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#!/usr/bin/env python

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

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

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

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#

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

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#

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#See COPYING file for copyrights details.

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#

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

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#modify it under the terms of the GNU General Public

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#License as published by the Free Software Foundation; either

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

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#

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

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

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

    19

#General Public License for more details.

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#

    21

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

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

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

    24

    25

from types import *

    26

    27

# Translation between IEC types and Can Open types

    28

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

    29

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

    30

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

    31

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

    32

    33

# Constants for PDO types 

    34

RPDO = 1

    35

TPDO = 2

    36

    37

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

    38

InvertPDOType = {RPDO : TPDO, TPDO : RPDO}

    39

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

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

    41

    42

VariableIncrement = 0x100

    43

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

    44

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

    45

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

    46

    47

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

    48

    49

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

    50

#                  Specific exception for PDO mapping errors

    51

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

    52

    53

class PDOmappingException(Exception):

    54

    pass

    55

    56

    57

def LE_to_BE(value, size):

    58

    """

    59

    Convert Little Endian to Big Endian

    60

    @param value: value expressed in integer

    61

    @param size: number of bytes generated

    62

    @return: a string containing the value converted

    63

    """

    64

    65

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

    66

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

    67

    list_car.reverse()

    68

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

    69

    70

    71

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

    72

    """

    73

    Find the PDO indexes of a node

    74

    @param node: node 

    75

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

    76

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

    77

    @return: a list of indexes found

    78

    """

    79

    80

    indexes = []

    81

    if type & RPDO:

    82

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

    83

    if type & TPDO:

    84

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

    85

    if not parameters:

    86

        return [idx + 0x200 for idx in indexes]

    87

    else:

    88

        return indexes

    89

    90

    91

def SearchNodePDOMapping(loc_infos, node):

    92

    """

    93

    Find the PDO indexes of a node

    94

    @param node: node 

    95

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

    96

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

    97

    @return: a list of indexes found

    98

    """

    99

   100

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

   101

   102

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

   103

        values = node.GetEntry(PDOidx)

   104

        if values != None:

   105

            for subindex, mapping in enumerate(values):

   106

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

   107

                    return PDOidx, subindex

   108

    return None

   109

   110

   111

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

   112

    """

   113

    Build concise DCF value for configuring a PDO

   114

    @param idx: index of PDO parameters

   115

    @param cobid: PDO generated COB ID

   116

    @param transmittype : PDO transmit type

   117

    @param pdomapping: list of PDO mappings

   118

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

   119

    """

   120

   121

    # Create entry for RPDO or TPDO parameters and Disable PDO

   122

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

   123

    # Set Transmit type synchrone

   124

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

   125

    # Re-Enable PDO

   126

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

   127

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

   128

    nbparams = 3

   129

    if len(pdomapping) > 0:

   130

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

   131

        nbparams += 1

   132

        # Map Variables

   133

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

   134

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

   135

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

   136

            nbparams += 1

   137

    return dcfdata, nbparams

   138

   139

class ConciseDCFGenerator:

   140

   141

    def __init__(self, nodelist, nodename):

   142

        # Dictionary of location informations classed by name

   143

        self.IECLocations = {}

   144

        # Dictionary of location that have not been mapped yet

   145

        self.LocationsNotMapped = {}

   146

        # Dictionary of location informations classed by name

   147

        self.MasterMapping = {}

   148

        # List of COB IDs available

   149

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

   150

        # Dictionary of mapping value where unexpected variables are stored

   151

        self.TrashVariables = {}

   152

        # Dictionary of pointed variables

   153

        self.PointedVariables = {}

   154

   155

        self.NodeList = nodelist

   156

        self.Manager = self.NodeList.Manager

   157

        self.MasterNode = self.Manager.GetCurrentNodeCopy()

   158

        self.MasterNode.SetNodeName(nodename)

   159

        self.PrepareMasterNode()

   160

   161

    def GetPointedVariables(self):

   162

        return self.PointedVariables

   163

   164

    def RemoveUsedNodeCobId(self, node):

   165

        """

   166

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

   167

        @param node: node

   168

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

   169

        """

   170

   171

        # Get list of all node TPDO and RPDO indexes

   172

        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

   173

        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

   174

   175

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

   176

        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

   177

            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

   178

            # Extract COB ID, if PDO isn't active

   179

            if pdo_cobid > 0x600 :

   180

                pdo_cobid -= 0x80000000

   181

            # Remove COB ID from the list of available COB ID

   182

            if pdo_cobid in self.ListCobIDAvailable:

   183

                self.ListCobIDAvailable.remove(pdo_cobid)

   184

   185

        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

   186

   187

   188

    def PrepareMasterNode(self):

   189

        """

   190

        Add mandatory entries for DCF generation into MasterNode.

