etisserant@58: #!/usr/bin/env python
etisserant@58: # -*- coding: utf-8 -*-
etisserant@58: 
etisserant@58: #This file is part of Beremiz, a Integrated Development Environment for
etisserant@58: #programming IEC 61131-3 automates supporting plcopen standard and CanFestival. 
etisserant@58: #
etisserant@58: #Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
etisserant@58: #
etisserant@58: #See COPYING file for copyrights details.
etisserant@58: #
etisserant@58: #This library is free software; you can redistribute it and/or
etisserant@58: #modify it under the terms of the GNU General Public
etisserant@58: #License as published by the Free Software Foundation; either
etisserant@58: #version 2.1 of the License, or (at your option) any later version.
etisserant@58: #
etisserant@58: #This library is distributed in the hope that it will be useful,
etisserant@58: #but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@58: #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@58: #General Public License for more details.
etisserant@58: #
etisserant@58: #You should have received a copy of the GNU General Public
etisserant@58: #License along with this library; if not, write to the Free Software
etisserant@58: #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
etisserant@58: 
etisserant@58: from types import *
etisserant@58: 
etisserant@58: # Translation between IEC types and Can Open types
etisserant@58: IECToCOType = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10,
etisserant@58:                "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08,
etisserant@58:                "LREAL":0x11,"STRING":0x09,"BYTE":0x05,"WORD":0x06,"DWORD":0x07,
etisserant@58:                "LWORD":0x1B,"WSTRING":0x0B}
etisserant@58: 
etisserant@58: # Constants for PDO types 
etisserant@58: RPDO = 1
etisserant@58: TPDO = 2
etisserant@58: 
etisserant@58: SlavePDOType = {"I" : TPDO, "Q" : RPDO}
etisserant@58: InvertPDOType = {RPDO : TPDO, TPDO : RPDO}
etisserant@58: 
etisserant@58: VariableIncrement = 0x100
etisserant@58: VariableStartIndex = {TPDO : 0x2000, RPDO : 0x4000}
etisserant@58: VariableDirText = {TPDO : "__I", RPDO : "__Q"}
etisserant@58: VariableTypeOffset = dict(zip(["","X","B","W","D","L"], range(6)))
etisserant@58: 
etisserant@58: TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)]
etisserant@58: 
etisserant@58: def LE_to_BE(value, size):
etisserant@58:     """
etisserant@58:     Convert Little Endian to Big Endian
etisserant@58:     @param value: value expressed in integer
etisserant@58:     @param size: number of bytes generated
etisserant@58:     @return: a string containing the value converted
etisserant@58:     """
etisserant@58:     
etisserant@58:     data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value
etisserant@58:     list_car = [data[i:i+2] for i in xrange(0, len(data), 2)]
etisserant@58:     list_car.reverse()
etisserant@58:     return "".join([chr(int(car, 16)) for car in list_car])
etisserant@58: 
etisserant@58: 
etisserant@58: def GetNodePDOIndexes(node, type, parameters = False):
etisserant@58:     """
etisserant@58:     Find the PDO indexes of a node
etisserant@58:     @param node: node 
etisserant@58:     @param type: type of PDO searched (RPDO or TPDO or both)
etisserant@58:     @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)
etisserant@58:     @return: a list of indexes found
etisserant@58:     """
etisserant@58:     
etisserant@58:     indexes = []
etisserant@58:     if type & RPDO:
etisserant@58:         indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF])
etisserant@58:     if type & TPDO:
etisserant@58:         indexes.extend([idx for idx in node.GetIndexes() if 0x1800 <= idx <= 0x19FF])
etisserant@58:     if not parameters:
etisserant@58:         return [idx + 0x200 for idx in indexes]
etisserant@58:     else:
etisserant@58:         return indexes
etisserant@58: 
etisserant@58: 
etisserant@58: def SearchNodePDOMapping(loc_infos, node):
etisserant@58:     """
etisserant@58:     Find the PDO indexes of a node
etisserant@58:     @param node: node 
etisserant@58:     @param type: type of PDO searched (RPDO or TPDO or both)
etisserant@58:     @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)
etisserant@58:     @return: a list of indexes found
etisserant@58:     """
etisserant@58:     
etisserant@58:     typeinfos = node.GetEntryInfos(loc_infos["type"])
etisserant@58:     model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]
etisserant@58:     
etisserant@58:     for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]):
etisserant@58:         values = node.GetEntry(PDOidx)
etisserant@58:         if values != None:
etisserant@58:             for subindex, mapping in enumerate(values):
etisserant@58:                 if subindex != 0 and mapping == model:
etisserant@58:                     return PDOidx, subindex
etisserant@58:     return None
etisserant@58: 
etisserant@58: 
etisserant@58: def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping):
etisserant@58:     """
etisserant@58:     Build concise DCF value for configuring a PDO
etisserant@58:     @param idx: index of PDO parameters
etisserant@58:     @param cobid: PDO generated COB ID
etisserant@58:     @param transmittype : PDO transmit type
etisserant@58:     @param pdomapping: list of PDO mappings
etisserant@58:     @return: a tuple of value and number of parameters to add to DCF 
etisserant@58:     """
etisserant@58:     
etisserant@58:     # Create entry for RPDO or TPDO parameters and Disable PDO
etisserant@58:     dcfdata = LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE((0x80000000 + cobid), 4)
etisserant@58:     # Set Transmit type synchrone
etisserant@58:     dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)
etisserant@58:     # Re-Enable PDO
etisserant@58:     #         ---- INDEX -----   --- SUBINDEX ----   ----- SIZE ------   ------ DATA ------
etisserant@58:     dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4)
etisserant@58:     nbparams = 3
etisserant@58:     # Map Variables
etisserant@58:     for subindex, (name, loc_infos) in enumerate(pdomapping):
etisserant@58:         value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"]
etisserant@58:         dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4)
etisserant@58:         nbparams += 1
etisserant@58:     return dcfdata, nbparams
etisserant@58: 
etisserant@58: class ConciseDCFGenerator:
etisserant@58: 
etisserant@58:     def __init__(self, nodelist, nodename):
etisserant@58:         # Dictionary of location informations classed by name
etisserant@58:         self.IECLocations = {}
etisserant@58:         # Dictionary of location that have not been mapped yet
etisserant@58:         self.LocationsNotMapped = {}
etisserant@58:         # Dictionary of location informations classed by name
etisserant@58:         self.MasterMapping = {}
etisserant@58:         # List of COB IDs available
etisserant@58:         self.ListCobIDAvailable = range(0x180, 0x580)
etisserant@58:         self.SlavesPdoNumber = {}
etisserant@58:         # Dictionary of mapping value where unexpected variables are stored
etisserant@58:         self.TrashVariables = {}
etisserant@58:         
etisserant@58:         self.NodeList = nodelist
etisserant@58:         self.Manager = self.NodeList.Manager
etisserant@58:         self.MasterNode = self.Manager.GetCurrentNodeCopy()
etisserant@58:         self.MasterNode.SetNodeName(nodename)
etisserant@58:         self.PrepareMasterNode()
etisserant@58: 
etisserant@58:     
etisserant@58:     def RemoveUsedNodeCobId(self, node):
etisserant@58:         """
etisserant@58:         Remove all PDO COB ID used by the given node from the list of available COB ID
etisserant@58:         @param node: node
etisserant@58:         @return: a tuple of number of RPDO and TPDO for the node
etisserant@58:         """
etisserant@58:         
etisserant@58:         # Get list of all node TPDO and RPDO indexes
etisserant@58:         nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)
etisserant@58:         nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)
etisserant@58:         
etisserant@58:         # Mark all the COB ID of the node already mapped PDO as not available
etisserant@58:         for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:
etisserant@58:             pdo_cobid = node.GetEntry(PdoIdx, 0x01)
etisserant@58:             # Extract COB ID, if PDO isn't active
etisserant@58:             if pdo_cobid > 0x600 :
etisserant@58:                 pdo_cobid -= 0x80000000
etisserant@58:             # Remove COB ID from the list of available COB ID
etisserant@58:             if pdo_cobid in self.ListCobIDAvailable:
etisserant@58:                 self.ListCobIDAvailable.remove(pdo_cobid)
etisserant@58:         
etisserant@58:         return len(nodeRpdoIndexes), len(nodeTpdoIndexes)
etisserant@58: 
etisserant@58:     
etisserant@58:     def PrepareMasterNode(self):
etisserant@58:         """
etisserant@58:         Add mandatory entries for DCF generation into MasterNode.
etisserant@58:         """
etisserant@58:         
etisserant@58:         # Adding DCF entry into Master node
etisserant@58:         if not self.MasterNode.IsEntry(0x1F22):
etisserant@58:             self.MasterNode.AddEntry(0x1F22, 1, "")
etisserant@58:         self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode)
etisserant@58:         
etisserant@58:         # Adding trash mappable variables for unused mapped datas
etisserant@58:         idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID()
etisserant@58:         # Add an entry for storing unexpected all variable
etisserant@58:         self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode)
etisserant@58:         for subidx, (size, typeidx) in enumerate(TrashVariables):
etisserant@58:             # Add a subentry for storing unexpected variable of this size
etisserant@58:             self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, self.MasterNode)
etisserant@58:             self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode)
etisserant@58:             # Store the mapping value for this entry
etisserant@58:             self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
etisserant@58:         
etisserant@58:         RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode)
etisserant@58:         
etisserant@58:         # Store the indexes of the first RPDO and TPDO available for MasterNode
etisserant@58:         self.CurrentPDOParamsIdx = {RPDO : 0x1400 + RPDOnumber, TPDO : 0x1800 + TPDOnumber}
etisserant@58: 
etisserant@58:         # Prepare MasterNode with all nodelist slaves
etisserant@58:         for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()):
etisserant@58:             node = nodeinfos["Node"]
etisserant@58:             node.SetNodeID(nodeid)
etisserant@58:             
etisserant@58:             RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)
etisserant@58:             
etisserant@58:             # Store the number of TPDO and RPDO for this node
etisserant@58:             self.SlavesPdoNumber[nodeid] = {RPDO : RPDOnumber, TPDO : TPDOnumber}
etisserant@58:             
etisserant@58:             # Get Slave's default SDO server parameters
etisserant@58:             RSDO_cobid = node.GetEntry(0x1200,0x01)
etisserant@58:             if not RSDO_cobid:
etisserant@58:                 RSDO_cobid = 0x600 + nodeid
etisserant@58:             TSDO_cobid = node.GetEntry(0x1200,0x02)
etisserant@58:             if not TSDO_cobid:
etisserant@58:                 TSDO_cobid = 0x580 + nodeid
etisserant@58:             
etisserant@58:             # Configure Master's SDO parameters entries
etisserant@58:             self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode)
etisserant@58:             self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid)
etisserant@58:             self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid)
etisserant@58:             self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid)        
etisserant@58:         
etisserant@58:     
etisserant@58:     def GetMasterNode(self):
etisserant@58:         """
etisserant@58:         Return MasterNode.
etisserant@58:         """
etisserant@58:         return self.MasterNode
etisserant@58: 
etisserant@58:     
etisserant@58:     def GetNewCobID(self, nodeid, type):
etisserant@58:         """
etisserant@58:         Select a COB ID from the list of those available
etisserant@58:         @param nodeid: id of the slave (int)
etisserant@58:         @param type: type of PDO (RPDO or TPDO)
etisserant@58:         @return: a tuple of the COD ID and PDO index or None
etisserant@58:         """
etisserant@58:         # Verify that there is still some cobid available
etisserant@58:         if len(self.ListCobIDAvailable) == 0:
etisserant@58:             return None
etisserant@58:         
etisserant@58:         # Get the number of PDO of the type given for the node
etisserant@58:         nbSlavePDO = self.SlavesPdoNumber[nodeid][type]
etisserant@58:         if type == RPDO:
etisserant@58:             if nbSlavePDO < 4:
etisserant@58:                 # For the four first RPDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid
etisserant@58:                 newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)
etisserant@58:                 # Return calculated cobid if it's still available
etisserant@58:                 if newcobid in self.ListCobIDAvailable:
etisserant@58:                     self.ListCobIDAvailable.remove(newcobid)
etisserant@58:                     return newcobid, 0x1400 + nbSlavePDO
etisserant@58:             # Return the first cobid available if no cobid found
etisserant@58:             return self.ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO
etisserant@58:     
etisserant@58:         elif type == TPDO:
etisserant@58:             if nbSlavePDO < 4:
etisserant@58:                 # For the four first TPDO -> cobid = 0x180 + ( numPdo parameters * 0x100) + nodeid
etisserant@58:                 newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)
etisserant@58:                 # Return calculated cobid if it's still available
etisserant@58:                 if newcobid in self.ListCobIDAvailable:
etisserant@58:                     self.ListCobIDAvailable.remove(newcobid)
etisserant@58:                     return newcobid, 0x1800 + nbSlavePDO
etisserant@58:             # Return the first cobid available if no cobid found
etisserant@58:             return self.ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO
etisserant@58:         
etisserant@58:         return None
etisserant@58:     
etisserant@58:     
etisserant@58:     def AddParamsToDCF(self, nodeid, data, nbparams):
etisserant@58:         """
etisserant@58:         Select a COB ID from the list of those available
etisserant@58:         @param nodeid: id of the slave (int)
etisserant@58:         @param data: data to add to slave DCF (string)
etisserant@58:         @param nbparams: number of params added to slave DCF (int)
etisserant@58:         """
etisserant@58:         # Get current DCF for slave
etisserant@58:         nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid)
etisserant@58:         
etisserant@58:         # Extract data and number of params in current DCF
etisserant@58:         if nodeDCF != None and nodeDCF != '':
etisserant@58:             tmpnbparams = [i for i in nodeDCF[:4]]
etisserant@58:             tmpnbparams.reverse()
etisserant@58:             nbparams += int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)
etisserant@58:             data = nodeDCF[4:] + data
etisserant@58:         
etisserant@58:         # Build new DCF
etisserant@58:         dcf = LE_to_BE(nbparams, 0x04) + data
etisserant@58:         # Set new DCF for slave
etisserant@58:         self.MasterNode.SetEntry(0x1F22, nodeid, dcf)
etisserant@58:     
etisserant@58:     def AddPDOMapping(self, nodeid, pdotype, pdomapping, sync_TPDOs):
etisserant@58:         """
etisserant@58:         Select a COB ID from the list of those available
etisserant@58:         @param nodeid: id of the slave (int)
etisserant@58:         @param pdotype: type of PDO to generated (RPDO or TPDO)
etisserant@58:         @param pdomapping: list od variables to map with PDO
etisserant@58:         """
etisserant@58:         # Get a new cob id
etisserant@58:         result = self.GetNewCobID(nodeid, pdotype)
etisserant@58:         if result:
etisserant@58:             new_cobid, new_idx = result
etisserant@58:             
etisserant@58:             # Increment the number of PDO of this type for node
etisserant@58:             self.SlavesPdoNumber[nodeid][pdotype] += 1
etisserant@58:             
etisserant@58:             # Add an entry to MasterMapping
etisserant@58:             self.MasterMapping[new_cobid] = {"type" : InvertPDOType[pdotype], 
etisserant@58:                 "mapping" : [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]}
etisserant@58:             
etisserant@58:             # Return the data to add to DCF
etisserant@58:             if sync_TPDOs:
etisserant@58:                 return GeneratePDOMappingDCF(new_idx, new_cobid, 0x01, pdomapping)
etisserant@58:             else:
etisserant@58:                 return GeneratePDOMappingDCF(new_idx, new_cobid, 0xFF, pdomapping)
etisserant@58:         return 0, ""
etisserant@58:     
etisserant@58:     def GenerateDCF(self, locations, current_location, sync_TPDOs):
etisserant@58:         """
etisserant@58:         Generate Concise DCF of MasterNode for the locations list given
etisserant@58:         @param locations: list of locations to be mapped
etisserant@58:         @param current_location: tuple of the located prefixes not to be considered
etisserant@58:         @param sync_TPDOs: indicate if TPDO must be synchronous
etisserant@58:         """
etisserant@58:         
etisserant@58:         #-------------------------------------------------------------------------------
etisserant@58:         #               Verify that locations correspond to real slave variables
etisserant@58:         #-------------------------------------------------------------------------------
etisserant@58:         
etisserant@58:         # Get list of locations check if exists and mappables -> put them in IECLocations
etisserant@58:         for location in locations:
etisserant@58:             COlocationtype = IECToCOType[location["IEC_TYPE"]]
etisserant@58:             name = location["NAME"]
etisserant@58:             if name in self.IECLocations:
etisserant@58:                 if self.IECLocations[name]["type"] != COlocationtype:
etisserant@58:                     raise ValueError, "Conflict type for location \"%s\"" % name 
etisserant@58:             else:
etisserant@58:                 # Get only the part of the location that concern this node
etisserant@58:                 loc = location["LOC"][len(current_location):]
etisserant@58:                 # loc correspond to (ID, INDEX, SUBINDEX [,BIT])
etisserant@58:                 if len(loc) not in (3, 4):
etisserant@58:                     raise ValueError, "Bad location size : %s"%str(loc)
etisserant@58:                 
etisserant@58:                 direction = location["DIR"]
etisserant@58:                 
etisserant@58:                 sizelocation = location["SIZE"]
etisserant@58:                 
etisserant@58:                 # Extract and check nodeid
etisserant@58:                 nodeid, index, subindex = loc[:3]
etisserant@58:                 
etisserant@58:                 # Check Id is in slave node list
etisserant@58:                 if nodeid not in self.NodeList.SlaveNodes.keys():
etisserant@58:                     raise ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,name)
etisserant@58:                 
etisserant@58:                 # Get the model for this node (made from EDS)
etisserant@58:                 node = self.NodeList.SlaveNodes[nodeid]["Node"]
etisserant@58:                 
etisserant@58:                 # Extract and check index and subindex
etisserant@58:                 if not node.IsEntry(index, subindex):
etisserant@58:                     raise ValueError, "No such index/subindex (%x,%x) in ID : %d (variable %s)" % (index,subindex,nodeid,name)
etisserant@58:                 
etisserant@58:                 # Get the entry info
etisserant@58:                 subentry_infos = node.GetSubentryInfos(index, subindex)
etisserant@58:                 
etisserant@58:                 # If a PDO mappable
etisserant@58:                 if subentry_infos and subentry_infos["pdo"]:
etisserant@58:                     if sizelocation == "X" and len(loc) > 3:
lbessard@61:                         numbit = loc[3]
etisserant@58:                     elif sizelocation != "X" and len(loc) > 3:
etisserant@58:                         raise ValueError, "Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)
etisserant@58:                     else:
etisserant@58:                         numbit = None
etisserant@58:                     
etisserant@58:                     entryinfos = node.GetSubentryInfos(index, subindex)
lbessard@61:                     if location["IEC_TYPE"] != "BOOL" and entryinfos["type"] != COlocationtype:
etisserant@58:                         raise ValueError, "Invalid type \"%s\"-> %d != %d  for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, entryinfos["type"] , name)
etisserant@58:                     
etisserant@58:                     typeinfos = node.GetEntryInfos(COlocationtype)
etisserant@58:                     self.IECLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],
etisserant@58:                                                 "nodeid": nodeid, "index": index,"subindex": subindex,
etisserant@58:                                                 "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation}
etisserant@58:                 else:
etisserant@58:                     raise ValueError, "Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)
etisserant@58:         
etisserant@58:         #-------------------------------------------------------------------------------
etisserant@58:         #                         Search for locations already mapped
etisserant@58:         #-------------------------------------------------------------------------------
etisserant@58:         
etisserant@58:         for name, locationinfos in self.IECLocations.items():
etisserant@58:             node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"]
etisserant@58:             
etisserant@58:             # Search if slave has a PDO mapping this locations
etisserant@58:             result = SearchNodePDOMapping(locationinfos, node)
etisserant@58:             if result != None:
etisserant@58:                 index, subindex = result
etisserant@58:                 # Get COB ID of the PDO
etisserant@58:                 cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
etisserant@58:                 
etisserant@58:                 # Add PDO to MasterMapping
etisserant@58:                 if cobid not in self.MasterMapping.keys():
lbessard@80:                     # Verify that PDO transmit type is conform to sync_TPDOs
lbessard@80:                     transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)
lbessard@80:                     if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF:
lbessard@80:                         if sync_TPDOs:
lbessard@80:                             # Change TransmitType to SYNCHRONE
lbessard@80:                             data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, [])
lbessard@80:                         else:
lbessard@80:                             # Change TransmitType to ASYCHRONE
lbessard@80:                             data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, [])
lbessard@80:                         
lbessard@80:                         # Add entry to slave dcf to change transmit type of 
lbessard@80:                         self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams)
lbessard@80:                                     
etisserant@58:                     mapping = [None]
etisserant@58:                     values = node.GetEntry(index)
etisserant@58:                     # Store the size of each entry mapped in PDO
etisserant@58:                     for value in values[1:]:
lbessard@78:                         if value != 0:
lbessard@78:                             mapping.append(value % 0x100)
etisserant@58:                     self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
etisserant@58:             
etisserant@58:                 # Indicate that this PDO entry must be saved
etisserant@58:                 self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name)
etisserant@58:                 
etisserant@58:             else:
etisserant@58:                 # Add location to those that haven't been mapped yet
etisserant@58:                 if locationinfos["nodeid"] not in self.LocationsNotMapped.keys():
etisserant@58:                     self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
etisserant@58:                 self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
etisserant@58:     
etisserant@58:         #-------------------------------------------------------------------------------
etisserant@58:         #                         Build concise DCF for the others locations
etisserant@58:         #-------------------------------------------------------------------------------
etisserant@58:         
etisserant@58:         for nodeid, locations in self.LocationsNotMapped.items():
lbessard@61:             node = self.NodeList.SlaveNodes[nodeid]["Node"]
etisserant@58:             
etisserant@58:             # Initialize number of params and data to add to node DCF
etisserant@58:             nbparams = 0
etisserant@58:             dataparams = ""
etisserant@58:             
etisserant@58:             # Generate the best PDO mapping for each type of PDO
etisserant@58:             for pdotype in (TPDO, RPDO):
etisserant@58:                 pdosize = 0
etisserant@58:                 pdomapping = []
etisserant@58:                 for name, loc_infos in locations[pdotype]:
etisserant@58:                     pdosize += loc_infos["size"]
etisserant@58:                     # If pdo's size > 64 bits
etisserant@58:                     if pdosize > 64:
etisserant@58:                         # Generate a new PDO Mapping
etisserant@58:                         data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs)
etisserant@58:                         dataparams += data
etisserant@58:                         nbparams += nbaddedparams
etisserant@58:                         pdosize = loc_infos["size"]
etisserant@58:                         pdomapping = [(name, loc_infos)]
etisserant@58:                     else:
etisserant@58:                         pdomapping.append((name, loc_infos))
etisserant@58:                 # If there isn't locations yet but there is still a PDO to generate
etisserant@58:                 if len(pdomapping) > 0:
etisserant@58:                     # Generate a new PDO Mapping
etisserant@58:                     data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs)
etisserant@58:                     dataparams += data
etisserant@58:                     nbparams += nbaddedparams
etisserant@58:             
etisserant@58:             # Add number of params and data to node DCF
etisserant@58:             self.AddParamsToDCF(nodeid, dataparams, nbparams)
etisserant@58:         
etisserant@58:         #-------------------------------------------------------------------------------
etisserant@58:         #                         Master Node Configuration
etisserant@58:         #-------------------------------------------------------------------------------
etisserant@58:         
etisserant@58:         # Generate Master's Configuration from informations stored in MasterMapping
etisserant@58:         for cobid, pdo_infos in self.MasterMapping.items():
etisserant@58:             # Get next PDO index in MasterNode for this PDO type
etisserant@58:             current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]]
etisserant@58:             
etisserant@58:             # Search if there is already a PDO in MasterNode with this cob id
etisserant@58:             for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True):
etisserant@58:                 if self.MasterNode.GetEntry(idx, 1) == cobid:
etisserant@58:                     current_idx = idx
etisserant@58:             
etisserant@58:             # Add a PDO to MasterNode if not PDO have been found
etisserant@58:             if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]:
etisserant@58:                 addinglist = [current_idx, current_idx + 0x200]
etisserant@58:                 self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode)
etisserant@58:                 self.MasterNode.SetEntry(current_idx, 0x01, cobid)
etisserant@58:                 
etisserant@58:                 # Increment the number of PDO for this PDO type
etisserant@58:                 self.CurrentPDOParamsIdx[pdo_infos["type"]] += 1
etisserant@58:             
etisserant@58:             # Change the transmit type of the PDO
etisserant@58:             if sync_TPDOs:
etisserant@58:                 self.MasterNode.SetEntry(current_idx, 0x02, 0x01)
etisserant@58:             else:
etisserant@58:                 self.MasterNode.SetEntry(current_idx, 0x02, 0xFF)
etisserant@58:             
etisserant@58:             # Add some subentries to PDO mapping if there is not enough
etisserant@59:             if len(pdo_infos["mapping"]) > 1:
etisserant@59:                 self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 1, self.MasterNode)
etisserant@58:             
etisserant@58:             # Generate MasterNode's PDO mapping
etisserant@58:             for subindex, variable in enumerate(pdo_infos["mapping"]):
etisserant@58:                 if subindex == 0:
etisserant@58:                     continue
etisserant@58:                 new_index = False
etisserant@58:                 
etisserant@58:                 if type(variable) == IntType:
etisserant@58:                     # If variable is an integer then variable is unexpected
etisserant@58:                     self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable])
etisserant@58:                 else:
etisserant@58:                     typeidx, varname = variable
etisserant@58:                     variable_infos = self.IECLocations[varname]
etisserant@58:                     
etisserant@58:                     # Calculate base index for storing variable
etisserant@58:                     mapvariableidx = VariableStartIndex[variable_infos["pdotype"]] + \
etisserant@58:                                      VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \
etisserant@58:                                      variable_infos["nodeid"]
etisserant@58:                     
etisserant@58:                     # Search for an entry that has an empty subindex 
etisserant@58:                     while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
etisserant@58:                         # Entry doesn't exist
etisserant@58:                         if not self.MasterNode.IsEntry(mapvariableidx):    
etisserant@58:                             # Generate entry name
etisserant@58:                             indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]],
etisserant@58:                                                      variable_infos["sizelocation"],
etisserant@58:                                                      '_'.join(map(str,current_location)),
etisserant@58:                                                      variable_infos["nodeid"])
etisserant@58:                             # Add entry to MasterNode
etisserant@58:                             self.Manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, self.MasterNode)
etisserant@58:                             new_index = True
etisserant@58:                             nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
etisserant@58:                         else:
etisserant@58:                             # Get Number of subentries already defined
etisserant@58:                             nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
etisserant@58:                             # if entry is full, go to next entry possible or stop now
etisserant@58:                             if nbsubentries == 0xFF:
etisserant@58:                                 mapvariableidx += 8 * VariableIncrement
etisserant@58:                             else:
etisserant@58:                                 break
etisserant@58:                                 
etisserant@58:                     # Verify that a not full entry has been found
etisserant@58:                     if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
etisserant@58:                         # Generate subentry name
etisserant@58:                         if variable_infos["bit"] != None:
etisserant@58:                             subindexname = "%(index)d_%(subindex)d_%(bit)d"%variable_infos
etisserant@58:                         else:
etisserant@58:                             subindexname = "%(index)d_%(subindex)d"%variable_infos
etisserant@58:                         # If entry have just been created, no subentry have to be added
etisserant@58:                         if not new_index:
etisserant@58:                             self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode)
etisserant@58:                             nbsubentries += 1
etisserant@58:                         # Add informations to the new subentry created
etisserant@58:                         self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
etisserant@58:                         self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
etisserant@58:                         
etisserant@58:                         # Set value of the PDO mapping
etisserant@58:                         typeinfos = self.Manager.GetEntryInfos(typeidx)
etisserant@58:                         if typeinfos != None:
etisserant@58:                             value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
etisserant@58:                             self.MasterNode.SetEntry(current_idx + 0x200, subindex, value)
etisserant@58: 
etisserant@58: def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs, nodename):
etisserant@58:     """
etisserant@58:     Fills a CanFestival network editor model, with DCF with requested PDO mappings.
etisserant@58:     @param locations: List of complete variables locations \
etisserant@58:         [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
etisserant@58:         "NAME" : name of the variable (generally "__IW0_1_2" style)
etisserant@58:         "DIR" : direction "Q","I" or "M"
etisserant@58:         "SIZE" : size "X", "B", "W", "D", "L"
etisserant@58:         "LOC" : tuple of interger for IEC location (0,1,2,...)
etisserant@58:         }, ...]
etisserant@58:     @param nodelist: CanFestival network editor model
etisserant@58:     @return: a modified copy of the given CanFestival network editor model
etisserant@58:     """
etisserant@58:     
etisserant@58:     dcfgenerator = ConciseDCFGenerator(nodelist, nodename)
etisserant@58:     dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs)
etisserant@58:     return dcfgenerator.GetMasterNode()
etisserant@58: 
etisserant@58: if __name__ == "__main__":
etisserant@58:     import os, sys, getopt
etisserant@58: 
etisserant@58:     def usage():
etisserant@58:         print """
etisserant@58: Usage of config_utils.py test :
etisserant@58: 
etisserant@58:     %s [options]
etisserant@58: 
etisserant@58: Options:
etisserant@58:     --help  (-h)
etisserant@58:             Displays help informations for config_utils
etisserant@58: 
etisserant@58:     --reset (-r)
etisserant@58:             Reset the reference result of config_utils test.
etisserant@58:             Use with caution. Be sure that config_utils
etisserant@58:             is currently working properly.
etisserant@58: """%sys.argv[0]
etisserant@58:     
etisserant@58:     # Boolean that indicate if reference result must be redefined
etisserant@58:     reset = False
etisserant@58: 
etisserant@58:     # Extract command options
etisserant@58:     try:
etisserant@58:         opts, args = getopt.getopt(sys.argv[1:], "hr", ["help","reset"])
etisserant@58:     except getopt.GetoptError:
etisserant@58:         # print help information and exit:
etisserant@58:         usage()
etisserant@58:         sys.exit(2)
etisserant@58: 
etisserant@58:     # Test each option
etisserant@58:     for o, a in opts:
etisserant@58:         if o in ("-h", "--help"):
etisserant@58:             usage()
etisserant@58:             sys.exit()
etisserant@58:         elif o in ("-r", "--reset"):
etisserant@58:             reset = True
etisserant@58: 
etisserant@58:     # Extract workspace base folder
etisserant@58:     base_folder = sys.path[0]
etisserant@58:     for i in xrange(3):
etisserant@58:         base_folder = os.path.split(base_folder)[0]
etisserant@58:     # Add CanFestival folder to search pathes
etisserant@58:     sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen"))
etisserant@58:     
etisserant@58:     from nodemanager import *
etisserant@58:     from nodelist import *
etisserant@58:     
etisserant@58:     # Open the test nodelist contained into test_config folder
etisserant@58:     manager = NodeManager()
etisserant@58:     nodelist = NodeList(manager)
etisserant@58:     result = nodelist.LoadProject("test_config")
etisserant@58:     
etisserant@58:     # List of locations, we try to map for test
etisserant@58:     locations = [{"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24576_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24576,1)},
etisserant@58:                  {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_2","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,2)},
etisserant@58:                  {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_3","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,3)},
etisserant@58:                  {"IEC_TYPE":"INT","NAME":"__QW0_1_64_25617_2","DIR":"Q","SIZE":"W","LOC":(0,1,64,25617,1)},
etisserant@58:                  {"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24578_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24578,1)},
etisserant@58:                  {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_1","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,1)},
etisserant@58:                  {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_2","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,2)},
etisserant@58:                  {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_3","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,3)},
etisserant@58:                  {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_4","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,4)}]
etisserant@58:     
etisserant@58:     # Generate MasterNode configuration
etisserant@58:     try:
etisserant@58:         masternode = GenerateConciseDCF(locations, (0, 1), nodelist, True)
etisserant@58:     except ValueError, message:
etisserant@58:         print "%s\nTest Failed!"%message
etisserant@58:         sys.exit()
etisserant@58:     
etisserant@58:     # Get Text corresponding to MasterNode 
etisserant@58:     result = masternode.PrintString()
etisserant@58:     
etisserant@58:     # If reset has been choosen
etisserant@58:     if reset:
etisserant@58:         # Write Text into reference result file
etisserant@58:         file = open("test_config/result.txt", "w")
etisserant@58:         file.write(result)
etisserant@58:         file.close()
etisserant@58:         
etisserant@58:         print "Reset Successful!"
etisserant@58:     else:
etisserant@58:         # Test each line of the result with the reference result
etisserant@58:         test = [line.rstrip() for line in result.splitlines()]
etisserant@58:         
etisserant@58:         file = open("test_config/result.txt", "r")
etisserant@58:         model = [line.rstrip() for line in file.readlines() if line.rstrip()]
etisserant@58:         file.close()
etisserant@58:         
etisserant@58:         errors = 0
etisserant@58:         for i, line in enumerate(model):
etisserant@58:             if i >= len(test):
etisserant@58:                 errors += 1
etisserant@58:                 print "Line %d disappear :\n%s\n"%(i + 1, line)
etisserant@58:             elif line != test[i]:
etisserant@58:                 errors += 1
etisserant@58:                 print "Error on line %d :\n%s\nInstead of :\n%s\n"%(i + 1, test[i], line)
etisserant@58:         for i in xrange(len(model), len(test)):
etisserant@58:             errors += 1
etisserant@58:             print "Line %d appear :\n%s\n"%(i + 1, test[i])
etisserant@58:         
etisserant@58:         if errors > 0:
etisserant@58:             print "%d errors found.\nTest Failed!"%errors
etisserant@58:         else:
etisserant@58:             print "Test Successful!"