1

import os

     2

     3

from EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName

     4

     5

SLAVE_PDOS_CONFIGURATION_DECLARATION = """

     6

/* Slave %(slave)d, "%(device_type)s"

     7

 * Vendor ID:       0x%(vendor).8x

     8

 * Product code:    0x%(product_code).8x

     9

 * Revision number: 0x%(revision_number).8x

    10

 */

    11

    12

ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = {

    13

%(pdos_entries_infos)s

    14

};

    15

    16

ec_pdo_info_t slave_%(slave)d_pdos[] = {

    17

%(pdos_infos)s

    18

};

    19

    20

ec_sync_info_t slave_%(slave)d_syncs[] = {

    21

%(pdos_sync_infos)s

    22

    {0xff}

    23

};

    24

"""

    25

    26

SLAVE_CONFIGURATION_TEMPLATE = """

    27

    if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) {

    28

        SLOGF(LOG_CRITICAL, "EtherCAT failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.");

    29

        goto ecat_failed;

    30

    }

    31

    32

    if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) {

    33

        SLOGF(LOG_CRITICAL, "EtherCAT failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.");

    34

        goto ecat_failed;

    35

    }

    36

"""

    37

    38

SLAVE_INITIALIZATION_TEMPLATE = """

    39

    {

    40

        uint8_t value[%(data_size)d];

    41

        EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s);

    42

        if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) {

    43

            SLOGF(LOG_CRITICAL, "EtherCAT Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%d", abort_code);

    44

            goto ecat_failed;

    45

        }

    46

    }

    47

"""

    48

    49

SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """

    50

    {

    51

        uint8_t value[%(data_size)d];

    52

        if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {

    53

            SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);

    54

            goto ecat_failed;

    55

        }

    56

        %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);

    57

    }

    58

"""

    59

    60

def ConfigureVariable(entry_infos, str_completion):

    61

    entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)

    62

    if entry_infos["data_type"] is None:

    63

        raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]

    64

    65

    if not entry_infos.get("no_decl", False):

    66

        if entry_infos.has_key("real_var"):

    67

            str_completion["located_variables_declaration"].append(

    68

                "IEC_%(var_type)s %(real_var)s;" % entry_infos)

    69

        else:

    70

            entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]

    71

            str_completion["located_variables_declaration"].extend(

    72

                ["IEC_%(var_type)s %(real_var)s;" % entry_infos,

    73

                 "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos])

    74

        for declaration in entry_infos.get("extra_declarations", []):

    75

            entry_infos["extra_decl"] = declaration

    76

            str_completion["located_variables_declaration"].append(

    77

                 "IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos)

    78

    elif not entry_infos.has_key("real_var"):

    79

        entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]

    80

    81

    str_completion["used_pdo_entry_offset_variables_declaration"].append(

    82

        "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos)

    83

    84

    if entry_infos["data_type"] == "BIT":

    85

        str_completion["used_pdo_entry_offset_variables_declaration"].append(

    86

            "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos)

    87

    88

        str_completion["used_pdo_entry_configuration"].append(

    89

             ("    {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + 

    90

              "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + 

    91

              "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos)

    92

    93

        if entry_infos["dir"] == "I":

    94

            str_completion["retrieve_variables"].append(

    95

              ("    %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + 

    96

               "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos)

    97

        elif entry_infos["dir"] == "Q":

    98

            str_completion["publish_variables"].append(

    99

              ("    EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + 

   100

               "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos)

   101

   102

    else:

   103

        str_completion["used_pdo_entry_configuration"].append(

   104

            ("    {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + 

   105

             "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos)

   106

   107

        if entry_infos["dir"] == "I":

   108

            str_completion["retrieve_variables"].append(

   109

                ("    %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + 

   110

                 "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos)

   111

        elif entry_infos["dir"] == "Q":

   112

            str_completion["publish_variables"].append(

   113

                ("    EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + 

   114

                 "%(real_var)s);") % entry_infos)

   115

   116

def ExclusionSortFunction(x, y):