   191

        """

   192

   193

        # Adding DCF entry into Master node

   194

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

   195

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

   196

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

   197

   198

        # Adding trash mappable variables for unused mapped datas

   199

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

   200

        # Add an entry for storing unexpected all variable

   201

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

   202

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

   203

            # Add a subentry for storing unexpected variable of this size

   204

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

   205

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

   206

            # Store the mapping value for this entry

   207

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

   208

   209

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

   210

   211

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

   212

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

   213

   214

        # Prepare MasterNode with all nodelist slaves

   215

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

   216

            node = nodeinfos["Node"]

   217

            node.SetNodeID(nodeid)

   218

   219

            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

   220

   221

            # Get Slave's default SDO server parameters

   222

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

   223

            if not RSDO_cobid:

   224

                RSDO_cobid = 0x600 + nodeid

   225

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

   226

            if not TSDO_cobid:

   227

                TSDO_cobid = 0x580 + nodeid

   228

   229

            # Configure Master's SDO parameters entries

   230

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

   231

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

   232

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

   233

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

   234

   235

   236

    def GetMasterNode(self):

   237

        """

   238

        Return MasterNode.

   239

        """

   240

        return self.MasterNode

   241

   242

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

   243

        """

   244

        Add entry to DCF, for the requested nodeID

   245

        @param nodeid: id of the slave (int)

   246

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

   247

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

   248

        """

   249

        # Get current DCF for slave

   250

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

   251

   252

        # Extract data and number of params in current DCF

   253

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

   254

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

   255

            tmpnbparams.reverse()

   256

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

   257

            data = nodeDCF[4:] + data

   258

   259

        # Build new DCF

   260

        dcf = LE_to_BE(nbparams, 0x04) + data

   261

        # Set new DCF for slave

   262

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

   263

   264

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

   265

        """

   266

        Search a not configured PDO for a slave

   267

        @param node: the slave node object

   268

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

   269

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

   270

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

   271

        """

   272

        # If no start_index defined, start with PDOtype base index

   273

        if start_index is None:

   274

            index = PDOTypeBaseIndex[pdotype]

   275

        else:

   276

            index = start_index

   277

   278

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

   279

        # starting from start_index

   280

        while index < PDOTypeBaseIndex[pdotype] + 0x200:

   281

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

   282

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

   283

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

   284

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

   285

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

   286

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

   287

                    if cobid == 0:

   288

                        if len(self.ListCobIDAvailable) == 0:

   289

                            return None

   290

                        # Calculate COB ID from standard values

   291

                        if index < PDOTypeBaseIndex[pdotype] + 4:

   292

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

   293

                        if cobid not in self.ListCobIDAvailable:

   294

                            cobid = self.ListCobIDAvailable.pop(0)

   295

                    return index, cobid, values[0]

   296

            index += 1

   297

        return None

   298

   299

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

   300

        """

   301

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

   302

        @param nodeid: id of the slave (int)

   303

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

   304

        @param pdomapping: list od variables to map with PDO

   305

        """

   306

        # Add an entry to MasterMapping

   307

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

   308

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

   309

   310

        # Return the data to add to DCF

   311

        if sync_TPDOs:

   312

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

   313

        else:

   314

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

   315

        return 0, ""

   316

   317

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

   318

        """

   319

        Generate Concise DCF of MasterNode for the locations list given

   320

        @param locations: list of locations to be mapped

   321

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

   322

        @param sync_TPDOs: indicate if TPDO must be synchronous

   323

        """

   324

   325

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

   326

        #               Verify that locations correspond to real slave variables

   327

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

   328

   329

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

   330

        for location in locations:

   331

            COlocationtype = IECToCOType[location["IEC_TYPE"]]

   332

            name = location["NAME"]

   333

            if name in self.IECLocations:

   334

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

   335

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

   336

            else:

   337

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

   338

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

   339

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

   340

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

   341

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

   342

                elif len(loc) == 2:

   343

                    continue

   344

   345

                direction = location["DIR"]

   346

   347

                sizelocation = location["SIZE"]

   348

   349

                # Extract and check nodeid

   350

                nodeid, index, subindex = loc[:3]

