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

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

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

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

    61 

    61 

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

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

    63 

    63 

    65 #                  Specific exception for PDO mapping errors

    65 #                  Specific exception for PDO mapping errors

    67 

    67 

    68 

    68 

    69 class PDOmappingException(Exception):

    69 class PDOmappingException(Exception):

    70     pass

    70     pass

    71 

    71 

   338         @param locations: list of locations to be mapped

   338         @param locations: list of locations to be mapped

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

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

   340         @param sync_TPDOs: indicate if TPDO must be synchronous

   340         @param sync_TPDOs: indicate if TPDO must be synchronous

   341         """

   341         """

   342 

   342 

   344         #               Verify that locations correspond to real slave variables

   344         #               Verify that locations correspond to real slave variables

   346 

   346 

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

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

   348         for location in locations:

   348         for location in locations:

   349             COlocationtype = IECToCOType[location["IEC_TYPE"]]

   349             COlocationtype = IECToCOType[location["IEC_TYPE"]]

   350             name = location["NAME"]

   350             name = location["NAME"]

   418                 else:

   418                 else:

   419                     raise PDOmappingException(

   419                     raise PDOmappingException(

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

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

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

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

   422 

   422 

   424         #                         Search for locations already mapped

   424         #                         Search for locations already mapped

   426 

   426 

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

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

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

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

   429 

   429 

   430             # Search if slave has a PDO mapping this locations

   430             # Search if slave has a PDO mapping this locations

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

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

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

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

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

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

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

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

   474 

   474 

   476         #                         Build concise DCF for the others locations

   476         #                         Build concise DCF for the others locations

   478 

   478 

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

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

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

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

   481 

   481 

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

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

   518                         nbparams += nbaddedparams

   518                         nbparams += nbaddedparams

   519 

   519 

   520             # Add number of params and data to node DCF

   520             # Add number of params and data to node DCF

   521             self.AddParamsToDCF(nodeid, dataparams, nbparams)

   521             self.AddParamsToDCF(nodeid, dataparams, nbparams)

   522 

   522 

   524         #                         Master Node Configuration

   524         #                         Master Node Configuration

   526 

   526 

   527         # Generate Master's Configuration from informations stored in MasterMapping

   527         # Generate Master's Configuration from informations stored in MasterMapping

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

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

   529             # Get next PDO index in MasterNode for this PDO type

   529             # Get next PDO index in MasterNode for this PDO type

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

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