   117

    if x["matching"] == y["matching"]:

   118

        if x["assigned"] and not y["assigned"]:

   119

            return -1

   120

        elif not x["assigned"] and y["assigned"]:

   121

            return 1

   122

        return cmp(x["count"], y["count"])

   123

    return -cmp(x["matching"], y["matching"])

   124

   125

class _EthercatCFileGenerator:

   126

   127

    def __init__(self, controler):

   128

        self.Controler = controler

   129

   130

        self.Slaves = []

   131

        self.UsedVariables = {}

   132

   133

    def __del__(self):

   134

        self.Controler = None            

   135

   136

    def DeclareSlave(self, slave_index, slave):

   137

        self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave))

   138

   139

    def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False):

   140

        slave_variables = self.UsedVariables.setdefault(slave_index, {})

   141

   142

        entry_infos = slave_variables.get((index, subindex), None)

   143

        if entry_infos is None:

   144

            slave_variables[(index, subindex)] = {

   145

                "infos": (iec_type, dir, name, no_decl, []),

   146

                "mapped": False}

   147

            return name

   148

        elif entry_infos["infos"][:2] == (iec_type, dir):

   149

            if name != entry_infos["infos"][2]:

   150

                if dir == "I":

   151

                    entry_infos["infos"][4].append(name)

   152

                    return entry_infos["infos"][2]

   153

                else:

   154

                    raise ValueError, _("Output variables can't be defined with different locations (%s and %s)") % (entry_infos["infos"][2], name)

   155

        else:

   156

            raise ValueError, _("Definition conflict for location \"%s\"") % name 

   157

   158

    def GenerateCFile(self, filepath, location_str, master_number):

   159

   160

        # Extract etherlab master code template

   161

        plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")

   162

        plc_etherlab_file = open(plc_etherlab_filepath, 'r')

   163

        plc_etherlab_code = plc_etherlab_file.read()

   164

        plc_etherlab_file.close()

   165

   166

        # Initialize strings for formatting master code template

   167

        str_completion = {

   168

            "location": location_str,

   169

            "master_number": master_number,

   170

            "located_variables_declaration": [],

   171

            "used_pdo_entry_offset_variables_declaration": [],

   172

            "used_pdo_entry_configuration": [],

   173

            "pdos_configuration_declaration": "",

   174

            "slaves_declaration": "",

   175

            "slaves_configuration": "",

   176

            "slaves_output_pdos_default_values_extraction": "",

   177

            "slaves_initialization": "",

   178

            "retrieve_variables": [],

   179

            "publish_variables": [],

   180

        }

   181

   182

        # Initialize variable storing variable mapping state

   183

        for slave_entries in self.UsedVariables.itervalues():

   184

            for entry_infos in slave_entries.itervalues():

   185

                entry_infos["mapped"] = False

   186

   187

        # Sort slaves by position (IEC_Channel)

   188

        self.Slaves.sort()

   189

        # Initialize dictionary storing alias auto-increment position values

   190

        alias = {}

   191

   192

        # Generating code for each slave

   193

        for (slave_idx, slave_alias, slave) in self.Slaves:

   194

            type_infos = slave.getType()

   195

   196

            # Defining slave alias and auto-increment position

   197

            if alias.get(slave_alias) is not None:

   198

                alias[slave_alias] += 1

   199

            else:

   200

                alias[slave_alias] = 0

   201

            slave_pos = (slave_alias, alias[slave_alias])

   202

   203

            # Extract slave device informations

   204

            device, module_extra_params = self.Controler.GetModuleInfos(type_infos)

   205

            if device is None:

   206

                raise ValueError, _("No informations found for device %s!") % (type_infos["device_type"])

   207

   208

            # Extract slaves variables to be mapped

   209

            slave_variables = self.UsedVariables.get(slave_idx, {})

   210

   211

            # Extract slave device object dictionary entries

   212

            device_entries = device.GetEntriesList()

   213

   214

            # Adding code for declaring slave in master code template strings

   215

            for element in ["vendor", "product_code", "revision_number"]:

