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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

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TPDO = 2

    36

    37

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

    38

InvertPDOType = {RPDO : TPDO, TPDO : RPDO}

    39

    40

VariableIncrement = 0x100

    41

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

    42

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

    43

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

    44

    45

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

    46

    47

def LE_to_BE(value, size):

    48

    """

    49

    Convert Little Endian to Big Endian

    50

    @param value: value expressed in integer

    51

    @param size: number of bytes generated

    52

    @return: a string containing the value converted

    53

    """

    54

    55

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

    56

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

    57

    list_car.reverse()

    58

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

    59

    60

    61

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

    62

    """

    63

    Find the PDO indexes of a node

    64

    @param node: node 

    65

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

    66

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

    67

    @return: a list of indexes found

    68

    """

    69

    70

    indexes = []

    71

    if type & RPDO:

    72

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

    73

    if type & TPDO:

    74

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

    75

    if not parameters:

    76

        return [idx + 0x200 for idx in indexes]

    77

    else:

    78

        return indexes

    79

    80

    81

def SearchNodePDOMapping(loc_infos, node):

    82

    """

    83

    Find the PDO indexes of a node

    84

    @param node: node 

    85

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

    86

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

    87

    @return: a list of indexes found

    88

    """

    89

    90

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

    91

    92

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

    93

        values = node.GetEntry(PDOidx)

    94

        if values != None:

    95

            for subindex, mapping in enumerate(values):

    96

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

    97

                    return PDOidx, subindex

    98

    return None

    99

   100

   101

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

   102

    """

   103

    Build concise DCF value for configuring a PDO

   104

    @param idx: index of PDO parameters

   105

    @param cobid: PDO generated COB ID

   106

    @param transmittype : PDO transmit type

   107

    @param pdomapping: list of PDO mappings

   108

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

   109

    """

   110

   111

    # Create entry for RPDO or TPDO parameters and Disable PDO

   112

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

   113

    # Set Transmit type synchrone

   114

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

   115

    # Re-Enable PDO

   116

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

   117

    dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4)

   118

    nbparams = 3

   119

    # Map Variables

   120

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

   121

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

   122

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

   123

        nbparams += 1

   124

    return dcfdata, nbparams

   125

   126

class ConciseDCFGenerator:

   127

   128

    def __init__(self, nodelist, nodename):

   129

        # Dictionary of location informations classed by name

   130

        self.IECLocations = {}

   131

        # Dictionary of location that have not been mapped yet

   132

        self.LocationsNotMapped = {}

   133

        # Dictionary of location informations classed by name

   134

        self.MasterMapping = {}

   135

        # List of COB IDs available

   136

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

   137

        self.SlavesPdoNumber = {}

   138

        # Dictionary of mapping value where unexpected variables are stored

   139

        self.TrashVariables = {}

   140

        # Dictionary of pointed variables

   141

        self.PointedVariables = {}

   142

   143

        self.NodeList = nodelist

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        self.Manager = self.NodeList.Manager

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        self.MasterNode = self.Manager.GetCurrentNodeCopy()

   146

        self.MasterNode.SetNodeName(nodename)

   147

        self.PrepareMasterNode()

   148

   149

    def GetPointedVariables(self):

   150

        return self.PointedVariables

   151

   152

    def RemoveUsedNodeCobId(self, node):

   153

        """

   154

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

   155

        @param node: node

   156

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

   157

        """

   158

   159

        # Get list of all node TPDO and RPDO indexes

   160

        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

   161

        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

   162

   163

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

   164

        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

   165

            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

   166

            # Extract COB ID, if PDO isn't active

   167

            if pdo_cobid > 0x600 :

   168

                pdo_cobid -= 0x80000000

   169

            # Remove COB ID from the list of available COB ID

   170

            if pdo_cobid in self.ListCobIDAvailable:

   171

                self.ListCobIDAvailable.remove(pdo_cobid)

   172

   173

        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

   174

   175

   176

    def PrepareMasterNode(self):

   177

        """

   178

        Add mandatory entries for DCF generation into MasterNode.

