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1 #!/usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 |
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4 #This file is part of CanFestival, a library implementing CanOpen Stack. |
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5 # |
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6 #Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD |
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7 # |
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8 #See COPYING file for copyrights details. |
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9 # |
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10 #This library is free software; you can redistribute it and/or |
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11 #modify it under the terms of the GNU Lesser General Public |
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12 #License as published by the Free Software Foundation; either |
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13 #version 2.1 of the License, or (at your option) any later version. |
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14 # |
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15 #This library is distributed in the hope that it will be useful, |
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16 #but WITHOUT ANY WARRANTY; without even the implied warranty of |
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17 #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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18 #Lesser General Public License for more details. |
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19 # |
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20 #You should have received a copy of the GNU Lesser General Public |
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21 #License along with this library; if not, write to the Free Software |
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22 #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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23 |
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24 from types import * |
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25 |
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26 DicoTypes = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10, |
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27 "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08, |
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28 "LREAL":0x11,"STRING":0x09,"BYTE":0x02,"WORD":0x03,"DWORD":0x04, |
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29 "LWORD":0x1B,"WSTRING":0x0B} |
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30 |
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31 DictLocations = {} |
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32 DictCobID = {} |
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33 DictLocationsNotMapped = {} |
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34 ListCobIDAvailable = [] |
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35 SlavesPdoNumber = {} |
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36 |
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37 # Constants for PDO types |
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38 RPDO = 1 |
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39 TPDO = 2 |
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40 SlavePDOType = {"I" : TPDO, "Q" : RPDO} |
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41 InvertPDOType = {RPDO : TPDO, TPDO : RPDO} |
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42 |
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43 DefaultTransmitTypeMaster = 0x01 |
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44 |
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45 GenerateMasterMapping = lambda x:[None] + [(loc_infos["type"], name) for name, loc_infos in x] |
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46 |
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47 TrashVariableSizes = {1 : 0x01, 8 : 0x05, 16 : 0x06, 32 : 0x07, 64 : 0x1B} |
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48 |
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49 |
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50 def GetSlavePDOIndexes(slave, type, parameters = False): |
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51 indexes = [] |
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52 if type & RPDO: |
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53 indexes.extend([idx for idx in slave.GetIndexes() if 0x1400 <= idx <= 0x15FF]) |
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54 if type & TPDO: |
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55 indexes.extend([idx for idx in slave.GetIndexes() if 0x1800 <= idx <= 0x19FF]) |
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56 if not parameters: |
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57 return [idx + 0x200 for idx in indexes] |
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58 else: |
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59 return indexes |
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60 |
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61 |
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62 def LE_to_BE(value, size): # Convert Little Endian to Big Endian |
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63 data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value |
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64 list_car = [data[i:i+2] for i in xrange(0, len(data), 2)] |
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65 list_car.reverse() |
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66 return "".join([chr(int(car, 16)) for car in list_car]) |
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67 |
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68 |
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69 |
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70 def SearchSlavePDOMapping(loc_infos, slave): # Search the TPDO or RPDO mapping where location is defined on the slave |
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71 typeinfos = slave.GetEntryInfos(loc_infos["type"]) |
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72 model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"] |
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73 slavePDOidxlist = GetSlavePDOIndexes(slave, loc_infos["pdotype"]) |
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74 |
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75 for PDOidx in slavePDOidxlist: |
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76 values = slave.GetEntry(PDOidx) |
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77 if values != None: |
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78 for subindex, mapping in enumerate(values): |
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79 if subindex != 0 and mapping == model: |
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80 return PDOidx, subindex |
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81 return None |
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82 |
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83 def GenerateMappingDCF(cobid, idx, pdomapping, mapped): # Build concise DCF |
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84 |
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85 # Create entry for RPDO or TPDO parameters and Disable PDO |
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86 dcfdata = LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE((0x80000000 + cobid), 4) |
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87 # Set Transmit type synchrone |
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88 dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(DefaultTransmitTypeSlave, 1) |
