canfestival/config_utils.py
author Edouard Tisserant <edouard.tisserant@gmail.com>
Fri, 01 Oct 2021 15:32:38 +0200
branchwxPython4
changeset 3324 13779d34293b
parent 2450 5024c19ca8f0
child 3750 f62625418bff
permissions -rw-r--r--
SVGHMI: Added PathSlider widget
#!/usr/bin/env python
# -*- coding: utf-8 -*-

# This file is part of Beremiz, a Integrated Development Environment for
# programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
#
# Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
#
# See COPYING file for copyrights details.
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.


from __future__ import absolute_import
from __future__ import print_function
import os
import sys
import getopt
from past.builtins import long

# Translation between IEC types and Can Open types
IECToCOType = {
    "BOOL":    0x01,
    "SINT":    0x02,
    "INT":     0x03,
    "DINT":    0x04,
    "LINT":    0x10,
    "USINT":   0x05,
    "UINT":    0x06,
    "UDINT":   0x07,
    "ULINT":   0x1B,
    "REAL":    0x08,
    "LREAL":   0x11,
    "STRING":  0x09,
    "BYTE":    0x05,
    "WORD":    0x06,
    "DWORD":   0x07,
    "LWORD":   0x1B,
    "WSTRING": 0x0B
}

# Constants for PDO types
RPDO = 1
TPDO = 2

SlavePDOType = {"I": TPDO, "Q": RPDO}
InvertPDOType = {RPDO: TPDO, TPDO: RPDO}
PDOTypeBaseIndex = {RPDO: 0x1400, TPDO: 0x1800}
PDOTypeBaseCobId = {RPDO: 0x200, TPDO: 0x180}

VariableIncrement = 0x100
VariableStartIndex = {TPDO: 0x2000, RPDO: 0x4000}
VariableDirText = {TPDO: "__I", RPDO: "__Q"}
VariableTypeOffset = dict(zip(["", "X", "B", "W", "D", "L"], range(6)))

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

# -------------------------------------------------------------------------------
#                  Specific exception for PDO mapping errors
# -------------------------------------------------------------------------------


class PDOmappingException(Exception):
    pass


def LE_to_BE(value, size):
    """
    Convert Little Endian to Big Endian
    @param value: value expressed in integer
    @param size: number of bytes generated
    @return: a string containing the value converted
    """

    data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value
    list_car = [data[i:i+2] for i in xrange(0, len(data), 2)]
    list_car.reverse()
    return "".join([chr(int(car, 16)) for car in list_car])


def GetNodePDOIndexes(node, type, parameters=False):
    """
    Find the PDO indexes of a node
    @param node: node
    @param type: type of PDO searched (RPDO or TPDO or both)
    @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)
    @return: a list of indexes found
    """

    indexes = []
    if type & RPDO:
        indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF])
    if type & TPDO:
        indexes.extend([idx for idx in node.GetIndexes() if 0x1800 <= idx <= 0x19FF])
    if not parameters:
        return [idx + 0x200 for idx in indexes]
    else:
        return indexes


def SearchNodePDOMapping(loc_infos, node):
    """
    Find the PDO indexes of a node
    @param node: node
    @param type: type of PDO searched (RPDO or TPDO or both)
    @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)
    @return: a list of indexes found
    """

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

    for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]):
        values = node.GetEntry(PDOidx)
        if values is not None:
            for subindex, mapping in enumerate(values):
                if subindex != 0 and mapping & 0xFFFFFF00 == model:
                    return PDOidx, subindex
    return None


def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping):
    """
    Build concise DCF value for configuring a PDO
    @param idx: index of PDO parameters
    @param cobid: PDO generated COB ID
    @param transmittype : PDO transmit type
    @param pdomapping: list of PDO mappings
    @return: a tuple of value and number of parameters to add to DCF
    """