   216

                type_infos[element] = ExtractHexDecValue(type_infos[element])

   217

            type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))

   218

   219

            # Extract slave device CoE informations

   220

            device_coe = device.getCoE()

   221

            if device_coe is not None:

   222

   223

                # If device support CanOpen over Ethernet, adding code for calling 

   224

                # init commands when initializing slave in master code template strings

   225

                initCmds = []

   226

                for initCmd in device_coe.getInitCmd():

   227

                    initCmds.append({

   228

                        "Index": ExtractHexDecValue(initCmd.getIndex()),

   229

                        "Subindex": ExtractHexDecValue(initCmd.getSubIndex()),

   230

                        "Value": initCmd.getData().getcontent()})

   231

                initCmds.extend(slave.getStartupCommands())

   232

                for initCmd in initCmds:

   233

                    index = initCmd["Index"]

   234

                    subindex = initCmd["Subindex"]

   235

                    entry = device_entries.get((index, subindex), None)

   236

                    if entry is not None:

   237

                        data_size = entry["BitSize"] / 8

   238

                        data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"]

   239

                        init_cmd_infos = {

   240

                            "index": index,

   241

                            "subindex": subindex,

   242

                            "data": data_str,

   243

                            "data_type": DATATYPECONVERSION.get(entry["Type"]),

   244

                            "data_size": data_size

   245

                        }

   246

                        init_cmd_infos.update(type_infos)

   247

                        str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos

   248

   249

                # Extract slave device PDO configuration capabilities

   250

                PdoAssign = device_coe.getPdoAssign()

   251

                PdoConfig = device_coe.getPdoConfig()

   252

            else:

   253

                PdoAssign = PdoConfig = False

   254

   255

            # Test if slave has a configuration or need one

   256

            if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign:

   257

   258

                str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos

   259

                str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos

   260

   261

                # Initializing 

   262

                pdos_infos = {

   263

                    "pdos_entries_infos": [],

   264

                    "pdos_infos": [],

   265

                    "pdos_sync_infos": [], 

   266

                }

   267

                pdos_infos.update(type_infos)

   268

   269

                sync_managers = []

   270

                for sync_manager_idx, sync_manager in enumerate(device.getSm()):

   271

                    sync_manager_infos = {

   272

                        "index": sync_manager_idx, 

   273

                        "name": sync_manager.getcontent(),

   274

                        "slave": slave_idx,

   275

                        "pdos": [], 

   276

                        "pdos_number": 0,

   277

                    }

   278

   279

                    sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())

   280

                    sync_manager_direction = sync_manager_control_byte & 0x0c

   281

                    sync_manager_watchdog = sync_manager_control_byte & 0x40

   282

                    if sync_manager_direction:

   283

                        sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"

   284

                    else:

   285

                        sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"

   286

                    if sync_manager_watchdog:

   287

                        sync_manager_infos["watchdog"] = "EC_WD_ENABLE"

   288

                    else:

   289

                        sync_manager_infos["watchdog"] = "EC_WD_DISABLE"

   290

   291

                    sync_managers.append(sync_manager_infos)

   292

   293

                pdos_index = []

   294

                exclusive_pdos = {}

   295

                selected_pdos = []

   296

                for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +

   297

                                      [(pdo, "Outputs") for pdo in device.getRxPdo()]):

   298

   299

                    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())

   300

                    pdos_index.append(pdo_index)

   301

   302

                    excluded_list = pdo.getExclude()

   303

                    if len(excluded_list) > 0:

   304

                        exclusion_list = [pdo_index]

   305

                        for excluded in excluded_list:

   306

                            exclusion_list.append(ExtractHexDecValue(excluded.getcontent()))

   307

                        exclusion_list.sort()

   308

   309

                        exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])

   310

   311

                        entries = pdo.getEntry()

   312

                        pdo_mapping_match = {

   313

                            "index": pdo_index, 

   314

                            "matching": 0, 

   315

                            "count": len(entries), 

   316

                            "assigned": pdo.getSm() is not None

   317

                        }

   318

                        exclusion_scope.append(pdo_mapping_match)

