1

#!/usr/bin/env python

     2

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

     3

     4

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

     5

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

     6

#

     7

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

     8

#

     9

# See COPYING file for copyrights details.

    10

#

    11

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

    12

# modify it under the terms of the GNU General Public License

    13

# as published by the Free Software Foundation; either version 2

    14

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

    15

#

    16

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

    17

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

    18

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    19

# GNU General Public License for more details.

    20

#

    21

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

    22

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

    23

# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.

    24

    27

from types import *

    28

    29

# Translation between IEC types and Can Open types

    30

IECToCOType = {

    31

    "BOOL":    0x01,

    32

    "SINT":    0x02,

    33

    "INT":     0x03,

    34

    "DINT":    0x04,

    35

    "LINT":    0x10,

    36

    "USINT":   0x05,

    37

    "UINT":    0x06,

    38

    "UDINT":   0x07,

    39

    "ULINT":   0x1B,

    40

    "REAL":    0x08,

    41

    "LREAL":   0x11,

    42

    "STRING":  0x09,

    43

    "BYTE":    0x05,

    44

    "WORD":    0x06,

    45

    "DWORD":   0x07,

    46

    "LWORD":   0x1B,

    47

    "WSTRING": 0x0B

    48

}

    49

    50

# Constants for PDO types

    51

RPDO = 1

    52

TPDO = 2

    53

    54

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

    55

InvertPDOType = {RPDO: TPDO, TPDO: RPDO}

    56

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

    57

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

    58

    59

VariableIncrement = 0x100

    60

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

    61

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

    62

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

    63

    64

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

    65

    66

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

    67

#                  Specific exception for PDO mapping errors

    68

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

    69

    70

    71

class PDOmappingException(Exception):

    72

    pass

    73

    74

    75

def LE_to_BE(value, size):

    76

    """

    77

    Convert Little Endian to Big Endian

    78

    @param value: value expressed in integer

    79

    @param size: number of bytes generated

    80

    @return: a string containing the value converted

    81

    """

    82

    83

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

    84

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

    85

    list_car.reverse()

    86

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

    87

    88

    89

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

    90

    """

    91

    Find the PDO indexes of a node

    92

    @param node: node

    93

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

    94

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

    95

    @return: a list of indexes found

    96

    """

    97

    98

    indexes = []

    99

    if type & RPDO:

   100

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

   101

    if type & TPDO:

   102

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

   103

    if not parameters:

   104

        return [idx + 0x200 for idx in indexes]

   105

    else:

   106

        return indexes

   107

   108

   109

def SearchNodePDOMapping(loc_infos, node):

   110

    """

   111

    Find the PDO indexes of a node

   112

    @param node: node

   113

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

   114

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

   115

    @return: a list of indexes found

   116

    """

   117

   118

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

   119

   120

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

   121

        values = node.GetEntry(PDOidx)

   122

        if values is not None:

   123

            for subindex, mapping in enumerate(values):

   124

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

   125

                    return PDOidx, subindex

   126

    return None

   127

   128

   129

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

   130

    """

   131

    Build concise DCF value for configuring a PDO

   132

    @param idx: index of PDO parameters

   133

    @param cobid: PDO generated COB ID

   134

    @param transmittype : PDO transmit type

   135

    @param pdomapping: list of PDO mappings

   136

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

   137

    """

   138

   139

    dcfdata = []

   140

    # Create entry for RPDO or TPDO parameters and Disable PDO

   141

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

   142

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

   143

    # Set Transmit type

   144

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

   145

    if len(pdomapping) > 0:

   146

        # Disable Mapping

   147

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

   148

        # Map Variables

   149

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

   150

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

   151

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

   152

        # Re-enable Mapping

   153

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

   154

    # Re-Enable PDO

   155

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

   156

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

   157

   158

   159

class ConciseDCFGenerator:

   160

   161

    def __init__(self, nodelist, nodename):

   162

        # Dictionary of location informations classed by name

   163

        self.IECLocations = {}

   164

        # Dictionary of location that have not been mapped yet

   165

        self.LocationsNotMapped = {}

   166

        # Dictionary of location informations classed by name

   167

        self.MasterMapping = {}

   168

        # List of COB IDs available

   169

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

   170

        # Dictionary of mapping value where unexpected variables are stored

   171

        self.TrashVariables = {}

   172

        # Dictionary of pointed variables

   173

        self.PointedVariables = {}

   174

   175

        self.NodeList = nodelist

   176

        self.Manager = self.NodeList.Manager

   177

        self.MasterNode = self.Manager.GetCurrentNodeCopy()

   178

        self.MasterNode.SetNodeName(nodename)

   179

        self.PrepareMasterNode()

   180

   181

    def GetPointedVariables(self):

   182

        return self.PointedVariables

   183

   184

    def RemoveUsedNodeCobId(self, node):

   185

        """

   186

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

   187

        @param node: node

   188

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

   189

        """

   190

   191

        # Get list of all node TPDO and RPDO indexes

   192

        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

   193

        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

   194

   195

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

   196

        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

   197

            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

   198

            # Extract COB ID, if PDO isn't active

   199

            if pdo_cobid > 0x600:

   200

                pdo_cobid -= 0x80000000

   201

            # Remove COB ID from the list of available COB ID

   202

            if pdo_cobid in self.ListCobIDAvailable:

   203

                self.ListCobIDAvailable.remove(pdo_cobid)

   204

   205

        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

   206

   207

    def PrepareMasterNode(self):

   208

        """

   209

        Add mandatory entries for DCF generation into MasterNode.

   210

        """

   211

   212

        # Adding DCF entry into Master node

   213

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

   214

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

   215

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

   216

   217

        # Adding trash mappable variables for unused mapped datas

   218

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

   219

        # Add an entry for storing unexpected all variable

   220

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

   221

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

   222

            # Add a subentry for storing unexpected variable of this size

   223

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

   224

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

   225

            # Store the mapping value for this entry

   226

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

   227

   228

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

   229

   230

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

   231

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

   232

   233

        # Prepare MasterNode with all nodelist slaves

   234

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

   235

            node = nodeinfos["Node"]

   236

            node.SetNodeID(nodeid)

   237

   238

            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

   239

   240

            # Get Slave's default SDO server parameters

   241

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

   242

            if not RSDO_cobid:

   243

                RSDO_cobid = 0x600 + nodeid

   244

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

   245

            if not TSDO_cobid:

   246

                TSDO_cobid = 0x580 + nodeid

   247

   248

            # Configure Master's SDO parameters entries

   249

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

   250

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

   251

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

   252

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

   253

   254

    def GetMasterNode(self):

   255

        """

   256

        Return MasterNode.

   257

        """

   258

        return self.MasterNode

   259

   260

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

   261

        """

   262

        Add entry to DCF, for the requested nodeID

   263

        @param nodeid: id of the slave (int)

   264

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

   265

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

   266

        """

   267

        # Get current DCF for slave

   268

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

   269

   270

        # Extract data and number of params in current DCF

   271

        if nodeDCF is not None and nodeDCF != '':

   272

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

   273

            tmpnbparams.reverse()

   274

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

   275

            data = nodeDCF[4:] + data

   276

   277

        # Build new DCF

   278

        dcf = LE_to_BE(nbparams, 0x04) + data

   279

        # Set new DCF for slave

   280

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

   281

   282

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

   283

        """

   284

        Search a not configured PDO for a slave

   285

        @param node: the slave node object

   286

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

   287

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

   288

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

   289

        """

   290

        # If no start_index defined, start with PDOtype base index

   291

        if start_index is None:

   292

            index = PDOTypeBaseIndex[pdotype]

   293

        else:

   294

            index = start_index

   295

   296

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

   297

        # starting from start_index

   298

        while index < PDOTypeBaseIndex[pdotype] + 0x200:

   299

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

   300

            if values is not None and values[0] > 0:

   301

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

   302

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

   303

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

   304

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

   305

                    if cobid == 0:

   306

                        if len(self.ListCobIDAvailable) == 0:

   307

                            return None

   308

                        # Calculate COB ID from standard values

   309

                        if index < PDOTypeBaseIndex[pdotype] + 4:

   310

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

   311

                        if cobid not in self.ListCobIDAvailable:

   312

                            cobid = self.ListCobIDAvailable.pop(0)

   313

                    return index, cobid, values[0]

   314

            index += 1

   315

        return None

   316

   317

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

   318

        """

   319

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

   320

        @param nodeid: id of the slave (int)

   321

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

   322

        @param pdomapping: list od variables to map with PDO

   323

        """

   324

        # Add an entry to MasterMapping

   325

        self.MasterMapping[pdocobid] = {

   326

            "type":    InvertPDOType[pdotype],

   327

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

   328

        }

   329

   330

        # Return the data to add to DCF

   331

        if sync_TPDOs:

   332

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

   333

        else:

   334

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

   335

        return 0, ""

   336

   337

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

   338

        """

   339

        Generate Concise DCF of MasterNode for the locations list given

   340

        @param locations: list of locations to be mapped

   341

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

   342

        @param sync_TPDOs: indicate if TPDO must be synchronous

   343

        """

   344

   345

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

   346

        #               Verify that locations correspond to real slave variables

   347

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

   348

   349

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

   350

        for location in locations:

   351

            COlocationtype = IECToCOType[location["IEC_TYPE"]]

   352

            name = location["NAME"]

   353

            if name in self.IECLocations:

   354

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

   355

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

   356

            else:

   357

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

   358

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

   359

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

   360

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

   361

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

   362

                elif len(loc) == 2:

   363

                    continue

   364

   365

                direction = location["DIR"]

   366

   367

                sizelocation = location["SIZE"]

   368

   369

                # Extract and check nodeid

   370

                nodeid, index, subindex = loc[:3]

   371

   372

                # Check Id is in slave node list

   373

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

   374

                    raise PDOmappingException(

   375

                        _("Non existing node ID : {a1} (variable {a2})").