   179

        """

   180

   181

        # Adding DCF entry into Master node

   182

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

   183

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

   184

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

   185

   186

        # Adding trash mappable variables for unused mapped datas

   187

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

   188

        # Add an entry for storing unexpected all variable

   189

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

   190

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

   191

            # Add a subentry for storing unexpected variable of this size

   192

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

   193

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

   194

            # Store the mapping value for this entry

   195

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

   196

   197

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

   198

   199

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

   200

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

   201

   202

        # Prepare MasterNode with all nodelist slaves

   203

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

   204

            node = nodeinfos["Node"]

   205

            node.SetNodeID(nodeid)

   206

   207

            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

   208

   209

            # Store the number of TPDO and RPDO for this node

   210

            self.SlavesPdoNumber[nodeid] = {RPDO : RPDOnumber, TPDO : TPDOnumber}

   211

   212

            # Get Slave's default SDO server parameters

   213

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

   214

            if not RSDO_cobid:

   215

                RSDO_cobid = 0x600 + nodeid

   216

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

   217

            if not TSDO_cobid:

   218

                TSDO_cobid = 0x580 + nodeid

   219

   220

            # Configure Master's SDO parameters entries

   221

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

   222

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

   223

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

   224

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

   225

   226

   227

    def GetMasterNode(self):

   228

        """

   229

        Return MasterNode.

   230

        """

   231

        return self.MasterNode

   232

   233

   234

    def GetNewCobID(self, nodeid, type):

   235

        """

   236

        Select a COB ID from the list of those available

   237

        @param nodeid: id of the slave (int)

   238

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

   239

        @return: a tuple of the COD ID and PDO index or None

   240

        """

   241

        # Verify that there is still some cobid available

   242

        if len(self.ListCobIDAvailable) == 0:

   243

            return None

   244

   245

        # Get the number of PDO of the type given for the node

   246

        nbSlavePDO = self.SlavesPdoNumber[nodeid][type]

   247

        if type == RPDO:

   248

            if nbSlavePDO < 4:

   249

                # For the four first RPDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid

   250

                newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)

   251

                # Return calculated cobid if it's still available

   252

                if newcobid in self.ListCobIDAvailable:

   253

                    self.ListCobIDAvailable.remove(newcobid)

   254

                    return newcobid, 0x1400 + nbSlavePDO

   255

            # Return the first cobid available if no cobid found

   256

            return self.ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO

   257

   258

        elif type == TPDO:

   259

            if nbSlavePDO < 4:

   260

                # For the four first TPDO -> cobid = 0x180 + ( numPdo parameters * 0x100) + nodeid

   261

                newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)

   262

                # Return calculated cobid if it's still available

   263

                if newcobid in self.ListCobIDAvailable:

   264

                    self.ListCobIDAvailable.remove(newcobid)

   265

                    return newcobid, 0x1800 + nbSlavePDO

   266

            # Return the first cobid available if no cobid found

   267

            return self.ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO

   268

   269

        return None

   270

   271

   272

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

   273

        """

   274

        Add entry to DCF, for the requested nodeID

   275

        @param nodeid: id of the slave (int)

   276

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

   277

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

   278

        """

   279

        # Get current DCF for slave

   280

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

   281

   282

        # Extract data and number of params in current DCF

   283

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

   284

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

   285

            tmpnbparams.reverse()

   286

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

   287

            data = nodeDCF[4:] + data

   288

   289

        # Build new DCF

   290

        dcf = LE_to_BE(nbparams, 0x04) + data

   291

        # Set new DCF for slave

   292

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

   293

   294

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

   295

        """

   296

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

   297

        @param nodeid: id of the slave (int)

   298

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

   299

        @param pdomapping: list od variables to map with PDO

   300

        """

   301

        # Get a new cob id

   302

        result = self.GetNewCobID(nodeid, pdotype)

   303

        if result:

   304

            new_cobid, new_idx = result

   305

   306

            # Increment the number of PDO of this type for node

   307

            self.SlavesPdoNumber[nodeid][pdotype] += 1

   308

   309

            # Add an entry to MasterMapping

   310

            self.MasterMapping[new_cobid] = {"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(new_idx, new_cobid, 0x01, pdomapping)

   316

            else:

   317

                return GeneratePDOMappingDCF(new_idx, new_cobid, 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 ValueError, "Conflict type 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 ValueError, "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 ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,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

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

   365

   366

                # Get the entry info

   367

                subentry_infos = node.GetSubentryInfos(index, subindex)

