Basic CANOpen master node test compiles and run.
authoretisserant
Mon, 01 Oct 2007 21:52:41 +0200
changeset 58 c0741cc16c99
parent 57 3b53f9a509d9
child 59 b6ff896ff58b
Basic CANOpen master node test compiles and run.
plugins/canfestival/config_utils.py
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/plugins/canfestival/config_utils.py	Mon Oct 01 21:52:41 2007 +0200
@@ -0,0 +1,683 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+#This file is part of Beremiz, a Integrated Development Environment for
+#programming IEC 61131-3 automates supporting plcopen standard and CanFestival. 
+#
+#Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
+#
+#See COPYING file for copyrights details.
+#
+#This library is free software; you can redistribute it and/or
+#modify it under the terms of the GNU General Public
+#License as published by the Free Software Foundation; either
+#version 2.1 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
+#General Public License for more details.
+#
+#You should have received a copy of the GNU 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 *
+
+# Translation between IEC types and Can Open types
+IECToCOType = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10,
+               "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08,
+               "LREAL":0x11,"STRING":0x09,"BYTE":0x05,"WORD":0x06,"DWORD":0x07,
+               "LWORD":0x1B,"WSTRING":0x0B}
+
+# Constants for PDO types 
+RPDO = 1
+TPDO = 2
+
+SlavePDOType = {"I" : TPDO, "Q" : RPDO}
+InvertPDOType = {RPDO : TPDO, TPDO : RPDO}
+
+VariableIncrement = 0x100
+VariableStartIndex = {TPDO : 0x2000, RPDO : 0x4000}
+VariableDirText = {TPDO : "__I", RPDO : "__Q"}
+VariableTypeOffset = dict(zip(["","X","B","W","D","L"], range(6)))
+
+TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)]
+
+def LE_to_BE(value, size):
+    """
+    Convert Little Endian to Big Endian
+    @param value: value expressed in integer
+    @param size: number of bytes generated
+    @return: a string containing the value converted
+    """
+    
+    data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value
+    list_car = [data[i:i+2] for i in xrange(0, len(data), 2)]
+    list_car.reverse()
+    return "".join([chr(int(car, 16)) for car in list_car])
+
+
+def GetNodePDOIndexes(node, type, parameters = False):
+    """
+    Find the PDO indexes of a node
+    @param node: node 
+    @param type: type of PDO searched (RPDO or TPDO or both)
+    @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)
+    @return: a list of indexes found
+    """
+    
+    indexes = []
+    if type & RPDO:
+        indexes.extend([idx for idx in node.GetIndexes() if 0x1400 <= idx <= 0x15FF])
+    if type & TPDO:
+        indexes.extend([idx for idx in node.GetIndexes() if 0x1800 <= idx <= 0x19FF])
+    if not parameters:
+        return [idx + 0x200 for idx in indexes]
+    else:
+        return indexes
+
+
+def SearchNodePDOMapping(loc_infos, node):
+    """
+    Find the PDO indexes of a node
+    @param node: node 
+    @param type: type of PDO searched (RPDO or TPDO or both)
+    @param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)
+    @return: a list of indexes found
+    """
+    
+    typeinfos = node.GetEntryInfos(loc_infos["type"])
+    model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]
+    
+    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 GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping):
+    """
+    Build concise DCF value for configuring a PDO
+    @param idx: index of PDO parameters
+    @param cobid: PDO generated COB ID
+    @param transmittype : PDO transmit type
+    @param pdomapping: list of PDO mappings
+    @return: a tuple of value and number of parameters to add to DCF 
+    """
+    
+    # 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(transmittype, 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
+    # 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
+
+class ConciseDCFGenerator:
+
+    def __init__(self, nodelist, nodename):
+        # Dictionary of location informations classed by name
+        self.IECLocations = {}
+        # Dictionary of location that have not been mapped yet
+        self.LocationsNotMapped = {}
+        # Dictionary of location informations classed by name
+        self.MasterMapping = {}
+        # List of COB IDs available
+        self.ListCobIDAvailable = range(0x180, 0x580)
+        self.SlavesPdoNumber = {}
+        # Dictionary of mapping value where unexpected variables are stored
+        self.TrashVariables = {}
+        
+        self.NodeList = nodelist
+        self.Manager = self.NodeList.Manager
+        self.MasterNode = self.Manager.GetCurrentNodeCopy()
+        self.MasterNode.SetNodeName(nodename)
+        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, self.MasterNode)
+        
+        # Adding trash mappable variables for unused mapped datas
+        idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID()
+        # Add an entry for storing unexpected all variable
+        self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode)
+        for subidx, (size, typeidx) in enumerate(TrashVariables):
+            # Add a subentry for storing unexpected variable of this size
+            self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, self.MasterNode)
+            self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode)
+            # Store the mapping value for this entry
+            self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
+        
+        RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode)
+        
+        # Store the indexes of the first RPDO and TPDO available for MasterNode
+        self.CurrentPDOParamsIdx = {RPDO : 0x1400 + RPDOnumber, TPDO : 0x1800 + TPDOnumber}
+
+        # Prepare MasterNode with all nodelist slaves
+        for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()):
+            node = nodeinfos["Node"]
+            node.SetNodeID(nodeid)
+            
+            RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)
+            
+            # 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 + idx], [], self.MasterNode)
+            self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid)
+            self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid)
+            self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid)        
+        
+    
+    def GetMasterNode(self):
+        """
+        Return MasterNode.
+        """
+        return self.MasterNode
+
+    
+    def GetNewCobID(self, nodeid, type):
+        """
+        Select a COB ID from the list of those available
+        @param nodeid: id of the slave (int)
+        @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
+    
+    
+    def AddParamsToDCF(self, nodeid, data, nbparams):
+        """
+        Select a COB ID from the list of those available
+        @param nodeid: id of the slave (int)
+        @param data: data to add to slave DCF (string)
+        @param nbparams: number of params added to slave DCF (int)
+        """
+        # Get current DCF for slave
+        nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid)
+        
+        # Extract data and number of params in current DCF
+        if nodeDCF != None and nodeDCF != '':
+            tmpnbparams = [i for i in nodeDCF[:4]]
+            tmpnbparams.reverse()
+            nbparams += int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)
+            data = nodeDCF[4:] + data
+        
+        # Build new DCF
+        dcf = LE_to_BE(nbparams, 0x04) + data
+        # Set new DCF for slave
+        self.MasterNode.SetEntry(0x1F22, nodeid, dcf)
+    
+    def AddPDOMapping(self, nodeid, pdotype, pdomapping, sync_TPDOs):
+        """
+        Select a COB ID from the list of those available
+        @param nodeid: id of the slave (int)
+        @param pdotype: type of PDO to generated (RPDO or TPDO)
+        @param pdomapping: list od variables to map with PDO
+        """
+        # Get a new cob id
+        result = self.GetNewCobID(nodeid, pdotype)
+        if result:
+            new_cobid, new_idx = result
+            
+            # Increment the number of PDO of this type for node
+            self.SlavesPdoNumber[nodeid][pdotype] += 1
+            
+            # Add an entry to MasterMapping
+            self.MasterMapping[new_cobid] = {"type" : InvertPDOType[pdotype], 
+                "mapping" : [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]}
+            
+            # Return the data to add to DCF
+            if sync_TPDOs:
+                return GeneratePDOMappingDCF(new_idx, new_cobid, 0x01, pdomapping)
+            else:
+                return GeneratePDOMappingDCF(new_idx, new_cobid, 0xFF, pdomapping)
+        return 0, ""
+    
+    def GenerateDCF(self, locations, current_location, sync_TPDOs):
+        """
+        Generate Concise DCF of MasterNode for the locations list given
+        @param locations: list of locations to be mapped
+        @param current_location: tuple of the located prefixes not to be considered
+        @param sync_TPDOs: indicate if TPDO must be synchronous
+        """
+        
+        #-------------------------------------------------------------------------------
+        #               Verify that locations correspond to real slave variables
+        #-------------------------------------------------------------------------------
+        
+        # Get list of locations check if exists and mappables -> put them in IECLocations
+        for location in locations:
+            COlocationtype = IECToCOType[location["IEC_TYPE"]]
+            name = location["NAME"]
+            if name in self.IECLocations:
+                if self.IECLocations[name]["type"] != COlocationtype:
+                    raise 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 self.NodeList.SlaveNodes.keys():
+                    raise ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,name)
+                
+                # Get the model for this node (made from EDS)
+                node = self.NodeList.SlaveNodes[nodeid]["Node"]
+                
+                # Extract and check index and subindex
+                if not node.IsEntry(index, subindex):
+                    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)
+                    self.IECLocations[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)
+        
+        #-------------------------------------------------------------------------------
+        #                         Search for locations already mapped
+        #-------------------------------------------------------------------------------
+        
+        for name, locationinfos in self.IECLocations.items():
+            node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"]
+            
+            # Search if slave has a PDO mapping this locations
+            result = SearchNodePDOMapping(locationinfos, node)
+            if result != None:
+                index, subindex = result
+                # Get COB ID of the PDO
+                cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
+                
+                # Verify that PDO transmit type is conform to sync_TPDOs
+                transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)
+                if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF:
+                    if sync_TPDOs:
+                        # Change TransmitType to SYNCHRONE
+                        data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, [])
+                    else:
+                        # Change TransmitType to ASYCHRONE
+                        data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, [])
+                    
+                    # Add entry to slave dcf to change transmit type of 
+                    self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams)
+                
+                # Add PDO to MasterMapping
+                if cobid not in self.MasterMapping.keys():
+                    mapping = [None]
+                    values = node.GetEntry(index)
+                    # Store the size of each entry mapped in PDO
+                    for value in values[1:]:
+                        mapping.append(value % 0x100)
+                    self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
+            
+                # Indicate that this PDO entry must be saved
+                self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name)
+                
+            else:
+                # Add location to those that haven't been mapped yet
+                if locationinfos["nodeid"] not in self.LocationsNotMapped.keys():
+                    self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
+                self.LocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
+    
+        #-------------------------------------------------------------------------------
+        #                         Build concise DCF for the others locations
+        #-------------------------------------------------------------------------------
+        
+        for nodeid, locations in self.LocationsNotMapped.items():
+            node = nodelist.SlaveNodes[nodeid]["Node"]
+            
+            # Initialize number of params and data to add to node DCF
+            nbparams = 0
+            dataparams = ""
+            
+            # Generate the best PDO mapping for each type of PDO
+            for pdotype in (TPDO, RPDO):
+                pdosize = 0
+                pdomapping = []
+                for name, loc_infos in locations[pdotype]:
+                    pdosize += loc_infos["size"]
+                    # If pdo's size > 64 bits
+                    if pdosize > 64:
+                        # Generate a new PDO Mapping
+                        data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs)
+                        dataparams += data
+                        nbparams += nbaddedparams
+                        pdosize = loc_infos["size"]
+                        pdomapping = [(name, loc_infos)]
+                    else:
+                        pdomapping.append((name, loc_infos))
+                # If there isn't locations yet but there is still a PDO to generate
+                if len(pdomapping) > 0:
+                    # Generate a new PDO Mapping
+                    data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs)
+                    dataparams += data
+                    nbparams += nbaddedparams
+            
+            # Add number of params and data to node DCF
+            self.AddParamsToDCF(nodeid, dataparams, nbparams)
+        
+        #-------------------------------------------------------------------------------
+        #                         Master Node Configuration
+        #-------------------------------------------------------------------------------
+        
+        # Generate Master's Configuration from informations stored in MasterMapping
+        for cobid, pdo_infos in self.MasterMapping.items():
+            # Get next PDO index in MasterNode for this PDO type
+            current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]]
+            
+            # Search if there is already a PDO in MasterNode with this cob id
+            for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True):
+                if self.MasterNode.GetEntry(idx, 1) == cobid:
+                    current_idx = idx
+            
+            # Add a PDO to MasterNode if not PDO have been found
+            if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]:
+                addinglist = [current_idx, current_idx + 0x200]
+                self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode)
+                self.MasterNode.SetEntry(current_idx, 0x01, cobid)
+                
+                # Increment the number of PDO for this PDO type
+                self.CurrentPDOParamsIdx[pdo_infos["type"]] += 1
+            
+            # Change the transmit type of the PDO
+            if sync_TPDOs:
+                self.MasterNode.SetEntry(current_idx, 0x02, 0x01)
+            else:
+                self.MasterNode.SetEntry(current_idx, 0x02, 0xFF)
+            
+            # Add some subentries to PDO mapping if there is not enough
+            if len(pdo_infos["mapping"]) > 2:
+                self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, self.MasterNode)
+            
+            # Generate MasterNode's PDO mapping
+            for subindex, variable in enumerate(pdo_infos["mapping"]):
+                if subindex == 0:
+                    continue
+                new_index = False
+                
+                if type(variable) == IntType:
+                    # If variable is an integer then variable is unexpected
+                    self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable])
+                else:
+                    typeidx, varname = variable
+                    variable_infos = self.IECLocations[varname]
+                    
+                    # Calculate base index for storing variable
+                    mapvariableidx = VariableStartIndex[variable_infos["pdotype"]] + \
+                                     VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \
+                                     variable_infos["nodeid"]
+                    
+                    # Search for an entry that has an empty subindex 
+                    while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
+                        # Entry doesn't exist
+                        if not self.MasterNode.IsEntry(mapvariableidx):    
+                            # Generate entry name
+                            indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]],
+                                                     variable_infos["sizelocation"],
+                                                     '_'.join(map(str,current_location)),
+                                                     variable_infos["nodeid"])
+                            # Add entry to MasterNode
+                            self.Manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, self.MasterNode)
+                            new_index = True
+                            nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
+                        else:
+                            # Get Number of subentries already defined
+                            nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)
+                            # if entry is full, go to next entry possible or stop now
+                            if nbsubentries == 0xFF:
+                                mapvariableidx += 8 * VariableIncrement
+                            else:
+                                break
+                                
+                    # Verify that a not full entry has been found
+                    if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:
+                        # Generate subentry name
+                        if variable_infos["bit"] != None:
+                            subindexname = "%(index)d_%(subindex)d_%(bit)d"%variable_infos
+                        else:
+                            subindexname = "%(index)d_%(subindex)d"%variable_infos
+                        # If entry have just been created, no subentry have to be added
+                        if not new_index:
+                            self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode)
+                            nbsubentries += 1
+                        # Add informations to the new subentry created
+                        self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
+                        self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
+                        
+                        # Set value of the PDO mapping
+                        typeinfos = self.Manager.GetEntryInfos(typeidx)
+                        if typeinfos != None:
+                            value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
+                            self.MasterNode.SetEntry(current_idx + 0x200, subindex, value)
+
+def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs, nodename):
+    """
+    Fills a CanFestival network editor model, with DCF with requested PDO mappings.
+    @param locations: List of complete variables locations \
+        [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
+        "NAME" : name of the variable (generally "__IW0_1_2" style)
+        "DIR" : direction "Q","I" or "M"
+        "SIZE" : size "X", "B", "W", "D", "L"
+        "LOC" : tuple of interger for IEC location (0,1,2,...)
+        }, ...]
+    @param nodelist: CanFestival network editor model
+    @return: a modified copy of the given CanFestival network editor model
+    """
+    
+    dcfgenerator = ConciseDCFGenerator(nodelist, nodename)
+    dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs)
+    return dcfgenerator.GetMasterNode()
+
+if __name__ == "__main__":
+    import os, sys, getopt
+
+    def usage():
+        print """
+Usage of config_utils.py test :
+
+    %s [options]
+
+Options:
+    --help  (-h)
+            Displays help informations for config_utils
+
+    --reset (-r)
+            Reset the reference result of config_utils test.
+            Use with caution. Be sure that config_utils
+            is currently working properly.
+"""%sys.argv[0]
+    
+    # Boolean that indicate if reference result must be redefined
+    reset = False
+
+    # Extract command options
+    try:
+        opts, args = getopt.getopt(sys.argv[1:], "hr", ["help","reset"])
+    except getopt.GetoptError:
+        # print help information and exit:
+        usage()
+        sys.exit(2)
+
+    # Test each option
+    for o, a in opts:
+        if o in ("-h", "--help"):
+            usage()
+            sys.exit()
+        elif o in ("-r", "--reset"):
+            reset = True
+
+    # Extract workspace base folder
+    base_folder = sys.path[0]
+    for i in xrange(3):
+        base_folder = os.path.split(base_folder)[0]
+    # Add CanFestival folder to search pathes
+    sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen"))
+    
+    from nodemanager import *
+    from nodelist import *
+    
+    # Open the test nodelist contained into test_config folder
+    manager = NodeManager()
+    nodelist = NodeList(manager)
+    result = nodelist.LoadProject("test_config")
+    
+    # List of locations, we try to map for test
+    locations = [{"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24576_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24576,1)},
+                 {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_2","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,2)},
+                 {"IEC_TYPE":"INT","NAME":"__IW0_1_64_25601_3","DIR":"I","SIZE":"W","LOC":(0,1,64,25601,3)},
+                 {"IEC_TYPE":"INT","NAME":"__QW0_1_64_25617_2","DIR":"Q","SIZE":"W","LOC":(0,1,64,25617,1)},
+                 {"IEC_TYPE":"BYTE","NAME":"__IB0_1_64_24578_1","DIR":"I","SIZE":"B","LOC":(0,1,64,24578,1)},
+                 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_1","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,1)},
+                 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_2","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,2)},
+                 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_3","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,3)},
+                 {"IEC_TYPE":"UDINT","NAME":"__ID0_1_64_25638_4","DIR":"I","SIZE":"D","LOC":(0,1,64,25638,4)}]
+    
+    # Generate MasterNode configuration
+    try:
+        masternode = GenerateConciseDCF(locations, (0, 1), nodelist, True)
+    except ValueError, message:
+        print "%s\nTest Failed!"%message
+        sys.exit()
+    
+    # Get Text corresponding to MasterNode 
+    result = masternode.PrintString()
+    
+    # If reset has been choosen
+    if reset:
+        # Write Text into reference result file
+        file = open("test_config/result.txt", "w")
+        file.write(result)
+        file.close()
+        
+        print "Reset Successful!"
+    else:
+        # Test each line of the result with the reference result
+        test = [line.rstrip() for line in result.splitlines()]
+        
+        file = open("test_config/result.txt", "r")
+        model = [line.rstrip() for line in file.readlines() if line.rstrip()]
+        file.close()
+        
+        errors = 0
+        for i, line in enumerate(model):
+            if i >= len(test):
+                errors += 1
+                print "Line %d disappear :\n%s\n"%(i + 1, line)
+            elif line != test[i]:
+                errors += 1
+                print "Error on line %d :\n%s\nInstead of :\n%s\n"%(i + 1, test[i], line)
+        for i in xrange(len(model), len(test)):
+            errors += 1
+            print "Line %d appear :\n%s\n"%(i + 1, test[i])
+        
+        if errors > 0:
+            print "%d errors found.\nTest Failed!"%errors
+        else:
+            print "Test Successful!"