beremiz

Basic CANOpen master node test compiles and run.

2007-10-01, etisserant
c0741cc16c99
Parents 3b53f9a509d9
Children b6ff896ff58b
Basic CANOpen master node test compiles and run.
1 files changed, 683 insertions(+), 0 deletions(-)
  • +683 -0
    plugins/canfestival/config_utils.py
    • --- /dev/null Thu Jan 01 00:00:00 1970 +0000
    +++ b/plugins/canfestival/config_utils.py Mon Oct 01 21:52:41 2007 +0200
    @@ -0,0 +1,683 @@
    +#!/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.
    +#
    +#Copyright (C) 2007: Edouard TISSERANT 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 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
    +#General Public License for more details.
    +#
    +#You should have received a copy of the GNU 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 *
    +
    +# 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}
    +
    +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)]
    +
    +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
    + """
    +
    + typeinfos = node.GetEntryInfos(loc_infos["type"])
    + model = (loc_infos["index"] << 16) + (loc_infos["subindex"] << 8) + typeinfos["size"]
    +
    + for PDOidx in GetNodePDOIndexes(node, loc_infos["pdotype"]):
    + values = node.GetEntry(PDOidx)
    + if values != None:
    + for subindex, mapping in enumerate(values):
    + if subindex != 0 and mapping == 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
    + """
    +
    + # 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(transmittype, 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
    + # 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
    +
    +class ConciseDCFGenerator:
    +
    + 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)
    + self.SlavesPdoNumber = {}
    + # Dictionary of mapping value where unexpected variables are stored
    + self.TrashVariables = {}
    +
    + self.NodeList = nodelist
    + self.Manager = self.NodeList.Manager
    + self.MasterNode = self.Manager.GetCurrentNodeCopy()
    + self.MasterNode.SetNodeName(nodename)
    + self.PrepareMasterNode()
    +
    +
    + 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)
    +
    + # Store the number of TPDO and RPDO for this node
    + self.SlavesPdoNumber[nodeid] = {RPDO : RPDOnumber, TPDO : TPDOnumber}
    +
    + # 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 GetNewCobID(self, nodeid, type):
    + """
    + Select a COB ID from the list of those available
    + @param nodeid: id of the slave (int)
    + @param type: type of PDO (RPDO or TPDO)
    + @return: a tuple of the COD ID and PDO index or None
    + """
    + # Verify that there is still some cobid available
    + if len(self.ListCobIDAvailable) == 0:
    + return None
    +
    + # Get the number of PDO of the type given for the node
    + nbSlavePDO = self.SlavesPdoNumber[nodeid][type]
    + if type == RPDO:
    + if nbSlavePDO < 4:
    + # For the four first RPDO -> cobid = 0x200 + ( numPdo parameters * 0x100) + nodeid
    + newcobid = (0x200 + nbSlavePDO * 0x100 + nodeid)
    + # Return calculated cobid if it's still available
    + if newcobid in self.ListCobIDAvailable:
    + self.ListCobIDAvailable.remove(newcobid)
    + return newcobid, 0x1400 + nbSlavePDO
    + # Return the first cobid available if no cobid found
    + return self.ListCobIDAvailable.pop(0), 0x1400 + nbSlavePDO
    +
    + elif type == TPDO:
    + if nbSlavePDO < 4:
    + # For the four first TPDO -> cobid = 0x180 + ( numPdo parameters * 0x100) + nodeid
    + newcobid = (0x180 + nbSlavePDO * 0x100 + nodeid)
    + # Return calculated cobid if it's still available
    + if newcobid in self.ListCobIDAvailable:
    + self.ListCobIDAvailable.remove(newcobid)
    + return newcobid, 0x1800 + nbSlavePDO
    + # Return the first cobid available if no cobid found
    + return self.ListCobIDAvailable.pop(0), 0x1800 + nbSlavePDO
    +
    + return None
    +
    +
    + def AddParamsToDCF(self, nodeid, data, nbparams):
    + """
    + Select a COB ID from the list of those available
    + @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 != 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 AddPDOMapping(self, nodeid, pdotype, pdomapping, sync_TPDOs):
    + """
    + Select a COB ID from the list of those available
    + @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
    + """
    + # Get a new cob id
    + result = self.GetNewCobID(nodeid, pdotype)
    + if result:
    + new_cobid, new_idx = result
    +
    + # Increment the number of PDO of this type for node
    + self.SlavesPdoNumber[nodeid][pdotype] += 1
    +
    + # Add an entry to MasterMapping
    + self.MasterMapping[new_cobid] = {"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(new_idx, new_cobid, 0x01, pdomapping)
    + else:
    + return GeneratePDOMappingDCF(new_idx, new_cobid, 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 ValueError, "Conflict type 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 (3, 4):
    + raise ValueError, "Bad location size : %s"%str(loc)
    +
    + 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 ValueError, "Non existing node ID : %d (variable %s)" % (nodeid,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):
    + raise ValueError, "No such index/subindex (%x,%x) in ID : %d (variable %s)" % (index,subindex,nodeid,name)
    +
    + # 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[4]
    + elif sizelocation != "X" and len(loc) > 3:
    + raise ValueError, "Cannot set bit offset for non bool '%s' variable (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,subindex)
    + else:
    + numbit = None
    +
    + entryinfos = node.GetSubentryInfos(index, subindex)
    + if entryinfos["type"] != COlocationtype:
    + raise ValueError, "Invalid type \"%s\"-> %d != %d for location\"%s\"" % (location["IEC_TYPE"], COlocationtype, entryinfos["type"] , 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 ValueError, "Not PDO mappable variable : '%s' (ID:%d,Idx:%x,sIdx:%x))" % (name,nodeid,index,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 != None:
    + index, subindex = result
    + # Get COB ID of the PDO
    + cobid = self.NodeList.GetSlaveNodeEntry(locationinfos["nodeid"], index - 0x200, 1)
    +
    + # 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)
    +
    + # Add PDO to MasterMapping
    + if cobid not in self.MasterMapping.keys():
    + mapping = [None]
    + values = node.GetEntry(index)
    + # Store the size of each entry mapped in PDO
    + for value in values[1:]:
    + mapping.append(value % 0x100)
    + self.MasterMapping[cobid] = {"type" : InvertPDOType[locationinfos["pdotype"]], "mapping" : mapping}
    +
    + # Indicate that this PDO entry must be saved
    + 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 = 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):
    + pdosize = 0
    + pdomapping = []
    + for name, loc_infos in locations[pdotype]:
    + pdosize += loc_infos["size"]
    + # If pdo's size > 64 bits
    + if pdosize > 64:
    + # Generate a new PDO Mapping
    + data, nbaddedparams = self.AddPDOMapping(nodeid, pdotype, pdomapping, sync_TPDOs)
    + dataparams += data
    + nbparams += nbaddedparams
    + pdosize = loc_infos["size"]
    + pdomapping = [(name, loc_infos)]
    + 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, 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)
    +
    + # Add some subentries to PDO mapping if there is not enough
    + if len(pdo_infos["mapping"]) > 2:
    + self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, self.MasterNode)
    +
    + # Generate MasterNode's PDO mapping
    + for subindex, variable in enumerate(pdo_infos["mapping"]):
    + if subindex == 0:
    + continue
    + new_index = False
    +
    + if type(variable) == IntType:
    + # 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"]
    +
    + # 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):
    + # Generate entry name
    + indexname = "%s%s%s_%d"%(VariableDirText[variable_infos["pdotype"]],
    + variable_infos["sizelocation"],
    + '_'.join(map(str,current_location)),
    + variable_infos["nodeid"])
    + # Add entry to MasterNode
    + self.Manager.AddMapVariableToCurrent(mapvariableidx, 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"] != 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 != None:
    + value = (mapvariableidx << 16) + ((nbsubentries) << 8) + typeinfos["size"]
    + self.MasterNode.SetEntry(current_idx + 0x200, subindex, value)
    +
    +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)
    + return dcfgenerator.GetMasterNode()
    +
    +if __name__ == "__main__":
    + import os, sys, getopt
    +
    + 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)}]
    +
    + # Generate MasterNode configuration
    + try:
    + masternode = GenerateConciseDCF(locations, (0, 1), nodelist, True)
    + except ValueError, message:
    + print "%s\nTest Failed!"%message
    + sys.exit()
    +
    + # Get Text corresponding to MasterNode
    + result = masternode.PrintString()
    +
    + # If reset has been choosen
    + if reset:
    + # Write Text into reference result file
    + file = open("test_config/result.txt", "w")
    + file.write(result)
    + file.close()
    +
    + print "Reset Successful!"
    + else:
    + # Test each line of the result with the reference result
    + test = [line.rstrip() for line in result.splitlines()]
    +
    + file = open("test_config/result.txt", "r")
    + model = [line.rstrip() for line in file.readlines() if line.rstrip()]
    + file.close()
    +
    + errors = 0
    + for i, line in enumerate(model):
    + if i >= len(test):
    + errors += 1
    + print "Line %d disappear :\n%s\n"%(i + 1, line)
    + elif line != test[i]:
    + errors += 1
    + print "Error on line %d :\n%s\nInstead of :\n%s\n"%(i + 1, test[i], line)
    + for i in xrange(len(model), len(test)):
    + errors += 1
    + print "Line %d appear :\n%s\n"%(i + 1, test[i])
    +
    + if errors > 0:
    + print "%d errors found.\nTest Failed!"%errors
    + else:
    + print "Test Successful!"