   368

   369

                # If a PDO mappable

   370

                if subentry_infos and subentry_infos["pdo"]:

   371

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

   372

                        numbit = loc[3]

   373

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

   374

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

   375

                    else:

   376

                        numbit = None

   377

   378

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

   379

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

   380

   381

                    typeinfos = node.GetEntryInfos(COlocationtype)

   382

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

   383

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

   384

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

   385

                else:

   386

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

   387

   388

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

   389

        #                         Search for locations already mapped

   390

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

   391

   392

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

   393

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

   394

   395

            # Search if slave has a PDO mapping this locations

   396

            result = SearchNodePDOMapping(locationinfos, node)

   397

            if result != None:

   398

                index, subindex = result

   399

                # Get COB ID of the PDO

   400

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

   401

   402

                # Add PDO to MasterMapping

   403

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

   404

                    # Verify that PDO transmit type is conform to sync_TPDOs

   405

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

   406

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

   407

                        if sync_TPDOs:

   408

                            # Change TransmitType to SYNCHRONE

   409

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

   410

                        else:

   411

                            # Change TransmitType to ASYCHRONE

   412

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

   413

   414

                        # Add entry to slave dcf to change transmit type of 

   415

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

   416

   417

                    mapping = [None]

   418

                    values = node.GetEntry(index)

   419

                    # Store the size of each entry mapped in PDO

   420

                    for value in values[1:]:

   421

                        if value != 0:

   422

                            mapping.append(value % 0x100)

   423

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

   424

   425

                # Indicate that this PDO entry must be saved

   426

                if locationinfos["bit"] is not None:

   427

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

   428

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

   429

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

   430

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

   431

                else:

   432

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

   433

   434

            else:

   435

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

   436

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

   437

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

   438

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

   439

   440

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

   441

        #                         Build concise DCF for the others locations

   442

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

   443

   444

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

   445

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

   446

   447

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

   448

            nbparams = 0

   449

            dataparams = ""

   450

   451

            # Generate the best PDO mapping for each type of PDO

   452

            for pdotype in (TPDO, RPDO):

   453

                pdosize = 0

   454

                pdomapping = []

   455

                for name, loc_infos in locations[pdotype]:

   456

                    pdosize += loc_infos["size"]

   457

                    # If pdo's size > 64 bits

   458

                    if pdosize > 64:

   459

                        # Generate a new PDO Mapping

   460

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

   461

                        dataparams += data

   462

                        nbparams += nbaddedparams

   463

                        pdosize = loc_infos["size"]

   464

                        pdomapping = [(name, loc_infos)]

   465

                    else:

   466

                        pdomapping.append((name, loc_infos))

   467

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

   468

                if len(pdomapping) > 0:

   469

                    # Generate a new PDO Mapping

   470

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

   471

                    dataparams += data

   472

                    nbparams += nbaddedparams

   473

   474

            # Add number of params and data to node DCF

   475

            self.AddParamsToDCF(nodeid, dataparams, nbparams)

   476

   477

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

   478

        #                         Master Node Configuration

   479

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

   480

   481

        # Generate Master's Configuration from informations stored in MasterMapping

   482

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

   483

            # Get next PDO index in MasterNode for this PDO type

   484

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

   485

   486

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

   487

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

   488

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

   489

                    current_idx = idx

   490

   491

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

   492

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

   493

                addinglist = [current_idx, current_idx + 0x200]

   494

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

   495

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

   496

   497

                # Increment the number of PDO for this PDO type

   498

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

   499

   500

            # Change the transmit type of the PDO

   501

            if sync_TPDOs:

   502

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

   503

            else:

   504

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

   505

   506

            mapping = []

   507

            for item in pdo_infos["mapping"]:

   508

                if isinstance(item, ListType):

   509

                    mapping.extend(item)

   510

                else:

   511

                    mapping.append(item)

   512

   513

            # Add some subentries to PDO mapping if there is not enough

   514

            if len(mapping) > 1:

   515

                self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(mapping) - 1, self.MasterNode)

   516

   517

            # Generate MasterNode's PDO mapping

   518

            for subindex, variable in enumerate(mapping):

   519

                if subindex == 0:

   520

                    continue

   521

                new_index = False

   522

   523

                if isinstance(variable, (IntType, LongType)):

   524

                    # If variable is an integer then variable is unexpected