   376

                        format(a1=nodeid, a2=name))

   377

   378

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

   379

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

   380

   381

                # Extract and check index and subindex

   382

                if not node.IsEntry(index, subindex):

   383

                    msg = _("No such index/subindex ({a1},{a2}) in ID : {a3} (variable {a4})").\

   384

                          format(a1="%x" % index, a2="%x" % subindex, a3=nodeid, a4=name)

   385

                    raise PDOmappingException(msg)

   386

   387

                # Get the entry info

   388

                subentry_infos = node.GetSubentryInfos(index, subindex)

   389

   390

                # If a PDO mappable

   391

                if subentry_infos and subentry_infos["pdo"]:

   392

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

   393

                        numbit = loc[3]

   394

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

   395

                        raise PDOmappingException(

   396

                            _("Cannot set bit offset for non bool '{a1}' variable (ID:{a2},Idx:{a3},sIdx:{a4}))").

   397

                            format(a1=name, a2=nodeid, a3="%x" % index, a4="%x" % subindex))

   398

                    else:

   399

                        numbit = None

   400

   401

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

   402

                        raise PDOmappingException(

   403

                            _("Invalid type \"{a1}\"-> {a2} != {a3}  for location \"{a4}\"").

   404

                            format(a1=location["IEC_TYPE"],

   405

                                   a2=COlocationtype,

   406

                                   a3=subentry_infos["type"],

   407

                                   a4=name))

   408

   409

                    typeinfos = node.GetEntryInfos(COlocationtype)

   410

                    self.IECLocations[name] = {

   411

                        "type":         COlocationtype,

   412

                        "pdotype":      SlavePDOType[direction],

   413

                        "nodeid":       nodeid,

   414

                        "index":        index,

   415

                        "subindex":     subindex,

   416

                        "bit":          numbit,

   417

                        "size":         typeinfos["size"],

   418

                        "sizelocation": sizelocation

   419

                    }

   420

                else:

   421

                    raise PDOmappingException(

   422

                        _("Not PDO mappable variable : '{a1}' (ID:{a2},Idx:{a3},sIdx:{a4}))").

   423

                        format(a1=name, a2=nodeid, a3="%x" % index, a4="%x" % subindex))

   424

   425

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

   426

        #                         Search for locations already mapped

   427

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

   428

   429

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

   430

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

   431

   432

            # Search if slave has a PDO mapping this locations

   433

            result = SearchNodePDOMapping(locationinfos, node)

   434

            if result is not None:

   435

                index, subindex = result

   436

                # Get COB ID of the PDO

   437

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

   438

   439

                # Add PDO to MasterMapping

   440

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

   441

                    # Verify that PDO transmit type is conform to sync_TPDOs

   442

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

   443

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

   444

                        if sync_TPDOs:

   445

                            # Change TransmitType to SYNCHRONE

   446

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

   447

                        else:

   448

                            # Change TransmitType to ASYCHRONE

   449

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

   450

   451

                        # Add entry to slave dcf to change transmit type of

   452

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

   453

   454

                    mapping = [None]

   455

                    values = node.GetEntry(index)

   456

                    # Store the size of each entry mapped in PDO

   457

                    for value in values[1:]:

   458

                        if value != 0:

   459

                            mapping.append(value % 0x100)

   460

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

   461

   462

                # Indicate that this PDO entry must be saved

   463

                if locationinfos["bit"] is not None:

   464

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

   465

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

   466

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

   467

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

   468

                else:

   469

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

   470

   471

            else:

   472

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

   473

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

   474

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

   475

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

   476

   477

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

   478

        #                         Build concise DCF for the others locations

   479

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

   480

   481

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

   482

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

   483

   484

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

   485

            nbparams = 0

   486

            dataparams = ""

   487

   488

            # Generate the best PDO mapping for each type of PDO

   489

            for pdotype in (TPDO, RPDO):

   490

                if len(locations[pdotype]) > 0:

   491

                    pdosize = 0

   492

                    pdomapping = []

   493

                    result = self.GetEmptyPDO(nodeid, pdotype)

   494

                    if result is None:

   495

                        raise PDOmappingException(

   496

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

   497

                    pdoindex, pdocobid, pdonbparams = result

   498

                    for name, loc_infos in locations[pdotype]: