# HG changeset patch
# User laurent
# Date 1339375043 -7200
# Node ID 71678bd14f43a54d4c2baeae7a714dc7ddd9025c
# Parent  810013fe8c1b3cea2e02129bd2237da128db1c86# Parent  a5641abeac7c359571ed487e84e4a59adb29e3e0
Merged

diff -r a5641abeac7c -r 71678bd14f43 ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml	Mon Jun 11 02:37:23 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
diff -r a5641abeac7c -r 71678bd14f43 ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml
--- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml	Mon Jun 04 19:00:58 2012 +0200
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml	Mon Jun 11 02:37:23 2012 +0200
@@ -1,2 +1,2 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<CIA402SlaveParams RatioNumerator="65536" RatioDenominator="360" PositionOffset="0"/>
+<?xml version="1.0" encoding="UTF-8"?>
+<CIA402SlaveParams DynamicPDOs="false" RatioNumerator="65536" RatioDenominator="360" PositionOffset="0"/>
diff -r a5641abeac7c -r 71678bd14f43 ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml	Mon Jun 11 02:37:23 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
diff -r a5641abeac7c -r 71678bd14f43 ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml	Mon Jun 11 02:37:23 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
diff -r a5641abeac7c -r 71678bd14f43 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml	Mon Jun 11 02:37:23 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
diff -r a5641abeac7c -r 71678bd14f43 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml	Mon Jun 11 02:37:23 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
diff -r a5641abeac7c -r 71678bd14f43 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml	Mon Jun 11 02:37:23 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
diff -r a5641abeac7c -r 71678bd14f43 ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml
--- a/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml	Mon Jun 04 19:00:58 2012 +0200
+++ b/ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml	Mon Jun 11 02:37:23 2012 +0200
@@ -1,2 +1,2 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<CIA402SlaveParams RatioNumerator="65536" RatioDenominator="180" PositionOffset="0"/>
+<?xml version="1.0" encoding="UTF-8"?>
+<CIA402SlaveParams DynamicPDOs="false" RatioNumerator="65536" RatioDenominator="180" PositionOffset="0"/>
diff -r a5641abeac7c -r 71678bd14f43 etherlab/etherlab.py
--- a/etherlab/etherlab.py	Mon Jun 04 19:00:58 2012 +0200
+++ b/etherlab/etherlab.py	Mon Jun 11 02:37:23 2012 +0200
@@ -62,7 +62,17 @@
 #--------------------------------------------------
 
 class _EthercatSlaveCTN:
-
+    
+    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
+    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
+      <xsd:element name="SlaveParams">
+        <xsd:complexType>
+          <xsd:attribute name="DynamicPDOs" type="xsd:boolean" use="optional" default="true"/>
+        </xsd:complexType>
+      </xsd:element>
+    </xsd:schema>
+    """
+    
     NODE_PROFILE = None
     EditorType = NodeEditor
     
@@ -87,42 +97,46 @@
                 return self.CTNParams[1].getElementInfos(parts[0], parts[1])
         else:
             params = []
-            if wx.VERSION < (2, 8, 0) and self.MandatoryParams:
-                params.append(self.MandatoryParams[1].getElementInfos(self.MandatoryParams[0]))
+            if self.CTNParams:
+                params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0]))
+            else:
+                params.append({
+                    'use': 'required', 
+                    'type': 'element', 
+                    'name': 'SlaveParams', 
+                    'value': None, 
+                    'children': []
+                })
+            
             slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
-            params.append({
-                'use': 'required', 
-                'type': 'element', 
-                'name': 'SlaveParams', 
-                'value': None, 
-                'children': [{
-                    'use': 'optional', 
+            params[0]['children'].insert(0,
+                   {'use': 'optional', 
                     'type': self.CTNParent.GetSlaveTypesLibrary(self.NODE_PROFILE), 
                     'name': 'Type', 
-                    'value': (slave_type["device_type"], slave_type)}, 
+                    'value': (slave_type["device_type"], slave_type)}) 
+            params[0]['children'].insert(1,
                    {'use': 'optional', 
                     'type': 'unsignedLong', 
                     'name': 'Alias', 
-                    'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())}]
-            })
-            if self.CTNParams:
-                params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0]))
+                    'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())})
             return params
         
     def SetParamsAttribute(self, path, value):
+        if path == "SlaveParams.Type":
+            self.CTNParent.SetSlaveType(position, value)
+            slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
+            value = (slave_type["device_type"], slave_type)
+            return value, True
+        elif path == "SlaveParams.Alias":
+            self.CTNParent.SetSlaveAlias(position, value)
+            return value, True
+        
         position = self.BaseParams.getIEC_Channel()
         value, changed = ConfigTreeNode.SetParamsAttribute(self, path, value)
         # Filter IEC_Channel, Slave_Type and Alias that have specific behavior
         if path == "BaseParams.IEC_Channel":
             self.CTNParent.SetSlavePosition(position, value)
-        elif path == "SlaveParams.Type":
-            self.CTNParent.SetSlaveType(position, value)
-            slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
-            value = (slave_type["device_type"], slave_type)
-            changed = True
-        elif path == "SlaveParams.Alias":
-            self.CTNParent.SetSlaveAlias(position, value)
-            changed = True
+        
         return value, changed
 
     def GetSlaveInfos(self):
@@ -159,7 +173,7 @@
     NODE_VARIABLES = [
         ("ControlWord", 0x6040, 0x00, "UINT", "Q"),
         ("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
-#        ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
+        ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
         ("StatusWord", 0x6041, 0x00, "UINT", "I"),
         ("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
         ("ActualPosition", 0x6064, 0x00, "DINT", "I"),
@@ -170,6 +184,7 @@
         <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
           <xsd:element name="CIA402SlaveParams">
             <xsd:complexType>
+              <xsd:attribute name="DynamicPDOs" type="xsd:boolean" use="optional" default="true"/>
               %s
             </xsd:complexType>
           </xsd:element>
@@ -179,9 +194,49 @@
         NODE_PROFILE = 402
         EditorType = CIA402NodeEditor
         
+        ConfNodeMethods = [
+            {"bitmap" : os.path.join(CONFNODEFOLDER, "images", "CIA402AxisRef.png"),
+             "name" : _("Axis Ref"),
+             "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
+             "method" : "_getCIA402AxisRef",
+             "push": True},
+        ]
+        
         def GetIconPath(self):
             return os.path.join(CONFNODEFOLDER, "images", "CIA402Slave.png")
         
+        def SetParamsAttribute(self, path, value):
+            if path == "CIA402SlaveParams.Type":
+                path = "SlaveParams.Type"
+            elif path == "CIA402SlaveParams.Alias":
+                path = "SlaveParams.Alias"
+            return _EthercatSlaveCTN.SetParamsAttribute(self, path, value)
+        
+        def GetVariableLocationTree(self):
+            axis_name = self.CTNName()
+            current_location = self.GetCurrentLocation()
+            children = [{"name": "%s Axis Ref" % (axis_name),
+                         "type": LOCATION_VAR_INPUT,
+                         "size": "W",
+                         "IEC_type": "INT",
+                         "var_name": axis_name,
+                         "location": "%%IW%s.0" % (".".join(map(str, current_location))),
+                         "description": "",
+                         "children": []}]
+            children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), current_location, axis_name))
+            return  {"name": axis_name,
+                     "type": LOCATION_CONFNODE,
+                     "location": self.GetFullIEC_Channel(),
+                     "children": children,
+            }
+        
+        def _getCIA402AxisRef(self):
+            data = wx.TextDataObject(str(("%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())), 
+                                          "location", "AXIS_REF", self.CTNName(), "")))
+            dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
+            dragSource.SetData(data)
+            dragSource.DoDragDrop()
+        
         def CTNGenerate_C(self, buildpath, locations):
             """
             Generate C code
@@ -232,7 +287,7 @@
             
             params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
             for param in params["children"]:
-                if param["value"] is not None:
+                if param["value"] is not None and param["name"] != "DynamicPDOs":
                     param_infos = {
                         "location": location_str,
                         "param_name": param["name"],
@@ -497,11 +552,10 @@
     
     def GetDeviceLocationTree(self, slave_pos, current_location, device_name):
         slave = self.GetSlave(slave_pos)
+        vars = []    
         if slave is not None:
             type_infos = slave.getType()
         
-            vars = []
-            
             device = self.GetModuleInfos(type_infos)
             if device is not None:
                 sync_managers = []
@@ -601,8 +655,13 @@
         slaves = self.GetSlaves()
         for slave_pos in slaves:
             slave = self.GetSlave(slave_pos)
+            slave_node = self.GetChildByIECLocation([slave_pos])
+            if slave_node.CTNParams is not None:
+                slave_infos = slave_node.CTNParams[1]
+            else:
+                slave_infos = None
             if slave is not None:
-                self.FileGenerator.DeclareSlave(slave_pos, slave.getInfo().getAutoIncAddr(), slave.getType())
+                self.FileGenerator.DeclareSlave(slave_pos, slave.getInfo().getAutoIncAddr(), slave.getType(), slave_infos)
         
         for location in locations:
             loc = location["LOC"][len(current_location):]
@@ -763,8 +822,8 @@
     def __del__(self):
         self.Controler = None            
 
-    def DeclareSlave(self, slave_index, slave_alias, slave):
-        self.Slaves.append((slave_index, slave_alias, slave))
+    def DeclareSlave(self, slave_index, slave_alias, slave, slave_infos):
+        self.Slaves.append((slave_index, slave_alias, slave, slave_infos))
 
     def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name):
         slave_variables = self.UsedVariables.setdefault(slave_index, {})
@@ -806,7 +865,7 @@
         
         self.Slaves.sort()
         alias = {}
-        for (slave_idx, slave_alias, type_infos) in self.Slaves:
+        for (slave_idx, slave_alias, type_infos, slave_infos) in self.Slaves:
             if alias.get(slave_alias) is not None:
                 alias[slave_alias] += 1
             else:
@@ -965,85 +1024,86 @@
                                      "entries_number": len(entries_infos),
                                      "fixed": pdo.getFixed() == True})
                     
-                    dynamic_pdos = {}
-                    dynamic_pdos_number = 0
-                    for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), 
-                                                           ("Outputs", 0x1a00, 0x1C00)]:
-                        for sync_manager in sync_managers:
-                            if sync_manager["name"] == category:
-                                category_infos = dynamic_pdos.setdefault(category, {})
-                                category_infos["sync_manager"] = sync_manager
-                                category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] 
-                                                          if not pdo["fixed"] and pdo["type"] == category]
-                                category_infos["current_index"] = min_index
-                                category_infos["max_index"] = max_index
-                                break
-                    
-                    for (index, subindex), entry_declaration in slave_variables.iteritems():
+                    if slave_infos is None or slave_infos.getDynamicPDOs():
+                        dynamic_pdos = {}
+                        dynamic_pdos_number = 0
+                        for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), 
+                                                               ("Outputs", 0x1a00, 0x1C00)]:
+                            for sync_manager in sync_managers:
+                                if sync_manager["name"] == category:
+                                    category_infos = dynamic_pdos.setdefault(category, {})
+                                    category_infos["sync_manager"] = sync_manager
+                                    category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] 
+                                                              if not pdo["fixed"] and pdo["type"] == category]
+                                    category_infos["current_index"] = min_index
+                                    category_infos["max_index"] = max_index
+                                    break
                         
-                        if not entry_declaration["mapped"]:
-                            entry = device_entries.get((index, subindex), None)
-                            if entry is None:
-                                raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
-                                                 (index, subindex, type_infos["device_type"])
+                        for (index, subindex), entry_declaration in slave_variables.iteritems():
                             
-                            entry_infos = {
-                                "index": index,
-                                "subindex": subindex,
-                                "name": entry["Name"],
-                                "bitlen": entry["BitSize"],
-                            }
-                            entry_infos.update(type_infos)
-                            
-                            entry_infos.update(dict(zip(["var_type", "dir", "var_name", "real_var"], entry_declaration["infos"])))
-                            entry_declaration["mapped"] = True
-                            
-                            if entry_infos["var_type"] != entry["Type"]:
-                                message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
-                                if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != 
-                                    self.Controler.GetSizeOfType(entry["Type"])):
-                                    raise ValueError, message
+                            if not entry_declaration["mapped"]:
+                                entry = device_entries.get((index, subindex), None)
+                                if entry is None:
+                                    raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
+                                                     (index, subindex, type_infos["device_type"])
+                                
+                                entry_infos = {
+                                    "index": index,
+                                    "subindex": subindex,
+                                    "name": entry["Name"],
+                                    "bitlen": entry["BitSize"],
+                                }
+                                entry_infos.update(type_infos)
+                                
+                                entry_infos.update(dict(zip(["var_type", "dir", "var_name", "real_var"], entry_declaration["infos"])))
+                                entry_declaration["mapped"] = True
+                                
+                                if entry_infos["var_type"] != entry["Type"]:
+                                    message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
+                                    if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != 
+                                        self.Controler.GetSizeOfType(entry["Type"])):
+                                        raise ValueError, message
+                                    else:
+                                        self.Controler.GetCTRoot().logger.write_warning(message + "\n")
+                                
+                                if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
+                                    pdo_type = "Inputs"
+                                elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
+                                    pdo_type = "Outputs"
                                 else:
-                                    self.Controler.GetCTRoot().logger.write_warning(message + "\n")
-                            
-                            if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
-                                pdo_type = "Inputs"
-                            elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
-                                pdo_type = "Outputs"
-                            else:
-                                raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
-                            
-                            if not dynamic_pdos.has_key(pdo_type):
-                                raise ValueError, _("No Sync manager defined for %s!") % pdo_type
-                            
-                            ConfigureVariable(entry_infos, str_completion)
-                            
-                            if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
-                                pdo = dynamic_pdos[pdo_type]["pdos"][0]
-                            else:
-                                while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
-                                    dynamic_pdos[pdo_type]["current_index"] += 1
-                                if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:
-                                    raise ValueError, _("No more free PDO index available for %s!") % pdo_type
-                                pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
+                                    raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
                                 
-                                dynamic_pdos_number += 1
-                                pdo = {"slave": slave_idx,
-                                       "index": dynamic_pdos[pdo_type]["current_index"],
-                                       "name": "Dynamic PDO %d" % dynamic_pdos_number,
-                                       "type": pdo_type, 
-                                       "entries": [],
-                                       "entries_number": 0,
-                                       "fixed": False}
-                                dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
-                                dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
-                                dynamic_pdos[pdo_type]["pdos"].append(pdo)
-                            
-                            pdo["entries"].append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
-                            pdo["entries_number"] += 1
-                            
-                            if pdo["entries_number"] == 255:
-                                dynamic_pdos[pdo_type]["pdos"].pop(0)
+                                if not dynamic_pdos.has_key(pdo_type):
+                                    raise ValueError, _("No Sync manager defined for %s!") % pdo_type
+                                
+                                ConfigureVariable(entry_infos, str_completion)
+                                
+                                if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
+                                    pdo = dynamic_pdos[pdo_type]["pdos"][0]
+                                else:
+                                    while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
+                                        dynamic_pdos[pdo_type]["current_index"] += 1
+                                    if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:
+                                        raise ValueError, _("No more free PDO index available for %s!") % pdo_type
+                                    pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
+                                    
+                                    dynamic_pdos_number += 1
+                                    pdo = {"slave": slave_idx,
+                                           "index": dynamic_pdos[pdo_type]["current_index"],
+                                           "name": "Dynamic PDO %d" % dynamic_pdos_number,
+                                           "type": pdo_type, 
+                                           "entries": [],
+                                           "entries_number": 0,
+                                           "fixed": False}
+                                    dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
+                                    dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
+                                    dynamic_pdos[pdo_type]["pdos"].append(pdo)
+                                
+                                pdo["entries"].append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
+                                pdo["entries_number"] += 1
+                                
+                                if pdo["entries_number"] == 255:
+                                    dynamic_pdos[pdo_type]["pdos"].pop(0)
                             
                     pdo_offset = 0
                     entry_offset = 0
diff -r a5641abeac7c -r 71678bd14f43 etherlab/images/CIA402AxisRef.png
Binary file etherlab/images/CIA402AxisRef.png has changed
diff -r a5641abeac7c -r 71678bd14f43 etherlab/images/icons.svg
--- a/etherlab/images/icons.svg	Mon Jun 04 19:00:58 2012 +0200
+++ b/etherlab/images/icons.svg	Mon Jun 11 02:37:23 2012 +0200
@@ -43,9 +43,9 @@
      pagecolor="#ffffff"
      id="base"
      showgrid="false"
-     inkscape:zoom="5.6568542"
-     inkscape:cx="366.34384"
-     inkscape:cy="861.79751"
+     inkscape:zoom="0.5"
+     inkscape:cx="904.45004"
+     inkscape:cy="452.59174"
      inkscape:window-x="0"
      inkscape:window-y="24"
      inkscape:current-layer="svg2"
@@ -58872,6 +58872,305 @@
        y1="275.58682"
        x2="452.19373"
        y2="88.438019" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient15934-1-6"
+       id="linearGradient15515-4"
+       gradientUnits="userSpaceOnUse"
+       x1="438.95389"
+       y1="493.53238"
+       x2="197.23351"
+       y2="118.20501" />
+    <linearGradient
+       id="linearGradient15934-1-6">
+      <stop
+         id="stop15936-4-1"
+         offset="0"
+         style="stop-color: rgb(77, 77, 77); stop-opacity: 1;" />
+      <stop
+         id="stop15938-9-1"
+         offset="1"
+         style="stop-color:#ffffff;stop-opacity:1;" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient15945-8-2"
+       id="linearGradient15517-6"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.996701,-0.0811618,0.0811618,0.996701,-17.9181,36.064)"
+       x1="385.11563"
+       y1="275.58682"
+       x2="452.19373"
+       y2="88.438019" />
+    <linearGradient
+       id="linearGradient15945-8-2">
+      <stop
+         id="stop15947-9-8"
+         offset="0"
+         style="stop-color: rgb(179, 179, 179); stop-opacity: 1;" />
+      <stop
+         id="stop15949-1-6"
+         offset="1"
+         style="stop-color:#ffffff;stop-opacity:1;" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient15934-1-6"
+       id="linearGradient15519-9"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="translate(-6.2575321,5.050595)"
+       x1="502.57938"
+       y1="184.1432"
+       x2="499.96594"
+       y2="179.73331" />
+    <linearGradient
+       id="linearGradient13082">
+      <stop
+         id="stop13084"
+         offset="0"
+         style="stop-color: rgb(77, 77, 77); stop-opacity: 1;" />
+      <stop
+         id="stop13086"
+         offset="1"
+         style="stop-color:#ffffff;stop-opacity:1;" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient15934-1-6"
+       id="linearGradient15521-8"
+       gradientUnits="userSpaceOnUse"
+       x1="501.00095"
+       y1="185.08093"
+       x2="502.98251"
+       y2="179.90973" />
+    <linearGradient
+       id="linearGradient13089">
+      <stop
+         id="stop13091"
+         offset="0"
+         style="stop-color: rgb(77, 77, 77); stop-opacity: 1;" />
+      <stop
+         id="stop13093"
+         offset="1"
+         style="stop-color:#ffffff;stop-opacity:1;" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient15934-1-9-3"
+       id="linearGradient15523-5"
+       gradientUnits="userSpaceOnUse"
+       x1="501.00095"
+       y1="185.08093"
+       x2="502.98251"
+       y2="179.90973" />
+    <linearGradient
+       id="linearGradient15934-1-9-3">
+      <stop
+         id="stop15936-4-3-91"
+         offset="0"
+         style="stop-color: rgb(77, 77, 77); stop-opacity: 1;" />
+      <stop
+         id="stop15938-9-2-9"
+         offset="1"
+         style="stop-color:#ffffff;stop-opacity:1;" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient15934-1-9-6-5"
+       id="linearGradient15525-5"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.31018135,0.06837356,-0.06837356,0.31018135,350.04365,90.753719)"
+       x1="500.08212"
+       y1="185.71164"
+       x2="496.25415"
+       y2="181.49362" />
+    <linearGradient
+       id="linearGradient15934-1-9-6-5">
+      <stop
+         id="stop15936-4-3-9-6"
+         offset="0"
+         style="stop-color: rgb(77, 77, 77); stop-opacity: 1;" />
+      <stop
+         id="stop15938-9-2-4-6"
+         offset="1"
+         style="stop-color:#ffffff;stop-opacity:1;" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient3256-3-7">
+      <stop
+         id="stop3258-8-1"
+         style="stop-color:#3d9cde;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop3260-4-5"
+         style="stop-color:#3d9cde;stop-opacity:0"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient5083-0-2">
+      <stop
+         id="stop5085-5-3"
+         style="stop-color:#df6e6e;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop5097-1-0"
+         style="stop-color:#df6e6e;stop-opacity:1"
+         offset="0.36000001" />
+      <stop
+         id="stop5087-8-7"
+         style="stop-color:#fbcaca;stop-opacity:1"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient2345-2-5">
+      <stop
+         style="stop-color:#ffffff;stop-opacity:1.0000000;"
+         offset="0.0000000"
+         id="stop2347-6-4" />
+      <stop
+         style="stop-color:#f0f0f0;stop-opacity:1.0000000;"
+         offset="1.0000000"
+         id="stop2349-8-6" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient1930-3-5">
+      <stop
+         id="stop1931-0-0"
+         style="stop-color:#ff9870;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop1932-7-0"
+         style="stop-color:#ffd8c9;stop-opacity:1"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient2355-1-8">
+      <stop
+         id="stop2359-8-6"
+         style="stop-color:#b18e4b;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop2358-6-8"
+         style="stop-color:#f7dca0;stop-opacity:1"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient3970-8-4">
+      <stop
+         id="stop3971-3-3"
+         style="stop-color:#ffffff;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop3972-4-7"
+         style="stop-color:#ffffff;stop-opacity:0"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient2560-7-5">
+      <stop
+         id="stop2562-3-4"
+         style="stop-color:#868686;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop2561-6-0"
+         style="stop-color:#e2e2e2;stop-opacity:1"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient13133">
+      <stop
+         id="stop13135"
+         style="stop-color:#868686;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop13137"
+         style="stop-color:#e2e2e2;stop-opacity:1"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient1884-1-7">
+      <stop
+         id="stop1886-4-2"
+         style="stop-color:#ffffff;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop1885-9-3"
+         style="stop-color:#ffffff;stop-opacity:0"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient13144">
+      <stop
+         id="stop13146"
+         style="stop-color:#ffffff;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop13148"
+         style="stop-color:#ffffff;stop-opacity:0"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       id="linearGradient13151">
+      <stop
+         id="stop13153"
+         style="stop-color:#ffffff;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop13155"
+         style="stop-color:#ffffff;stop-opacity:0"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient1513-2"
+       id="linearGradient17570-2"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.08604141,0,0,0.08604141,553.37039,162.12298)"
+       x1="131.52188"
+       y1="198.01724"
+       x2="131.52188"
+       y2="41.586746" />
+    <linearGradient
+       id="linearGradient1513-2">
+      <stop
+         id="stop1514-3"
+         style="stop-color:#ffffff;stop-opacity:1"
+         offset="0" />
+      <stop
+         id="stop1515-2"
+         style="stop-color:#ffffff;stop-opacity:0"
+         offset="1" />
+    </linearGradient>
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient1513-2"
+       id="linearGradient13669"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.08604141,0,0,0.08604141,553.38144,142.10088)"
+       x1="131.52188"
+       y1="198.01724"
+       x2="131.52188"
+       y2="41.586746" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient1513-2"
+       id="linearGradient13680"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.08604141,0,0,0.08604141,553.38144,142.10088)"
+       x1="131.52188"
+       y1="198.01724"
+       x2="131.52188"
+       y2="41.586746" />
+    <linearGradient
+       inkscape:collect="always"
+       xlink:href="#linearGradient1513-2"
+       id="linearGradient13690"
+       gradientUnits="userSpaceOnUse"
+       gradientTransform="matrix(0.08604141,0,0,0.08604141,553.38144,142.10088)"
+       x1="131.52188"
+       y1="198.01724"
+       x2="131.52188"
+       y2="41.586746" />
   </defs>
   <text
      style="font-size:40.12579727px;font-style:normal;font-weight:normal;fill:#000000;fill-opacity:1;stroke:none;font-family:Bitstream Vera Sans"
@@ -58905,7 +59204,7 @@
        sodipodi:role="line"
        id="tspan16268"
        x="167.20854"
-       y="120.42097">%%ImportESI ScanNetwork editSlave editCIA402Slave  %%</tspan></text>
+       y="120.42097">%%ImportESI ScanNetwork editSlave editCIA402Slave CIA402AxisRef %%</tspan></text>
   <g
      transform="translate(1268.5327,-372.731)"
      id="g16313">
@@ -60998,4 +61297,131 @@
      transform="matrix(0.51386408,0,0,0.51386408,45.954134,148.43892)"
      width="744.09448"
      height="1052.3622" />
+  <g
+     transform="translate(183.64271,0.1780684)"
+     id="g12739-1-7">
+    <rect
+       inkscape:label="#rect16270"
+       style="fill:#000000;fill-opacity:0;fill-rule:evenodd;stroke:none;stroke-width:1;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
+       id="CIA402AxisRef"
+       y="130.25732"
+       x="368.70486"
+       height="24"
+       width="24" />
+    <g
+       id="g15478-1"
+       transform="matrix(1.8400527,0,0,1.8400527,-545.66816,-193.08435)">
+      <g
+         inkscape:label="Calque 1"
+         id="layer1-1-9-4"
+         transform="matrix(-0.03037121,0,0,0.03037121,515.46377,170.91105)">
+        <g
+           id="g16056-4-2"
+           transform="translate(-48,0)">
+          <path
+             inkscape:connector-curvature="0"
+             sodipodi:nodetypes="ccccc"
+             id="rect15422-9-9"
+             d="m 261.23647,217.28623 175.53201,57.07437 -3.125,208.62261 -170.15701,-72.94937 z"
+             style="fill:url(#linearGradient15515-4);fill-opacity:1;stroke:none" />
+          <path
+             inkscape:connector-curvature="0"
+             sodipodi:nodetypes="ccccc"
+             id="rect15942-8-8"
+             d="M 257.63822,217.28208 452.87456,201.38389 632.56367,259.59396 436.54848,274.2032 z"
+             style="fill:url(#linearGradient15517-6);fill-opacity:1;stroke:none" />
+          <path
+             inkscape:connector-curvature="0"
+             sodipodi:nodetypes="ccccc"
+             id="rect15953-6-8"
+             d="m 436.5,273.54968 195.5,-14.25 0.59315,205.70147 -198.84315,17.5 z"
+             style="fill:#333333;fill-opacity:1;stroke:none" />
+        </g>
+      </g>
+      <g
+         transform="matrix(0.98401111,0.21690648,-0.21690648,0.98401111,54.630578,-109.30701)"
+         id="g15330-3">
+        <path
+           style="color:#000000;fill:url(#linearGradient15519-9);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:0.72142136px;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
+           d="m 494.71875,185.46875 c -0.35176,0 -0.69473,0.1022 -0.96875,0.28125 -0.10135,0.0662 -0.34443,0.21161 -0.42188,0.28906 l -0.0625,0.0625 c 0.34548,-0.16642 0.5872,-0.19531 0.82813,-0.19531 0.96372,0 1.75,0.78628 1.75,1.75 0,0.5778 -0.28613,1.08868 -0.71875,1.40625 l 0.5625,-0.40625 c 0.0312,-0.0211 0.0641,-0.0395 0.0937,-0.0625 0.41238,-0.31916 0.65625,-0.81319 0.65625,-1.375 0,-0.96372 -0.75503,-1.75 -1.71875,-1.75 z"
+           id="path14397-5"
+           inkscape:connector-curvature="0"
+           sodipodi:nodetypes="scscsscccss" />
+        <path
+           sodipodi:type="arc"
+           style="color:#000000;fill:url(#linearGradient15521-8);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:0.72142136px;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
+           id="path14397-8-0"
+           sodipodi:cx="500.96298"
+           sodipodi:cy="182.15448"
+           sodipodi:rx="1.7449629"
+           sodipodi:ry="1.7449629"
+           d="m 502.70795,182.15448 c 0,0.96372 -0.78125,1.74496 -1.74497,1.74496 -0.96371,0 -1.74496,-0.78124 -1.74496,-1.74496 0,-0.96372 0.78125,-1.74496 1.74496,-1.74496 0.96372,0 1.74497,0.78124 1.74497,1.74496 z"
+           transform="translate(-6.874099,5.4992756)" />
+      </g>
+      <g
+         transform="translate(6.9375,1.125)"
+         id="g15470-3">
+        <path
+           transform="matrix(0.31018135,0.06837356,-0.06837356,0.31018135,347.67882,91.940035)"
+           d="m 502.70795,182.15448 c 0,0.96372 -0.78125,1.74496 -1.74497,1.74496 -0.96371,0 -1.74496,-0.78124 -1.74496,-1.74496 0,-0.96372 0.78125,-1.74496 1.74496,-1.74496 0.96372,0 1.74497,0.78124 1.74497,1.74496 z"
+           sodipodi:ry="1.7449629"
+           sodipodi:rx="1.7449629"
+           sodipodi:cy="182.15448"
+           sodipodi:cx="500.96298"
+           id="path14397-8-8-6"
+           style="color:#000000;fill:url(#linearGradient15523-5);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:0.72142136px;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
+           sodipodi:type="arc" />
+        <path
+           inkscape:connector-curvature="0"
+           style="color:#000000;fill:url(#linearGradient15525-5);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:0.72142136px;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate"
+           d="m 492.875,180.96875 c -0.046,0.009 -0.0831,0.0119 -0.125,0.0312 l -0.0625,0.0312 -2.375,1.1875 c 0.11954,-0.0764 0.25679,-0.0954 0.40625,-0.0625 0.29893,0.0659 0.50339,0.35732 0.4375,0.65625 -0.033,0.14946 -0.13046,0.26739 -0.25,0.34375 0.77078,-0.3938 1.58077,-0.78916 2.34375,-1.15625 0.13759,-0.0738 0.24501,-0.21059 0.28125,-0.375 0.0659,-0.29893 -0.13857,-0.59036 -0.4375,-0.65625 -0.0747,-0.0165 -0.14796,-0.0131 -0.21875,0 z"
+           id="path14397-8-8-5-0" />
+      </g>
+    </g>
+    <g
+       id="g13671"
+       transform="matrix(0.7406245,0,0,0.7406245,-33.973222,31.211141)">
+      <text
+         style="font-size:15.91540909px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;text-align:start;line-height:125%;writing-mode:lr-tb;text-anchor:start;fill:#5d9d35;fill-opacity:1;stroke:none;font-family:Bitstream Vera Sans Mono"
+         xml:space="preserve"
+         id="text10478-2"
+         transform="scale(0.9460798,1.0569933)"
+         y="156.47406"
+         x="583.03015"
+         sodipodi:linespacing="125%"><tspan
+           style="fill:#5d9d35;fill-opacity:1"
+           id="tspan10480-6"
+           y="156.47406"
+           x="583.03015">R</tspan></text>
+      <text
+         style="font-size:15.91540909px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;text-align:start;line-height:125%;writing-mode:lr-tb;text-anchor:start;fill:#5d9d35;fill-opacity:1;stroke:none;font-family:Bitstream Vera Sans Mono"
+         xml:space="preserve"
+         id="text10482-7"
+         transform="scale(0.9460798,1.0569933)"
+         y="156.47406"
+         x="591.87451"
+         sodipodi:linespacing="125%"><tspan
+           style="fill:#5d9d35;fill-opacity:1"
+           id="tspan10484-7"
+           y="156.47406"
+           x="591.87451">E</tspan></text>
+      <text
+         style="font-size:15.91540909px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;text-align:start;line-height:125%;writing-mode:lr-tb;text-anchor:start;fill:#5d9d35;fill-opacity:1;stroke:none;font-family:Bitstream Vera Sans Mono"
+         xml:space="preserve"
+         id="text10486-9"
+         transform="scale(0.9460798,1.0569933)"
+         y="156.47406"
+         x="599.54919"
+         sodipodi:linespacing="125%"><tspan
+           style="fill:#5d9d35;fill-opacity:1"
+           id="tspan10488-4"
+           y="156.47406"
+           x="599.54919">F</tspan></text>
+      <path
+         inkscape:connector-curvature="0"
+         id="path40832-7"
+         d="m 552.6048,153.1029 0,3.625 c 0.69372,0.30918 1.41168,0.56749 2.15625,0.8125 l 0,-2.375 1,0 c 0.59618,2e-5 1.02713,0.14748 1.28125,0.40625 0.2541,0.25877 0.40624,0.68116 0.40625,1.28125 -10e-6,0.60015 -0.14726,1.01698 -0.40625,1.28125 -0.0194,0.0198 -0.041,0.0443 -0.0625,0.0625 0.72794,0.17475 1.48059,0.28192 2.21875,0.40625 0.31246,-0.4903 0.46875,-1.12023 0.46875,-1.90625 0,-1.2663 -0.29053,-2.18841 -0.90625,-2.75 -0.61087,-0.56157 -1.65508,-0.84373 -3.0625,-0.84375 l -3.09375,0 z m 8.59375,0 0,5.78125 c 1.19169,0.13165 2.37992,0.23393 3.5,0.25 0.98673,-0.0138 1.94165,-0.0818 2.875,-0.1875 l 0,-1.03125 -4.1875,0 0,-2.65625 4.625,0 0,-2.15625 -6.8125,0 z m 7.34375,0 0,5.71875 c 1.3859,-0.20593 2.73697,-0.50634 4.09375,-0.90625 l -1.9375,0 0,-2.65625 4.6875,0 0,-2.15625 -6.84375,0 z"
+         style="opacity:0.31627909;fill:url(#linearGradient13690);fill-opacity:1;fill-rule:nonzero;stroke:none;stroke-width:13;marker:none;visibility:visible;display:inline;overflow:visible;enable-background:accumulate" />
+    </g>
+  </g>
 </svg>