198 self.CurrentNode.SetNodeName(name) |
198 self.CurrentNode.SetNodeName(name) |
199 self.CurrentNode.SetNodeID(id) |
199 self.CurrentNode.SetNodeID(id) |
200 self.CurrentNode.SetNodeType(type) |
200 self.CurrentNode.SetNodeType(type) |
201 self.CurrentNode.SetNodeDescription(description) |
201 self.CurrentNode.SetNodeDescription(description) |
202 AddIndexList = self.GetMandatoryIndexes() |
202 AddIndexList = self.GetMandatoryIndexes() |
|
203 AddSubIndexList = [] |
203 if NMT == "NodeGuarding": |
204 if NMT == "NodeGuarding": |
204 AddIndexList.extend([0x100C, 0x100D]) |
205 AddIndexList.extend([0x100C, 0x100D]) |
205 elif NMT == "Heartbeat": |
206 elif NMT == "Heartbeat": |
206 AddIndexList.append(0x1017) |
207 AddIndexList.append(0x1017) |
207 for option in options: |
208 for option in options: |
225 AddIndexList.extend([0x1010, 0x1011, 0x1020]) |
226 AddIndexList.extend([0x1010, 0x1011, 0x1020]) |
226 elif option == "StoreEDS": |
227 elif option == "StoreEDS": |
227 AddIndexList.extend([0x1021, 0x1022]) |
228 AddIndexList.extend([0x1021, 0x1022]) |
228 if type == "slave": |
229 if type == "slave": |
229 # add default SDO server |
230 # add default SDO server |
230 AddIndexList.extend([0x1280]) |
231 AddIndexList.append(0x1200) |
|
232 # add default 4 receive and 4 transmit PDO |
|
233 for comm, mapping in [(0x1400, 0x1600),(0x1800, 0x1A00)]: |
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234 firstparamindex = self.GetLineFromIndex(comm) |
|
235 firstmappingindex = self.GetLineFromIndex(mapping) |
|
236 AddIndexList.extend(range(firstparamindex, firstparamindex + 4)) |
|
237 for idx in range(firstmappingindex, firstmappingindex + 4): |
|
238 AddIndexList.append(idx) |
|
239 AddSubIndexList.append((idx, 8)) |
231 # Add a new buffer |
240 # Add a new buffer |
232 index = self.AddNodeBuffer(self.CurrentNode.Copy(), False) |
241 index = self.AddNodeBuffer(self.CurrentNode.Copy(), False) |
233 self.SetCurrentFilePath("") |
242 self.SetCurrentFilePath("") |
234 # Add Mandatory indexes |
243 # Add Mandatory indexes |
235 self.ManageEntriesOfCurrent(AddIndexList, []) |
244 self.ManageEntriesOfCurrent(AddIndexList, []) |
|
245 for idx, num in AddSubIndexList: |
|
246 self.AddSubentriesToCurrent(idx, num) |
236 return index |
247 return index |
237 else: |
248 else: |
238 return result |
249 return result |
239 |
250 |
240 """ |
251 """ |