 361
diff changeset
   618
                raise PDOmappingException, _("Type conflict for location \"%s\"") % name 
166
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   619
        else:
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   620
            # Get only the part of the location that concern this node
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   621
            loc = location["LOC"][len(current_location):]
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   622
            # loc correspond to (ID, INDEX, SUBINDEX [,BIT])
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   623
            if len(loc) not in (2, 3, 4):
361
331d698e1118 Adding support for internationalization
laurent
parents: 340
diff changeset
   624
                raise PDOmappingException, _("Bad location size : %s") % str(loc)
166
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   625
            elif len(loc) != 2:
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   626
                continue
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   627
            
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   628
            # Extract and check nodeid
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   629
            index, subindex = loc[:2]
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   630
            
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   631
            # Extract and check index and subindex
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   632
            if not slave.IsEntry(index, subindex):
361
331d698e1118 Adding support for internationalization
laurent
parents: 340
diff changeset
   633
                raise PDOmappingException, _("No such index/subindex (%x,%x) (variable %s)") % (index, subindex, name)
166
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   634
            
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   635
            # Get the entry info
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   636
            subentry_infos = slave.GetSubentryInfos(index, subindex)    
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   637
            if subentry_infos["type"] != COlocationtype:
361
331d698e1118 Adding support for internationalization
laurent
parents: 340
diff changeset
   638
                raise PDOmappingException, _("Invalid type \"%s\"-> %d != %d  for location\"%s\"") % (location["IEC_TYPE"], COlocationtype, subentry_infos["type"] , name)
166
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   639
            
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   640
            IECLocations[name] = COlocationtype
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   641
            pointers[(index, subindex)] = name
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   642
    return pointers
121b18748de0 Preliminary CANopen slave generation support
etisserant
parents: 163
diff changeset
   643
        
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   644
if __name__ == "__main__":
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   645
    import os, sys, getopt
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   646
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   647
    def usage():
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   648
        print """
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   649
Usage of config_utils.py test :
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   650
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   651
    %s [options]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   652
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   653
Options:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   654
    --help  (-h)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   655
            Displays help informations for config_utils
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   656
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   657
    --reset (-r)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   658
            Reset the reference result of config_utils test.
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   659
            Use with caution. Be sure that config_utils
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   660
            is currently working properly.
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   661
"""%sys.argv[0]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   662
    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   663
    # Boolean that indicate if reference result must be redefined
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   664
    reset = False
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   665
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   666
    # Extract command options
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   667
    try:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   668
        opts, args = getopt.getopt(sys.argv[1:], "hr", ["help","reset"])
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   669
    except getopt.GetoptError:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   670
        # print help information and exit:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   671
        usage()
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   672
        sys.exit(2)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   673
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   674
    # Test each option
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   675
    for o, a in opts:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   676
        if o in ("-h", "--help"):
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   677
            usage()
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   678
            sys.exit()
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   679
        elif o in ("-r", "--reset"):
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   680
            reset = True
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   681
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   682
    # Extract workspace base folder
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   683
    base_folder = sys.path[0]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   684
    for i in xrange(3):
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   685
        base_folder = os.path.split(base_folder)[0]
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   686
    # Add CanFestival folder to search pathes
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   687
    sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen"))
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   688
    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   689
    from nodemanager import *
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   690
    from nodelist import *
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   691
    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   692
    # Open the test nodelist contained into test_config folder
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   693
    manager = NodeManager()
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   694
    nodelist = NodeList(manager)
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   695
    result = nodelist.LoadProject("test_config")
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   696
    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   697
    # List of locations, we try to map for test
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   698
    locations = [{"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24576_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24576,1)},
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   699
                 {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_2","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,2)},
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   700
                 {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_3","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,3)},
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   701
                 {"IEC_TYPE":"INT","NAME":"__QW0_1_64_25617_2","DIR":"Q","SIZE":"W","LOC":(0,1,64,25617,1)},
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   702
                 {"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24578_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24578,1)},
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   703
                 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_1","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,1)},
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   704
                 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_2","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,2)},
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   705
                 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_3","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,3)},
307
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   706
                 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_4","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,4)},
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   707
                 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_4096_0","DIR":"I","SIZE":"D","LOC":(0,1,4096,0)}]
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   708
    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   709
    # Generate MasterNode configuration
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   710
    try:
307
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   711
        masternode, pointedvariables = GenerateConciseDCF(locations, (0, 1), nodelist, True, "TestNode")
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   712
    except ValueError, message:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   713
        print "%s\nTest Failed!"%message
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   714
        sys.exit()
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   715
    
307
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   716
    import pprint
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   717
    # Get Text corresponding to MasterNode 
307
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   718
    result_node = masternode.PrintString()
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   719
    result_vars = pprint.pformat(pointedvariables)
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   720
    result = result_node + "\n********POINTERS*********\n" + result_vars + "\n"
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   721
    
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   722
    # If reset has been choosen
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   723
    if reset:
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   724
        # Write Text into reference result file
307
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   725
        testfile = open("test_config/result.txt", "w")
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   726
        testfile.write(result)
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   727
        testfile.close()
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   728
        
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   729
        print "Reset Successful!"
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   730
    else:
150
204d515df3dd Fixed non-regression test of config_utils in canfestival plugin
etisserant
parents: 80
diff changeset
   731
        import os
204d515df3dd Fixed non-regression test of config_utils in canfestival plugin
etisserant
parents: 80
diff changeset
   732
        
307
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   733
        testfile = open("test_config/result_tmp.txt", "w")
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   734
        testfile.write(result)
b80d3a84b8bf Updated config_utils so that command line tests work.
etisserant
parents: 270
diff changeset
   735
        testfile.close()
58
c0741cc16c99 Basic CANOpen master node test compiles and run.
etisserant
parents:
diff changeset
   736
        
150
204d515df3dd Fixed non-regression test of config_utils in canfestival plugin
etisserant
parents: 80
diff changeset
   737
        os.system("diff test_config/result.txt test_config/result_tmp.txt")
204d515df3dd Fixed non-regression test of config_utils in canfestival plugin
etisserant
parents: 80
diff changeset
   738
        os.remove("test_config/result_tmp.txt")