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89 # Re-Enable PDO |
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90 # ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------ |
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91 dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4) |
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92 nbparams = 3 |
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93 if mapped == False and pdomapping != None: |
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94 # Map Variables |
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95 for subindex, (name, loc_infos) in enumerate(pdomapping): |
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96 value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"] |
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97 dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4) |
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98 nbparams += 1 |
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99 return dcfdata, nbparams |
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100 |
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101 def GetNewCobID(nodeid, type): # Return a cobid not used |
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102 global ListCobIDAvailable, SlavesPdoNumber |
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103 |
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104 if len(ListCobIDAvailable) == 0: |
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105 return None |
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106 |
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107 nbSlavePDO = SlavesPdoNumber[nodeid][type] |
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108 if type == RPDO: |
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109 if nbSlavePDO < 4: |
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110 # For the fourth PDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid |
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111 newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid) |
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112 if newcobid in ListCobIDAvailable: |
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113 ListCobIDAvailable.remove(newcobid) |
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114 return newcobid, 0x1400 + nbSlavePDO |
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115 return ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO |
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116 |
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117 elif type == TPDO: |
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118 if nbSlavePDO < 4: |
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119 # For the fourth PDO -> cobid = 0x180 + (numPdo parameters * 0x100) + nodeid |
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120 newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid) |
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121 if newcobid in ListCobIDAvailable: |
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122 ListCobIDAvailable.remove(newcobid) |
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123 return newcobid, 0x1800 + nbSlavePDO |
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124 return ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO |
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125 |
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126 for number in xrange(4): |
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127 if type == RPDO: |
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128 # For the fourth PDO -> cobid = 0x200 + ( numPdo * 0x100) + nodeid |
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129 newcobid = (0x200 + number * 0x100 + nodeid) |
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130 elif type == TPDO: |
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131 # For the fourth PDO -> cobid = 0x180 + (numPdo * 0x100) + nodeid |
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132 newcobid = (0x180 + number * 0x100 + nodeid) |
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133 else: |
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134 return None |
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135 if newcobid in ListCobIDAvailable: |
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136 ListCobIDAvailable.remove(newcobid) |
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137 return newcobid |
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138 return ListCobIDAvailable.pop(0) |
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139 |
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140 |
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141 def GenerateConciseDCF(locations, busname, nodelist): |
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142 global DictLocations, DictCobID, DictLocationsNotMapped, ListCobIDAvailable, SlavesPdoNumber, DefaultTransmitTypeSlave |
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143 |
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144 DictLocations = {} |
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145 DictCobID = {} |
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146 DictLocationsNotMapped = {} |
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147 DictSDOparams = {} |
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148 ListCobIDAvailable = range(0x180, 0x580) |
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149 SlavesPdoNumber = {} |
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150 DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)} |
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151 DefaultTransmitTypeSlave = 0xFF |
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152 # Master Node initialisation |
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153 |
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154 manager = nodelist.Manager |
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155 masternode = manager.GetCurrentNodeCopy() |
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156 if not masternode.IsEntry(0x1F22): |
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157 masternode.AddEntry(0x1F22, 1, "") |
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158 manager.AddSubentriesToCurrent(0x1F22, 127, masternode) |
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159 # Adding trash mappable variables for unused mapped datas |
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160 idxTrashVariables = 0x2000 + masternode.GetNodeID() |
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161 TrashVariableValue = {} |
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162 manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes), masternode) |
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163 for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()): |
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164 manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, masternode) |
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165 manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, masternode) |
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166 TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size |
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167 |
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168 |
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169 # Extract Master Node current empty mapping index |
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170 CurrentPDOParamsIdx = {RPDO : 0x1400 + len(GetSlavePDOIndexes(masternode, RPDO)), |
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171 TPDO : 0x1800 + len(GetSlavePDOIndexes(masternode, TPDO))} |
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172 |
