HGKeeper

#!/usr/bin/env python

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

# This file is part of Beremiz, a Integrated Development Environment for

# programming IEC 61131-3 automates supporting plcopen standard and CanFestival.

# See COPYING file for copyrights details.

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

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

# as published by the Free Software Foundation; either version 2

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

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

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

# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

# GNU General Public License for more details.

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

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

# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

from __future__ import absolute_import

from __future__ import print_function

import os

import sys

import getopt

from past.builtins import long

# Translation between IEC types and Can Open types

IECToCOType = {

"BOOL": 0x01,

"SINT": 0x02,

"INT": 0x03,

"DINT": 0x04,

"LINT": 0x10,

"USINT": 0x05,

"UINT": 0x06,

"UDINT": 0x07,

"ULINT": 0x1B,

"REAL": 0x08,

"LREAL": 0x11,

"STRING": 0x09,

"BYTE": 0x05,

"WORD": 0x06,

"DWORD": 0x07,

"LWORD": 0x1B,

"WSTRING": 0x0B

}

# Constants for PDO types

RPDO = 1

TPDO = 2

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

InvertPDOType = {RPDO: TPDO, TPDO: RPDO}

PDOTypeBaseIndex = {RPDO: 0x1400, TPDO: 0x1800}

PDOTypeBaseCobId = {RPDO: 0x200, TPDO: 0x180}

VariableIncrement = 0x100

VariableStartIndex = {TPDO: 0x2000, RPDO: 0x4000}

VariableDirText = {TPDO: "__I", RPDO: "__Q"}

VariableTypeOffset = dict(zip(["", "X", "B", "W", "D", "L"], range(6)))

TrashVariables = [(1, 0x01), (8, 0x05), (16, 0x06), (32, 0x07), (64, 0x1B)]

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

# Specific exception for PDO mapping errors

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

class PDOmappingException(Exception):

pass

def LE_to_BE(value, size):

"""

Convert Little Endian to Big Endian

@param value: value expressed in integer

@param size: number of bytes generated

@return: a string containing the value converted

"""

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

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

list_car.reverse()

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

def GetNodePDOIndexes(node, type, parameters=False):

"""

Find the PDO indexes of a node

@param node: node

@param type: type of PDO searched (RPDO or TPDO or both)

@param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)

@return: a list of indexes found

"""

indexes = []

if type & RPDO:

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

if type & TPDO:

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

if not parameters:

return [idx + 0x200 for idx in indexes]

else:

return indexes

def SearchNodePDOMapping(loc_infos, node):

"""

Find the PDO indexes of a node

@param node: node

@param type: type of PDO searched (RPDO or TPDO or both)

@param parameters: indicate which indexes are expected (PDO paramaters : True or PDO mappings : False)

@return: a list of indexes found

"""

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

for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]):

values = node.GetEntry(PDOidx)

if values is not None:

for subindex, mapping in enumerate(values):

if subindex != 0 and mapping & 0xFFFFFF00 == model:

return PDOidx, subindex

return None

def GeneratePDOMappingDCF(idx, cobid, transmittype, pdomapping):

"""

Build concise DCF value for configuring a PDO

@param idx: index of PDO parameters

@param cobid: PDO generated COB ID

@param transmittype : PDO transmit type

@param pdomapping: list of PDO mappings

@return: a tuple of value and number of parameters to add to DCF

"""

dcfdata = []

# Create entry for RPDO or TPDO parameters and Disable PDO

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

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

# Set Transmit type

dcfdata += [LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(transmittype, 1)]

if len(pdomapping) > 0:

# Disable Mapping

dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(0x00, 1)]

# Map Variables

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

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

dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(subindex + 1, 1) + LE_to_BE(0x04, 4) + LE_to_BE(value, 4)]

# Re-enable Mapping

dcfdata += [LE_to_BE(idx + 0x200, 2) + LE_to_BE(0x00, 1) + LE_to_BE(0x01, 4) + LE_to_BE(len(pdomapping), 1)]

# Re-Enable PDO

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

return "".join(dcfdata), len(dcfdata)

class ConciseDCFGenerator(object):

def __init__(self, nodelist, nodename):

# Dictionary of location informations classed by name

self.IECLocations = {}

# Dictionary of location that have not been mapped yet

self.LocationsNotMapped = {}

# Dictionary of location informations classed by name

self.MasterMapping = {}

# List of COB IDs available

self.ListCobIDAvailable = range(0x180, 0x580)

# Dictionary of mapping value where unexpected variables are stored

self.TrashVariables = {}

# Dictionary of pointed variables

self.PointedVariables = {}

self.NodeList = nodelist

self.Manager = self.NodeList.Manager

self.MasterNode = self.Manager.GetCurrentNodeCopy()

self.MasterNode.SetNodeName(nodename)

self.PrepareMasterNode()

def GetPointedVariables(self):

return self.PointedVariables

def RemoveUsedNodeCobId(self, node):

"""

Remove all PDO COB ID used by the given node from the list of available COB ID

@param node: node

@return: a tuple of number of RPDO and TPDO for the node

"""

# Get list of all node TPDO and RPDO indexes

nodeRpdoIndexes = GetNodePDOIndexes(node, RPDO, True)

nodeTpdoIndexes = GetNodePDOIndexes(node, TPDO, True)

# Mark all the COB ID of the node already mapped PDO as not available

for PdoIdx in nodeRpdoIndexes + nodeTpdoIndexes:

pdo_cobid = node.GetEntry(PdoIdx, 0x01)

# Extract COB ID, if PDO isn't active

if pdo_cobid > 0x600:

pdo_cobid -= 0x80000000

# Remove COB ID from the list of available COB ID

if pdo_cobid in self.ListCobIDAvailable:

self.ListCobIDAvailable.remove(pdo_cobid)

return len(nodeRpdoIndexes), len(nodeTpdoIndexes)

def PrepareMasterNode(self):

"""

Add mandatory entries for DCF generation into MasterNode.

"""

# Adding DCF entry into Master node

if not self.MasterNode.IsEntry(0x1F22):

self.MasterNode.AddEntry(0x1F22, 1, "")

self.Manager.AddSubentriesToCurrent(0x1F22, 127, self.MasterNode)

# Adding trash mappable variables for unused mapped datas

idxTrashVariables = 0x2000 + self.MasterNode.GetNodeID()

# Add an entry for storing unexpected all variable

self.Manager.AddMapVariableToCurrent(idxTrashVariables, self.MasterNode.GetNodeName()+"_trashvariables", 3, len(TrashVariables), self.MasterNode)

for subidx, (size, typeidx) in enumerate(TrashVariables):

# Add a subentry for storing unexpected variable of this size

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

self.Manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, self.MasterNode)

# Store the mapping value for this entry

self.TrashVariables[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size

RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(self.MasterNode)

# Store the indexes of the first RPDO and TPDO available for MasterNode

self.CurrentPDOParamsIdx = {RPDO: 0x1400 + RPDOnumber, TPDO: 0x1800 + TPDOnumber}

# Prepare MasterNode with all nodelist slaves

for idx, (nodeid, nodeinfos) in enumerate(self.NodeList.SlaveNodes.items()):

node = nodeinfos["Node"]

node.SetNodeID(nodeid)

RPDOnumber, TPDOnumber = self.RemoveUsedNodeCobId(node)

# Get Slave's default SDO server parameters

RSDO_cobid = node.GetEntry(0x1200, 0x01)

if not RSDO_cobid:

RSDO_cobid = 0x600 + nodeid

TSDO_cobid = node.GetEntry(0x1200, 0x02)

if not TSDO_cobid:

TSDO_cobid = 0x580 + nodeid

# Configure Master's SDO parameters entries

self.Manager.ManageEntriesOfCurrent([0x1280 + idx], [], self.MasterNode)

self.MasterNode.SetEntry(0x1280 + idx, 0x01, RSDO_cobid)

self.MasterNode.SetEntry(0x1280 + idx, 0x02, TSDO_cobid)

self.MasterNode.SetEntry(0x1280 + idx, 0x03, nodeid)

def GetMasterNode(self):

"""

Return MasterNode.

"""

return self.MasterNode

def AddParamsToDCF(self, nodeid, data, nbparams):

"""

Add entry to DCF, for the requested nodeID

@param nodeid: id of the slave (int)

@param data: data to add to slave DCF (string)

@param nbparams: number of params added to slave DCF (int)

"""

# Get current DCF for slave

nodeDCF = self.MasterNode.GetEntry(0x1F22, nodeid)

# Extract data and number of params in current DCF

if nodeDCF is not None and nodeDCF != '':

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

tmpnbparams.reverse()

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

data = nodeDCF[4:] + data

# Build new DCF

dcf = LE_to_BE(nbparams, 0x04) + data

# Set new DCF for slave

self.MasterNode.SetEntry(0x1F22, nodeid, dcf)

def GetEmptyPDO(self, nodeid, pdotype, start_index=None):

"""

Search a not configured PDO for a slave

@param node: the slave node object

@param pdotype: type of PDO to generated (RPDO or TPDO)

@param start_index: Index where search must start (default: None)

@return tuple of PDO index, COB ID and number of subindex defined

"""

# If no start_index defined, start with PDOtype base index

if start_index is None:

index = PDOTypeBaseIndex[pdotype]

else:

index = start_index

# Search for all PDO possible index until find a configurable PDO

# starting from start_index

while index < PDOTypeBaseIndex[pdotype] + 0x200:

values = self.NodeList.GetSlaveNodeEntry(nodeid, index + 0x200)

if values is not None and values[0] > 0:

# Check that all subindex upper than 0 equal 0 => configurable PDO

if reduce(lambda x, y: x and y, map(lambda x: x == 0, values[1:]), True):

cobid = self.NodeList.GetSlaveNodeEntry(nodeid, index, 1)

# If no COB ID defined in PDO, generate a new one (not used)

if cobid == 0:

if len(self.ListCobIDAvailable) == 0:

return None

# Calculate COB ID from standard values

if index < PDOTypeBaseIndex[pdotype] + 4:

cobid = PDOTypeBaseCobId[pdotype] + 0x100 * (index - PDOTypeBaseIndex[pdotype]) + nodeid

if cobid not in self.ListCobIDAvailable:

cobid = self.ListCobIDAvailable.pop(0)

return index, cobid, values[0]

index += 1

return None

def AddPDOMapping(self, nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs):

"""

Record a new mapping request for a slave, and add related slave config to the DCF

@param nodeid: id of the slave (int)

@param pdotype: type of PDO to generated (RPDO or TPDO)

@param pdomapping: list od variables to map with PDO

"""

# Add an entry to MasterMapping

self.MasterMapping[pdocobid] = {

"type": InvertPDOType[pdotype],

"mapping": [None] + [(loc_infos["type"], name) for name, loc_infos in pdomapping]

}

# Return the data to add to DCF

if sync_TPDOs:

return GeneratePDOMappingDCF(pdoindex, pdocobid, 0x01, pdomapping)

else:

return GeneratePDOMappingDCF(pdoindex, pdocobid, 0xFF, pdomapping)

return 0, ""

def GenerateDCF(self, locations, current_location, sync_TPDOs):

"""

Generate Concise DCF of MasterNode for the locations list given

@param locations: list of locations to be mapped

@param current_location: tuple of the located prefixes not to be considered

@param sync_TPDOs: indicate if TPDO must be synchronous

"""

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

# Verify that locations correspond to real slave variables

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

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

for location in locations:

COlocationtype = IECToCOType[location["IEC_TYPE"]]

name = location["NAME"]

if name in self.IECLocations:

if self.IECLocations[name]["type"] != COlocationtype:

raise PDOmappingException(_("Type conflict for location \"%s\"") % name)

else:

# Get only the part of the location that concern this node

loc = location["LOC"][len(current_location):]

# loc correspond to (ID, INDEX, SUBINDEX [,BIT])

if len(loc) not in (2, 3, 4):

raise PDOmappingException(_("Bad location size : %s") % str(loc))

elif len(loc) == 2:

continue

direction = location["DIR"]

sizelocation = location["SIZE"]

# Extract and check nodeid

nodeid, index, subindex = loc[:3]

# Check Id is in slave node list

if nodeid not in self.NodeList.SlaveNodes.keys():

raise PDOmappingException(

_("Non existing node ID : {a1} (variable {a2})").

format(a1=nodeid, a2=name))

# Get the model for this node (made from EDS)

node = self.NodeList.SlaveNodes[nodeid]["Node"]

# Extract and check index and subindex

if not node.IsEntry(index, subindex):

msg = _("No such index/subindex ({a1},{a2}) in ID : {a3} (variable {a4})").\

format(a1="%x" % index, a2="%x" % subindex, a3=nodeid, a4=name)

raise PDOmappingException(msg)

# Get the entry info

subentry_infos = node.GetSubentryInfos(index, subindex)

# If a PDO mappable

if subentry_infos and subentry_infos["pdo"]:

if sizelocation == "X" and len(loc) > 3:

numbit = loc[3]

elif sizelocation != "X" and len(loc) > 3:

raise PDOmappingException(

_("Cannot set bit offset for non bool '{a1}' variable (ID:{a2},Idx:{a3},sIdx:{a4}))").

format(a1=name, a2=nodeid, a3="%x" % index, a4="%x" % subindex))

else:

numbit = None

if location["IEC_TYPE"] != "BOOL" and subentry_infos["type"] != COlocationtype:

raise PDOmappingException(

_("Invalid type \"{a1}\"-> {a2} != {a3} for location \"{a4}\"").

format(a1=location["IEC_TYPE"],

a2=COlocationtype,

a3=subentry_infos["type"],

a4=name))

typeinfos = node.GetEntryInfos(COlocationtype)

self.IECLocations[name] = {

"type": COlocationtype,

"pdotype": SlavePDOType[direction],

"nodeid": nodeid,

"index": index,

"subindex": subindex,

"bit": numbit,

"size": typeinfos["size"],

"sizelocation": sizelocation

}

else:

raise PDOmappingException(

_("Not PDO mappable variable : '{a1}' (ID:{a2},Idx:{a3},sIdx:{a4}))").

format(a1=name, a2=nodeid, a3="%x" % index, a4="%x" % subindex))

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

# Search for locations already mapped

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

for name, locationinfos in self.IECLocations.items():

node = self.NodeList.SlaveNodes[locationinfos["nodeid"]]["Node"]

# Search if slave has a PDO mapping this locations

result = SearchNodePDOMapping(locationinfos, node)

if result is not None:

index, subindex = result

# Get COB ID of the PDO

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

# Add PDO to MasterMapping

if cobid not in self.MasterMapping.keys():

# Verify that PDO transmit type is conform to sync_TPDOs

transmittype = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 2)

if sync_TPDOs and transmittype != 0x01 or transmittype != 0xFF:

if sync_TPDOs:

# Change TransmitType to SYNCHRONE

data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0x01, [])

else:

# Change TransmitType to ASYCHRONE

data, nbparams = GeneratePDOMappingDCF(index - 0x200, cobid, 0xFF, [])

# Add entry to slave dcf to change transmit type of

self.AddParamsToDCF(locationinfos["nodeid"], data, nbparams)

mapping = [None]

values = node.GetEntry(index)

# Store the size of each entry mapped in PDO

for value in values[1:]:

if value != 0:

mapping.append(value % 0x100)

self.MasterMapping[cobid] = {"type": InvertPDOType[locationinfos["pdotype"]], "mapping": mapping}

# Indicate that this PDO entry must be saved

if locationinfos["bit"] is not None:

if not isinstance(self.MasterMapping[cobid]["mapping"][subindex], list):

self.MasterMapping[cobid]["mapping"][subindex] = [1] * self.MasterMapping[cobid]["mapping"][subindex]

if locationinfos["bit"] < len(self.MasterMapping[cobid]["mapping"][subindex]):

self.MasterMapping[cobid]["mapping"][subindex][locationinfos["bit"]] = (locationinfos["type"], name)

else:

self.MasterMapping[cobid]["mapping"][subindex] = (locationinfos["type"], name)

else:

# Add location to those that haven't been mapped yet

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

self.LocationsNotMapped[locationinfos["nodeid"]] = {TPDO: [], RPDO: []}

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

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

# Build concise DCF for the others locations

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

for nodeid, locations in self.LocationsNotMapped.items():

node = self.NodeList.SlaveNodes[nodeid]["Node"]

# Initialize number of params and data to add to node DCF

nbparams = 0

dataparams = ""

# Generate the best PDO mapping for each type of PDO

for pdotype in (TPDO, RPDO):

if len(locations[pdotype]) > 0:

pdosize = 0

pdomapping = []

result = self.GetEmptyPDO(nodeid, pdotype)

if result is None:

raise PDOmappingException(

_("Unable to define PDO mapping for node %02x") % nodeid)

pdoindex, pdocobid, pdonbparams = result

for name, loc_infos in locations[pdotype]:

pdosize += loc_infos["size"]

# If pdo's size > 64 bits

if pdosize > 64 or len(pdomapping) >= pdonbparams:

# Generate a new PDO Mapping

data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)

dataparams += data

nbparams += nbaddedparams

pdosize = loc_infos["size"]

pdomapping = [(name, loc_infos)]

result = self.GetEmptyPDO(nodeid, pdotype, pdoindex + 1)

if result is None:

raise PDOmappingException(

_("Unable to define PDO mapping for node %02x") % nodeid)

pdoindex, pdocobid, pdonbparams = result

else:

pdomapping.append((name, loc_infos))

# If there isn't locations yet but there is still a PDO to generate

if len(pdomapping) > 0:

# Generate a new PDO Mapping

data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdoindex, pdocobid, pdomapping, sync_TPDOs)

dataparams += data

nbparams += nbaddedparams

# Add number of params and data to node DCF

self.AddParamsToDCF(nodeid, dataparams, nbparams)

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

# Master Node Configuration

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

# Generate Master's Configuration from informations stored in MasterMapping

for cobid, pdo_infos in self.MasterMapping.items():

# Get next PDO index in MasterNode for this PDO type

current_idx = self.CurrentPDOParamsIdx[pdo_infos["type"]]

# Search if there is already a PDO in MasterNode with this cob id

for idx in GetNodePDOIndexes(self.MasterNode, pdo_infos["type"], True):

if self.MasterNode.GetEntry(idx, 1) == cobid:

current_idx = idx

# Add a PDO to MasterNode if not PDO have been found

if current_idx == self.CurrentPDOParamsIdx[pdo_infos["type"]]:

addinglist = [current_idx, current_idx + 0x200]

self.Manager.ManageEntriesOfCurrent(addinglist, [], self.MasterNode)

self.MasterNode.SetEntry(current_idx, 0x01, cobid)

# Increment the number of PDO for this PDO type

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

# Change the transmit type of the PDO

if sync_TPDOs:

self.MasterNode.SetEntry(current_idx, 0x02, 0x01)

else:

self.MasterNode.SetEntry(current_idx, 0x02, 0xFF)

mapping = []

for item in pdo_infos["mapping"]:

if isinstance(item, list):

mapping.extend(item)

else:

mapping.append(item)

# Add some subentries to PDO mapping if there is not enough

if len(mapping) > 1:

self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(mapping) - 1, self.MasterNode)

# Generate MasterNode's PDO mapping

for subindex, variable in enumerate(mapping):

if subindex == 0:

continue

new_index = False

if isinstance(variable, (int, long)):

# If variable is an integer then variable is unexpected

self.MasterNode.SetEntry(current_idx + 0x200, subindex, self.TrashVariables[variable])

else:

typeidx, varname = variable

variable_infos = self.IECLocations[varname]

# Calculate base index for storing variable

mapvariableidx = \

VariableStartIndex[variable_infos["pdotype"]] + \

VariableTypeOffset[variable_infos["sizelocation"]] * VariableIncrement + \

variable_infos["nodeid"]

# Generate entry name

indexname = "%s%s%s_%d" % (VariableDirText[variable_infos["pdotype"]],

variable_infos["sizelocation"],

'_'.join(map(str, current_location)),

variable_infos["nodeid"])

# Search for an entry that has an empty subindex

while mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:

# Entry doesn't exist

if not self.MasterNode.IsEntry(mapvariableidx):

# Add entry to MasterNode

self.Manager.AddMapVariableToCurrent(mapvariableidx, "beremiz"+indexname, 3, 1, self.MasterNode)

new_index = True

nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)

else:

# Get Number of subentries already defined

nbsubentries = self.MasterNode.GetEntry(mapvariableidx, 0x00)

# if entry is full, go to next entry possible or stop now

if nbsubentries == 0xFF:

mapvariableidx += 8 * VariableIncrement

else:

break

# Verify that a not full entry has been found

if mapvariableidx < VariableStartIndex[variable_infos["pdotype"]] + 0x2000:

# Generate subentry name

if variable_infos["bit"] is not None:

subindexname = "%(index)d_%(subindex)d_%(bit)d" % variable_infos

else:

subindexname = "%(index)d_%(subindex)d" % variable_infos

# If entry have just been created, no subentry have to be added

if not new_index:

self.Manager.AddSubentriesToCurrent(mapvariableidx, 1, self.MasterNode)

nbsubentries += 1

# Add informations to the new subentry created

self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values={"name": subindexname})

self.MasterNode.SetMappingEntry(mapvariableidx, nbsubentries, values={"type": typeidx})

# Set value of the PDO mapping

typeinfos = self.Manager.GetEntryInfos(typeidx)

if typeinfos is not None:

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

self.MasterNode.SetEntry(current_idx + 0x200, subindex, value)

# Add variable to pointed variables

self.PointedVariables[(mapvariableidx, nbsubentries)] = "%s_%s" % (indexname, subindexname)

def GenerateConciseDCF(locations, current_location, nodelist, sync_TPDOs, nodename):

"""

Fills a CanFestival network editor model, with DCF with requested PDO mappings.

@param locations: List of complete variables locations \

[{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)

"NAME" : name of the variable (generally "__IW0_1_2" style)

"DIR" : direction "Q","I" or "M"

"SIZE" : size "X", "B", "W", "D", "L"

"LOC" : tuple of interger for IEC location (0,1,2,...)

}, ...]

@param nodelist: CanFestival network editor model

@return: a modified copy of the given CanFestival network editor model

"""

dcfgenerator = ConciseDCFGenerator(nodelist, nodename)

dcfgenerator.GenerateDCF(locations, current_location, sync_TPDOs)

masternode, pointers = dcfgenerator.GetMasterNode(), dcfgenerator.GetPointedVariables()

# allow access to local OD from Master PLC

pointers.update(LocalODPointers(locations, current_location, masternode))

return masternode, pointers

def LocalODPointers(locations, current_location, slave):

IECLocations = {}

pointers = {}

for location in locations:

COlocationtype = IECToCOType[location["IEC_TYPE"]]

name = location["NAME"]

if name in IECLocations:

if IECLocations[name] != COlocationtype:

raise PDOmappingException(_("Type conflict for location \"%s\"") % name)

else:

# Get only the part of the location that concern this node

loc = location["LOC"][len(current_location):]

# loc correspond to (ID, INDEX, SUBINDEX [,BIT])

if len(loc) not in (2, 3, 4):

raise PDOmappingException(_("Bad location size : %s") % str(loc))

elif len(loc) != 2:

continue

# Extract and check nodeid

index, subindex = loc[:2]

# Extract and check index and subindex

if not slave.IsEntry(index, subindex):

raise PDOmappingException(

_("No such index/subindex ({a1},{a2}) (variable {a3})").

format(a1="%x" % index, a2="%x" % subindex, a3=name))

# Get the entry info

subentry_infos = slave.GetSubentryInfos(index, subindex)

if subentry_infos["type"] != COlocationtype:

raise PDOmappingException(

_("Invalid type \"{a1}\"-> {a2} != {a3} for location \"{a4}\"").

format(a1=location["IEC_TYPE"],

a2=COlocationtype,

a3=subentry_infos["type"],

a4=name))

IECLocations[name] = COlocationtype

pointers[(index, subindex)] = name

return pointers

if __name__ == "__main__": # pylint: disable=all

def usage():

print("""

Usage of config_utils.py test :

%s [options]

Options:

--help (-h)

Displays help informations for config_utils

--reset (-r)

Reset the reference result of config_utils test.

Use with caution. Be sure that config_utils

is currently working properly.

""" % sys.argv[0])

# Boolean that indicate if reference result must be redefined

reset = False

# Extract command options

try:

opts, args = getopt.getopt(sys.argv[1:], "hr", ["help", "reset"])

except getopt.GetoptError:

# print help information and exit:

usage()

sys.exit(2)

# Test each option

for o, a in opts:

if o in ("-h", "--help"):

usage()

sys.exit()

elif o in ("-r", "--reset"):

reset = True

# Extract workspace base folder

base_folder = sys.path[0]

for i in xrange(3):

base_folder = os.path.split(base_folder)[0]

# Add CanFestival folder to search pathes

sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen"))

from nodemanager import *

from nodelist import *

# Open the test nodelist contained into test_config folder

manager = NodeManager()

nodelist = NodeList(manager)

result = nodelist.LoadProject("test_config")

# List of locations, we try to map for test

locations = [

{"IEC_TYPE": "BYTE", "NAME": "__IB0_1_64_24576_1", "DIR": "I", "SIZE": "B", "LOC": (0, 1, 64, 24576, 1)},

{"IEC_TYPE": "INT", "NAME": "__IW0_1_64_25601_2", "DIR": "I", "SIZE": "W", "LOC": (0, 1, 64, 25601, 2)},

{"IEC_TYPE": "INT", "NAME": "__IW0_1_64_25601_3", "DIR": "I", "SIZE": "W", "LOC": (0, 1, 64, 25601, 3)},

{"IEC_TYPE": "INT", "NAME": "__QW0_1_64_25617_2", "DIR": "Q", "SIZE": "W", "LOC": (0, 1, 64, 25617, 1)},

{"IEC_TYPE": "BYTE", "NAME": "__IB0_1_64_24578_1", "DIR": "I", "SIZE": "B", "LOC": (0, 1, 64, 24578, 1)},

{"IEC_TYPE": "UDINT", "NAME": "__ID0_1_64_25638_1", "DIR": "I", "SIZE": "D", "LOC": (0, 1, 64, 25638, 1)},

{"IEC_TYPE": "UDINT", "NAME": "__ID0_1_64_25638_2", "DIR": "I", "SIZE": "D", "LOC": (0, 1, 64, 25638, 2)},

{"IEC_TYPE": "UDINT", "NAME": "__ID0_1_64_25638_3", "DIR": "I", "SIZE": "D", "LOC": (0, 1, 64, 25638, 3)},

{"IEC_TYPE": "UDINT", "NAME": "__ID0_1_64_25638_4", "DIR": "I", "SIZE": "D", "LOC": (0, 1, 64, 25638, 4)},

{"IEC_TYPE": "UDINT", "NAME": "__ID0_1_4096_0", "DIR": "I", "SIZE": "D", "LOC": (0, 1, 4096, 0)}

]

# Generate MasterNode configuration

try:

masternode, pointedvariables = GenerateConciseDCF(locations, (0, 1), nodelist, True, "TestNode")

except ValueError as message:

print("%s\nTest Failed!" % message)

sys.exit()

import pprint

# Get Text corresponding to MasterNode

result_node = masternode.PrintString()

result_vars = pprint.pformat(pointedvariables)

result = result_node + "\n********POINTERS*********\n" + result_vars + "\n"

# If reset has been choosen

if reset:

# Write Text into reference result file

testfile = open("test_config/result.txt", "w")

testfile.write(result)

testfile.close()

print("Reset Successful!")

else:

testfile = open("test_config/result_tmp.txt", "w")

testfile.write(result)

testfile.close()

os.system("diff test_config/result.txt test_config/result_tmp.txt")

os.remove("test_config/result_tmp.txt")