1 #!/usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 |
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4 #This file is part of CanFestival, a library implementing CanOpen Stack. |
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5 # |
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6 #Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD |
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7 # |
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8 #See COPYING file for copyrights details. |
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9 # |
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10 #This library is free software; you can redistribute it and/or |
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11 #modify it under the terms of the GNU Lesser General Public |
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12 #License as published by the Free Software Foundation; either |
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13 #version 2.1 of the License, or (at your option) any later version. |
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14 # |
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15 #This library is distributed in the hope that it will be useful, |
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16 #but WITHOUT ANY WARRANTY; without even the implied warranty of |
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17 #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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18 #Lesser General Public License for more details. |
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19 # |
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20 #You should have received a copy of the GNU Lesser General Public |
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21 #License along with this library; if not, write to the Free Software |
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22 #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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23 |
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24 from types import * |
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25 |
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26 DicoTypes = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10, |
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27 "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08, |
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28 "LREAL":0x11,"STRING":0x09,"BYTE":0x02,"WORD":0x03,"DWORD":0x04, |
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29 "LWORD":0x1B,"WSTRING":0x0B} |
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30 |
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31 DictLocations = {} |
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32 DictCobID = {} |
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33 DictLocationsNotMapped = {} |
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34 ListCobIDAvailable = [] |
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35 SlavesPdoNumber = {} |
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36 |
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37 # Constants for PDO types |
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38 RPDO = 1 |
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39 TPDO = 2 |
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40 SlavePDOType = {"I" : TPDO, "Q" : RPDO} |
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41 InvertPDOType = {RPDO : TPDO, TPDO : RPDO} |
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42 |
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43 DefaultTransmitType = 0x01 |
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44 |
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45 GenerateMasterMapping = lambda x:[None] + [(loc_infos["type"], name) for name, loc_infos in x] |
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46 |
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47 TrashVariableSizes = {1 : 0x01, 8 : 0x05, 16 : 0x06, 32 : 0x07, 64 : 0x1B} |
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48 |
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49 |
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50 def GetSlavePDOIndexes(slave, type, parameters = False): |
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51 indexes = [] |
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52 if type & RPDO: |
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53 indexes.extend([idx for idx in slave.GetIndexes() if 0x1400 <= idx <= 0x15FF]) |
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54 if type & TPDO: |
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55 indexes.extend([idx for idx in slave.GetIndexes() if 0x1800 <= idx <= 0x19FF]) |
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56 if not parameters: |
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57 return [idx + 0x200 for idx in indexes] |
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58 else: |
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59 return indexes |
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60 |
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61 |
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62 def LE_to_BE(value, size): # Convert Little Endian to Big Endian |
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63 data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value |
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64 list_car = [data[i:i+2] for i in xrange(0, len(data), 2)] |
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65 list_car.reverse() |
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66 return "".join([chr(int(car, 16)) for car in list_car]) |
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67 |
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68 |
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69 |
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70 def SearchSlavePDOMapping(loc_infos, slave): # Search the TPDO or RPDO mapping where location is defined on the slave |
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71 typeinfos = slave.GetEntryInfos(loc_infos["type"]) |
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72 model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"] |
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73 slavePDOidxlist = GetSlavePDOIndexes(slave, loc_infos["pdotype"]) |
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74 |
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75 for PDOidx in slavePDOidxlist: |
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76 values = slave.GetEntry(PDOidx) |
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77 |
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78 for subindex, mapping in enumerate(values): |
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79 if subindex != 0 and mapping == model: |
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80 return PDOidx, subindex |
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81 return None |
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82 |
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83 def GenerateMappingDCF(cobid, idx, pdomapping, mapped): # Build concise DCF |
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84 |
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85 # Create entry for RPDO or TPDO parameters and Disable PDO |
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86 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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87 |
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88 # Set Transmit type synchrone |
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89 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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90 |
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91 # Re-Enable PDO |
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92 # ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------ |
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93 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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94 |
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95 nbparams = 3 |
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96 if mapped == False and pdomapping != None: |
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97 # Map Variables |
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98 for subindex, (name, loc_infos) in enumerate(pdomapping): |
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99 value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"] |
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100 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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101 nbparams += 1 |
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102 return dcfdata, nbparams |
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103 |
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104 |
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105 |
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106 def GetNewCobID(nodeid, type): # Return a cobid not used |
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107 global ListCobIDAvailable, SlavesPdoNumber |
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108 |
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109 if len(ListCobIDAvailable) == 0: |
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110 return None |
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111 |
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112 nbSlavePDO = SlavesPdoNumber[nodeid][type] |
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113 if type == RPDO: |
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114 if nbSlavePDO < 4: |
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115 # For the fourth PDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid |
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116 newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid) |
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117 if newcobid in ListCobIDAvailable: |
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118 ListCobIDAvailable.remove(newcobid) |
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119 return newcobid, 0x1400 + nbSlavePDO |
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120 return ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO |
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121 |
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122 elif type == TPDO: |
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123 if nbSlavePDO < 4: |
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124 # For the fourth PDO -> cobid = 0x180 + (numPdo parameters * 0x100) + nodeid |
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125 newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid) |
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126 if newcobid in ListCobIDAvailable: |
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127 ListCobIDAvailable.remove(newcobid) |
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128 return newcobid, 0x1800 + nbSlavePDO |
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129 return ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO |
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130 |
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131 for number in xrange(4): |
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132 if type == RPDO: |
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133 # For the fourth PDO -> cobid = 0x200 + ( numPdo * 0x100) + nodeid |
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134 newcobid = (0x200 + number * 0x100 + nodeid) |
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135 elif type == TPDO: |
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136 # For the fourth PDO -> cobid = 0x180 + (numPdo * 0x100) + nodeid |
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137 newcobid = (0x180 + number * 0x100 + nodeid) |
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138 else: |
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139 return None |
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140 if newcobid in ListCobIDAvailable: |
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141 ListCobIDAvailable.remove(newcobid) |
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142 return newcobid |
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143 return ListCobIDAvailable.pop(0) |
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144 |
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145 |
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146 def GenerateConciseDCF(locations, busname, nodelist): |
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147 global DictLocations, DictCobID, DictLocationsNotMapped, ListCobIDAvailable, SlavesPdoNumber |
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148 |
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149 DictLocations = {} |
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150 DictCobID = {} |
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151 DictLocationsNotMapped = {} |
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152 DictSDOparams = {} |
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153 ListCobIDAvailable = range(0x180, 0x580) |
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154 SlavesPdoNumber = {} |
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155 DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)} |
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156 |
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157 # Master Node initialisation |
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158 manager = nodelist.Manager |
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159 manager.AddSubentriesToCurrent(0x1F22, 127) |
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160 |
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161 # Adding trash mappable variables for unused mapped datas |
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162 idxTrashVariables = 0x2000 + manager.GetCurrentNodeID() |
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163 TrashVariableValue = {} |
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164 manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes)) |
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165 for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()): |
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166 manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None) |
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167 manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None) |
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168 TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size |
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169 |
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170 # Extract Master Node current empty mapping index |
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171 masternode = manager.GetCurrentNode() |
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172 CurrentPDOParamsIdx = {RPDO : 0x1400 + len(GetSlavePDOIndexes(masternode, RPDO)), |
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173 TPDO : 0x1800 + len(GetSlavePDOIndexes(masternode, TPDO))} |
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174 |
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175 |
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176 # Get list of all Slave's CobID and Slave's default SDO server parameters |
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177 for nodeid, nodeinfos in nodelist.SlaveNodes.items(): |
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178 node = nodeinfos["Node"] |
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179 node.SetNodeID(nodeid) |
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180 DictSDOparams[nodeid] = {"RSDO" : node.GetEntry(0x1200,0x01), "TSDO" : node.GetEntry(0x1200,0x02)} |
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181 slaveRpdoIndexes = GetSlavePDOIndexes(node, RPDO, True) |
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182 slaveTpdoIndexes = GetSlavePDOIndexes(node, TPDO, True) |
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183 SlavesPdoNumber[nodeid] = {RPDO : len(slaveRpdoIndexes), TPDO : len(slaveTpdoIndexes)} |
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184 for PdoIdx in slaveRpdoIndexes + slaveTpdoIndexes: |
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185 pdo_cobid = node.GetEntry(PdoIdx, 0x01) |
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186 if pdo_cobid > 0x600 : |
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187 pdo_cobid -= 0x80000000 |
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188 if pdo_cobid in ListCobIDAvailable: |
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189 ListCobIDAvailable.remove(pdo_cobid) |
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190 |
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191 # Get list of locations check if exists and mappables -> put them in DictLocations |
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192 for locationtype, name in locations: |
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193 if name in DictLocations.keys(): |
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194 if DictLocations[name]["type"] != DicoTypes[locationtype]: |
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195 raise ValueError, "Conflict type for location \"%s\"" % name |
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196 else: |
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197 loc = [i for i in name.split("_") if len(i) > 0] |
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198 if len(loc) not in (4, 5): |
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199 continue |
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200 |
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201 prefix = loc[0][0] |
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202 |
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203 # Extract and check busname |
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204 if loc[0][1].isdigit(): |
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205 sizelocation = "" |
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206 busnamelocation = int(loc[0][1:]) |
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207 else: |
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208 sizelocation = loc[0][1] |
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209 busnamelocation = int(loc[0][2:]) |
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210 if busnamelocation != busname: |
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211 continue # A ne pas remplacer par un message d'erreur |
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212 |
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213 # Extract and check nodeid |
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214 nodeid = int(loc[1]) |
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215 if nodeid not in nodelist.SlaveNodes.keys(): |
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216 continue |
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217 node = nodelist.SlaveNodes[nodeid]["Node"] |
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218 |
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219 # Extract and check index and subindex |
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220 index = int(loc[2]) |
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221 subindex = int(loc[3]) |
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222 if not node.IsEntry(index, subindex): |
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223 continue |
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224 subentry_infos = node.GetSubentryInfos(index, subindex) |
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225 |
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226 if subentry_infos and subentry_infos["pdo"]: |
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227 if sizelocation == "X" and len(loc) > 4: |
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228 numbit = loc[4] |
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229 elif sizelocation != "X" and len(loc) > 4: |
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230 continue |
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231 else: |
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232 numbit = None |
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233 |
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234 locationtype = DicoTypes[locationtype] |
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235 entryinfos = node.GetSubentryInfos(index, subindex) |
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236 if entryinfos["type"] != locationtype: |
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237 raise ValueError, "Invalid type for location \"%s\"" % name |
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238 |
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239 typeinfos = node.GetEntryInfos(locationtype) |
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240 DictLocations[name] = {"type":locationtype, "pdotype":SlavePDOType[prefix], |
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241 "nodeid": nodeid, "index": index,"subindex": subindex, |
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242 "bit": numbit, "size": typeinfos["size"], "busname": busname, "sizelocation": sizelocation} |
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243 |
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244 # Create DictCobID with variables already mapped and add them in DictValidLocations |
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245 for name, locationinfos in DictLocations.items(): |
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246 node = nodelist.SlaveNodes[locationinfos["nodeid"]]["Node"] |
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247 result = SearchSlavePDOMapping(locationinfos, node) |
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248 if result != None: |
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249 index, subindex = result |
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250 cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1) |
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251 if cobid not in DictCobID.keys(): |
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252 DefaultNodeTransmitType = node.GetEntry(index - 0x200, 2) |
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253 if not 1 <= DefaultNodeTransmitType <= 240: |
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254 result = GenerateMappingDCF(cobid, index - 0x200, None, True) |
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255 data, nbaddedparams = GenerateMappingDCF(cobid, index - 0x200, None, True) |
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256 nodeDCF = nodelist.GetMasterNodeEntry(0x1F22, locationinfos["nodeid"]) |
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257 if nodeDCF != None and nodeDCF != '': |
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258 tmpnbparams = [i for i in nodeDCF[:4]] |
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259 tmpnbparams.reverse() |
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260 nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16) |
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261 dataparams = nodeDCF[4:] |
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262 else: |
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263 nbparams = 0 |
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264 dataparams = "" |
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265 dataparams += data |
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266 nbparams += nbaddedparams |
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267 dcf = LE_to_BE(nbparams, 0x04) + dataparams |
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268 manager.SetCurrentEntry(0x1F22, locationinfos["nodeid"], dcf, "value", None) |
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269 |
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270 mapping = [None] |
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271 values = node.GetEntry(index) |
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272 for value in values[1:]: |
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273 mapping.append(value % 0x100) |
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274 DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping} |
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275 |
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276 DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name) |
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277 |
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278 else: |
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279 if locationinfos["nodeid"] not in DictLocationsNotMapped.keys(): |
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280 DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []} |
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281 DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos)) |
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282 |
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283 # Check Master Pdo parameters for cobid already used and remove it in ListCobIDAvailable |
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284 ListPdoParams = [idx for idx in masternode.GetIndexes() if 0x1400 <= idx <= 0x15FF or 0x1800 <= idx <= 0x19FF] |
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285 for idx in ListPdoParams: |
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286 cobid = manager.GetCurrentEntry(idx, 0x01) |
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287 if cobid not in DictCobID.keys(): |
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288 ListCobIDAvailable.pop(cobid) |
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289 |
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290 |
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291 #------------------------------------------------------------------------------- |
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292 # Build concise DCF for the others locations |
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293 #------------------------------------------------------------------------------- |
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294 |
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295 for nodeid, locations in DictLocationsNotMapped.items(): |
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296 |
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297 # Get current concise DCF |
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298 node = nodelist.SlaveNodes[nodeid]["Node"] |
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299 nodeDCF = nodelist.GetMasterNodeEntry(0x1F22, nodeid) |
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300 |
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301 if nodeDCF != None and nodeDCF != '': |
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302 tmpnbparams = [i for i in nodeDCF[:4]] |
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303 tmpnbparams.reverse() |
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304 nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16) |
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305 dataparams = nodeDCF[4:] |
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306 else: |
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307 nbparams = 0 |
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308 dataparams = "" |
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309 |
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310 for pdotype in (TPDO, RPDO): |
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311 pdosize = 0 |
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312 pdomapping = [] |
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313 for name, loc_infos in locations[pdotype]: |
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314 pdosize += loc_infos["size"] |
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315 # If pdo's size > 64 bits |
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316 if pdosize > 64: |
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317 result = GetNewCobID(nodeid, pdotype) |
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318 if result: |
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319 SlavesPdoNumber[nodeid][pdotype] += 1 |
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320 new_cobid, new_idx = result |
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321 data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False) |
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322 dataparams += data |
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323 nbparams += nbaddedparams |
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324 DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)} |
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325 pdosize = loc_infos["size"] |
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326 pdomapping = [(name, loc_infos)] |
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327 else: |
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328 pdomapping.append((name, loc_infos)) |
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329 if len(pdomapping) > 0: |
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330 result = GetNewCobID(nodeid, pdotype) |
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331 if result: |
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332 SlavesPdoNumber[nodeid][pdotype] += 1 |
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333 new_cobid, new_idx = result |
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334 data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False) |
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335 dataparams += data |
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336 nbparams += nbaddedparams |
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337 DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)} |
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338 |
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339 dcf = LE_to_BE(nbparams, 0x04) + dataparams |
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340 manager.SetCurrentEntry(0x1F22, nodeid, dcf, "value", None) |
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341 |
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342 |
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343 #------------------------------------------------------------------------------- |
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344 # Master Node Configuration |
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345 #------------------------------------------------------------------------------- |
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346 |
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347 |
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348 # Configure Master's SDO parameters entries |
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349 for nodeid, SDOparams in DictSDOparams.items(): |
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350 SdoClient_index = [0x1280 + nodeid] |
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351 manager.ManageEntriesOfCurrent(SdoClient_index,[]) |
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352 if SDOparams["RSDO"] != None: |
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353 RSDO_cobid = SDOparams["RSDO"] |
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354 else: |
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355 RSDO_cobid = 0x600 + nodeid |
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356 |
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357 if SDOparams["TSDO"] != None: |
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358 TSDO_cobid = SDOparams["TSDO"] |
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359 else: |
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360 TSDO_cobid = 0x580 + nodeid |
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361 |
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362 manager.SetCurrentEntry(SdoClient_index[0], 0x01, RSDO_cobid, "value", None) |
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363 manager.SetCurrentEntry(SdoClient_index[0], 0x02, TSDO_cobid, "value", None) |
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364 manager.SetCurrentEntry(SdoClient_index[0], 0x03, nodeid, "value", None) |
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365 |
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366 # Configure Master's PDO parameters entries and set cobid, transmit type |
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367 for cobid, pdo_infos in DictCobID.items(): |
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368 current_idx = CurrentPDOParamsIdx[pdo_infos["type"]] |
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369 addinglist = [current_idx, current_idx + 0x200] |
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370 manager.ManageEntriesOfCurrent(addinglist, []) |
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371 manager.SetCurrentEntry(current_idx, 0x01, cobid, "value", None) |
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372 manager.SetCurrentEntry(current_idx, 0x02, DefaultTransmitType, "value", None) |
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373 if len(pdo_infos["mapping"]) > 2: |
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374 manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2) |
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375 |
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376 # Create Master's PDO mapping |
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377 for subindex, variable in enumerate(pdo_infos["mapping"]): |
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378 if subindex == 0: |
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379 continue |
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380 new_index = False |
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381 |
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382 if type(variable) != IntType: |
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383 |
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384 typeidx, varname = variable |
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385 indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["busname"]) + "_" + str(DictLocations[variable[1]]["nodeid"]) |
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386 mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] + DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"] |
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387 |
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388 if not manager.IsCurrentEntry(mapvariableidx): |
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389 manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1) |
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390 new_index = True |
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391 nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00) |
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392 else: |
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393 nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00) |
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394 mapvariableidxbase = mapvariableidx |
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395 while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF: |
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396 mapvariableidx += 0x800 |
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397 if not manager.IsCurrentEntry(mapvariableidx): |
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398 manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1) |
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399 new_index = True |
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400 nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00) |
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401 if mapvariableidx < 0x6000: |
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402 if DictLocations[variable[1]]["bit"] != None: |
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403 subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"]) |
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404 else: |
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405 subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) |
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406 if not new_index: |
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407 manager.AddSubentriesToCurrent(mapvariableidx, 1) |
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408 nbsubentries += 1 |
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409 manager.SetCurrentEntry(mapvariableidx, nbsubentries, subindexname, "name", None) |
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410 manager.SetCurrentEntry(mapvariableidx, nbsubentries, typeidx, "type", None) |
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411 |
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412 # Map Variable |
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413 typeinfos = manager.GetEntryInfos(typeidx) |
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414 if typeinfos != None: |
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415 value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"] |
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416 manager.SetCurrentEntry(current_idx + 0x200, subindex, value, "value", None) |
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417 else: |
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418 manager.SetCurrentEntry(current_idx + 0x200, subindex, TrashVariableValue[variable], "value", None) |
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419 |
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420 CurrentPDOParamsIdx[pdo_infos["type"]] += 1 |
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421 |
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422 if __name__ == "__main__": |
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423 from nodemanager import * |
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424 from nodelist import * |
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425 import sys |
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426 |
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427 manager = NodeManager(sys.path[0]) |
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428 nodelist = NodeList(manager) |
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429 result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping") |
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430 |
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431 if result != None: |
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432 print result |
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433 else: |
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434 print "MasterNode :" |
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435 manager.CurrentNode.Print() |
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436 for nodeid, node in nodelist.SlaveNodes.items(): |
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437 print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid) |
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438 node["Node"].Print() |
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439 |
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440 #filepath = "/home/deobox/beremiz/test_nodelist/listlocations.txt" |
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441 filepath = "/home/deobox/Desktop/TestMapping/listlocations.txt" |
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442 |
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443 file = open(filepath,'r') |
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444 locations = [location.split(' ') for location in [line.strip() for line in file.readlines() if len(line) > 0]] |
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445 file.close() |
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446 GenerateConciseDCF(locations, 32, nodelist) |
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447 print "MasterNode :" |
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448 manager.GetCurrentNode().Print() |
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