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173 # Get list of all Slave's CobID and Slave's default SDO server parameters |
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174 for nodeid, nodeinfos in nodelist.SlaveNodes.items(): |
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175 node = nodeinfos["Node"] |
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176 node.SetNodeID(nodeid) |
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177 DictSDOparams[nodeid] = {"RSDO" : node.GetEntry(0x1200,0x01), "TSDO" : node.GetEntry(0x1200,0x02)} |
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178 slaveRpdoIndexes = GetSlavePDOIndexes(node, RPDO, True) |
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179 slaveTpdoIndexes = GetSlavePDOIndexes(node, TPDO, True) |
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180 SlavesPdoNumber[nodeid] = {RPDO : len(slaveRpdoIndexes), TPDO : len(slaveTpdoIndexes)} |
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181 for PdoIdx in slaveRpdoIndexes + slaveTpdoIndexes: |
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182 pdo_cobid = node.GetEntry(PdoIdx, 0x01) |
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183 if pdo_cobid > 0x600 : |
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184 pdo_cobid -= 0x80000000 |
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185 if pdo_cobid in ListCobIDAvailable: |
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186 ListCobIDAvailable.remove(pdo_cobid) |
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187 |
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188 # Get list of locations check if exists and mappables -> put them in DictLocations |
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189 for locationtype, name in locations: |
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190 if name in DictLocations.keys(): |
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191 if DictLocations[name]["type"] != DicoTypes[locationtype]: |
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192 raise ValueError, "Conflict type for location \"%s\"" % name |
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193 else: |
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194 loc = [i for i in name.split("_") if len(i) > 0] |
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195 if len(loc) not in (4, 5): |
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196 continue |
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197 |
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198 prefix = loc[0][0] |
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199 |
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200 # Extract and check busname |
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201 if loc[0][1].isdigit(): |
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202 sizelocation = "" |
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203 busnamelocation = int(loc[0][1:]) |
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204 else: |
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205 sizelocation = loc[0][1] |
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206 busnamelocation = int(loc[0][2:]) |
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207 if busnamelocation != busname: |
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208 continue # A ne pas remplacer par un message d'erreur |
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209 |
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210 # Extract and check nodeid |
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211 nodeid = int(loc[1]) |
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212 if nodeid not in nodelist.SlaveNodes.keys(): |
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213 continue |
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214 node = nodelist.SlaveNodes[nodeid]["Node"] |
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215 |
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216 # Extract and check index and subindex |
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217 index = int(loc[2]) |
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218 subindex = int(loc[3]) |
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219 if not node.IsEntry(index, subindex): |
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220 continue |
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221 subentry_infos = node.GetSubentryInfos(index, subindex) |
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222 |
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223 if subentry_infos and subentry_infos["pdo"]: |
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224 if sizelocation == "X" and len(loc) > 4: |
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225 numbit = loc[4] |
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226 elif sizelocation != "X" and len(loc) > 4: |
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227 continue |
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228 else: |
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229 numbit = None |
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230 |
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231 locationtype = DicoTypes[locationtype] |
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232 entryinfos = node.GetSubentryInfos(index, subindex) |
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233 if entryinfos["type"] != locationtype: |
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234 raise ValueError, "Invalid type for location \"%s\"" % name |
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235 |
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236 typeinfos = node.GetEntryInfos(locationtype) |
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237 DictLocations[name] = {"type":locationtype, "pdotype":SlavePDOType[prefix], |
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238 "nodeid": nodeid, "index": index,"subindex": subindex, |
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239 "bit": numbit, "size": typeinfos["size"], "busname": busname, "sizelocation": sizelocation} |
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240 |
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241 # Create DictCobID with variables already mapped and add them in DictValidLocations |
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242 for name, locationinfos in DictLocations.items(): |
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243 node = nodelist.SlaveNodes[locationinfos["nodeid"]]["Node"] |
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244 result = SearchSlavePDOMapping(locationinfos, node) |
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245 if result != None: |
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246 index, subindex = result |
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247 cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1) |
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248 if cobid not in DictCobID.keys(): |
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249 mapping = [None] |
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250 values = node.GetEntry(index) |
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251 for value in values[1:]: |
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252 mapping.append(value % 0x100) |
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253 DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping} |
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254 |
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255 DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name) |
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256 |
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257 else: |
