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import os

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import wx

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from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY

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from MotionLibrary import Headers, AxisXSD

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from EthercatSlave import _EthercatSlaveCTN

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from ConfigEditor import CIA402NodeEditor

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NODE_VARIABLES = [

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    ("ControlWord", 0x6040, 0x00, "UINT", "Q"),

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    ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),

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    ("TargetVelocity", 0x60ff, 0x00, "DINT", "Q"),

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    ("TargetTorque", 0x6071, 0x00, "INT", "Q"),

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    ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),

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    ("StatusWord", 0x6041, 0x00, "UINT", "I"),

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    ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),

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    ("ActualPosition", 0x6064, 0x00, "DINT", "I"),

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    ("ActualVelocity", 0x606c, 0x00, "DINT", "I"),

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    ("ActualTorque", 0x6077, 0x00, "INT", "I"),

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]

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DEFAULT_RETRIEVE = "    __CIA402Node_%(location)s.axis->%(name)s = *(__CIA402Node_%(location)s.%(name)s);"

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DEFAULT_PUBLISH = "    *(__CIA402Node_%(location)s.%(name)s) = __CIA402Node_%(location)s.axis->%(name)s;"

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EXTRA_NODE_VARIABLES = [

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    ("ErrorCode", [

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        {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),

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         "publish": None}

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        ]),

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    ("DigitalInputs", [

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        {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"),

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         "publish": None}

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        ]),

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    ("DigitalOutputs", [

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        {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"),

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         "retrieve": None}

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        ])

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]

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EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])

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BLOCK_INPUT_TEMPLATE = "    __SET_VAR(%(blockname)s->,%(input_name)s, %(input_value)s);"

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BLOCK_OUTPUT_TEMPLATE = "    __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s->%(output_name)s));"

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BLOCK_FUNCTION_TEMPLATE = """

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extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);

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void __%(blocktype)s_%(location)s(MC_%(ucase_blocktype)s *data__) {

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__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);

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ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();

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%(extract_inputs)s

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ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);

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%(return_outputs)s

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}

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"""

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BLOCK_FUNTION_DEFINITION_TEMPLATE = "        __CIA402Node_%(location)s.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location)s;"

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GLOBAL_INSTANCES = [

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    {"blocktype": "GetTorqueLimit", 

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     "inputs": [],

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     "outputs": [{"name": "TorqueLimitPos", "type": "UINT"},

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                 {"name": "TorqueLimitNeg", "type": "UINT"}]},

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    {"blocktype": "SetTorqueLimit", 

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     "inputs": [{"name": "TorqueLimitPos", "type": "UINT"},

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                {"name": "TorqueLimitNeg", "type": "UINT"}],

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     "outputs": []},

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]

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

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#                 Ethercat CIA402 Node

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

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class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):

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    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

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    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

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      <xsd:element name="CIA402SlaveParams">

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        <xsd:complexType>

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          %s

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        </xsd:complexType>

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      </xsd:element>

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    </xsd:schema>

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    """ % ("\n".join(['<xsd:attribute name="Enable%s" type="xsd:boolean" use="optional" default="false"/>' % category 

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                      for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)

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    NODE_PROFILE = 402

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    EditorType = CIA402NodeEditor

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    ConfNodeMethods = [

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        {"bitmap" : "CIA402AxisRef",

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         "name" : _("Axis Ref"),

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         "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),

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         "method" : "_getCIA402AxisRef",

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         "push": True},

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    ]

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    def GetIconName(self):

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        return "CIA402Slave"

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    def SetParamsAttribute(self, path, value):

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        if path == "CIA402SlaveParams.Type":

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            path = "SlaveParams.Type"

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        elif path == "CIA402SlaveParams.Alias":

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            path = "SlaveParams.Alias"

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        return _EthercatSlaveCTN.SetParamsAttribute(self, path, value)

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    def GetVariableLocationTree(self):

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        axis_name = self.CTNName()

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        current_location = self.GetCurrentLocation()

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        children = [{"name": "%s Axis Ref" % (axis_name),

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                     "type": LOCATION_VAR_INPUT,

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                     "size": "W",

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                     "IEC_type": "AXIS_REF",

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                     "var_name": axis_name,

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                     "location": "%%IW%s.0" % (".".join(map(str, current_location))),

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                     "description": "",

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                     "children": []}]

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        children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), current_location, axis_name))

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        return  {"name": axis_name,

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                 "type": LOCATION_CONFNODE,

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                 "location": self.GetFullIEC_Channel(),

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                 "children": children,

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        }

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    def CTNGlobalInstances(self):

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        current_location = self.GetCurrentLocation()

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        return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location))),

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                 "EtherLab%s" % block_infos["blocktype"]) for block_infos in GLOBAL_INSTANCES]

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    def _getCIA402AxisRef(self):

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        data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())), 

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                                      "location", "AXIS_REF", self.CTNName(), "")))

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        dragSource = wx.DropSource(self.GetCTRoot().AppFrame)

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        dragSource.SetData(data)

