greg@239: #!/usr/bin/env python greg@239: # -*- coding: utf-8 -*- greg@239: greg@239: #This file is part of CanFestival, a library implementing CanOpen Stack. greg@239: # greg@239: #Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD greg@239: # greg@239: #See COPYING file for copyrights details. greg@239: # greg@239: #This library is free software; you can redistribute it and/or greg@239: #modify it under the terms of the GNU Lesser General Public greg@239: #License as published by the Free Software Foundation; either greg@239: #version 2.1 of the License, or (at your option) any later version. greg@239: # greg@239: #This library is distributed in the hope that it will be useful, greg@239: #but WITHOUT ANY WARRANTY; without even the implied warranty of greg@239: #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU greg@239: #Lesser General Public License for more details. greg@239: # greg@239: #You should have received a copy of the GNU Lesser General Public greg@239: #License along with this library; if not, write to the Free Software greg@239: #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA greg@239: greg@239: from types import * greg@239: greg@239: DicoTypes = {"BOOL":0x01, "SINT":0x02, "INT":0x03,"DINT":0x04,"LINT":0x10, greg@239: "USINT":0x05,"UINT":0x06,"UDINT":0x07,"ULINT":0x1B,"REAL":0x08, greg@239: "LREAL":0x11,"STRING":0x09,"BYTE":0x02,"WORD":0x03,"DWORD":0x04, greg@239: "LWORD":0x1B,"WSTRING":0x0B} greg@239: greg@239: DictLocations = {} greg@239: DictCobID = {} greg@239: DictLocationsNotMapped = {} greg@239: ListCobIDAvailable = [] greg@239: SlavesPdoNumber = {} greg@239: greg@239: # Constants for PDO types greg@239: RPDO = 1 greg@239: TPDO = 2 greg@239: SlavePDOType = {"I" : TPDO, "Q" : RPDO} greg@239: InvertPDOType = {RPDO : TPDO, TPDO : RPDO} greg@239: greg@239: DefaultTransmitType = 0x01 greg@239: greg@239: GenerateMasterMapping = lambda x:[None] + [(loc_infos["type"], name) for name, loc_infos in x] greg@239: greg@239: TrashVariableSizes = {1 : 0x01, 8 : 0x05, 16 : 0x06, 32 : 0x07, 64 : 0x1B} greg@239: greg@239: greg@239: def GetSlavePDOIndexes(slave, type, parameters = False): greg@239: indexes = [] greg@239: if type & RPDO: greg@239: indexes.extend([idx for idx in slave.GetIndexes() if 0x1400 <= idx <= 0x15FF]) greg@239: if type & TPDO: greg@239: indexes.extend([idx for idx in slave.GetIndexes() if 0x1800 <= idx <= 0x19FF]) greg@239: if not parameters: greg@239: return [idx + 0x200 for idx in indexes] greg@239: else: greg@239: return indexes greg@239: greg@239: greg@239: def LE_to_BE(value, size): # Convert Little Endian to Big Endian greg@239: data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value greg@239: list_car = [data[i:i+2] for i in xrange(0, len(data), 2)] greg@239: list_car.reverse() greg@239: return "".join([chr(int(car, 16)) for car in list_car]) greg@239: greg@239: greg@239: greg@239: def SearchSlavePDOMapping(loc_infos, slave): # Search the TPDO or RPDO mapping where location is defined on the slave greg@239: typeinfos = slave.GetEntryInfos(loc_infos["type"]) greg@239: model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"] greg@239: slavePDOidxlist = GetSlavePDOIndexes(slave, loc_infos["pdotype"]) greg@239: greg@239: for PDOidx in slavePDOidxlist: greg@239: values = slave.GetEntry(PDOidx) greg@239: greg@239: for subindex, mapping in enumerate(values): greg@239: if subindex != 0 and mapping == model: greg@239: return PDOidx, subindex greg@239: return None greg@239: greg@239: def GenerateMappingDCF(cobid, idx, pdomapping, mapped): # Build concise DCF greg@239: greg@239: # Create entry for RPDO or TPDO parameters and Disable PDO greg@239: dcfdata = LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE((0x80000000 + cobid), 4) greg@239: greg@239: # Set Transmit type synchrone greg@239: dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(DefaultTransmitType, 1) greg@239: greg@239: # Re-Enable PDO greg@239: # ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------ greg@239: dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4) greg@239: greg@239: nbparams = 3 greg@239: if mapped == False and pdomapping != None: greg@239: # Map Variables greg@239: for subindex, (name, loc_infos) in enumerate(pdomapping): greg@239: value = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + loc_infos["size"] greg@239: 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) greg@239: nbparams += 1 greg@239: return dcfdata, nbparams greg@239: greg@239: greg@239: greg@239: def GetNewCobID(nodeid, type): # Return a cobid not used greg@239: global ListCobIDAvailable, SlavesPdoNumber greg@239: greg@239: if len(ListCobIDAvailable) == 0: greg@239: return None greg@239: greg@239: nbSlavePDO = SlavesPdoNumber[nodeid][type] greg@239: if type == RPDO: greg@239: if nbSlavePDO < 4: greg@239: # For the fourth PDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid greg@239: newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid) greg@239: if newcobid in ListCobIDAvailable: greg@239: ListCobIDAvailable.remove(newcobid) greg@239: return newcobid, 0x1400 + nbSlavePDO greg@239: return ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO greg@239: greg@239: elif type == TPDO: greg@239: if nbSlavePDO < 4: greg@239: # For the fourth PDO -> cobid = 0x180 + (numPdo parameters * 0x100) + nodeid greg@239: newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid) greg@239: if newcobid in ListCobIDAvailable: greg@239: ListCobIDAvailable.remove(newcobid) greg@239: return newcobid, 0x1800 + nbSlavePDO greg@239: return ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO greg@239: greg@239: for number in xrange(4): greg@239: if type == RPDO: greg@239: # For the fourth PDO -> cobid = 0x200 + ( numPdo * 0x100) + nodeid greg@239: newcobid = (0x200 + number * 0x100 + nodeid) greg@239: elif type == TPDO: greg@239: # For the fourth PDO -> cobid = 0x180 + (numPdo * 0x100) + nodeid greg@239: newcobid = (0x180 + number * 0x100 + nodeid) greg@239: else: greg@239: return None greg@239: if newcobid in ListCobIDAvailable: greg@239: ListCobIDAvailable.remove(newcobid) greg@239: return newcobid greg@239: return ListCobIDAvailable.pop(0) greg@239: greg@239: greg@239: def GenerateConciseDCF(locations, busname, nodelist): greg@239: global DictLocations, DictCobID, DictLocationsNotMapped, ListCobIDAvailable, SlavesPdoNumber greg@239: greg@239: DictLocations = {} greg@239: DictCobID = {} greg@239: DictLocationsNotMapped = {} greg@239: DictSDOparams = {} greg@239: ListCobIDAvailable = range(0x180, 0x580) greg@239: SlavesPdoNumber = {} greg@239: DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)} greg@239: greg@239: # Master Node initialisation greg@239: manager = nodelist.Manager greg@239: manager.AddSubentriesToCurrent(0x1F22, 127) greg@239: greg@239: # Adding trash mappable variables for unused mapped datas greg@239: idxTrashVariables = 0x2000 + manager.GetCurrentNodeID() greg@239: TrashVariableValue = {} greg@239: manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes)) greg@239: for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()): greg@239: manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None) greg@239: manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None) greg@239: TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size greg@239: greg@239: # Extract Master Node current empty mapping index greg@239: masternode = manager.GetCurrentNode() greg@239: CurrentPDOParamsIdx = {RPDO : 0x1400 + len(GetSlavePDOIndexes(masternode, RPDO)), greg@239: TPDO : 0x1800 + len(GetSlavePDOIndexes(masternode, TPDO))} greg@239: greg@239: greg@239: # Get list of all Slave's CobID and Slave's default SDO server parameters greg@239: for nodeid, nodeinfos in nodelist.SlaveNodes.items(): greg@239: node = nodeinfos["Node"] greg@239: node.SetNodeID(nodeid) greg@239: DictSDOparams[nodeid] = {"RSDO" : node.GetEntry(0x1200,0x01), "TSDO" : node.GetEntry(0x1200,0x02)} greg@239: slaveRpdoIndexes = GetSlavePDOIndexes(node, RPDO, True) greg@239: slaveTpdoIndexes = GetSlavePDOIndexes(node, TPDO, True) greg@239: SlavesPdoNumber[nodeid] = {RPDO : len(slaveRpdoIndexes), TPDO : len(slaveTpdoIndexes)} greg@239: for PdoIdx in slaveRpdoIndexes + slaveTpdoIndexes: greg@239: pdo_cobid = node.GetEntry(PdoIdx, 0x01) greg@239: if pdo_cobid > 0x600 : greg@239: pdo_cobid -= 0x80000000 greg@239: if pdo_cobid in ListCobIDAvailable: greg@239: ListCobIDAvailable.remove(pdo_cobid) greg@239: greg@239: # Get list of locations check if exists and mappables -> put them in DictLocations greg@239: for locationtype, name in locations: greg@239: if name in DictLocations.keys(): greg@239: if DictLocations[name]["type"] != DicoTypes[locationtype]: greg@239: raise ValueError, "Conflict type for location \"%s\"" % name greg@239: else: greg@239: loc = [i for i in name.split("_") if len(i) > 0] greg@239: if len(loc) not in (4, 5): greg@239: continue greg@239: greg@239: prefix = loc[0][0] greg@239: greg@239: # Extract and check busname greg@239: if loc[0][1].isdigit(): greg@239: sizelocation = "" greg@239: busnamelocation = int(loc[0][1:]) greg@239: else: greg@239: sizelocation = loc[0][1] greg@239: busnamelocation = int(loc[0][2:]) greg@239: if busnamelocation != busname: greg@239: continue # A ne pas remplacer par un message d'erreur greg@239: greg@239: # Extract and check nodeid greg@239: nodeid = int(loc[1]) greg@239: if nodeid not in nodelist.SlaveNodes.keys(): greg@239: continue greg@239: node = nodelist.SlaveNodes[nodeid]["Node"] greg@239: greg@239: # Extract and check index and subindex greg@239: index = int(loc[2]) greg@239: subindex = int(loc[3]) greg@239: if not node.IsEntry(index, subindex): greg@239: continue greg@239: subentry_infos = node.GetSubentryInfos(index, subindex) greg@239: greg@239: if subentry_infos and subentry_infos["pdo"]: greg@239: if sizelocation == "X" and len(loc) > 4: greg@239: numbit = loc[4] greg@239: elif sizelocation != "X" and len(loc) > 4: greg@239: continue greg@239: else: greg@239: numbit = None greg@239: greg@239: locationtype = DicoTypes[locationtype] greg@239: entryinfos = node.GetSubentryInfos(index, subindex) greg@239: if entryinfos["type"] != locationtype: greg@239: raise ValueError, "Invalid type for location \"%s\"" % name greg@239: greg@239: typeinfos = node.GetEntryInfos(locationtype) greg@239: DictLocations[name] = {"type":locationtype, "pdotype":SlavePDOType[prefix], greg@239: "nodeid": nodeid, "index": index,"subindex": subindex, greg@239: "bit": numbit, "size": typeinfos["size"], "busname": busname, "sizelocation": sizelocation} greg@239: greg@239: # Create DictCobID with variables already mapped and add them in DictValidLocations greg@239: for name, locationinfos in DictLocations.items(): greg@239: node = nodelist.SlaveNodes[locationinfos["nodeid"]]["Node"] greg@239: result = SearchSlavePDOMapping(locationinfos, node) greg@239: if result != None: greg@239: index, subindex = result greg@239: cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1) greg@239: if cobid not in DictCobID.keys(): greg@239: DefaultNodeTransmitType = node.GetEntry(index - 0x200, 2) greg@239: if not 1 <= DefaultNodeTransmitType <= 240: greg@239: result = GenerateMappingDCF(cobid, index - 0x200, None, True) greg@239: data, nbaddedparams = GenerateMappingDCF(cobid, index - 0x200, None, True) greg@239: nodeDCF = nodelist.GetMasterNodeEntry(0x1F22, locationinfos["nodeid"]) greg@239: if nodeDCF != None and nodeDCF != '': greg@239: tmpnbparams = [i for i in nodeDCF[:4]] greg@239: tmpnbparams.reverse() greg@239: nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16) greg@239: dataparams = nodeDCF[4:] greg@239: else: greg@239: nbparams = 0 greg@239: dataparams = "" greg@239: dataparams += data greg@239: nbparams += nbaddedparams greg@239: dcf = LE_to_BE(nbparams, 0x04) + dataparams greg@239: manager.SetCurrentEntry(0x1F22, locationinfos["nodeid"], dcf, "value", None) greg@239: greg@239: mapping = [None] greg@239: values = node.GetEntry(index) greg@239: for value in values[1:]: greg@239: mapping.append(value % 0x100) greg@239: DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping} greg@239: greg@239: DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name) greg@239: greg@239: else: greg@239: if locationinfos["nodeid"] not in DictLocationsNotMapped.keys(): greg@239: DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []} greg@239: DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos)) greg@239: greg@239: # Check Master Pdo parameters for cobid already used and remove it in ListCobIDAvailable greg@239: ListPdoParams = [idx for idx in masternode.GetIndexes() if 0x1400 <= idx <= 0x15FF or 0x1800 <= idx <= 0x19FF] greg@239: for idx in ListPdoParams: greg@239: cobid = manager.GetCurrentEntry(idx, 0x01) greg@239: if cobid not in DictCobID.keys(): greg@239: ListCobIDAvailable.pop(cobid) greg@239: greg@239: greg@239: #------------------------------------------------------------------------------- greg@239: # Build concise DCF for the others locations greg@239: #------------------------------------------------------------------------------- greg@239: greg@239: for nodeid, locations in DictLocationsNotMapped.items(): greg@239: greg@239: # Get current concise DCF greg@239: node = nodelist.SlaveNodes[nodeid]["Node"] greg@239: nodeDCF = nodelist.GetMasterNodeEntry(0x1F22, nodeid) greg@239: greg@239: if nodeDCF != None and nodeDCF != '': greg@239: tmpnbparams = [i for i in nodeDCF[:4]] greg@239: tmpnbparams.reverse() greg@239: nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16) greg@239: dataparams = nodeDCF[4:] greg@239: else: greg@239: nbparams = 0 greg@239: dataparams = "" greg@239: greg@239: for pdotype in (TPDO, RPDO): greg@239: pdosize = 0 greg@239: pdomapping = [] greg@239: for name, loc_infos in locations[pdotype]: greg@239: pdosize += loc_infos["size"] greg@239: # If pdo's size > 64 bits greg@239: if pdosize > 64: greg@239: result = GetNewCobID(nodeid, pdotype) greg@239: if result: greg@239: SlavesPdoNumber[nodeid][pdotype] += 1 greg@239: new_cobid, new_idx = result greg@239: data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False) greg@239: dataparams += data greg@239: nbparams += nbaddedparams greg@239: DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)} greg@239: pdosize = loc_infos["size"] greg@239: pdomapping = [(name, loc_infos)] greg@239: else: greg@239: pdomapping.append((name, loc_infos)) greg@239: if len(pdomapping) > 0: greg@239: result = GetNewCobID(nodeid, pdotype) greg@239: if result: greg@239: SlavesPdoNumber[nodeid][pdotype] += 1 greg@239: new_cobid, new_idx = result greg@239: data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False) greg@239: dataparams += data greg@239: nbparams += nbaddedparams greg@239: DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)} greg@239: greg@239: dcf = LE_to_BE(nbparams, 0x04) + dataparams greg@239: manager.SetCurrentEntry(0x1F22, nodeid, dcf, "value", None) greg@239: greg@239: greg@239: #------------------------------------------------------------------------------- greg@239: # Master Node Configuration greg@239: #------------------------------------------------------------------------------- greg@239: greg@239: greg@239: # Configure Master's SDO parameters entries greg@239: for nodeid, SDOparams in DictSDOparams.items(): greg@239: SdoClient_index = [0x1280 + nodeid] greg@239: manager.ManageEntriesOfCurrent(SdoClient_index,[]) greg@239: if SDOparams["RSDO"] != None: greg@239: RSDO_cobid = SDOparams["RSDO"] greg@239: else: greg@239: RSDO_cobid = 0x600 + nodeid greg@239: greg@239: if SDOparams["TSDO"] != None: greg@239: TSDO_cobid = SDOparams["TSDO"] greg@239: else: greg@239: TSDO_cobid = 0x580 + nodeid greg@239: greg@239: manager.SetCurrentEntry(SdoClient_index[0], 0x01, RSDO_cobid, "value", None) greg@239: manager.SetCurrentEntry(SdoClient_index[0], 0x02, TSDO_cobid, "value", None) greg@239: manager.SetCurrentEntry(SdoClient_index[0], 0x03, nodeid, "value", None) greg@239: greg@239: # Configure Master's PDO parameters entries and set cobid, transmit type greg@239: for cobid, pdo_infos in DictCobID.items(): greg@239: current_idx = CurrentPDOParamsIdx[pdo_infos["type"]] greg@239: addinglist = [current_idx, current_idx + 0x200] greg@239: manager.ManageEntriesOfCurrent(addinglist, []) greg@239: manager.SetCurrentEntry(current_idx, 0x01, cobid, "value", None) greg@239: manager.SetCurrentEntry(current_idx, 0x02, DefaultTransmitType, "value", None) greg@239: if len(pdo_infos["mapping"]) > 2: greg@239: manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2) greg@239: greg@239: # Create Master's PDO mapping greg@239: for subindex, variable in enumerate(pdo_infos["mapping"]): greg@239: if subindex == 0: greg@239: continue greg@239: new_index = False greg@239: greg@239: if type(variable) != IntType: greg@239: greg@239: typeidx, varname = variable greg@239: indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["busname"]) + "_" + str(DictLocations[variable[1]]["nodeid"]) greg@239: mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] + DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"] greg@239: greg@239: if not manager.IsCurrentEntry(mapvariableidx): greg@239: manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1) greg@239: new_index = True greg@239: nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00) greg@239: else: greg@239: nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00) greg@239: mapvariableidxbase = mapvariableidx greg@239: while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF: greg@239: mapvariableidx += 0x800 greg@239: if not manager.IsCurrentEntry(mapvariableidx): greg@239: manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1) greg@239: new_index = True greg@239: nbsubentries = manager.GetCurrentEntry(mapvariableidx, 0x00) greg@239: if mapvariableidx < 0x6000: greg@239: if DictLocations[variable[1]]["bit"] != None: greg@239: subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"]) greg@239: else: greg@239: subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) greg@239: if not new_index: greg@239: manager.AddSubentriesToCurrent(mapvariableidx, 1) greg@239: nbsubentries += 1 greg@239: manager.SetCurrentEntry(mapvariableidx, nbsubentries, subindexname, "name", None) greg@239: manager.SetCurrentEntry(mapvariableidx, nbsubentries, typeidx, "type", None) greg@239: greg@239: # Map Variable greg@239: typeinfos = manager.GetEntryInfos(typeidx) greg@239: if typeinfos != None: greg@239: value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"] greg@239: manager.SetCurrentEntry(current_idx + 0x200, subindex, value, "value", None) greg@239: else: greg@239: manager.SetCurrentEntry(current_idx + 0x200, subindex, TrashVariableValue[variable], "value", None) greg@239: greg@239: CurrentPDOParamsIdx[pdo_infos["type"]] += 1 greg@239: greg@239: if __name__ == "__main__": greg@239: from nodemanager import * greg@239: from nodelist import * greg@239: import sys greg@239: greg@239: manager = NodeManager(sys.path[0]) greg@239: nodelist = NodeList(manager) greg@239: result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping") greg@239: greg@239: if result != None: greg@239: print result greg@239: else: greg@239: print "MasterNode :" greg@239: manager.CurrentNode.Print() greg@239: for nodeid, node in nodelist.SlaveNodes.items(): greg@239: print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid) greg@239: node["Node"].Print() greg@239: greg@239: #filepath = "/home/deobox/beremiz/test_nodelist/listlocations.txt" greg@239: filepath = "/home/deobox/Desktop/TestMapping/listlocations.txt" greg@239: greg@239: file = open(filepath,'r') greg@239: locations = [location.split(' ') for location in [line.strip() for line in file.readlines() if len(line) > 0]] greg@239: file.close() greg@239: GenerateConciseDCF(locations, 32, nodelist) greg@239: print "MasterNode :" greg@239: manager.GetCurrentNode().Print()