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258 if locationinfos["nodeid"] not in DictLocationsNotMapped.keys(): |
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259 DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []} |
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260 DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos)) |
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261 |
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262 # Check Master Pdo parameters for cobid already used and remove it in ListCobIDAvailable |
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263 ListPdoParams = [idx for idx in masternode.GetIndexes() if 0x1400 <= idx <= 0x15FF or 0x1800 <= idx <= 0x19FF] |
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264 for idx in ListPdoParams: |
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265 cobid = masternode.GetEntry(idx, 0x01) |
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266 if cobid not in DictCobID.keys(): |
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267 ListCobIDAvailable.pop(cobid) |
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268 |
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269 #------------------------------------------------------------------------------- |
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270 # Build concise DCF for the others locations |
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271 #------------------------------------------------------------------------------- |
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272 |
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273 for nodeid, locations in DictLocationsNotMapped.items(): |
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274 # Get current concise DCF |
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275 node = nodelist.SlaveNodes[nodeid]["Node"] |
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276 nodeDCF = masternode.GetEntry(0x1F22, nodeid) |
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277 |
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278 if nodeDCF != None and nodeDCF != '': |
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279 tmpnbparams = [i for i in nodeDCF[:4]] |
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280 tmpnbparams.reverse() |
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281 nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16) |
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282 dataparams = nodeDCF[4:] |
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283 else: |
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284 nbparams = 0 |
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285 dataparams = "" |
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286 |
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287 for pdotype in (TPDO, RPDO): |
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288 pdosize = 0 |
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289 pdomapping = [] |
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290 for name, loc_infos in locations[pdotype]: |
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291 pdosize += loc_infos["size"] |
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292 # If pdo's size > 64 bits |
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293 if pdosize > 64: |
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294 result = GetNewCobID(nodeid, pdotype) |
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295 if result: |
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296 SlavesPdoNumber[nodeid][pdotype] += 1 |
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297 new_cobid, new_idx = result |
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298 data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False) |
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299 dataparams += data |
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300 nbparams += nbaddedparams |
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301 DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)} |
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302 pdosize = loc_infos["size"] |
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303 pdomapping = [(name, loc_infos)] |
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304 else: |
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305 pdomapping.append((name, loc_infos)) |
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306 if len(pdomapping) > 0: |
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307 result = GetNewCobID(nodeid, pdotype) |
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308 if result: |
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309 SlavesPdoNumber[nodeid][pdotype] += 1 |
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310 new_cobid, new_idx = result |
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311 data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False) |
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312 dataparams += data |
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313 nbparams += nbaddedparams |
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314 DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)} |
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315 |
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316 dcf = LE_to_BE(nbparams, 0x04) + dataparams |
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317 masternode.SetEntry(0x1F22, nodeid, dcf) |
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318 |
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319 |
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320 #------------------------------------------------------------------------------- |
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321 # Master Node Configuration |
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322 #------------------------------------------------------------------------------- |
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323 |
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324 # Configure Master's SDO parameters entries |
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325 for nodeid, SDOparams in DictSDOparams.items(): |
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326 SdoClient_index = [0x1280 + nodeid] |
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327 manager.ManageEntriesOfCurrent(SdoClient_index,[], masternode) |
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328 if SDOparams["RSDO"] != None: |
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329 RSDO_cobid = SDOparams["RSDO"] |
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330 else: |
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331 RSDO_cobid = 0x600 + nodeid |
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332 |
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333 if SDOparams["TSDO"] != None: |
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334 TSDO_cobid = SDOparams["TSDO"] |
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335 else: |
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336 TSDO_cobid = 0x580 + nodeid |
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337 |
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338 masternode.SetEntry(SdoClient_index[0], 0x01, RSDO_cobid) |
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339 masternode.SetEntry(SdoClient_index[0], 0x02, TSDO_cobid) |
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340 masternode.SetEntry(SdoClient_index[0], 0x03, nodeid) |
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341 |
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342 # Configure Master's PDO parameters entries and set cobid, transmit type |
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343 for cobid, pdo_infos in DictCobID.items(): |
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344 current_idx = CurrentPDOParamsIdx[pdo_infos["type"]] |
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345 addinglist = [current_idx, current_idx + 0x200] |
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346 manager.ManageEntriesOfCurrent(addinglist, [], masternode) |
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347 masternode.SetEntry(current_idx, 0x01, cobid) |
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348 masternode.SetEntry(current_idx, 0x02, DefaultTransmitTypeMaster) |
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349 if len(pdo_infos["mapping"]) > 2: |
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350 manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, masternode) |
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351 |
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352 # Create Master's PDO mapping |
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353 for subindex, variable in enumerate(pdo_infos["mapping"]): |
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354 if subindex == 0: |
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355 continue |
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356 new_index = False |
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357 |
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358 if type(variable) != IntType: |
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359 |
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360 typeidx, varname = variable |
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361 indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["busname"]) + "_" + str(DictLocations[variable[1]]["nodeid"]) |
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362 mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] + DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"] |
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363 |
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364 if not masternode.IsEntry(mapvariableidx): |
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365 manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode) |
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366 new_index = True |
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367 nbsubentries = masternode.GetEntry(mapvariableidx, 0x00) |
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368 else: |
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369 nbsubentries = masternode.GetEntry(mapvariableidx, 0x00) |
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370 mapvariableidxbase = mapvariableidx |
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371 while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF: |
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372 mapvariableidx += 0x800 |
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373 if not manager.IsCurrentEntry(mapvariableidx): |
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374 manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode) |
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375 new_index = True |
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376 nbsubentries = masternode.GetEntry(mapvariableidx, 0x00) |
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377 |
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378 if mapvariableidx < 0x6000: |
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379 if DictLocations[variable[1]]["bit"] != None: |
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380 subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"]) |
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381 else: |
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382 subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) |
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383 if not new_index: |
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384 manager.AddSubentriesToCurrent(mapvariableidx, 1, masternode) |
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385 nbsubentries += 1 |
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386 masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname}) |
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387 masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx}) |
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388 |
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389 # Map Variable |
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390 typeinfos = manager.GetEntryInfos(typeidx) |
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391 if typeinfos != None: |
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392 value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"] |
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393 masternode.SetEntry(current_idx + 0x200, subindex, value) |
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394 else: |
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395 masternode.SetEntry(current_idx + 0x200, subindex, TrashVariableValue[variable]) |
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396 |
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397 CurrentPDOParamsIdx[pdo_infos["type"]] += 1 |
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398 #masternode.Print() |
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399 return masternode |
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400 |
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401 if __name__ == "__main__": |
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402 from nodemanager import * |
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403 from nodelist import * |
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404 import sys |
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405 |
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406 manager = NodeManager(sys.path[0]) |
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407 nodelist = NodeList(manager) |
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408 result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping") |
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409 |
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410 ## if result != None: |
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411 ## print result |
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412 ## else: |
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413 ## print "MasterNode :" |
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414 ## manager.CurrentNode.Print() |
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415 ## for nodeid, node in nodelist.SlaveNodes.items(): |
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416 ## print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid) |
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417 ## node["Node"].Print() |
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418 |
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419 #filepath = "/home/deobox/beremiz/test_nodelist/listlocations.txt" |
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420 filepath = "/home/deobox/Desktop/TestMapping/listlocations.txt" |
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421 |
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422 file = open(filepath,'r') |
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423 locations = [location.split(' ') for location in [line.strip() for line in file.readlines() if len(line) > 0]] |
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424 file.close() |
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425 GenerateConciseDCF(locations, 32, nodelist) |
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426 print "MasterNode :" |
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427 manager.CurrentNode.Print() |
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428 #masternode.Print() |