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

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

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

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

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#

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# This program 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

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# GNU 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 License

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

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

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    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,

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

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               "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

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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

    54

class PDOmappingException(Exception):

    55

    pass

    56

    57

    58

def LE_to_BE(value, size):

    59

    """

    60

    Convert Little Endian to Big Endian

    61

    @param value: value expressed in integer

    62

    @param size: number of bytes generated

    63

    @return: a string containing the value converted

    64

    """

    65

    66

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

    67

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

    68

    list_car.reverse()

    69

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

    70

    71

    72

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

    73

    """

    74

    Find the PDO indexes of a node

    75

    @param node: node

    76

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

    77

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

    78

    @return: a list of indexes found

    79

    """

    80

    81

    indexes = []

    82

    if type & RPDO:

    83

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

    84

    if type & TPDO:

    85

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

    86

    if not parameters:

    87

        return [idx + 0x200 for idx in indexes]

    88

    else:

    89

        return indexes

    90

    91

    92

def SearchNodePDOMapping(loc_infos, node):

    93

    """

    94

    Find the PDO indexes of a node

    95

    @param node: node

    96

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

    97

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

    98

    @return: a list of indexes found

    99

    """

   100

   101

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

   102

   103

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

   104

        values = node.GetEntry(PDOidx)

   105

        if values != None:

   106

            for subindex, mapping in enumerate(values):

   107

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

   108

                    return PDOidx, subindex

   109

    return None

   110

   111

   112

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

   113

    """

   114

    Build concise DCF value for configuring a PDO

   115

    @param idx: index of PDO parameters

   116

    @param cobid: PDO generated COB ID

   117

    @param transmittype : PDO transmit type

   118

    @param pdomapping: list of PDO mappings

   119

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

   120

    """

   121

   122

    dcfdata=[]

   123

    # Create entry for RPDO or TPDO parameters and Disable PDO

   124

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

   125

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

   126

    # Set Transmit type

   127

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

   128

    if len(pdomapping) > 0:

   129

        # Disable Mapping

   130

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

   131

        # Map Variables

   132

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

   133

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

   134

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

   135

        # Re-enable Mapping

   136

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

   137

    # Re-Enable PDO

   138

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

   139

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

   140

   141

   142

class ConciseDCFGenerator:

   143

   144

    def __init__(self, nodelist, nodename):

   145

        # Dictionary of location informations classed by name

   146

        self.IECLocations = {}

   147

        # Dictionary of location that have not been mapped yet

   148

        self.LocationsNotMapped = {}

   149

        # Dictionary of location informations classed by name

   150

        self.MasterMapping = {}

   151

        # List of COB IDs available

   152

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

   153

        # Dictionary of mapping value where unexpected variables are stored

   154

        self.TrashVariables = {}

   155

        # Dictionary of pointed variables

   156

        self.PointedVariables = {}

   157

   158

        self.NodeList = nodelist

   159

        self.Manager = self.NodeList.Manager

   160

        self.MasterNode = self.Manager.GetCurrentNodeCopy()

   161

        self.MasterNode.SetNodeName(nodename)

   162

        self.PrepareMasterNode()

   163

   164

    def GetPointedVariables(self):

   165

        return self.PointedVariables

   166

   167

    def RemoveUsedNodeCobId(self, node):

   168

        """

   169

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

   170

        @param node: node

   171

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

   172

        """

   173

   174

        # Get list of all node TPDO and RPDO indexes

   175

        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

   176

        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

   177

   178

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

   179

        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

   180

            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

   181

            # Extract COB ID, if PDO isn't active

   182

            if pdo_cobid > 0x600 :

   183

                pdo_cobid -= 0x80000000

   184

            # Remove COB ID from the list of available COB ID

   185

            if pdo_cobid in self.ListCobIDAvailable:

   186

                self.ListCobIDAvailable.remove(pdo_cobid)

   187

   188

        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

   189

   190

   191

    def PrepareMasterNode(self):

   192

        """

   193

        Add mandatory entries for DCF generation into MasterNode.

   194

        """

   195

   196

        # Adding DCF entry into Master node

   197

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

   198

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

   199

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

   200

   201

        # Adding trash mappable variables for unused mapped datas

   202

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

   203

        # Add an entry for storing unexpected all variable

   204

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

   205

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

   206

            # Add a subentry for storing unexpected variable of this size

   207

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

   208

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

   209

            # Store the mapping value for this entry

   210

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

   211

   212

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

   213

   214

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

   215

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

   216

   217

        # Prepare MasterNode with all nodelist slaves

   218

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

   219

            node = nodeinfos["Node"]

   220

            node.SetNodeID(nodeid)

   221

   222

            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

   223

   224

            # Get Slave's default SDO server parameters

   225

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

   226

            if not RSDO_cobid:

   227

                RSDO_cobid = 0x600 + nodeid

   228

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

   229

            if not TSDO_cobid:

   230

                TSDO_cobid = 0x580 + nodeid

   231

   232

            # Configure Master's SDO parameters entries

   233

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

   234

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

   235

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

   236

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

   237

   238

   239

    def GetMasterNode(self):

   240

        """

   241

        Return MasterNode.

   242

        """

   243

        return self.MasterNode

   244

   245

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

   246

        """

   247

        Add entry to DCF, for the requested nodeID

   248

        @param nodeid: id of the slave (int)

   249

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

   250

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

   251

        """

   252

        # Get current DCF for slave

   253

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

   254

   255

        # Extract data and number of params in current DCF

   256

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

   257

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

   258

            tmpnbparams.reverse()

   259

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

   260

            data = nodeDCF[4:] + data

   261

   262

        # Build new DCF

   263

        dcf = LE_to_BE(nbparams, 0x04) + data

   264

        # Set new DCF for slave

   265

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

   266

   267

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

   268

        """

   269

        Search a not configured PDO for a slave

   270

        @param node: the slave node object

   271

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

   272

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

   273

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

   274

        """

   275

        # If no start_index defined, start with PDOtype base index

   276

        if start_index is None:

   277

            index = PDOTypeBaseIndex[pdotype]

   278

        else:

   279

            index = start_index

   280

   281

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

   282

        # starting from start_index

   283

        while index < PDOTypeBaseIndex[pdotype] + 0x200:

   284

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

   285

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

   286

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

   287

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

   288

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

   289

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

   290

                    if cobid == 0:

   291

                        if len(self.ListCobIDAvailable) == 0:

   292

                            return None

   293

                        # Calculate COB ID from standard values

   294

                        if index < PDOTypeBaseIndex[pdotype] + 4:

   295

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

   296

                        if cobid not in self.ListCobIDAvailable:

   297

                            cobid = self.ListCobIDAvailable.pop(0)

   298

                    return index, cobid, values[0]

   299

            index += 1

   300

        return None

   301

   302

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

   303

        """

   304

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

   305

        @param nodeid: id of the slave (int)

   306

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

   307

        @param pdomapping: list od variables to map with PDO

   308

        """

   309

        # Add an entry to MasterMapping

   310

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

   311

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

   312

   313

        # Return the data to add to DCF

   314

        if sync_TPDOs:

   315

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

   316

        else:

   317

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

   318

        return 0, ""

   319

   320

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

   321

        """

   322

        Generate Concise DCF of MasterNode for the locations list given

   323

        @param locations: list of locations to be mapped

   324

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

   325

        @param sync_TPDOs: indicate if TPDO must be synchronous

   326

        """

   327

   328

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

   329

        #               Verify that locations correspond to real slave variables

   330

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

   331

   332

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

   333

        for location in locations:

   334

            COlocationtype = IECToCOType[location["IEC_TYPE"]]

   335

            name = location["NAME"]

   336

            if name in self.IECLocations:

   337

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

   338

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

   339

            else:

   340

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

   341

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

   342

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

   343

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

   344

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

   345

                elif len(loc) == 2:

   346

                    continue

   347

   348

                direction = location["DIR"]

   349

   350

                sizelocation = location["SIZE"]

   351

   352

                # Extract and check nodeid

   353

                nodeid, index, subindex = loc[:3]

   354

   355

                # Check Id is in slave node list

   356

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

   357

                    raise PDOmappingException, _("Non existing node ID : {a1} (variable {a2})").format(a1 = nodeid, a2 = name)

   358

   359

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

   360

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

   361

   362

                # Extract and check index and subindex

   363

                if not node.IsEntry(index, subindex):

   364

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

   365

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

   366

                    raise PDOmappingException, msg

   367

   368

                # Get the entry info

   369

                subentry_infos = node.GetSubentryInfos(index, subindex)

   370

   371

                # If a PDO mappable

   372

                if subentry_infos and subentry_infos["pdo"]:

   373

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

   374

                        numbit = loc[3]

   375

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

   376

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

   377

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

   378

                        raise PDOmappingException, msg

   379

                    else:

   380

                        numbit = None

   381

   382

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

   383

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

   384

                            format(a1 = location["IEC_TYPE"], a2 = COlocationtype, a3 = subentry_infos["type"] , a4 = name)

   385

   386

                    typeinfos = node.GetEntryInfos(COlocationtype)

   387

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

   388

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

   389

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

   390

                else:

   391

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

   392

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

   393

   394

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

   395

        #                         Search for locations already mapped

   396

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

   397

   398

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

   399

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

   400

   401

            # Search if slave has a PDO mapping this locations

   402

            result = SearchNodePDOMapping(locationinfos, node)

   403

            if result != None:

   404

                index, subindex = result

   405

                # Get COB ID of the PDO

   406

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

   407

   408

                # Add PDO to MasterMapping

   409

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

   410

                    # Verify that PDO transmit type is conform to sync_TPDOs

   411

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

   412

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

   413

                        if sync_TPDOs:

   414

                            # Change TransmitType to SYNCHRONE

   415

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

   416

                        else:

   417

                            # Change TransmitType to ASYCHRONE

   418

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

   419

   420

                        # Add entry to slave dcf to change transmit type of

   421

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

   422

   423

                    mapping = [None]

   424

                    values = node.GetEntry(index)

   425

                    # Store the size of each entry mapped in PDO

   426

                    for value in values[1:]:

   427

                        if value != 0:

   428

                            mapping.append(value % 0x100)

   429

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

   430

   431

                # Indicate that this PDO entry must be saved

   432

                if locationinfos["bit"] is not None:

   433

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

   434

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

   435

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

   436

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

   437

                else:

   438

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

   439

   440

            else:

   441

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

   442

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

   443

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

   444

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

   445

   446

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

   447

        #                         Build concise DCF for the others locations

   448

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

   449

   450

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

   451

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

   452

   453

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

   454

            nbparams = 0

   455

            dataparams = ""

   456

   457

            # Generate the best PDO mapping for each type of PDO

   458

            for pdotype in (TPDO, RPDO):

   459

                if len(locations[pdotype]) > 0:

   460

                    pdosize = 0

   461

                    pdomapping = []

   462

                    result = self.GetEmptyPDO(nodeid, pdotype)

   463

                    if result is None:

   464

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

   465

                    pdoindex, pdocobid, pdonbparams = result

   466

                    for name, loc_infos in locations[pdotype]:

   467

                        pdosize += loc_infos["size"]

   468

                        # If pdo's size > 64 bits

   469

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

   470

                            # Generate a new PDO Mapping

   471

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

   472

                            dataparams += data

   473

                            nbparams += nbaddedparams

   474

                            pdosize = loc_infos["size"]

   475

                            pdomapping = [(name, loc_infos)]

   476

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

   477

                            if result is None:

   478

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

   479

                            pdoindex, pdocobid, pdonbparams = result

   480

                        else:

   481

                            pdomapping.append((name, loc_infos))

   482

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

   483

                    if len(pdomapping) > 0:

   484

                        # Generate a new PDO Mapping

   485

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

   486

                        dataparams += data

   487

                        nbparams += nbaddedparams

   488

   489

            # Add number of params and data to node DCF

   490

            self.AddParamsToDCF(nodeid, dataparams, nbparams)

   491

   492

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

   493

        #                         Master Node Configuration

   494

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

   495

   496

        # Generate Master's Configuration from informations stored in MasterMapping

   497

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

   498

            # Get next PDO index in MasterNode for this PDO type

   499

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

   500

   501

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

   502

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