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        dragSource.DoDragDrop()

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    def CTNGenerate_C(self, buildpath, locations):

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        current_location = self.GetCurrentLocation()

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        location_str = "_".join(map(lambda x:str(x), current_location))

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        plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c")

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        plc_cia402node_file = open(plc_cia402node_filepath, 'r')

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        plc_cia402node_code = plc_cia402node_file.read()

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        plc_cia402node_file.close()

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        str_completion = {

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            "slave_pos": self.GetSlavePos(),

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            "location": location_str,

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            "MCL_headers": Headers,

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            "extern_located_variables_declaration": [],

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            "fieldbus_interface_declaration": [],

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            "fieldbus_interface_definition": [],

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            "entry_variables": [],

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            "init_axis_params": [],

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            "init_entry_variables": [],

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            "extra_variables_retrieve": [],

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            "extra_variables_publish": []

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        }

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        for blocktype_infos in GLOBAL_INSTANCES:

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            texts = {

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                "blocktype": blocktype_infos["blocktype"],

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                "ucase_blocktype": blocktype_infos["blocktype"].upper(),

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                "location": "_".join(map(str, current_location))

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            }

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            texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts

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            inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())},

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                      {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\

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                     [{"input_name": input["name"].upper(), 

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                       "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()}

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                      for input in blocktype_infos["inputs"]]

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            input_texts = []

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            for input_infos in inputs:

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                input_infos.update(texts)

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                input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos)

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            texts["extract_inputs"] = "\n".join(input_texts)

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            outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \

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                      [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]]

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            output_texts = []

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            for output_infos in outputs:

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                output_infos.update(texts)

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                output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos)

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            texts["return_outputs"] = "\n".join(output_texts)

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            str_completion["fieldbus_interface_declaration"].append(

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                    BLOCK_FUNCTION_TEMPLATE % texts)

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            str_completion["fieldbus_interface_definition"].append(

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                    BLOCK_FUNTION_DEFINITION_TEMPLATE % texts)

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        variables = NODE_VARIABLES[:]

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        params = self.CTNParams[1].getElementInfos(self.CTNParams[0])

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        for param in params["children"]:

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            if param["name"] in EXTRA_NODE_VARIABLES_DICT:

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                if param["value"]:

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                    extra_variables = EXTRA_NODE_VARIABLES_DICT.get(param["name"])

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                    for variable_infos in extra_variables:

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                        var_infos = {

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                            "location": location_str,

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                            "name": variable_infos["description"][0]

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                        }

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                        variables.append(variable_infos["description"])

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                        retrieve_template = variable_infos.get("retrieve", DEFAULT_RETRIEVE)

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                        publish_template = variable_infos.get("publish", DEFAULT_PUBLISH)

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                        if retrieve_template is not None:

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                            str_completion["extra_variables_retrieve"].append(

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                                retrieve_template % var_infos)

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                        if publish_template is not None:

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                            str_completion["extra_variables_publish"].append(

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                                publish_template % var_infos)

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            elif param["value"] is not None:

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                param_infos = {

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                    "location": location_str,

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                    "param_name": param["name"],

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                }

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                if param["type"] == "boolean":

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                    param_infos["param_value"] = {True: "true", False: "false"}[param["value"]]

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                else:

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                    param_infos["param_value"] = str(param["value"])

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                str_completion["init_axis_params"].append(

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                    "        __CIA402Node_%(location)s.axis->%(param_name)s = %(param_value)s;" % param_infos)

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        for variable in variables:

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            var_infos = dict(zip(["name", "index", "subindex", "var_type", "dir"], variable))

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            var_infos["location"] = location_str

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            var_infos["var_size"] = self.GetSizeOfType(var_infos["var_type"])

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            var_infos["var_name"] = "__%(dir)s%(var_size)s%(location)s_%(index)d_%(subindex)d" % var_infos

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            str_completion["extern_located_variables_declaration"].append(

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                    "IEC_%(var_type)s *%(var_name)s;" % var_infos)

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            str_completion["entry_variables"].append(

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                    "    IEC_%(var_type)s *%(name)s;" % var_infos)

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            str_completion["init_entry_variables"].append(

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                    "    __CIA402Node_%(location)s.%(name)s = %(var_name)s;" % var_infos)

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            self.CTNParent.FileGenerator.DeclareVariable(

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                    self.GetSlavePos(), var_infos["index"], var_infos["subindex"], 

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                    var_infos["var_type"], var_infos["dir"], var_infos["var_name"])

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        for element in ["extern_located_variables_declaration", 

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                        "fieldbus_interface_declaration",

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                        "fieldbus_interface_definition",

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                        "entry_variables", 

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                        "init_axis_params", 

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                        "init_entry_variables",

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                        "extra_variables_retrieve",

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                        "extra_variables_publish"]:

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            str_completion[element] = "\n".join(str_completion[element])

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        Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str)

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        cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')

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        cia402nodefile.write(plc_cia402node_code % str_completion)

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        cia402nodefile.close()

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        return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True