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#!/usr/bin/env python

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# -*- coding: utf-8 -*-

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#This file is part of CanFestival, a library implementing CanOpen Stack. 

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#

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#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD

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#

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#See COPYING file for copyrights details.

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#

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#This library is free software; you can redistribute it and/or

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#modify it under the terms of the GNU Lesser General Public

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#License as published by the Free Software Foundation; either

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#version 2.1 of the License, or (at your option) any later version.

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#

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#This library is distributed in the hope that it will be useful,

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#but WITHOUT ANY WARRANTY; without even the implied warranty of

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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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#Lesser General Public License for more details.

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#

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#You should have received a copy of the GNU Lesser General Public

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#License along with this library; if not, write to the Free Software

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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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from types import *

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DicoTypes = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10,

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             "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08,

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             "LREAL":0x11,"STRING":0x09,"BYTE":0x02,"WORD":0x03,"DWORD":0x04,

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             "LWORD":0x1B,"WSTRING":0x0B}

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DictLocations = {}

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DictCobID = {}

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DictLocationsNotMapped = {}

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ListCobIDAvailable = []

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SlavesPdoNumber = {}

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# Constants for PDO types 

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RPDO = 1

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TPDO = 2

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SlavePDOType = {"I" : TPDO, "Q" : RPDO}

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InvertPDOType = {RPDO : TPDO, TPDO : RPDO}

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DefaultTransmitType = 0x01

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GenerateMasterMapping = lambda x:[None] + [(loc_infos["type"], name) for name, loc_infos in x]

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TrashVariableSizes = {1 : 0x01, 8 : 0x05, 16 : 0x06, 32 : 0x07, 64 : 0x1B}

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def GetSlavePDOIndexes(slave, type, parameters = False):

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    indexes = []

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    if type & RPDO:

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        indexes.extend([idx for idx in slave.GetIndexes() if 0x1400 <= idx <= 0x15FF])

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    if type & TPDO:

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        indexes.extend([idx for idx in slave.GetIndexes() if 0x1800 <= idx <= 0x19FF])

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    if not parameters:

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        return [idx + 0x200 for idx in indexes]

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    else:

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        return indexes

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def LE_to_BE(value, size): # Convert Little Endian to Big Endian

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    data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value

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    list_car = [data[i:i+2] for i in xrange(0, len(data), 2)]

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    list_car.reverse()

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    return "".join([chr(int(car, 16)) for car in list_car])

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def SearchSlavePDOMapping(loc_infos, slave): # Search the TPDO or RPDO mapping where location is defined on the slave

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    typeinfos = slave.GetEntryInfos(loc_infos["type"])

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    model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]

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    slavePDOidxlist = GetSlavePDOIndexes(slave, loc_infos["pdotype"])

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    for PDOidx in slavePDOidxlist:

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        values = slave.GetEntry(PDOidx)

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        for subindex, mapping in enumerate(values):

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            if subindex != 0 and mapping == model:

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                return PDOidx, subindex

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    return None

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def GenerateMappingDCF(cobid, idx, pdomapping, mapped): # Build concise DCF

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    # Create entry for RPDO or TPDO parameters and Disable PDO

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    dcfdata = LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE((0x80000000 + cobid), 4)

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    # Set Transmit type synchrone

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    dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(DefaultTransmitType, 1)

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    # Re-Enable PDO

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    #         ---- INDEX -----   --- SUBINDEX ----   ----- SIZE ------   ------ DATA ------

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    dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4)

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    nbparams = 3

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    if mapped == False and pdomapping != None:

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    # Map Variables

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        for subindex, (name, loc_infos) in enumerate(pdomapping):

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            value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"]

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            dcfdata += LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(loc_infos["size"] >> 3, 4) + LE_to_BE(value, loc_infos["size"] >> 3)

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            nbparams += 1

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    return dcfdata, nbparams

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def GetNewCobID(nodeid, type): # Return a cobid not used

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    global ListCobIDAvailable, SlavesPdoNumber

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    if len(ListCobIDAvailable) == 0:

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        return None

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    nbSlavePDO = SlavesPdoNumber[nodeid][type]

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    if type == RPDO:

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        if nbSlavePDO < 4:

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            # For the fourth PDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid

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            newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)

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            if newcobid in ListCobIDAvailable:

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                ListCobIDAvailable.remove(newcobid)

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                return newcobid, 0x1400 + nbSlavePDO

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        return ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO

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    elif type == TPDO:

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        if nbSlavePDO < 4:

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            # For the fourth PDO -> cobid = 0x180 + (numPdo parameters * 0x100) + nodeid

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            newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)

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            if newcobid in ListCobIDAvailable:

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                ListCobIDAvailable.remove(newcobid)

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                return newcobid, 0x1800 + nbSlavePDO

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        return ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO

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    for number in xrange(4):

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        if type == RPDO:

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            # For the fourth PDO -> cobid = 0x200 + ( numPdo * 0x100) + nodeid

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            newcobid = (0x200 + number * 0x100 + nodeid)

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        elif type == TPDO:

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            # For the fourth PDO -> cobid = 0x180 + (numPdo * 0x100) + nodeid

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            newcobid = (0x180 + number * 0x100 + nodeid)

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        else:

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            return None

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        if newcobid in ListCobIDAvailable:

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            ListCobIDAvailable.remove(newcobid)

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            return newcobid

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    return ListCobIDAvailable.pop(0)

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def GenerateConciseDCF(locations, busname, nodelist):

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    global DictLocations, DictCobID, DictLocationsNotMapped, ListCobIDAvailable, SlavesPdoNumber

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    DictLocations = {}

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    DictCobID = {}

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    DictLocationsNotMapped = {}

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    DictSDOparams = {}

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    ListCobIDAvailable = range(0x180, 0x580)

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    SlavesPdoNumber = {}

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    DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)}

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    # Master Node initialisation

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    manager = nodelist.Manager

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    manager.AddSubentriesToCurrent(0x1F22, 127)

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    # Adding trash mappable variables for unused mapped datas

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    idxTrashVariables = 0x2000 + manager.GetCurrentNodeID()

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    TrashVariableValue = {}

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    manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes))

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    for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()):

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        manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None)

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        manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None)

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        TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size

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    # Extract Master Node current empty mapping index

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    masternode = manager.GetCurrentNode()

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    CurrentPDOParamsIdx = {RPDO : 0x1400 + len(GetSlavePDOIndexes(masternode, RPDO)),

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                           TPDO : 0x1800 + len(GetSlavePDOIndexes(masternode, TPDO))}

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    # Get list of all Slave's CobID and Slave's default SDO server parameters

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    for nodeid, nodeinfos in nodelist.SlaveNodes.items():

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        node = nodeinfos["Node"]

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        node.SetNodeID(nodeid)

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        DictSDOparams[nodeid] = {"RSDO" : node.GetEntry(0x1200,0x01), "TSDO" : node.GetEntry(0x1200,0x02)}

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        slaveRpdoIndexes = GetSlavePDOIndexes(node, RPDO, True)

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        slaveTpdoIndexes = GetSlavePDOIndexes(node, TPDO, True)

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        SlavesPdoNumber[nodeid] = {RPDO : len(slaveRpdoIndexes), TPDO : len(slaveTpdoIndexes)}

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        for PdoIdx in slaveRpdoIndexes + slaveTpdoIndexes:

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            pdo_cobid = node.GetEntry(PdoIdx, 0x01)

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            if pdo_cobid > 0x600 :

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                pdo_cobid -= 0x80000000

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            if pdo_cobid in ListCobIDAvailable:

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                ListCobIDAvailable.remove(pdo_cobid)

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    # Get list of locations check if exists and mappables -> put them in DictLocations

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    for locationtype, name in locations:    

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        if name in DictLocations.keys():

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            if DictLocations[name]["type"] != DicoTypes[locationtype]:

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                raise ValueError, "Conflict type for location \"%s\"" % name 

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        else:

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            loc = [i for i in name.split("_") if len(i) > 0]

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            if len(loc) not in (4, 5):

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                continue

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            prefix = loc[0][0]

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            # Extract and check busname

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            if loc[0][1].isdigit():

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                sizelocation = ""

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                busnamelocation = int(loc[0][1:])

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            else:

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                sizelocation = loc[0][1]

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                busnamelocation = int(loc[0][2:])

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            if busnamelocation != busname:

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                continue # A ne pas remplacer par un message d'erreur

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            # Extract and check nodeid

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            nodeid = int(loc[1])

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            if nodeid not in nodelist.SlaveNodes.keys():

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                continue

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            node = nodelist.SlaveNodes[nodeid]["Node"]

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            # Extract and check index and subindex

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            index = int(loc[2])

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            subindex = int(loc[3])

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            if not node.IsEntry(index, subindex):

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                continue

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            subentry_infos = node.GetSubentryInfos(index, subindex)

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   226

            if subentry_infos and subentry_infos["pdo"]:

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                if sizelocation == "X" and len(loc) > 4:

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                    numbit = loc[4]

   229

                elif sizelocation != "X" and len(loc) > 4:

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                    continue

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                else:

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                    numbit = None

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                locationtype = DicoTypes[locationtype]

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                entryinfos = node.GetSubentryInfos(index, subindex)

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                if entryinfos["type"] != locationtype:

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                    raise ValueError, "Invalid type for location \"%s\"" % name

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                typeinfos = node.GetEntryInfos(locationtype)

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                DictLocations[name] = {"type":locationtype, "pdotype":SlavePDOType[prefix],

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                                       "nodeid": nodeid, "index": index,"subindex": subindex, 

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                                       "bit": numbit, "size": typeinfos["size"], "busname": busname, "sizelocation": sizelocation}

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    # Create DictCobID with variables already mapped and add them in DictValidLocations

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    for name, locationinfos in DictLocations.items():

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        node = nodelist.SlaveNodes[locationinfos["nodeid"]]["Node"]

   247

        result = SearchSlavePDOMapping(locationinfos, node)

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        if result != None:

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            index, subindex = result

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            cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)

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            if cobid not in DictCobID.keys():

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                DefaultNodeTransmitType = node.GetEntry(index - 0x200, 2)

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                if not 1 <= DefaultNodeTransmitType <= 240:

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                    result = GenerateMappingDCF(cobid, index - 0x200, None, True)

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                    data, nbaddedparams = GenerateMappingDCF(cobid, index - 0x200, None, True)

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                    nodeDCF = nodelist.GetMasterNodeEntry(0x1F22, locationinfos["nodeid"])

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                    if nodeDCF != None and nodeDCF != '':

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                        tmpnbparams = [i for i in nodeDCF[:4]]

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                        tmpnbparams.reverse()

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                        nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)

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                        dataparams = nodeDCF[4:]

   262

                    else:

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                        nbparams = 0

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                        dataparams = ""

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                    dataparams += data

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                    nbparams += nbaddedparams        

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                    dcf = LE_to_BE(nbparams, 0x04) + dataparams

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                    manager.SetCurrentEntry(0x1F22, locationinfos["nodeid"], dcf, "value", None)

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                mapping = [None]

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                values = node.GetEntry(index)

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                for value in values[1:]:

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                    mapping.append(value % 0x100)

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                DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}

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            DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name)

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        else:

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            if locationinfos["nodeid"] not in DictLocationsNotMapped.keys():

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                DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}

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            DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))

   282

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    # Check Master Pdo parameters for cobid already used and remove it in ListCobIDAvailable

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    ListPdoParams = [idx for idx in masternode.GetIndexes() if 0x1400 <= idx <= 0x15FF or  0x1800 <= idx <= 0x19FF]

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    for idx in ListPdoParams:

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        cobid = manager.GetCurrentEntry(idx, 0x01)

   287

        if cobid not in DictCobID.keys():

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            ListCobIDAvailable.pop(cobid)

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    #-------------------------------------------------------------------------------

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    #                         Build concise DCF for the others locations

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    #-------------------------------------------------------------------------------

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    for nodeid, locations in DictLocationsNotMapped.items():

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        # Get current concise DCF

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        node = nodelist.SlaveNodes[nodeid]["Node"]

   299

        nodeDCF = nodelist.GetMasterNodeEntry(0x1F22, nodeid)

   300

   301

        if nodeDCF != None and nodeDCF != '':

   302

            tmpnbparams = [i for i in nodeDCF[:4]]

   303

            tmpnbparams.reverse()

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            nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)

   305

            dataparams = nodeDCF[4:]

   306

        else:

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            nbparams = 0

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            dataparams = ""

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   310

        for pdotype in (TPDO, RPDO):

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            pdosize = 0

   312

            pdomapping = []

   313

            for name, loc_infos in locations[pdotype]:

   314

                pdosize += loc_infos["size"]

   315

                # If pdo's size > 64 bits

   316

                if pdosize > 64:

   317

                    result = GetNewCobID(nodeid, pdotype)

   318

                    if result:

   319

                        SlavesPdoNumber[nodeid][pdotype] += 1

   320

                        new_cobid, new_idx = result

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                        data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)

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                        dataparams += data

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                        nbparams += nbaddedparams

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                        DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}

   325

                    pdosize = loc_infos["size"]

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                    pdomapping = [(name, loc_infos)]

   327

                else:

   328

                    pdomapping.append((name, loc_infos))

   329

            if len(pdomapping) > 0:

   330

                result = GetNewCobID(nodeid, pdotype)

   331

                if result:

   332

                    SlavesPdoNumber[nodeid][pdotype] += 1

   333

                    new_cobid, new_idx = result

   334

                    data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)

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                    dataparams += data

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                    nbparams += nbaddedparams

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                    DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}

   338

   339

        dcf = LE_to_BE(nbparams, 0x04) + dataparams

   340

        manager.SetCurrentEntry(0x1F22, nodeid, dcf, "value", None)

   341

   342

   343

    #-------------------------------------------------------------------------------

   344

    #                         Master Node Configuration

   345

    #-------------------------------------------------------------------------------

   346

   347

   348

    # Configure Master's SDO parameters entries

   349

    for nodeid, SDOparams in DictSDOparams.items():

   350

        SdoClient_index = [0x1280 + nodeid]

   351

        manager.ManageEntriesOfCurrent(SdoClient_index,[])

   352

        if SDOparams["RSDO"] != None:

   353

            RSDO_cobid = SDOparams["RSDO"]

   354

        else:

   355

            RSDO_cobid = 0x600 + nodeid 

   356

   357

        if SDOparams["TSDO"] != None:

   358

            TSDO_cobid = SDOparams["TSDO"]

   359

        else:

   360

            TSDO_cobid = 0x580 + nodeid 

   361

   362

        manager.SetCurrentEntry(SdoClient_index[0], 0x01, RSDO_cobid, "value", None)

   363

        manager.SetCurrentEntry(SdoClient_index[0], 0x02, TSDO_cobid, "value", None)

   364

        manager.SetCurrentEntry(SdoClient_index[0], 0x03, nodeid, "value", None)

   365

   366

    # Configure Master's PDO parameters entries and set cobid, transmit type

   367

    for cobid, pdo_infos in DictCobID.items():

   368

        current_idx = CurrentPDOParamsIdx[pdo_infos["type"]]

   369

        addinglist = [current_idx, current_idx + 0x200]

   370

        manager.ManageEntriesOfCurrent(addinglist, [])

   371

        manager.SetCurrentEntry(current_idx, 0x01, cobid, "value", None)

   372

        manager.SetCurrentEntry(current_idx, 0x02, DefaultTransmitType, "value", None)

   373

        if len(pdo_infos["mapping"]) > 2:

   374

            manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2)

   375

   376

        # Create Master's PDO mapping

   377

        for subindex, variable in enumerate(pdo_infos["mapping"]):

   378

            if subindex == 0:

   379

                continue

   380

            new_index = False

   381

   382

            if type(variable) != IntType:

   383

   384

                typeidx, varname = variable

   385

                indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["busname"]) + "_" + str(DictLocations[variable[1]]["nodeid"])

   386

                mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] +  DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]

   387

   388

                if not manager.IsCurrentEntry(mapvariableidx):

   389

                    manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1)

   390

                    new_index = True

   391

                    nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00)

   392

                else:

   393

                    nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00)

   394

                    mapvariableidxbase = mapvariableidx 

   395

                    while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF:

   396

                        mapvariableidx += 0x800

   397

                        if not manager.IsCurrentEntry(mapvariableidx):

   398

                            manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1)

   399

                            new_index = True

   400

                        nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00)

   401

                if mapvariableidx < 0x6000:

   402

                    if DictLocations[variable[1]]["bit"] != None:

   403

                        subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"])

   404

                    else:

   405

                        subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"])

   406

                    if not new_index:

   407

                        manager.AddSubentriesToCurrent(mapvariableidx, 1)

   408

                        nbsubentries += 1

   409

                    manager.SetCurrentEntry(mapvariableidx, nbsubentries, subindexname, "name", None)

   410

                    manager.SetCurrentEntry(mapvariableidx, nbsubentries, typeidx, "type", None)

   411

   412

                    # Map Variable

   413

                    typeinfos = manager.GetEntryInfos(typeidx)

   414

                    if typeinfos != None:

   415

                        value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]

   416

                        manager.SetCurrentEntry(current_idx + 0x200, subindex, value, "value", None)

   417

            else:

   418

                manager.SetCurrentEntry(current_idx + 0x200, subindex, TrashVariableValue[variable], "value", None)

   419

   420

        CurrentPDOParamsIdx[pdo_infos["type"]] += 1

   421

   422

if __name__ == "__main__":

   423

    from nodemanager import *

   424

    from nodelist import *

   425

    import sys

   426

   427

    manager = NodeManager(sys.path[0])

   428

    nodelist = NodeList(manager)

   429

    result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping")

   430

   431

    if result != None:

   432

        print result

   433

    else:

   434

        print "MasterNode :"

   435

        manager.CurrentNode.Print()

   436

        for nodeid, node in nodelist.SlaveNodes.items():

   437

            print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)

   438

            node["Node"].Print()

   439

   440

    #filepath = "/home/deobox/beremiz/test_nodelist/listlocations.txt"

   441

    filepath = "/home/deobox/Desktop/TestMapping/listlocations.txt"

   442

   443

    file = open(filepath,'r')

   444

    locations = [location.split(' ') for location in [line.strip() for line in file.readlines() if len(line) > 0]] 

   445

    file.close()

   446

    GenerateConciseDCF(locations, 32, nodelist)

   447

    print "MasterNode :"

   448

    manager.GetCurrentNode().Print()