beremiz

Adding Build Method for PLC program generating

2007-07-25, lbessard
6e9f24fd1b98
Parents 215982c73cd6
Children ef2541ff1e68
Adding Build Method for PLC program generating
3 files changed, 509 insertions(+), 8 deletions(-)
  • +1 -0
    .cvsignore
  • +80 -8
    Beremiz.py
  • +428 -0
    config_utils.py
    • --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/.cvsignore Wed Jul 25 17:58:18 2007 +0200
    @@ -0,0 +1,1 @@
    +*.pyc
    --- a/Beremiz.py Sat Jul 21 01:32:59 2007 +0200
    +++ b/Beremiz.py Wed Jul 25 17:58:18 2007 +0200
    @@ -27,7 +27,7 @@
    from time import localtime
    from datetime import datetime
    -import sys, os
    +import os, re, platform, sys, time, traceback, getopt, commands
    base_folder = os.path.split(sys.path[0])[0]
    sys.path.append(os.path.join(base_folder, "plcopeneditor"))
    sys.path.append(os.path.join(base_folder, "CanFestival-3", "objdictgen"))
    @@ -38,8 +38,7 @@
    from networkedit import networkedit
    from nodelist import NodeList
    from nodemanager import NodeManager
    -
    -import os, re, platform, sys, time, traceback, getopt
    +import config_utils, gen_cfile
    __version__ = "$Revision$"
    @@ -70,6 +69,29 @@
    projectOpen = args[0]
    CWD = sys.path[0]
    +re_texts = {}
    +re_texts["letter"] = "[A-Za-z]"
    +re_texts["digit"] = "[0-9]"
    +LOCATED_MODEL = re.compile("__LOCATED_VAR\(([A-Z]*),([_A-Za-z0-9]*)\)")
    +
    +
    +class LogPseudoFile:
    + """ Base class for file like objects to facilitate StdOut for the Shell."""
    + def __init__(self, output = None):
    + self.output = output
    +
    + def writelines(self, l):
    + map(self.write, l)
    +
    + def write(self, s):
    + self.output.SetValue(self.output.GetValue() + s)
    +
    + def flush(self):
    + self.output.SetValue("")
    +
    + def isatty(self):
    + return false
    +
    [wxID_BEREMIZ, wxID_BEREMIZLOGCONSOLE, wxID_BEREMIZEDITPLCBUTTON,
    wxID_BEREMIZBUILDBUTTON, wxID_BEREMIZSIMULATEBUTTON,
    wxID_BEREMIZRUNBUTTON, wxID_BEREMIZBUSLIST,
    @@ -154,7 +176,7 @@
    parent.AppendSeparator()
    parent.Append(help='', id=wxID_BEREMIZRUNMENUITEMS5,
    kind=wx.ITEM_NORMAL, text=u'Save Log')
    - self.Bind(wx.EVT_MENU, self.OnEditPLCMenu,
    + self.Bind(wx.EVT_MENU, self.OnBuildMenu,
    id=wxID_BEREMIZRUNMENUITEMS0)
    self.Bind(wx.EVT_MENU, self.OnSimulateMenu,
    id=wxID_BEREMIZRUNMENUITEMS2)
    @@ -271,7 +293,7 @@
    self.LogConsole = wx.TextCtrl(id=wxID_BEREMIZLOGCONSOLE, value='',
    name='LogConsole', parent=self, pos=wx.Point(0, 0),
    - size=wx.Size(400, 200), style=wxTE_MULTILINE)
    + size=wx.Size(0, 0), style=wxTE_MULTILINE)
    self.EditPLCButton = wx.Button(id=wxID_BEREMIZEDITPLCBUTTON, label='Edit\nPLC',
    name='EditPLCButton', parent=self, pos=wx.Point(0, 0),
    @@ -299,8 +321,9 @@
    self.BusList = wx.ListBox(choices=[], id=wxID_BEREMIZBUSLIST,
    name='BusList', parent=self, pos=wx.Point(0, 0),
    - size=wx.Size(-1, -1), style=0)
    - self.BusList.Bind(wx.EVT_LEFT_DCLICK, self.OnBusListDClick)
    + size=wx.Size(-1, -1), style=wxLB_SINGLE|wxLB_NEEDED_SB)
    + self.BusList.Bind(wx.EVT_LISTBOX_DCLICK, self.OnBusListDClick,
    + id=wxID_BEREMIZBUSLIST)
    self.AddBusButton = wx.Button(id=wxID_BEREMIZADDBUSBUTTON, label='Add',
    name='AddBusButton', parent=self, pos=wx.Point(0, 0),
    @@ -325,6 +348,8 @@
    self.PLCEditor = None
    self.BusManagers = {}
    + self.Log = LogPseudoFile(self.LogConsole)
    +
    self.RefreshButtons()
    self.RefreshMainMenu()
    @@ -498,6 +523,10 @@
    self.DeleteBus()
    event.Skip()
    + def OnBuildMenu(self, event):
    + self.BuildAutom()
    + event.Skip()
    +
    def OnSimulateMenu(self, event):
    event.Skip()
    @@ -518,6 +547,7 @@
    event.Skip()
    def OnBuildButton(self, event):
    + self.BuildAutom()
    event.Skip()
    def OnSimulateButton(self, event):
    @@ -535,7 +565,7 @@
    event.Skip()
    def OnBusListDClick(self, event):
    - selected = self.BusList.GetSelection()
    + selected = event.GetSelection()
    busidlist = self.BusManagers.keys()
    busidlist.sort()
    bus_infos = self.BusManagers[busidlist[selected]]
    @@ -602,6 +632,48 @@
    self.PLCEditor.RefreshToolBar()
    self.PLCEditor.Show()
    + def BuildAutom(self):
    + if self.PLCManager:
    + self.TargetDir = os.path.join(self.CurrentProjectPath, "build")
    + if not os.path.exists(self.TargetDir):
    + os.mkdir(self.TargetDir)
    + self.Log.flush()
    + sys.stdout = self.Log
    + try:
    + print "Building ST Program..."
    + plc_file = os.path.join(self.TargetDir, "plc.st")
    + result = self.PLCManager.GenerateProgram(plc_file)
    + if not result:
    + raise Exception
    + print "Compiling ST Program in to C Program..."
    + status, result = commands.getstatusoutput("../matiec/iec2cc %s -I ../matiec/lib %s"%(plc_file, self.TargetDir))
    + if status:
    + print result
    + raise Exception
    + print "Extracting Located Variables..."
    + location_file = open(os.path.join(self.TargetDir,"LOCATED_VARIABLES.h"))
    + locations = []
    + lines = [line.strip() for line in location_file.readlines()]
    + for line in lines:
    + result = LOCATED_MODEL.match(line)
    + if result:
    + locations.append(result.groups())
    + print "Generating Network Configurations..."
    + for bus_id, bus_infos in self.BusManagers.items():
    + if bus_infos["Type"] == "CanFestival":
    + master = config_utils.GenerateConciseDCF(locations, bus_id, bus_infos["NodeList"])
    + result = gen_cfile.GenerateFile("%s.c"%os.path.join(self.TargetDir, gen_cfile.FormatName(bus_infos["Name"])), master)
    + if result:
    + raise Exception
    + print "Generating Makefiles..."
    +
    + print "Compiling Project..."
    +
    + print "\nBuild Project completed"
    + except Exception, message:
    + pass
    + sys.stdout = sys.__stdout__
    +
    #-------------------------------------------------------------------------------
    # Add Bus Dialog
    #-------------------------------------------------------------------------------
    --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/config_utils.py Wed Jul 25 17:58:18 2007 +0200
    @@ -0,0 +1,428 @@
    +#!/usr/bin/env python
    +# -*- coding: utf-8 -*-
    +
    +#This file is part of CanFestival, a library implementing CanOpen Stack.
    +#
    +#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
    +#
    +#See COPYING file for copyrights details.
    +#
    +#This library is free software; you can redistribute it and/or
    +#modify it under the terms of the GNU Lesser General Public
    +#License as published by the Free Software Foundation; either
    +#version 2.1 of the License, or (at your option) any later version.
    +#
    +#This library 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
    +#Lesser General Public License for more details.
    +#
    +#You should have received a copy of the GNU Lesser General Public
    +#License along with this library; if not, write to the Free Software
    +#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
    +
    +from types import *
    +
    +DicoTypes = {"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":0x02,"WORD":0x03,"DWORD":0x04,
    + "LWORD":0x1B,"WSTRING":0x0B}
    +
    +DictLocations = {}
    +DictCobID = {}
    +DictLocationsNotMapped = {}
    +ListCobIDAvailable = []
    +SlavesPdoNumber = {}
    +
    +# Constants for PDO types
    +RPDO = 1
    +TPDO = 2
    +SlavePDOType = {"I" : TPDO, "Q" : RPDO}
    +InvertPDOType = {RPDO : TPDO, TPDO : RPDO}
    +
    +DefaultTransmitTypeMaster = 0x01
    +
    +GenerateMasterMapping = lambda x:[None] + [(loc_infos["type"], name) for name, loc_infos in x]
    +
    +TrashVariableSizes = {1 : 0x01, 8 : 0x05, 16 : 0x06, 32 : 0x07, 64 : 0x1B}
    +
    +
    +def GetSlavePDOIndexes(slave, type, parameters = False):
    + indexes = []
    + if type & RPDO:
    + indexes.extend([idx for idx in slave.GetIndexes() if 0x1400 <= idx <= 0x15FF])
    + if type & TPDO:
    + indexes.extend([idx for idx in slave.GetIndexes() if 0x1800 <= idx <= 0x19FF])
    + if not parameters:
    + return [idx + 0x200 for idx in indexes]
    + else:
    + return indexes
    +
    +
    +def LE_to_BE(value, size): # Convert Little Endian to Big Endian
    + 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 SearchSlavePDOMapping(loc_infos, slave): # Search the TPDO or RPDO mapping where location is defined on the slave
    + typeinfos = slave.GetEntryInfos(loc_infos["type"])
    + model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]
    + slavePDOidxlist = GetSlavePDOIndexes(slave, loc_infos["pdotype"])
    +
    + for PDOidx in slavePDOidxlist:
    + values = slave.GetEntry(PDOidx)
    + if values != None:
    + for subindex, mapping in enumerate(values):
    + if subindex != 0 and mapping == model:
    + return PDOidx, subindex
    + return None
    +
    +def GenerateMappingDCF(cobid, idx, pdomapping, mapped): # Build concise DCF
    +
    + # Create entry for RPDO or TPDO parameters and Disable PDO
    + 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 synchrone
    + dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x02, 1) + LE_to_BE(0x01, 4) + LE_to_BE(DefaultTransmitTypeSlave, 1)
    + # Re-Enable PDO
    + # ---- INDEX ----- --- SUBINDEX ---- ----- SIZE ------ ------ DATA ------
    + dcfdata += LE_to_BE(idx, 2) + LE_to_BE(0x01, 1) + LE_to_BE(0x04, 4) + LE_to_BE(0x00000000 + cobid, 4)
    + nbparams = 3
    + if mapped == False and pdomapping != None:
    + # 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)
    + nbparams += 1
    + return dcfdata, nbparams
    +
    +def GetNewCobID(nodeid, type): # Return a cobid not used
    + global ListCobIDAvailable, SlavesPdoNumber
    +
    + if len(ListCobIDAvailable) == 0:
    + return None
    +
    + nbSlavePDO = SlavesPdoNumber[nodeid][type]
    + if type == RPDO:
    + if nbSlavePDO < 4:
    + # For the fourth PDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid
    + newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)
    + if newcobid in ListCobIDAvailable:
    + ListCobIDAvailable.remove(newcobid)
    + return newcobid, 0x1400 + nbSlavePDO
    + return ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO
    +
    + elif type == TPDO:
    + if nbSlavePDO < 4:
    + # For the fourth PDO -> cobid = 0x180 + (numPdo parameters * 0x100) + nodeid
    + newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)
    + if newcobid in ListCobIDAvailable:
    + ListCobIDAvailable.remove(newcobid)
    + return newcobid, 0x1800 + nbSlavePDO
    + return ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO
    +
    + for number in xrange(4):
    + if type == RPDO:
    + # For the fourth PDO -> cobid = 0x200 + ( numPdo * 0x100) + nodeid
    + newcobid = (0x200 + number * 0x100 + nodeid)
    + elif type == TPDO:
    + # For the fourth PDO -> cobid = 0x180 + (numPdo * 0x100) + nodeid
    + newcobid = (0x180 + number * 0x100 + nodeid)
    + else:
    + return None
    + if newcobid in ListCobIDAvailable:
    + ListCobIDAvailable.remove(newcobid)
    + return newcobid
    + return ListCobIDAvailable.pop(0)
    +
    +
    +def GenerateConciseDCF(locations, busname, nodelist):
    + global DictLocations, DictCobID, DictLocationsNotMapped, ListCobIDAvailable, SlavesPdoNumber, DefaultTransmitTypeSlave
    +
    + DictLocations = {}
    + DictCobID = {}
    + DictLocationsNotMapped = {}
    + DictSDOparams = {}
    + ListCobIDAvailable = range(0x180, 0x580)
    + SlavesPdoNumber = {}
    + DictNameVariable = { "" : 1, "X": 2, "B": 3, "W": 4, "D": 5, "L": 6, "increment": 0x100, 1:("__I", 0x2000), 2:("__Q", 0x4000)}
    + DefaultTransmitTypeSlave = 0xFF
    + # Master Node initialisation
    +
    + manager = nodelist.Manager
    + masternode = manager.GetCurrentNodeCopy()
    + if not masternode.IsEntry(0x1F22):
    + masternode.AddEntry(0x1F22, 1, "")
    + manager.AddSubentriesToCurrent(0x1F22, 127, masternode)
    + # Adding trash mappable variables for unused mapped datas
    + idxTrashVariables = 0x2000 + masternode.GetNodeID()
    + TrashVariableValue = {}
    + manager.AddMapVariableToCurrent(idxTrashVariables, "trashvariables", 3, len(TrashVariableSizes), masternode)
    + for subidx, (size, typeidx) in enumerate(TrashVariableSizes.items()):
    + manager.SetCurrentEntry(idxTrashVariables, subidx + 1, "TRASH%d" % size, "name", None, masternode)
    + manager.SetCurrentEntry(idxTrashVariables, subidx + 1, typeidx, "type", None, masternode)
    + TrashVariableValue[size] = (idxTrashVariables << 16) + ((subidx + 1) << 8) + size
    +
    +
    + # Extract Master Node current empty mapping index
    + CurrentPDOParamsIdx = {RPDO : 0x1400 + len(GetSlavePDOIndexes(masternode, RPDO)),
    + TPDO : 0x1800 + len(GetSlavePDOIndexes(masternode, TPDO))}
    +
    + # Get list of all Slave's CobID and Slave's default SDO server parameters
    + for nodeid, nodeinfos in nodelist.SlaveNodes.items():
    + node = nodeinfos["Node"]
    + node.SetNodeID(nodeid)
    + DictSDOparams[nodeid] = {"RSDO" : node.GetEntry(0x1200,0x01), "TSDO" : node.GetEntry(0x1200,0x02)}
    + slaveRpdoIndexes = GetSlavePDOIndexes(node, RPDO, True)
    + slaveTpdoIndexes = GetSlavePDOIndexes(node, TPDO, True)
    + SlavesPdoNumber[nodeid] = {RPDO : len(slaveRpdoIndexes), TPDO : len(slaveTpdoIndexes)}
    + for PdoIdx in slaveRpdoIndexes + slaveTpdoIndexes:
    + pdo_cobid = node.GetEntry(PdoIdx, 0x01)
    + if pdo_cobid > 0x600 :
    + pdo_cobid -= 0x80000000
    + if pdo_cobid in ListCobIDAvailable:
    + ListCobIDAvailable.remove(pdo_cobid)
    +
    + # Get list of locations check if exists and mappables -> put them in DictLocations
    + for locationtype, name in locations:
    + if name in DictLocations.keys():
    + if DictLocations[name]["type"] != DicoTypes[locationtype]:
    + raise ValueError, "Conflict type for location \"%s\"" % name
    + else:
    + loc = [i for i in name.split("_") if len(i) > 0]
    + if len(loc) not in (4, 5):
    + continue
    +
    + prefix = loc[0][0]
    +
    + # Extract and check busname
    + if loc[0][1].isdigit():
    + sizelocation = ""
    + busnamelocation = int(loc[0][1:])
    + else:
    + sizelocation = loc[0][1]
    + busnamelocation = int(loc[0][2:])
    + if busnamelocation != busname:
    + continue # A ne pas remplacer par un message d'erreur
    +
    + # Extract and check nodeid
    + nodeid = int(loc[1])
    + if nodeid not in nodelist.SlaveNodes.keys():
    + continue
    + node = nodelist.SlaveNodes[nodeid]["Node"]
    +
    + # Extract and check index and subindex
    + index = int(loc[2])
    + subindex = int(loc[3])
    + if not node.IsEntry(index, subindex):
    + continue
    + subentry_infos = node.GetSubentryInfos(index, subindex)
    +
    + if subentry_infos and subentry_infos["pdo"]:
    + if sizelocation == "X" and len(loc) > 4:
    + numbit = loc[4]
    + elif sizelocation != "X" and len(loc) > 4:
    + continue
    + else:
    + numbit = None
    +
    + locationtype = DicoTypes[locationtype]
    + entryinfos = node.GetSubentryInfos(index, subindex)
    + if entryinfos["type"] != locationtype:
    + raise ValueError, "Invalid type for location \"%s\"" % name
    +
    + typeinfos = node.GetEntryInfos(locationtype)
    + DictLocations[name] = {"type":locationtype, "pdotype":SlavePDOType[prefix],
    + "nodeid": nodeid, "index": index,"subindex": subindex,
    + "bit": numbit, "size": typeinfos["size"], "busname": busname, "sizelocation": sizelocation}
    +
    + # Create DictCobID with variables already mapped and add them in DictValidLocations
    + for name, locationinfos in DictLocations.items():
    + node = nodelist.SlaveNodes[locationinfos["nodeid"]]["Node"]
    + result = SearchSlavePDOMapping(locationinfos, node)
    + if result != None:
    + index, subindex = result
    + cobid = nodelist.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
    + if cobid not in DictCobID.keys():
    + mapping = [None]
    + values = node.GetEntry(index)
    + for value in values[1:]:
    + mapping.append(value % 0x100)
    + DictCobID[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
    +
    + DictCobID[cobid]["mapping"][subindex] = (locationinfos["type"], name)
    +
    + else:
    + if locationinfos["nodeid"] not in DictLocationsNotMapped.keys():
    + DictLocationsNotMapped[locationinfos["nodeid"]] = {TPDO : [], RPDO : []}
    + DictLocationsNotMapped[locationinfos["nodeid"]][locationinfos["pdotype"]].append((name, locationinfos))
    +
    + # Check Master Pdo parameters for cobid already used and remove it in ListCobIDAvailable
    + ListPdoParams = [idx for idx in masternode.GetIndexes() if 0x1400 <= idx <= 0x15FF or 0x1800 <= idx <= 0x19FF]
    + for idx in ListPdoParams:
    + cobid = masternode.GetEntry(idx, 0x01)
    + if cobid not in DictCobID.keys():
    + ListCobIDAvailable.pop(cobid)
    +
    + #-------------------------------------------------------------------------------
    + # Build concise DCF for the others locations
    + #-------------------------------------------------------------------------------
    +
    + for nodeid, locations in DictLocationsNotMapped.items():
    + # Get current concise DCF
    + node = nodelist.SlaveNodes[nodeid]["Node"]
    + nodeDCF = masternode.GetEntry(0x1F22, nodeid)
    +
    + if nodeDCF != None and nodeDCF != '':
    + tmpnbparams = [i for i in nodeDCF[:4]]
    + tmpnbparams.reverse()
    + nbparams = int(''.join(["%2.2x"%ord(i) for i in tmpnbparams]), 16)
    + dataparams = nodeDCF[4:]
    + else:
    + nbparams = 0
    + dataparams = ""
    +
    + for pdotype in (TPDO, RPDO):
    + pdosize = 0
    + pdomapping = []
    + for name, loc_infos in locations[pdotype]:
    + pdosize += loc_infos["size"]
    + # If pdo's size > 64 bits
    + if pdosize > 64:
    + result = GetNewCobID(nodeid, pdotype)
    + if result:
    + SlavesPdoNumber[nodeid][pdotype] += 1
    + new_cobid, new_idx = result
    + data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
    + dataparams += data
    + nbparams += nbaddedparams
    + DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
    + pdosize = loc_infos["size"]
    + pdomapping = [(name, loc_infos)]
    + else:
    + pdomapping.append((name, loc_infos))
    + if len(pdomapping) > 0:
    + result = GetNewCobID(nodeid, pdotype)
    + if result:
    + SlavesPdoNumber[nodeid][pdotype] += 1
    + new_cobid, new_idx = result
    + data, nbaddedparams = GenerateMappingDCF(new_cobid, new_idx, pdomapping, False)
    + dataparams += data
    + nbparams += nbaddedparams
    + DictCobID[new_cobid] = {"type" : InvertPDOType[pdotype], "mapping" : GenerateMasterMapping(pdomapping)}
    +
    + dcf = LE_to_BE(nbparams, 0x04) + dataparams
    + masternode.SetEntry(0x1F22, nodeid, dcf)
    +
    +
    + #-------------------------------------------------------------------------------
    + # Master Node Configuration
    + #-------------------------------------------------------------------------------
    +
    + # Configure Master's SDO parameters entries
    + for nodeid, SDOparams in DictSDOparams.items():
    + SdoClient_index = [0x1280 + nodeid]
    + manager.ManageEntriesOfCurrent(SdoClient_index,[], masternode)
    + if SDOparams["RSDO"] != None:
    + RSDO_cobid = SDOparams["RSDO"]
    + else:
    + RSDO_cobid = 0x600 + nodeid
    +
    + if SDOparams["TSDO"] != None:
    + TSDO_cobid = SDOparams["TSDO"]
    + else:
    + TSDO_cobid = 0x580 + nodeid
    +
    + masternode.SetEntry(SdoClient_index[0], 0x01, RSDO_cobid)
    + masternode.SetEntry(SdoClient_index[0], 0x02, TSDO_cobid)
    + masternode.SetEntry(SdoClient_index[0], 0x03, nodeid)
    +
    + # Configure Master's PDO parameters entries and set cobid, transmit type
    + for cobid, pdo_infos in DictCobID.items():
    + current_idx = CurrentPDOParamsIdx[pdo_infos["type"]]
    + addinglist = [current_idx, current_idx + 0x200]
    + manager.ManageEntriesOfCurrent(addinglist, [], masternode)
    + masternode.SetEntry(current_idx, 0x01, cobid)
    + masternode.SetEntry(current_idx, 0x02, DefaultTransmitTypeMaster)
    + if len(pdo_infos["mapping"]) > 2:
    + manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, masternode)
    +
    + # Create Master's PDO mapping
    + for subindex, variable in enumerate(pdo_infos["mapping"]):
    + if subindex == 0:
    + continue
    + new_index = False
    +
    + if type(variable) != IntType:
    +
    + typeidx, varname = variable
    + indexname = DictNameVariable[DictLocations[variable[1]]["pdotype"]][0] + DictLocations[variable[1]]["sizelocation"] + str(DictLocations[variable[1]]["busname"]) + "_" + str(DictLocations[variable[1]]["nodeid"])
    + mapvariableidx = DictNameVariable[DictLocations[variable[1]]["pdotype"]][1] + DictNameVariable[DictLocations[variable[1]]["sizelocation"]] * DictNameVariable["increment"]
    +
    + if not masternode.IsEntry(mapvariableidx):
    + manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
    + new_index = True
    + nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
    + else:
    + nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
    + mapvariableidxbase = mapvariableidx
    + while mapvariableidx < (mapvariableidxbase + 0x1FF) and nbsubentries == 0xFF:
    + mapvariableidx += 0x800
    + if not manager.IsCurrentEntry(mapvariableidx):
    + manager.AddMapVariableToCurrent(mapvariableidx, indexname, 3, 1, masternode)
    + new_index = True
    + nbsubentries = masternode.GetEntry(mapvariableidx, 0x00)
    +
    + if mapvariableidx < 0x6000:
    + if DictLocations[variable[1]]["bit"] != None:
    + subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"]) + "_" + str(DictLocations[variable[1]]["bit"])
    + else:
    + subindexname = "_" + str(DictLocations[variable[1]]["index"]) + "_" + str(DictLocations[variable[1]]["subindex"])
    + if not new_index:
    + manager.AddSubentriesToCurrent(mapvariableidx, 1, masternode)
    + nbsubentries += 1
    + masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"name" : subindexname})
    + masternode.SetMappingEntry(mapvariableidx, nbsubentries, values = {"type" : typeidx})
    +
    + # Map Variable
    + typeinfos = manager.GetEntryInfos(typeidx)
    + if typeinfos != None:
    + value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
    + masternode.SetEntry(current_idx + 0x200, subindex, value)
    + else:
    + masternode.SetEntry(current_idx + 0x200, subindex, TrashVariableValue[variable])
    +
    + CurrentPDOParamsIdx[pdo_infos["type"]] += 1
    + #masternode.Print()
    + return masternode
    +
    +if __name__ == "__main__":
    + from nodemanager import *
    + from nodelist import *
    + import sys
    +
    + manager = NodeManager(sys.path[0])
    + nodelist = NodeList(manager)
    + result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping")
    +
    +## if result != None:
    +## print result
    +## else:
    +## print "MasterNode :"
    +## manager.CurrentNode.Print()
    +## for nodeid, node in nodelist.SlaveNodes.items():
    +## print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)
    +## node["Node"].Print()
    +
    + #filepath = "/home/deobox/beremiz/test_nodelist/listlocations.txt"
    + filepath = "/home/deobox/Desktop/TestMapping/listlocations.txt"
    +
    + file = open(filepath,'r')
    + locations = [location.split(' ') for location in [line.strip() for line in file.readlines() if len(line) > 0]]
    + file.close()
    + GenerateConciseDCF(locations, 32, nodelist)
    + print "MasterNode :"
    + manager.CurrentNode.Print()
    + #masternode.Print()
    \ No newline at end of file