    dcfdata = []
    # Create entry for RPDO or TPDO parameters and Disable PDO
    #           ---- INDEX -----   --- SUBINDEX ----   ----- SIZE ------   ------ DATA ------
    dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x80000000 + cobid, 4)]
    # Set Transmit type
    dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)]
    if len(pdomapping) > 0:
        # Disable Mapping
        dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(0x00, 1)]
        # Map Variables
        for subindex, (_name, loc_infos) in enumerate(pdomapping):
            value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"]
            dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4)]
        # Re-enable Mapping
        dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1)]
    # Re-Enable PDO
    dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(cobid, 4)]
    return "".join(dcfdata), len(dcfdata)


class ConciseDCFGenerator(object):

    def __init__(self, nodelist, nodename):
        # Dictionary of location informations classed by name
        self.IECLocations = {}
        # Dictionary of location that have not been mapped yet
        self.LocationsNotMapped = {}
        # Dictionary of location informations classed by name
        self.MasterMapping = {}
        # List of COB IDs available
        self.ListCobIDAvailable = range(0x180, 0x580)
        # Dictionary of mapping value where unexpected variables are stored
        self.TrashVariables = {}
        # Dictionary of pointed variables
        self.PointedVariables = {}

        self.NodeList = nodelist
        self.Manager = self.NodeList.Manager
        self.MasterNode = self.Manager.GetCurrentNodeCopy()
        self.MasterNode.SetNodeName(nodename)
        self.PrepareMasterNode()

    def GetPointedVariables(self):
        return self.PointedVariables

    def RemoveUsedNodeCobId(self, node):
        """
        Remove all PDO COB ID used by the given node from the list of available COB ID
        @param node: node
        @return: a tuple of number of RPDO and TPDO for the node
        """

        # Get list of all node TPDO and RPDO indexes
        nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)
        nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

        # Mark all the COB ID of the node already mapped PDO as not available
        for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:
            pdo_cobid = node.GetEntry(PdoIdx, 0x01)
            # Extract COB ID, if PDO isn't active
            if pdo_cobid > 0x600:
                pdo_cobid -= 0x80000000
            # Remove COB ID from the list of available COB ID
            if pdo_cobid in self.ListCobIDAvailable:
                self.ListCobIDAvailable.remove(pdo_cobid)

        return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

    def PrepareMasterNode(self):
        """
        Add mandatory entries for DCF generation into MasterNode.
        """

        # Adding DCF entry into Master node
        if not self.MasterNode.IsEntry(0x1F22):
            self.MasterNode.AddEntry(0x1F22, 1, "")
        self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode)

        # Adding trash mappable variables for unused mapped datas
        idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID()
        # Add an entry for storing unexpected all variable
        self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode)
        for subidx, (size, typeidx) in enumerate(TrashVariables):
            # Add a subentry for storing unexpected variable of this size
            self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, self.MasterNode)
            self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode)
            # Store the mapping value for this entry
            self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size

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

        # Store the indexes of the first RPDO and TPDO available for MasterNode
        self.CurrentPDOParamsIdx = {RPDO: 0x1400 + RPDOnumber, TPDO: 0x1800 + TPDOnumber}

        # Prepare MasterNode with all nodelist slaves
        for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()):
            node = nodeinfos["Node"]
            node.SetNodeID(nodeid)

            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

            # Get Slave's default SDO server parameters
            RSDO_cobid = node.GetEntry(0x1200, 0x01)
            if not RSDO_cobid:
                RSDO_cobid = 0x600 + nodeid
            TSDO_cobid = node.GetEntry(0x1200, 0x02)
            if not TSDO_cobid:
                TSDO_cobid = 0x580 + nodeid

            # Configure Master's SDO parameters entries
            self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode)
            self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid)
            self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid)
            self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid)

    def GetMasterNode(self):
        """
        Return MasterNode.
        """
        return self.MasterNode

    def AddParamsToDCF(self, nodeid, data, nbparams):
        """
        Add entry to DCF, for the requested nodeID
        @param nodeid: id of the slave (int)
        @param data: data to add to slave DCF (string)
        @param nbparams: number of params added to slave DCF (int)
        """
        # Get current DCF for slave
        nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid)

        # Extract data and number of params in current DCF
        if nodeDCF is not None and nodeDCF != '':
            tmpnbparams = [i for i in nodeDCF[:4]]
            tmpnbparams.reverse()
            nbparams += int(''.join(["%2.2x" % ord(i) for i in tmpnbparams]), 16)
            data = nodeDCF[4:] + data

        # Build new DCF
        dcf = LE_to_BE(nbparams, 0x04) + data
        # Set new DCF for slave
        self.MasterNode.SetEntry(0x1F22, nodeid, dcf)

    def GetEmptyPDO(self, nodeid, pdotype, start_index=None):
        """
        Search a not configured PDO for a slave
        @param node: the slave node object
        @param pdotype: type of PDO to generated (RPDO or TPDO)
        @param start_index: Index where search must start (default: None)
        @return tuple of PDO index, COB ID and number of subindex defined
        """
        # If no start_index defined, start with PDOtype base index
        if start_index is None:
            index = PDOTypeBaseIndex[pdotype]
        else:
            index = start_index

        # Search for all PDO possible index until find a configurable PDO
        # starting from start_index
        while index < PDOTypeBaseIndex[pdotype] + 0x200:
            values = self.NodeList.GetSlaveNodeEntry(nodeid, index + 0x200)
            if values is not None and values[0] > 0:
                # Check that all subindex upper than 0 equal 0 => configurable PDO
                if reduce(lambda x, y: x and y, map(lambda x: x == 0, values[1:]), True):
                    cobid = self.NodeList.GetSlaveNodeEntry(nodeid, index, 1)
                    # If no COB ID defined in PDO, generate a new one (not used)
                    if cobid == 0:
                        if len(self.ListCobIDAvailable) == 0:
                            return None
                        # Calculate COB ID from standard values
                        if index < PDOTypeBaseIndex[pdotype] + 4:
                            cobid = PDOTypeBaseCobId[pdotype] + 0x100 * (index - PDOTypeBaseIndex[pdotype]) + nodeid
                        if cobid not in self.ListCobIDAvailable:
                            cobid = self.ListCobIDAvailable.pop(0)
                    return index, cobid, values[0]
            index += 1
        return None

    def AddPDOMapping(self, nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs):
        """
        Record a new mapping request for a slave, and add related slave config to the DCF
        @param nodeid: id of the slave (int)
        @param pdotype: type of PDO to generated (RPDO or TPDO)
        @param pdomapping: list od variables to map with PDO
        """
        # Add an entry to MasterMapping
        self.MasterMapping[pdocobid] = {
            "type":    InvertPDOType[pdotype],
            "mapping": [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]
        }

        # Return the data to add to DCF
        if sync_TPDOs:
            return GeneratePDOMappingDCF(pdoindex, pdocobid, 0x01, pdomapping)
        else:
            return GeneratePDOMappingDCF(pdoindex, pdocobid, 0xFF, pdomapping)
        return 0, ""

    def GenerateDCF(self, locations, current_location, sync_TPDOs):
        """
        Generate Concise DCF of MasterNode for the locations list given
        @param locations: list of locations to be mapped
        @param current_location: tuple of the located prefixes not to be considered
        @param sync_TPDOs: indicate if TPDO must be synchronous
        """

        # -------------------------------------------------------------------------------
        #               Verify that locations correspond to real slave variables
        # -------------------------------------------------------------------------------

        # Get list of locations check if exists and mappables -> put them in IECLocations
        for location in locations:
            COlocationtype = IECToCOType[location["IEC_TYPE"]]
            name = location["NAME"]
            if name in self.IECLocations:
                if self.IECLocations[name]["type"] != COlocationtype:
                    raise PDOmappingException(_("Type conflict for location \"%s\"") % name)
            else:
                # Get only the part of the location that concern this node
                loc = location["LOC"][len(current_location):]
                # loc correspond to (ID, INDEX, SUBINDEX [,BIT])
                if len(loc) not in (2, 3, 4):
                    raise PDOmappingException(_("Bad location size : %s") % str(loc))
                elif len(loc) == 2:
                    continue

                direction = location["DIR"]

                sizelocation = location["SIZE"]

                # Extract and check nodeid
                nodeid, index, subindex = loc[:3]

                # Check Id is in slave node list
                if nodeid not in self.NodeList.SlaveNodes.keys():
                    raise PDOmappingException(
                        _("Non existing node ID : {a1} (variable {a2})").
                        format(a1=nodeid, a2=name))

                # Get the model for this node (made from EDS)
                node = self.NodeList.SlaveNodes[nodeid]["Node"]

                # Extract and check index and subindex
                if not node.IsEntry(index, subindex):
                    msg = _("No such index/subindex ({a1},{a2}) in ID : {a3} (variable {a4})").\
                          format(a1="%x" % index, a2="%x" % subindex, a3=nodeid, a4=name)
                    raise PDOmappingException(msg)

                # Get the entry info
                subentry_infos = node.GetSubentryInfos(index, subindex)

                # If a PDO mappable
                if subentry_infos and subentry_infos["pdo"]:
                    if sizelocation == "X" and len(loc) > 3:
                        numbit = loc[3]
                    elif sizelocation != "X" and len(loc) > 3:
                        raise PDOmappingException(
                            _("Cannot set bit offset for non bool '{a1}' variable (ID:{a2},Idx:{a3},sIdx:{a4}))").
                            format(a1=name, a2=nodeid, a3="%x" % index, a4="%x" % subindex))
                    else:
                        numbit = None

                    if location["IEC_TYPE"] != "BOOL" and subentry_infos["type"] != COlocationtype:
                        raise PDOmappingException(
                            _("Invalid type \"{a1}\"-> {a2} != {a3}  for location \"{a4}\"").
                            format(a1=location["IEC_TYPE"],
                                   a2=COlocationtype,
                                   a3=subentry_infos["type"],
                                   a4=name))

                    typeinfos = node.GetEntryInfos(COlocationtype)
                    self.IECLocations[name] = {
                        "type":         COlocationtype,
                        "pdotype":      SlavePDOType[direction],
                        "nodeid":       nodeid,
                        "index":        index,
                        "subindex":     subindex,
                        "bit":          numbit,
                        "size":         typeinfos["size"],
                        "sizelocation": sizelocation
                    }
                else:
                    raise PDOmappingException(
                        _("Not PDO mappable variable : '{a1}' (ID:{a2},Idx:{a3},sIdx:{a4}))").
                        format(a1=name, a2=nodeid, a3="%x" % index, a4="%x" % subindex))

        # -------------------------------------------------------------------------------
        #                         Search for locations already mapped
        # -------------------------------------------------------------------------------

        for name, locationinfos in self.IECLocations.items():
            node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"]

            # Search if slave has a PDO mapping this locations
            result = SearchNodePDOMapping(locationinfos, node)
            if result is not None:
                index, subindex = result
                # Get COB ID of the PDO
                cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)

                # Add PDO to MasterMapping
                if cobid not in self.MasterMapping.keys():
                    # Verify that PDO transmit type is conform to sync_TPDOs
                    transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)
                    if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF:
                        if sync_TPDOs:
                            # Change TransmitType to SYNCHRONE
                            data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, [])
                        else:
                            # Change TransmitType to ASYCHRONE
                            data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, [])

                        # Add entry to slave dcf to change transmit type of
                        self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams)

                    mapping = [None]
                    values = node.GetEntry(index)
                    # Store the size of each entry mapped in PDO
                    for value in values[1:]:
                        if value != 0:
                            mapping.append(value % 0x100)
                    self.MasterMapping[cobid] = {"type": InvertPDOType[locationinfos["pdotype"]], "mapping": mapping}

                # Indicate that this PDO entry must be saved
                if locationinfos["bit"] is not None:
                    if not isinstance(self.MasterMapping[cobid]["mapping"][subindex], list):
                        self.MasterMapping[cobid]["mapping"][subindex] = [1] * self.MasterMapping[cobid]["mapping"][subindex]
                    if locationinfos["bit"] < len(self.MasterMapping[cobid]["mapping"][subindex]):
                        self.MasterMapping[cobid]["mapping"][subindex][locationinfos["bit"]] = (locationinfos["type"], name)
                else:
                    self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name)

            else:
                # Add location to those that haven't been mapped yet
                if locationinfos["nodeid"] not in self.LocationsNotMapped.keys():
                    self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO: [], RPDO: []}
                self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))

        # -------------------------------------------------------------------------------
        #                         Build concise DCF for the others locations
        # -------------------------------------------------------------------------------

        for nodeid, locations in self.LocationsNotMapped.items():
            node = self.NodeList.SlaveNodes[nodeid]["Node"]

            # Initialize number of params and data to add to node DCF
            nbparams = 0
            dataparams = ""

            # Generate the best PDO mapping for each type of PDO
            for pdotype in (TPDO, RPDO):
                if len(locations[pdotype]) > 0:
                    pdosize = 0
                    pdomapping = []
                    result = self.GetEmptyPDO(nodeid, pdotype)
                    if result is None:
                        raise PDOmappingException(
                            _("Unable to define PDO mapping for node %02x") % nodeid)
                    pdoindex, pdocobid, pdonbparams = result
                    for name, loc_infos in locations[pdotype]:
                        pdosize += loc_infos["size"]
                        # If pdo's size > 64 bits
                        if pdosize > 64 or len(pdomapping) >= pdonbparams:
                            # Generate a new PDO Mapping
                            data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)
                            dataparams += data
                            nbparams += nbaddedparams
                            pdosize = loc_infos["size"]
                            pdomapping = [(name, loc_infos)]
                            result = self.GetEmptyPDO(nodeid, pdotype, pdoindex + 1)
                            if result is None:
                                raise PDOmappingException(
                                    _("Unable to define PDO mapping for node %02x") % nodeid)
                            pdoindex, pdocobid, pdonbparams = result
                        else:
                            pdomapping.append((name, loc_infos))
                    # If there isn't locations yet but there is still a PDO to generate
                    if len(pdomapping) > 0:
                        # Generate a new PDO Mapping
                        data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)
                        dataparams += data
                        nbparams += nbaddedparams

            # Add number of params and data to node DCF
            self.AddParamsToDCF(nodeid, dataparams, nbparams)

        # -------------------------------------------------------------------------------
        #                         Master Node Configuration
        # -------------------------------------------------------------------------------

        # Generate Master's Configuration from informations stored in MasterMapping
        for cobid, pdo_infos in self.MasterMapping.items():
            # Get next PDO index in MasterNode for this PDO type
            current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]]

            # Search if there is already a PDO in MasterNode with this cob id
            for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True):
                if self.MasterNode.GetEntry(idx, 1) == cobid:
                    current_idx = idx

            # Add a PDO to MasterNode if not PDO have been found
            if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]:
                addinglist = [current_idx, current_idx + 0x200]
                self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode)
                self.MasterNode.SetEntry(current_idx, 0x01, cobid)

                # Increment the number of PDO for this PDO type
                self.CurrentPDOParamsIdx[pdo_infos["type"]] += 1

            # Change the transmit type of the PDO
            if sync_TPDOs:
                self.MasterNode.SetEntry(current_idx, 0x02, 0x01)
            else:
                self.MasterNode.SetEntry(current_idx, 0x02, 0xFF)

            mapping = []
            for item in pdo_infos["mapping"]:
                if isinstance(item, list):
                    mapping.extend(item)
                else:
                    mapping.append(item)

            # Add some subentries to PDO mapping if there is not enough
            if len(mapping) > 1:
                self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(mapping) - 1, self.MasterNode)

            # Generate MasterNode's PDO mapping
            for subindex, variable in enumerate(mapping):
                if subindex == 0:
                    continue
                new_index = False

                if isinstance(variable, (int, long)):
                    # If variable is an integer then variable is unexpected
                    self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable])
                else:
                    typeidx, varname = variable
                    variable_infos = self.IECLocations[varname]

                    # Calculate base index for storing variable
                    mapvariableidx = \
                        VariableStartIndex[variable_infos["pdotype"]] + \
                        VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \
                        variable_infos["nodeid"]

                    # Generate entry name
                    indexname = "%s%s%s_%d" % (VariableDirText[variable_infos["pdotype"]],
                                               variable_infos["sizelocation"],
                                               '_'.join(map(str, current_location)),
                                               variable_infos["nodeid"])

                    # Search for an entry that has an empty subindex
                    while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
                        # Entry doesn't exist
                        if not self.MasterNode.IsEntry(mapvariableidx):
                            # Add entry to MasterNode
                            self.Manager.AddMapVariableToCurrent(mapvariableidx, "beremiz"+indexname, 3, 1, self.MasterNode)
                            new_index = True
                            nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
                        else:
                            # Get Number of subentries already defined
                            nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
                            # if entry is full, go to next entry possible or stop now
                            if nbsubentries == 0xFF:
                                mapvariableidx += 8 * VariableIncrement
                            else:
                                break

                    # Verify that a not full entry has been found
                    if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
                        # Generate subentry name
                        if variable_infos["bit"] is not None:
                            subindexname = "%(index)d_%(subindex)d_%(bit)d" % variable_infos
                        else:
                            subindexname = "%(index)d_%(subindex)d" % variable_infos
                        # If entry have just been created, no subentry have to be added
                        if not new_index:
                            self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode)
                            nbsubentries += 1
                        # Add informations to the new subentry created
                        self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values={"name": subindexname})
                        self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values={"type": typeidx})

                        # Set value of the PDO mapping
                        typeinfos = self.Manager.GetEntryInfos(typeidx)
                        if typeinfos is not None:
                            value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
                            self.MasterNode.SetEntry(current_idx + 0x200, subindex, value)

                        # Add variable to pointed variables
                        self.PointedVariables[(mapvariableidx, nbsubentries)] = "%s_%s" % (indexname, subindexname)


def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs, nodename):
    """
    Fills a CanFestival network editor model, with DCF with requested PDO mappings.
    @param locations: List of complete variables locations \
        [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
        "NAME" : name of the variable (generally "__IW0_1_2" style)
        "DIR" : direction "Q","I" or "M"
        "SIZE" : size "X", "B", "W", "D", "L"
        "LOC" : tuple of interger for IEC location (0,1,2,...)
        }, ...]
    @param nodelist: CanFestival network editor model
    @return: a modified copy of the given CanFestival network editor model
    """

    dcfgenerator = ConciseDCFGenerator(nodelist, nodename)
    dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs)
    masternode, pointers = dcfgenerator.GetMasterNode(), dcfgenerator.GetPointedVariables()
    # allow access to local OD from Master PLC
    pointers.update(LocalODPointers(locations, current_location, masternode))
    return masternode, pointers


def LocalODPointers(locations, current_location, slave):
    IECLocations = {}
    pointers = {}
    for location in locations:
        COlocationtype = IECToCOType[location["IEC_TYPE"]]
        name = location["NAME"]
        if name in IECLocations:
            if IECLocations[name] != COlocationtype:
                raise PDOmappingException(_("Type conflict for location \"%s\"") % name)
        else:
            # Get only the part of the location that concern this node
            loc = location["LOC"][len(current_location):]
            # loc correspond to (ID, INDEX, SUBINDEX [,BIT])
            if len(loc) not in (2, 3, 4):
                raise PDOmappingException(_("Bad location size : %s") % str(loc))
            elif len(loc) != 2:
                continue

            # Extract and check nodeid
            index, subindex = loc[:2]

            # Extract and check index and subindex
            if not slave.IsEntry(index, subindex):
                raise PDOmappingException(
                    _("No such index/subindex ({a1},{a2}) (variable {a3})").
                    format(a1="%x" % index, a2="%x" % subindex, a3=name))

            # Get the entry info
            subentry_infos = slave.GetSubentryInfos(index, subindex)
            if subentry_infos["type"] != COlocationtype:
                raise PDOmappingException(
                    _("Invalid type \"{a1}\"-> {a2} != {a3} for location \"{a4}\"").
                    format(a1=location["IEC_TYPE"],
                           a2=COlocationtype,
                           a3=subentry_infos["type"],
                           a4=name))

            IECLocations[name] = COlocationtype
            pointers[(index, subindex)] = name
    return pointers


if __name__ == "__main__":  # pylint: disable=all
    def usage():
        print("""
Usage of config_utils.py test :

    %s [options]

Options:
    --help  (-h)
            Displays help informations for config_utils

    --reset (-r)
            Reset the reference result of config_utils test.
            Use with caution. Be sure that config_utils
            is currently working properly.
""" % sys.argv[0])

    # Boolean that indicate if reference result must be redefined
    reset = False

    # Extract command options
    try:
        opts, args = getopt.getopt(sys.argv[1:], "hr", ["help", "reset"])
    except getopt.GetoptError:
        # print help information and exit:
        usage()
        sys.exit(2)

    # Test each option
    for o, a in opts:
        if o in ("-h", "--help"):
            usage()
            sys.exit()
        elif o in ("-r", "--reset"):
            reset = True

    # Extract workspace base folder
    base_folder = sys.path[0]
    for i in xrange(3):
        base_folder = os.path.split(base_folder)[0]
    # Add CanFestival folder to search pathes
    sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen"))

    from nodemanager import *
    from nodelist import *

    # Open the test nodelist contained into test_config folder
    manager = NodeManager()
    nodelist = NodeList(manager)
    result = nodelist.LoadProject("test_config")

    # List of locations, we try to map for test
    locations = [
        {"IEC_TYPE": "BYTE",  "NAME": "__IB0_1_64_24576_1", "DIR": "I", "SIZE": "B", "LOC": (0, 1, 64, 24576, 1)},
        {"IEC_TYPE": "INT",   "NAME": "__IW0_1_64_25601_2", "DIR": "I", "SIZE": "W", "LOC": (0, 1, 64, 25601, 2)},
        {"IEC_TYPE": "INT",   "NAME": "__IW0_1_64_25601_3", "DIR": "I", "SIZE": "W", "LOC": (0, 1, 64, 25601, 3)},
        {"IEC_TYPE": "INT",   "NAME": "__QW0_1_64_25617_2", "DIR": "Q", "SIZE": "W", "LOC": (0, 1, 64, 25617, 1)},
        {"IEC_TYPE": "BYTE",  "NAME": "__IB0_1_64_24578_1", "DIR": "I", "SIZE": "B", "LOC": (0, 1, 64, 24578, 1)},
        {"IEC_TYPE": "UDINT", "NAME": "__ID0_1_64_25638_1", "DIR": "I", "SIZE": "D", "LOC": (0, 1, 64, 25638, 1)},
        {"IEC_TYPE": "UDINT", "NAME": "__ID0_1_64_25638_2", "DIR": "I", "SIZE": "D", "LOC": (0, 1, 64, 25638, 2)},
        {"IEC_TYPE": "UDINT", "NAME": "__ID0_1_64_25638_3", "DIR": "I", "SIZE": "D", "LOC": (0, 1, 64, 25638, 3)},
        {"IEC_TYPE": "UDINT", "NAME": "__ID0_1_64_25638_4", "DIR": "I", "SIZE": "D", "LOC": (0, 1, 64, 25638, 4)},
        {"IEC_TYPE": "UDINT", "NAME": "__ID0_1_4096_0",     "DIR": "I", "SIZE": "D", "LOC": (0, 1, 4096, 0)}
    ]

    # Generate MasterNode configuration
    try:
        masternode, pointedvariables = GenerateConciseDCF(locations, (0, 1), nodelist, True, "TestNode")
    except ValueError as message:
        print("%s\nTest Failed!" % message)
        sys.exit()

    import pprint
    # Get Text corresponding to MasterNode
    result_node = masternode.PrintString()
    result_vars = pprint.pformat(pointedvariables)
    result = result_node + "\n********POINTERS*********\n" + result_vars + "\n"

    # If reset has been choosen
    if reset:
        # Write Text into reference result file
        testfile = open("test_config/result.txt", "w")
        testfile.write(result)
        testfile.close()

        print("Reset Successful!")
    else:
        testfile = open("test_config/result_tmp.txt", "w")
        testfile.write(result)
        testfile.close()

        os.system("diff test_config/result.txt test_config/result_tmp.txt")
        os.remove("test_config/result_tmp.txt")