   351

   352

                # Check Id is in slave node list

   353

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

   354

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

   355

   356

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

   357

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

   358

   359

                # Extract and check index and subindex

   360

                if not node.IsEntry(index, subindex):

   361

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

   362

   363

                # Get the entry info

   364

                subentry_infos = node.GetSubentryInfos(index, subindex)

   365

   366

                # If a PDO mappable

   367

                if subentry_infos and subentry_infos["pdo"]:

   368

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

   369

                        numbit = loc[3]

   370

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

   371

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

   372

                    else:

   373

                        numbit = None

   374

   375

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

   376

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

   377

   378

                    typeinfos = node.GetEntryInfos(COlocationtype)

   379

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

   380

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

   381

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

   382

                else:

   383

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

   384

   385

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

   386

        #                         Search for locations already mapped

   387

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

   388

   389

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

   390

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

   391

   392

            # Search if slave has a PDO mapping this locations

   393

            result = SearchNodePDOMapping(locationinfos, node)

   394

            if result != None:

   395

                index, subindex = result

   396

                # Get COB ID of the PDO

   397

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

   398

   399

                # Add PDO to MasterMapping

   400

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

   401

                    # Verify that PDO transmit type is conform to sync_TPDOs

   402

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

   403

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

   404

                        if sync_TPDOs:

   405

                            # Change TransmitType to SYNCHRONE

   406

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

   407

                        else:

   408

                            # Change TransmitType to ASYCHRONE

   409

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

   410

   411

                        # Add entry to slave dcf to change transmit type of 

   412

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

   413

   414

                    mapping = [None]

   415

                    values = node.GetEntry(index)

   416

                    # Store the size of each entry mapped in PDO

   417

                    for value in values[1:]:

   418

                        if value != 0:

   419

                            mapping.append(value % 0x100)

   420

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

   421

   422

                # Indicate that this PDO entry must be saved

   423

                if locationinfos["bit"] is not None:

   424

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

   425

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

   426

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

   427

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

   428

                else:

   429

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

   430

   431

            else:

   432

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

   433

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

   434

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

   435

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

   436

   437

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

   438

        #                         Build concise DCF for the others locations

   439

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

   440

   441

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

   442

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

   443

   444

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

   445

            nbparams = 0

   446

            dataparams = ""

   447

   448

            # Generate the best PDO mapping for each type of PDO

   449

            for pdotype in (TPDO, RPDO):

   450

                if len(locations[pdotype]) > 0:

   451

                    pdosize = 0

   452

                    pdomapping = []

   453

                    result = self.GetEmptyPDO(nodeid, pdotype)

   454

                    if result is None:

   455

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

   456

                    pdoindex, pdocobid, pdonbparams = result

   457

                    for name, loc_infos in locations[pdotype]:

   458

                        pdosize += loc_infos["size"]

   459

                        # If pdo's size > 64 bits

   460

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

   461

                            # Generate a new PDO Mapping

   462

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

   463

                            dataparams += data

   464

                            nbparams += nbaddedparams

   465

                            pdosize = loc_infos["size"]

   466

                            pdomapping = [(name, loc_infos)]

   467

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

   468

                            if result is None:

   469

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

   470

                            pdoindex, pdocobid, pdonbparams = result

   471

                        else:

   472

                            pdomapping.append((name, loc_infos))

   473

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

   474

                    if len(pdomapping) > 0:

   475

                        # Generate a new PDO Mapping

   476

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

   477

                        dataparams += data

   478

                        nbparams += nbaddedparams

   479

   480

            # Add number of params and data to node DCF

   481

            self.AddParamsToDCF(nodeid, dataparams, nbparams)

   482

   483

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

   484

        #                         Master Node Configuration

   485

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

   486

   487

        # Generate Master's Configuration from informations stored in MasterMapping

   488

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

   489

            # Get next PDO index in MasterNode for this PDO type

   490

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

   491

   492

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

   493

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

   494

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

   495

                    current_idx = idx

   496

   497

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

   498

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

   499

                addinglist = [current_idx, current_idx + 0x200]

   500

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

   501

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

   502

   503

                # Increment the number of PDO for this PDO type

   504

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

   505

   506

            # Change the transmit type of the PDO

   507

            if sync_TPDOs:

   508

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

   509

            else:

   510

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

   511

   512

            mapping = []

   513

            for item in pdo_infos["mapping"]:

   514

                if isinstance(item, ListType):

   515

                    mapping.extend(item)

   516

                else: