CONFIG_UTILS (sync)
authorgreg
Tue, 11 Sep 2007 15:10:56 +0200
changeset 27 1db681d34579
parent 26 7bc11b005c8b
child 28 848ce4b1f9e4
CONFIG_UTILS (sync)
plugins/canfestival/config_utils.py
--- a/plugins/canfestival/config_utils.py	Tue Sep 11 08:00:28 2007 +0200
+++ b/plugins/canfestival/config_utils.py	Tue Sep 11 15:10:56 2007 +0200
@@ -24,16 +24,13 @@
 
 from types import *
 
+# Translation between IEC types and Can Open types
 DicoTypes = {"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}
 
-DictLocations = {}
-DictCobID = {}
-DictLocationsNotMapped = {}
-ListCobIDAvailable = []
-SlavesPdoNumber = {}
+DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)}
 
 # Constants for PDO types 
 RPDO = 1
@@ -41,104 +38,446 @@
 SlavePDOType = {"I" : TPDO, "Q" : RPDO}
 InvertPDOType = {RPDO : TPDO, TPDO : RPDO}
 
-DefaultTransmitTypeMaster = 0x01
-
 GenerateMasterMapping = lambda x:[None] + [(loc_infos["type"], name) for name, loc_infos in x]
 
 TrashVariableSizes = {1 : 0x01, 8 : 0x05, 16 : 0x06, 32 : 0x07, 64 : 0x1B}
 
-
-def GetSlavePDOIndexes(slave, type, parameters = False):
+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 slave.GetIndexes() if 0x1400 <= idx <= 0x15FF])
+        indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF])
     if type & TPDO:
-        indexes.extend([idx for idx in slave.GetIndexes() if 0x1800 <= idx <= 0x19FF])
+        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 LE_to_BE(value, size): # Convert Little Endian to Big Endian
-    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 SearchSlavePDOMapping(loc_infos, slave): # Search the TPDO or RPDO mapping where location is defined on the slave
-    typeinfos = slave.GetEntryInfos(loc_infos["type"])
+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
+    """
+    
+    typeinfos = node.GetEntryInfos(loc_infos["type"])
     model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]
-    slavePDOidxlist = GetSlavePDOIndexes(slave, loc_infos["pdotype"])
-    
-    for PDOidx in slavePDOidxlist:
-        values = slave.GetEntry(PDOidx)
+    
+    for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]):
+        values = node.GetEntry(PDOidx)
         if values != None:
             for subindex, mapping in enumerate(values):
                 if subindex != 0 and mapping == model:
                     return PDOidx, subindex
     return None
 
-def GenerateMappingDCF(cobid, idx, pdomapping, mapped): # Build concise DCF
-    
-    # Create entry for RPDO or TPDO parameters and Disable PDO
-    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 synchrone
-    dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(DefaultTransmitTypeSlave, 1)
-    # Re-Enable PDO
-    #         ---- INDEX -----   --- SUBINDEX ----   ----- SIZE ------   ------ DATA ------
-    dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4)
-    nbparams = 3
-    if mapped == False and pdomapping != None:
-    # 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)
-            nbparams += 1
-    return dcfdata, nbparams
-
-def GetNewCobID(nodeid, type): # Return a cobid not used
-    global ListCobIDAvailable, SlavesPdoNumber
-    
-    if len(ListCobIDAvailable) == 0:
+class ConciseDCFGenerator:
+
+    def __init__(self, nodelist):
+        # Dictionary of location informations classed by name
+        self.DictLocations = {}
+        # Dictionary of location informations classed by name
+        self.DictCobID = {}
+        # Dictionary of location that have not been mapped yet
+        self.DictLocationsNotMapped = {}
+        # List of COB IDs available
+        self.ListCobIDAvailable = range(0x180, 0x580)
+        self.SlavesPdoNumber = {}
+        # Dictionary of mapping value where unexpected variables are stored
+        TrashVariableValue = {}
+        
+        self.NodeList = nodelist
+        self.Manager = self.NodeList.Manager
+        self.MasterNode = self.Manager.GetCurrentNodeCopy()
+        self.PrepareMasterNode()
+
+    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, masternode)
+        
+        # Adding trash mappable variables for unused mapped datas
+        idxTrashVariables = 0x2000 + masternode.GetNodeID()
+        # Add an entry for storing unexpected all variable
+        self.Manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes), self.MasterNode)
+        for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()):
+            # 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.TrashVariableValue[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 nodeid, nodeinfos in self.NodeList.SlaveNodes.items():
+            node = nodeinfos["Node"]
+            node.SetNodeID(nodeid)
+            
+            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)
+            
+            # Store the number of TPDO and RPDO for this node
+            self.SlavesPdoNumber[nodeid] = {RPDO : RPDOnumber, TPDO : TPDOnumber}
+            
+            # 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 + nodeid], [], self.MasterNode)
+            self.MasterNode.SetEntry(0x1280 + nodeid, 0x01, RSDO_cobid)
+            self.MasterNode.SetEntry(0x1280 + nodeid, 0x02, TSDO_cobid)
+            self.MasterNode.SetEntry(0x1280 + nodeid, 0x03, nodeid)        
+        
+    def GetMasterNode(self):
+        """
+        Return MasterNode.
+        """
+        return self.MasterNode
+
+    # Build concise DCF
+    def GenerateMappingDCF(cobid, idx, pdomapping, mapped):
+        
+        # Create entry for RPDO or TPDO parameters and Disable PDO
+        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 synchrone
+        dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(DefaultTransmitTypeSlave, 1)
+        # Re-Enable PDO
+        #         ---- INDEX -----   --- SUBINDEX ----   ----- SIZE ------   ------ DATA ------
+        dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4)
+        nbparams = 3
+        if mapped == False and pdomapping != None:
+        # 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)
+                nbparams += 1
+        return dcfdata, nbparams
+
+    # Return a cobid not used
+    def GetNewCobID(self, nodeid, type):
+        """
+        Select a COB ID from the list of those available
+        @param nodeid: id of the slave node
+        @param type: type of PDO (RPDO or TPDO)
+        @return: a tuple of the COD ID and PDO index or None
+        """
+        # Verify that there is still some cobid available
+        if len(self.ListCobIDAvailable) == 0:
+            return None
+        
+        # Get the number of PDO of the type given for the node
+        nbSlavePDO = self.SlavesPdoNumber[nodeid][type]
+        if type == RPDO:
+            if nbSlavePDO < 4:
+                # For the four first RPDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid
+                newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)
+                # Return calculated cobid if it's still available
+                if newcobid in self.ListCobIDAvailable:
+                    self.ListCobIDAvailable.remove(newcobid)
+                    return newcobid, 0x1400 + nbSlavePDO
+            # Return the first cobid available if no cobid found
+            return self.ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO
+    
+        elif type == TPDO:
+            if nbSlavePDO < 4:
+                # For the four first TPDO -> cobid = 0x180 + ( numPdo parameters * 0x100) + nodeid
+                newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)
+                # Return calculated cobid if it's still available
+                if newcobid in self.ListCobIDAvailable:
+                    self.ListCobIDAvailable.remove(newcobid)
+                    return newcobid, 0x1800 + nbSlavePDO
+            # Return the first cobid available if no cobid found
+            return self.ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO
+        
         return None
-    
-    nbSlavePDO = SlavesPdoNumber[nodeid][type]
-    if type == RPDO:
-        if nbSlavePDO < 4:
-            # For the fourth PDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid
-            newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)
-            if newcobid in ListCobIDAvailable:
-                ListCobIDAvailable.remove(newcobid)
-                return newcobid, 0x1400 + nbSlavePDO
-        return ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO
-
-    elif type == TPDO:
-        if nbSlavePDO < 4:
-            # For the fourth PDO -> cobid = 0x180 + (numPdo parameters * 0x100) + nodeid
-            newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)
-            if newcobid in ListCobIDAvailable:
-                ListCobIDAvailable.remove(newcobid)
-                return newcobid, 0x1800 + nbSlavePDO
-        return ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO
-    
-    for number in xrange(4):
-        if type == RPDO:
-            # For the fourth PDO -> cobid = 0x200 + ( numPdo * 0x100) + nodeid
-            newcobid = (0x200 + number * 0x100 + nodeid)
-        elif type == TPDO:
-            # For the fourth PDO -> cobid = 0x180 + (numPdo * 0x100) + nodeid
-            newcobid = (0x180 + number * 0x100 + nodeid)
-        else:
-            return None
-        if newcobid in ListCobIDAvailable:
-            ListCobIDAvailable.remove(newcobid)
-            return newcobid
-    return ListCobIDAvailable.pop(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
+        """
+        
+        # Get list of locations check if exists and mappables -> put them in DictLocations
+        for location in locations:
+            COlocationtype = DicoTypes[location["IEC_TYPE"]]
+            name = location["NAME"]
+            if name in DictLocations:
+                if DictLocations[name]["type"] != COlocationtype:
+                    raise ValueError, "Conflict type 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 (3, 4):
+                    raise ValueError, "Bad location size : %s"%str(loc)
+                
+                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 nodelist.SlaveNodes.keys():
+                    raise ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,name)
+                
+                # Get the model for this node (made from EDS)
+                node = nodelist.SlaveNodes[nodeid]["Node"]
+                
+                # Extract and check index and subindex
+                if not node.IsEntry(index, subindex):
+                    raise ValueError, "No such index/subindex (%x,%x) in ID : %d (variable %s)" % (index,subindex,nodeid,name)
+                
+                #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[4]
+                    elif sizelocation != "X" and len(loc) > 3:
+                        raise ValueError, "Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)
+                    else:
+                        numbit = None
+                    
+                    entryinfos = node.GetSubentryInfos(index, subindex)
+                    if entryinfos["type"] != COlocationtype:
+                        raise ValueError, "Invalid type \"%s\"-> %d != %d  for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, entryinfos["type"] , name)
+                    
+                    typeinfos = node.GetEntryInfos(COlocationtype)
+                    DictLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],
+                                           "nodeid": nodeid, "index": index,"subindex": subindex,
+                                           "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation}
+                else:
+                    raise ValueError, "Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)
+                
+        # Create DictCobID with variables already mapped and add them in DictValidLocations
+        for name, locationinfos in DictLocations.items():
+            node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"]
+            result = SearchNodePDOMapping(locationinfos, node)
+            if result != None:
+                index, subindex = result
+                cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
+                
+                transmittype = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)
+                
+                if transmittype != sync_TPDOs:
+                    if sync_TPDOs : # Change TransmitType to ASYCHRONE
+                        node = nodelist.SlaveNodes[nodeid]["Node"]
+                        nodeDCF = masternode.GetEntry(0x1F22, nodeid)
+            
+                        if nodeDCF != None and nodeDCF != '':
+                            tmpnbparams = [i for i in nodeDCF[:4]]
+                            tmpnbparams.reverse()
+                            nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)
+                            dataparams = nodeDCF[4:]
+                        else:
+                            nbparams = 0
+                            dataparams = ""
+                    
+                    else: # Change TransmitType to SYNCHRONE  
+                        pass
+            
+            
+                if cobid not in DictCobID.keys():
+                    mapping = [None]
+                    values = node.GetEntry(index)
+                    for value in values[1:]:
+                        mapping.append(value % 0x100)
+                    DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
+            
+                DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name)
+                
+            else:
+                if locationinfos["nodeid"] not in DictLocationsNotMapped.keys():
+                    DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
+                DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
+    
+        #-------------------------------------------------------------------------------
+        #                         Build concise DCF for the others locations
+        #-------------------------------------------------------------------------------
+        
+        for nodeid, locations in DictLocationsNotMapped.items():
+            # Get current concise DCF
+            node = nodelist.SlaveNodes[nodeid]["Node"]
+            nodeDCF = masternode.GetEntry(0x1F22, nodeid)
+            
+            if nodeDCF != None and nodeDCF != '':
+                tmpnbparams = [i for i in nodeDCF[:4]]
+                tmpnbparams.reverse()
+                nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)
+                dataparams = nodeDCF[4:]
+            else:
+                nbparams = 0
+                dataparams = ""
+            
+            for pdotype in (TPDO, RPDO):
+                pdosize = 0
+                pdomapping = []
+                for name, loc_infos in locations[pdotype]:
+                    pdosize += loc_infos["size"]
+                    # If pdo's size > 64 bits
+                    if pdosize > 64:
+                        result = GetNewCobID(nodeid, pdotype)
+                        if result:
+                            SlavesPdoNumber[nodeid][pdotype] += 1
+                            new_cobid, new_idx = result
+                            data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
+                            dataparams += data
+                            nbparams += nbaddedparams
+                            DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
+                        pdosize = loc_infos["size"]
+                        pdomapping = [(name, loc_infos)]
+                    else:
+                        pdomapping.append((name, loc_infos))
+                if len(pdomapping) > 0:
+                    result = GetNewCobID(nodeid, pdotype)
+                    if result:
+                        SlavesPdoNumber[nodeid][pdotype] += 1
+                        new_cobid, new_idx = result
+                        data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
+                        dataparams += data
+                        nbparams += nbaddedparams
+                        DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
+            
+            dcf = LE_to_BE(nbparams, 0x04) + dataparams
+            masternode.SetEntry(0x1F22, nodeid, dcf)
+    
+            
+        #-------------------------------------------------------------------------------
+        #                         Master Node Configuration
+        #-------------------------------------------------------------------------------
+        
+    
+        
+        # Configure Master's PDO parameters entries and set cobid, transmit type
+        for cobid, pdo_infos in DictCobID.items():
+            current_idx = CurrentPDOParamsIdx[pdo_infos["type"]]
+            addinglist = [current_idx, current_idx + 0x200]
+            manager.ManageEntriesOfCurrent(addinglist, [], masternode)
+            masternode.SetEntry(current_idx, 0x01, cobid)
+            masternode.SetEntry(current_idx, 0x02, DefaultTransmitTypeMaster)
+            if len(pdo_infos["mapping"]) > 2:
+                manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, masternode)
+            
+            # Create Master's PDO mapping
+            for subindex, variable in enumerate(pdo_infos["mapping"]):
+                if subindex == 0:
+                    continue
+                new_index = False
+                
+                if type(variable) != IntType:
+                    
+                    typeidx, varname = variable
+                    indexname = \
+                        DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + \
+                        DictLocations[variable[1]]["sizelocation"] + \
+                        '_'.join(map(str,current_location)) + \
+                        "_" + \
+                        str(DictLocations[variable[1]]["nodeid"])
+                    mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] +  DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]
+    
+                    #indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["prefix"]) + "_" + str(DictLocations[variable[1]]["nodeid"])
+                    #mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] +  DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]
+                    
+                    if not masternode.IsEntry(mapvariableidx):
+                        manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
+                        new_index = True
+                        nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
+                    else:
+                        nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
+                        mapvariableidxbase = mapvariableidx 
+                        while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF:
+                            mapvariableidx += 0x800
+                            if not manager.IsCurrentEntry(mapvariableidx):
+                                manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
+                                new_index = True
+                            nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
+                    
+                    if mapvariableidx < 0x6000:
+                        if DictLocations[variable[1]]["bit"] != None:
+                            subindexname = str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"])
+                        else:
+                            subindexname = str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"])
+                        if not new_index:
+                            manager.AddSubentriesToCurrent(mapvariableidx, 1, masternode)
+                            nbsubentries += 1
+                        masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
+                        masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
+                        
+                        # Map Variable
+                        typeinfos = manager.GetEntryInfos(typeidx)
+                        if typeinfos != None:
+                            value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
+                            masternode.SetEntry(current_idx + 0x200, subindex, value)
+                else:
+                    masternode.SetEntry(current_idx + 0x200, subindex, TrashVariableValue[variable])
+            
+            CurrentPDOParamsIdx[pdo_infos["type"]] += 1
+        
+
 def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs):
     """
     Fills a CanFestival network editor model, with DCF with requested PDO mappings.
@@ -153,277 +492,11 @@
     @return: a modified copy of the given CanFestival network editor model
     """
     
-    global DictLocations, DictCobID, DictLocationsNotMapped, ListCobIDAvailable, SlavesPdoNumber, DefaultTransmitTypeSlave
-
-    DictLocations = {}
-    DictCobID = {}
-    DictLocationsNotMapped = {}
-    DictSDOparams = {}
-    ListCobIDAvailable = range(0x180, 0x580)
-    SlavesPdoNumber = {}
-    DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)}
-    DefaultTransmitTypeSlave = 0xFF
-    # Master Node initialisation
-    
-    manager = nodelist.Manager
-    masternode = manager.GetCurrentNodeCopy()
-    if not masternode.IsEntry(0x1F22):
-        masternode.AddEntry(0x1F22, 1, "")
-    manager.AddSubentriesToCurrent(0x1F22, 127, masternode)
-    # Adding trash mappable variables for unused mapped datas
-    idxTrashVariables = 0x2000 + masternode.GetNodeID()
-    TrashVariableValue = {}
-    manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes), masternode)
-    for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()):
-        manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, masternode)
-        manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, masternode)
-        TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
-    
-    
-    # Extract Master Node current empty mapping index
-    CurrentPDOParamsIdx = {RPDO : 0x1400 + len(GetSlavePDOIndexes(masternode, RPDO)),
-                           TPDO : 0x1800 + len(GetSlavePDOIndexes(masternode, TPDO))}
-
-    # Get list of all Slave's CobID and Slave's default SDO server parameters
-    for nodeid, nodeinfos in nodelist.SlaveNodes.items():
-        node = nodeinfos["Node"]
-        node.SetNodeID(nodeid)
-        DictSDOparams[nodeid] = {"RSDO" : node.GetEntry(0x1200,0x01), "TSDO" : node.GetEntry(0x1200,0x02)}
-        slaveRpdoIndexes = GetSlavePDOIndexes(node, RPDO, True)
-        slaveTpdoIndexes = GetSlavePDOIndexes(node, TPDO, True)
-        SlavesPdoNumber[nodeid] = {RPDO : len(slaveRpdoIndexes), TPDO : len(slaveTpdoIndexes)}
-        for PdoIdx in slaveRpdoIndexes + slaveTpdoIndexes:
-            pdo_cobid = node.GetEntry(PdoIdx, 0x01)
-            if pdo_cobid > 0x600 :
-                pdo_cobid -= 0x80000000
-            if pdo_cobid in ListCobIDAvailable:
-                ListCobIDAvailable.remove(pdo_cobid)
-    
-    # Get list of locations check if exists and mappables -> put them in DictLocations
-    for location in locations:
-        locationtype = location["IEC_TYPE"]
-        name = location["NAME"]
-        if name in DictLocations:
-            if DictLocations[name]["type"] != DicoTypes[locationtype]:
-                raise ValueError, "Conflict type 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 (3, 4):
-                raise ValueError, "Bad location size : %s"%str(loc)
-            
-            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 nodelist.SlaveNodes.keys():
-                raise ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,name)
-            
-            # Get the model for this node (made from EDS)
-            node = nodelist.SlaveNodes[nodeid]["Node"]
-            
-            # Extract and check index and subindex
-            if not node.IsEntry(index, subindex):
-                raise ValueError, "No such index/subindex (%x,%x) in ID : %d (variable %s)" % (index,subindex,nodeid,name)
-            
-            #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[4]
-                elif sizelocation != "X" and len(loc) > 3:
-                    raise ValueError, "Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)
-                else:
-                    numbit = None
-                
-                COlocationtype = DicoTypes[locationtype]
-                entryinfos = node.GetSubentryInfos(index, subindex)
-                if entryinfos["type"] != COlocationtype:
-                    raise ValueError, "Invalid type \"%s\"-> %d != %d  for location\"%s\"" % (locationtype,COlocationtype, entryinfos["type"] , name)
-                
-                typeinfos = node.GetEntryInfos(COlocationtype)
-                DictLocations[name] = {"type":COlocationtype, "pdotype":SlavePDOType[direction],
-                                       "nodeid": nodeid, "index": index,"subindex": subindex,
-                                       "bit": numbit, "size": typeinfos["size"], "sizelocation": sizelocation}
-            else:
-                raise ValueError, "Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)
-                
-    # Create DictCobID with variables already mapped and add them in DictValidLocations
-    for name, locationinfos in DictLocations.items():
-        node = nodelist.SlaveNodes[locationinfos["nodeid"]]["Node"]
-        result = SearchSlavePDOMapping(locationinfos, node)
-        if result != None:
-            index, subindex = result
-            cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
-            if cobid not in DictCobID.keys():
-                mapping = [None]
-                values = node.GetEntry(index)
-                for value in values[1:]:
-                    mapping.append(value % 0x100)
-                DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
-        
-            DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name)
-            
-        else:
-            if locationinfos["nodeid"] not in DictLocationsNotMapped.keys():
-                DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
-            DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
-
-    # Check Master Pdo parameters for cobid already used and remove it in ListCobIDAvailable
-    ListPdoParams = [idx for idx in masternode.GetIndexes() if 0x1400 <= idx <= 0x15FF or  0x1800 <= idx <= 0x19FF]
-    for idx in ListPdoParams:
-        cobid = masternode.GetEntry(idx, 0x01)
-        if cobid not in DictCobID.keys():
-            ListCobIDAvailable.pop(cobid)
-    
-    #-------------------------------------------------------------------------------
-    #                         Build concise DCF for the others locations
-    #-------------------------------------------------------------------------------
-    
-    for nodeid, locations in DictLocationsNotMapped.items():
-        # Get current concise DCF
-        node = nodelist.SlaveNodes[nodeid]["Node"]
-        nodeDCF = masternode.GetEntry(0x1F22, nodeid)
-        
-        if nodeDCF != None and nodeDCF != '':
-            tmpnbparams = [i for i in nodeDCF[:4]]
-            tmpnbparams.reverse()
-            nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)
-            dataparams = nodeDCF[4:]
-        else:
-            nbparams = 0
-            dataparams = ""
-        
-        for pdotype in (TPDO, RPDO):
-            pdosize = 0
-            pdomapping = []
-            for name, loc_infos in locations[pdotype]:
-                pdosize += loc_infos["size"]
-                # If pdo's size > 64 bits
-                if pdosize > 64:
-                    result = GetNewCobID(nodeid, pdotype)
-                    if result:
-                        SlavesPdoNumber[nodeid][pdotype] += 1
-                        new_cobid, new_idx = result
-                        data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
-                        dataparams += data
-                        nbparams += nbaddedparams
-                        DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
-                    pdosize = loc_infos["size"]
-                    pdomapping = [(name, loc_infos)]
-                else:
-                    pdomapping.append((name, loc_infos))
-            if len(pdomapping) > 0:
-                result = GetNewCobID(nodeid, pdotype)
-                if result:
-                    SlavesPdoNumber[nodeid][pdotype] += 1
-                    new_cobid, new_idx = result
-                    data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
-                    dataparams += data
-                    nbparams += nbaddedparams
-                    DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
-        
-        dcf = LE_to_BE(nbparams, 0x04) + dataparams
-        masternode.SetEntry(0x1F22, nodeid, dcf)
-
-        
-    #-------------------------------------------------------------------------------
-    #                         Master Node Configuration
-    #-------------------------------------------------------------------------------
-    
-    # Configure Master's SDO parameters entries
-    for nodeid, SDOparams in DictSDOparams.items():
-        SdoClient_index = [0x1280 + nodeid]
-        manager.ManageEntriesOfCurrent(SdoClient_index,[], masternode)
-        if SDOparams["RSDO"] != None:
-            RSDO_cobid = SDOparams["RSDO"]
-        else:
-            RSDO_cobid = 0x600 + nodeid 
-            
-        if SDOparams["TSDO"] != None:
-            TSDO_cobid = SDOparams["TSDO"]
-        else:
-            TSDO_cobid = 0x580 + nodeid
-            
-        masternode.SetEntry(SdoClient_index[0], 0x01, RSDO_cobid)
-        masternode.SetEntry(SdoClient_index[0], 0x02, TSDO_cobid)
-        masternode.SetEntry(SdoClient_index[0], 0x03, nodeid)
-    
-    # Configure Master's PDO parameters entries and set cobid, transmit type
-    for cobid, pdo_infos in DictCobID.items():
-        current_idx = CurrentPDOParamsIdx[pdo_infos["type"]]
-        addinglist = [current_idx, current_idx + 0x200]
-        manager.ManageEntriesOfCurrent(addinglist, [], masternode)
-        masternode.SetEntry(current_idx, 0x01, cobid)
-        masternode.SetEntry(current_idx, 0x02, DefaultTransmitTypeMaster)
-        if len(pdo_infos["mapping"]) > 2:
-            manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, masternode)
-        
-        # Create Master's PDO mapping
-        for subindex, variable in enumerate(pdo_infos["mapping"]):
-            if subindex == 0:
-                continue
-            new_index = False
-            
-            if type(variable) != IntType:
-                
-                typeidx, varname = variable
-                indexname = \
-                    DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + \
-                    DictLocations[variable[1]]["sizelocation"] + \
-                    '_'.join(map(str,current_location)) + \
-                    "_" + \
-                    str(DictLocations[variable[1]]["nodeid"])
-                mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] +  DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]
-
-                #indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["prefix"]) + "_" + str(DictLocations[variable[1]]["nodeid"])
-                #mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] +  DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]
-                
-                if not masternode.IsEntry(mapvariableidx):
-                    manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
-                    new_index = True
-                    nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
-                else:
-                    nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
-                    mapvariableidxbase = mapvariableidx 
-                    while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF:
-                        mapvariableidx += 0x800
-                        if not manager.IsCurrentEntry(mapvariableidx):
-                            manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
-                            new_index = True
-                        nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
-                
-                if mapvariableidx < 0x6000:
-                    if DictLocations[variable[1]]["bit"] != None:
-                        subindexname = str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"])
-                    else:
-                        subindexname = str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"])
-                    if not new_index:
-                        manager.AddSubentriesToCurrent(mapvariableidx, 1, masternode)
-                        nbsubentries += 1
-                    masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
-                    masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
-                    
-                    # Map Variable
-                    typeinfos = manager.GetEntryInfos(typeidx)
-                    if typeinfos != None:
-                        value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
-                        masternode.SetEntry(current_idx + 0x200, subindex, value)
-            else:
-                masternode.SetEntry(current_idx + 0x200, subindex, TrashVariableValue[variable])
-        
-        CurrentPDOParamsIdx[pdo_infos["type"]] += 1
-    #masternode.Print()
-    return masternode
-
-if __name__ == "__main__":
+    dcfgenerator = ConciseDCFGenerator(nodelist)
+    dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs)
+    return dcfgenerator.GetMasterNode()
+
+if __name__ == "__main__": 
     from nodemanager import *
     from nodelist import *
     import sys