   319

   320

                        for entry in entries:

   321

                            index = ExtractHexDecValue(entry.getIndex().getcontent())

   322

                            subindex = ExtractHexDecValue(entry.getSubIndex())

   323

                            if slave_variables.get((index, subindex), None) is not None:

   324

                                pdo_mapping_match["matching"] += 1

   325

   326

                        if pdo.getFixed() != True:

   327

                            pdo_mapping_match["matching"] += \

   328

                                module_extra_params["max_pdo_size"] - \

   329

                                pdo_mapping_match["count"]

   330

   331

                    elif pdo.getMandatory():

   332

                        selected_pdos.append(pdo_index)

   333

   334

                excluded_pdos = []

   335

                for exclusion_scope in exclusive_pdos.itervalues():

   336

                    exclusion_scope.sort(ExclusionSortFunction)

   337

                    start_excluding_index = 0

   338

                    if exclusion_scope[0]["matching"] > 0:

   339

                        selected_pdos.append(exclusion_scope[0]["index"])

   340

                        start_excluding_index = 1

   341

                    excluded_pdos.extend([pdo["index"] 

   342

                        for pdo in exclusion_scope[start_excluding_index:] 

   343

                        if PdoAssign or not pdo["assigned"]])

   344

   345

                for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +

   346

                                      [(pdo, "Outputs") for pdo in device.getRxPdo()]):

   347

                    entries = pdo.getEntry()

   348

   349

                    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())

   350

                    if pdo_index in excluded_pdos:

   351

                        continue

   352

   353

                    pdo_needed = pdo_index in selected_pdos

   354

   355

                    entries_infos = []

   356

   357

                    for entry in entries:

   358

                        index = ExtractHexDecValue(entry.getIndex().getcontent())

   359

                        subindex = ExtractHexDecValue(entry.getSubIndex())

   360

                        entry_infos = {

   361

                            "index": index,

   362

                            "subindex": subindex,

   363

                            "name": ExtractName(entry.getName()),

   364

                            "bitlen": entry.getBitLen(),

   365

                        }

   366

                        entry_infos.update(type_infos)

   367

                        entries_infos.append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)

   368

   369

                        entry_declaration = slave_variables.get((index, subindex), None)

   370

                        if entry_declaration is not None and not entry_declaration["mapped"]:

   371

                            pdo_needed = True

   372

   373

                            entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], 

   374

                                                        entry_declaration["infos"])))

   375

                            entry_declaration["mapped"] = True

   376

   377

                            entry_type = entry.getDataType().getcontent()

   378

                            if entry_infos["var_type"] != entry_type:

   379

                                message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]

   380

                                if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != 

   381

                                    self.Controler.GetSizeOfType(entry_type)):

   382

                                    raise ValueError, message

   383

                                else:

   384

                                    self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")

   385

   386

                            if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or 

   387

                                entry_infos["dir"] == "Q" and pdo_type != "Outputs"):

   388

                                raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]

   389

   390

                            ConfigureVariable(entry_infos, str_completion)

   391

   392

                        elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:

   393

                            data_type = entry.getDataType().getcontent()

   394

                            entry_infos["dir"] = "Q"

   395

                            entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)

   396

                            entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)

   397

                            entry_infos["var_type"] = data_type

   398

                            entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos

   399

   400

                            ConfigureVariable(entry_infos, str_completion)

   401

   402

                            str_completion["slaves_output_pdos_default_values_extraction"] += \

   403

                                SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos

   404

   405

                    if pdo_needed:

   406

                        for excluded in pdo.getExclude():

   407

                            excluded_index = ExtractHexDecValue(excluded.getcontent())

   408

                            if excluded_index not in excluded_pdos:

   409

                                excluded_pdos.append(excluded_index)

   410

   411

                        sm = pdo.getSm()

   412

                        if sm is None:

   413

                            for sm_idx, sync_manager in enumerate(sync_managers):

   414

                                if sync_manager["name"] == pdo_type:

   415

                                    sm = sm_idx

   416

                        if sm is None:

   417

                            raise ValueError, _("No sync manager available for %s pdo!") % pdo_type

   418

   419

                        sync_managers[sm]["pdos_number"] += 1

   420

                        sync_managers[sm]["pdos"].append(

   421

                            {"slave": slave_idx,

   422

                             "index": pdo_index,

   423

                             "name": ExtractName(pdo.getName()),

   424

                             "type": pdo_type, 

   425

                             "entries": entries_infos,

   426

                             "entries_number": len(entries_infos),

   427

                             "fixed": pdo.getFixed() == True})

   428

   429

                if PdoConfig and PdoAssign:

   430

                    dynamic_pdos = {}

   431

                    dynamic_pdos_number = 0

   432

                    for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), 

   433

                                                           ("Outputs", 0x1a00, 0x1C00)]:

   434

                        for sync_manager in sync_managers:

   435

                            if sync_manager["name"] == category:

   436

                                category_infos = dynamic_pdos.setdefault(category, {})

   437

                                category_infos["sync_manager"] = sync_manager

   438

                                category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] 

   439

                                                          if not pdo["fixed"] and pdo["type"] == category]

   440

                                category_infos["current_index"] = min_index

   441

                                category_infos["max_index"] = max_index

   442

                                break

   443

   444

                    for (index, subindex), entry_declaration in slave_variables.iteritems():

   445

   446

                        if not entry_declaration["mapped"]:

   447

                            entry = device_entries.get((index, subindex), None)

   448

                            if entry is None:

   449

                                raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \

   450

                                                 (index, subindex, type_infos["device_type"])

   451

   452

                            entry_infos = {

   453

                                "index": index,

   454

                                "subindex": subindex,

   455

                                "name": entry["Name"],

   456

                                "bitlen": entry["BitSize"],

   457

                            }

   458

                            entry_infos.update(type_infos)

   459

   460

                            entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], 

   461

                                                        entry_declaration["infos"])))

   462

                            entry_declaration["mapped"] = True

   463

   464

                            if entry_infos["var_type"] != entry["Type"]:

   465

                                message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]

   466

                                if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != 

   467

                                    self.Controler.GetSizeOfType(entry["Type"])):

   468

                                    raise ValueError, message

   469

                                else:

   470

                                    self.Controler.GetCTRoot().logger.write_warning(message + "\n")

   471

   472

                            if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:

   473

                                pdo_type = "Inputs"

   474

                            elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:

   475

                                pdo_type = "Outputs"

   476

                            else:

   477

                                raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]

   478

   479

                            if not dynamic_pdos.has_key(pdo_type):

   480

                                raise ValueError, _("No Sync manager defined for %s!") % pdo_type

   481

   482

                            ConfigureVariable(entry_infos, str_completion)

   483

   484

                            if len(dynamic_pdos[pdo_type]["pdos"]) > 0:

   485

                                pdo = dynamic_pdos[pdo_type]["pdos"][0]

   486

                            elif module_extra_params["add_pdo"]:

   487

                                while dynamic_pdos[pdo_type]["current_index"] in pdos_index:

   488

                                    dynamic_pdos[pdo_type]["current_index"] += 1

   489

                                if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:

   490

                                    raise ValueError, _("No more free PDO index available for %s!") % pdo_type

   491

                                pdos_index.append(dynamic_pdos[pdo_type]["current_index"])

   492

   493

                                dynamic_pdos_number += 1

   494

                                pdo = {"slave": slave_idx,

   495

                                       "index": dynamic_pdos[pdo_type]["current_index"],

   496

                                       "name": "Dynamic PDO %d" % dynamic_pdos_number,

   497

                                       "type": pdo_type, 

   498

                                       "entries": [],

   499

                                       "entries_number": 0,

   500

                                       "fixed": False}

   501

                                dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1

   502

                                dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)

   503

                                dynamic_pdos[pdo_type]["pdos"].append(pdo)

   504

                            else:

   505

                                break

   506

   507

                            pdo["entries"].append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)

   508

                            if entry_infos["bitlen"] < module_extra_params["pdo_alignment"]: