Adding Build Method for PLC program generating
authorlbessard
Wed, 25 Jul 2007 17:58:18 +0200
changeset 1 6e9f24fd1b98
parent 0 215982c73cd6
child 2 ef2541ff1e68
Adding Build Method for PLC program generating
.cvsignore
Beremiz.py
config_utils.py
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/.cvsignore	Wed Jul 25 17:58:18 2007 +0200
@@ -0,0 +1,1 @@
+*.pyc
--- a/Beremiz.py	Sat Jul 21 01:32:59 2007 +0200
+++ b/Beremiz.py	Wed Jul 25 17:58:18 2007 +0200
@@ -27,7 +27,7 @@
 from time import localtime
 from datetime import datetime
 
-import sys, os
+import os, re, platform, sys, time, traceback, getopt, commands
 base_folder = os.path.split(sys.path[0])[0]
 sys.path.append(os.path.join(base_folder, "plcopeneditor"))
 sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen"))
@@ -38,8 +38,7 @@
 from networkedit import networkedit
 from nodelist import NodeList
 from nodemanager import NodeManager
-
-import os, re, platform, sys, time, traceback, getopt
+import config_utils, gen_cfile
 
 __version__ = "$Revision$"
 
@@ -70,6 +69,29 @@
     projectOpen = args[0]
 CWD = sys.path[0]
 
+re_texts = {}
+re_texts["letter"] = "[A-Za-z]"
+re_texts["digit"] = "[0-9]"
+LOCATED_MODEL = re.compile("__LOCATED_VAR\(([A-Z]*),([_A-Za-z0-9]*)\)")
+
+
+class LogPseudoFile:
+    """ Base class for file like objects to facilitate StdOut for the Shell."""
+    def __init__(self, output = None):
+        self.output = output
+
+    def writelines(self, l):
+        map(self.write, l)
+
+    def write(self, s):
+        self.output.SetValue(self.output.GetValue() + s) 
+
+    def flush(self):
+        self.output.SetValue("")
+    
+    def isatty(self):
+        return false
+
 [wxID_BEREMIZ, wxID_BEREMIZLOGCONSOLE, wxID_BEREMIZEDITPLCBUTTON,
  wxID_BEREMIZBUILDBUTTON, wxID_BEREMIZSIMULATEBUTTON,
  wxID_BEREMIZRUNBUTTON, wxID_BEREMIZBUSLIST,
@@ -154,7 +176,7 @@
         parent.AppendSeparator()
         parent.Append(help='', id=wxID_BEREMIZRUNMENUITEMS5,
               kind=wx.ITEM_NORMAL, text=u'Save Log')
-        self.Bind(wx.EVT_MENU, self.OnEditPLCMenu,
+        self.Bind(wx.EVT_MENU, self.OnBuildMenu,
               id=wxID_BEREMIZRUNMENUITEMS0)
         self.Bind(wx.EVT_MENU, self.OnSimulateMenu,
               id=wxID_BEREMIZRUNMENUITEMS2)
@@ -271,7 +293,7 @@
         
         self.LogConsole = wx.TextCtrl(id=wxID_BEREMIZLOGCONSOLE, value='',
               name='LogConsole', parent=self, pos=wx.Point(0, 0),
-              size=wx.Size(400, 200), style=wxTE_MULTILINE)
+              size=wx.Size(0, 0), style=wxTE_MULTILINE)
         
         self.EditPLCButton = wx.Button(id=wxID_BEREMIZEDITPLCBUTTON, label='Edit\nPLC',
               name='EditPLCButton', parent=self, pos=wx.Point(0, 0),
@@ -299,8 +321,9 @@
         
         self.BusList = wx.ListBox(choices=[], id=wxID_BEREMIZBUSLIST,
               name='BusList', parent=self, pos=wx.Point(0, 0),
-              size=wx.Size(-1, -1), style=0)
-        self.BusList.Bind(wx.EVT_LEFT_DCLICK, self.OnBusListDClick)
+              size=wx.Size(-1, -1), style=wxLB_SINGLE|wxLB_NEEDED_SB)
+        self.BusList.Bind(wx.EVT_LISTBOX_DCLICK, self.OnBusListDClick,
+              id=wxID_BEREMIZBUSLIST)
         
         self.AddBusButton = wx.Button(id=wxID_BEREMIZADDBUSBUTTON, label='Add',
               name='AddBusButton', parent=self, pos=wx.Point(0, 0),
@@ -325,6 +348,8 @@
         self.PLCEditor = None
         self.BusManagers = {}
         
+        self.Log = LogPseudoFile(self.LogConsole)
+        
         self.RefreshButtons()
         self.RefreshMainMenu()
         
@@ -498,6 +523,10 @@
         self.DeleteBus()
         event.Skip()
 
+    def OnBuildMenu(self, event):
+        self.BuildAutom()
+        event.Skip()
+
     def OnSimulateMenu(self, event):
         event.Skip()
     
@@ -518,6 +547,7 @@
         event.Skip()
     
     def OnBuildButton(self, event):
+        self.BuildAutom()
         event.Skip()
     
     def OnSimulateButton(self, event):
@@ -535,7 +565,7 @@
         event.Skip()
     
     def OnBusListDClick(self, event):
-        selected = self.BusList.GetSelection()
+        selected = event.GetSelection()
         busidlist = self.BusManagers.keys()
         busidlist.sort()
         bus_infos = self.BusManagers[busidlist[selected]]
@@ -602,6 +632,48 @@
             self.PLCEditor.RefreshToolBar()
             self.PLCEditor.Show()
 
+    def BuildAutom(self):
+        if self.PLCManager:
+            self.TargetDir = os.path.join(self.CurrentProjectPath, "build")
+            if not os.path.exists(self.TargetDir):
+                os.mkdir(self.TargetDir)
+            self.Log.flush()
+            sys.stdout = self.Log
+            try:
+                print "Building ST Program..."
+                plc_file = os.path.join(self.TargetDir, "plc.st")
+                result = self.PLCManager.GenerateProgram(plc_file)
+                if not result:
+                    raise Exception
+                print "Compiling ST Program in to C Program..."
+                status, result = commands.getstatusoutput("../matiec/iec2cc %s -I ../matiec/lib %s"%(plc_file, self.TargetDir))
+                if status:
+                    print result
+                    raise Exception
+                print "Extracting Located Variables..."
+                location_file = open(os.path.join(self.TargetDir,"LOCATED_VARIABLES.h"))
+                locations = []
+                lines = [line.strip() for line in location_file.readlines()]
+                for line in lines:
+                    result = LOCATED_MODEL.match(line)
+                    if result:
+                        locations.append(result.groups())
+                print "Generating Network Configurations..."
+                for bus_id, bus_infos in self.BusManagers.items():
+                    if bus_infos["Type"] == "CanFestival":
+                        master = config_utils.GenerateConciseDCF(locations, bus_id, bus_infos["NodeList"])
+                        result = gen_cfile.GenerateFile("%s.c"%os.path.join(self.TargetDir, gen_cfile.FormatName(bus_infos["Name"])), master)
+                        if result:
+                            raise Exception
+                print "Generating Makefiles..."
+                
+                print "Compiling Project..."
+                
+                print "\nBuild Project completed"
+            except Exception, message:
+                pass
+            sys.stdout = sys.__stdout__
+                
 #-------------------------------------------------------------------------------
 #                             Add Bus Dialog
 #-------------------------------------------------------------------------------
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/config_utils.py	Wed Jul 25 17:58:18 2007 +0200
@@ -0,0 +1,428 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+#This file is part of CanFestival, a library implementing CanOpen Stack. 
+#
+#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
+#
+#See COPYING file for copyrights details.
+#
+#This library is free software; you can redistribute it and/or
+#modify it under the terms of the GNU Lesser General Public
+#License as published by the Free Software Foundation; either
+#version 2.1 of the License, or (at your option) any later version.
+#
+#This library is distributed in the hope that it will be useful,
+#but WITHOUT ANY WARRANTY; without even the implied warranty of
+#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+#Lesser General Public License for more details.
+#
+#You should have received a copy of the GNU Lesser General Public
+#License along with this library; if not, write to the Free Software
+#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+from types import *
+
+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":0x02,"WORD":0x03,"DWORD":0x04,
+             "LWORD":0x1B,"WSTRING":0x0B}
+
+DictLocations = {}
+DictCobID = {}
+DictLocationsNotMapped = {}
+ListCobIDAvailable = []
+SlavesPdoNumber = {}
+
+# Constants for PDO types 
+RPDO = 1
+TPDO = 2
+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):
+    indexes = []
+    if type & RPDO:
+        indexes.extend([idx for idx in slave.GetIndexes() if 0x1400 <= idx <= 0x15FF])
+    if type & TPDO:
+        indexes.extend([idx for idx in slave.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"])
+    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)
+        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:
+        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 GenerateConciseDCF(locations, busname, nodelist):
+    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 locationtype, name in locations:    
+        if name in DictLocations.keys():
+            if DictLocations[name]["type"] != DicoTypes[locationtype]:
+                raise ValueError, "Conflict type for location \"%s\"" % name 
+        else:
+            loc = [i for i in name.split("_") if len(i) > 0]
+            if len(loc) not in (4, 5):
+                continue
+            
+            prefix = loc[0][0]
+            
+            # Extract and check busname
+            if loc[0][1].isdigit():
+                sizelocation = ""
+                busnamelocation = int(loc[0][1:])
+            else:
+                sizelocation = loc[0][1]
+                busnamelocation = int(loc[0][2:])
+            if busnamelocation != busname:
+                continue # A ne pas remplacer par un message d'erreur
+            
+            # Extract and check nodeid
+            nodeid = int(loc[1])
+            if nodeid not in nodelist.SlaveNodes.keys():
+                continue
+            node = nodelist.SlaveNodes[nodeid]["Node"]
+            
+            # Extract and check index and subindex
+            index = int(loc[2])
+            subindex = int(loc[3])
+            if not node.IsEntry(index, subindex):
+                continue
+            subentry_infos = node.GetSubentryInfos(index, subindex)
+            
+            if subentry_infos and subentry_infos["pdo"]:
+                if sizelocation == "X" and len(loc) > 4:
+                    numbit = loc[4]
+                elif sizelocation != "X" and len(loc) > 4:
+                    continue
+                else:
+                    numbit = None
+                
+                locationtype = DicoTypes[locationtype]
+                entryinfos = node.GetSubentryInfos(index, subindex)
+                if entryinfos["type"] != locationtype:
+                    raise ValueError, "Invalid type for location \"%s\"" % name
+                
+                typeinfos = node.GetEntryInfos(locationtype)
+                DictLocations[name] = {"type":locationtype, "pdotype":SlavePDOType[prefix],
+                                       "nodeid": nodeid, "index": index,"subindex": subindex, 
+                                       "bit": numbit, "size": typeinfos["size"], "busname": busname, "sizelocation": sizelocation}
+                  
+    # 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"] + str(DictLocations[variable[1]]["busname"]) + "_" + 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__":
+    from nodemanager import *
+    from nodelist import *
+    import sys
+    
+    manager = NodeManager(sys.path[0])
+    nodelist = NodeList(manager)
+    result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping")
+   
+##    if result != None:
+##        print result
+##    else:
+##        print "MasterNode :"
+##        manager.CurrentNode.Print()
+##        for nodeid, node in nodelist.SlaveNodes.items():
+##            print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)
+##            node["Node"].Print()
+            
+    #filepath = "/home/deobox/beremiz/test_nodelist/listlocations.txt"
+    filepath = "/home/deobox/Desktop/TestMapping/listlocations.txt"
+    
+    file = open(filepath,'r')
+    locations = [location.split(' ') for location in [line.strip() for line in file.readlines() if len(line) > 0]] 
+    file.close()
+    GenerateConciseDCF(locations, 32, nodelist)
+    print "MasterNode :"
+    manager.CurrentNode.Print()
+    #masternode.Print()
\ No newline at end of file