1

#!/usr/bin/env python

     2

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

     3

     4

# This file is part of Beremiz

     5

#

     6

# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab., University of Seoul

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#

     8

# See COPYING file for copyrights details.

     9

    10

import os

    11

    12

import wx

    13

import wx.grid

    14

import wx.gizmos

    15

import wx.lib.buttons

    16

    17

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

    18

from controls import CustomGrid, CustomTable

    19

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

    20

    21

# ------------ for SDO Management --------------------

    22

import string

    23

import wx.grid as gridlib

    24

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

    25

    26

# ------------ for register management ---------------

    27

from xml.dom import minidom

    28

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

    29

    30

    31

# ----------------------------- For Sync Manager Table -----------------------------------

    32

def GetSyncManagersTableColnames():

    33

    """

    34

    Returns column names of SyncManager Table in Slave state panel.

    35

    """

    36

    _ = lambda x : x

    37

    return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")]

    38

    39

    40

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

    41

#                    Sync Managers Table

    42

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

    43

class SyncManagersTable(CustomTable):

    44

    def GetValue(self, row, col):

    45

        if row < self.GetNumberRows():

    46

            if col == 0:

    47

                return row

    48

            return self.data[row].get(self.GetColLabelValue(col, False), "")

    49

    50

    51

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

    52

#                    EtherCAT Management Treebook

    53

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

    54

class EtherCATManagementTreebook(wx.Treebook):

    55

    def __init__(self, parent, controler, node_editor):

    56

        """

    57

        Constructor

    58

        @param parent: Reference to the parent wx.ScrolledWindow object

    59

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

    60

        @param node_editor: Reference to Beremiz frame

    61

        """

    62

        wx.Treebook.__init__(self, parent, -1, size=wx.DefaultSize, style=wx.BK_DEFAULT)

    63

        self.parent = parent

    64

        self.Controler = controler

    65

        self.NodeEditor = node_editor

    66

    67

        self.EtherCATManagementClassObject = {}

    68

    69

        # fill EtherCAT Management Treebook

    70

        for pname, pclass, subs in [

    71

            ("Slave State",        SlaveStatePanelClass, []),

    72

            ("SDO Management",     SDOPanelClass, []),

    73

            ("PDO Monitoring",     PDOPanelClass, []),

    74

            ("ESC Management",     EEPROMAccessPanel, [

    75

                    ("Smart View", SlaveSiiSmartView),

    76

                    ("Hex View", HexView)]),

    77

            ("Register Access",     RegisterAccessPanel, [])]:

    78

                self.AddPage(pclass(self, self.Controler), pname)

    79

                for spname, spclass in subs:

    80

                    self.AddSubPage(spclass(self, self.Controler), spname)

    81

    82

        self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGED, self.OnPageChanged)

    83

        self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGING, self.OnPageChanging)

    84

    85

    def OnPageChanged(self, event):

    86

        old = event.GetOldSelection()

    87

        new = event.GetSelection()

    88

        sel = event.GetSelection()

    89

        event.Skip()

    90

    91

    def OnPageChanging(self, event):

    92

        old = event.GetOldSelection()

    93

        new = event.GetSelection()

    94

        sel = event.GetSelection()

    95

        event.Skip()

    96

    97

    98

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

    99

#                    For SlaveState Panel

   100

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

   101

class SlaveStatePanelClass(wx.Panel):

   102

    def __init__(self, parent, controler):

   103

        """

   104

        Constructor

   105

        @param parent: Reference to the parent EtherCATManagementTreebook class

   106

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   107

        """

   108

        wx.Panel.__init__(self, parent, -1, (0, 0), size=wx.DefaultSize, style=wx.SUNKEN_BORDER)

   109

        self.Controler = controler

   110

        self.parent = parent

   111

   112

        # initialize SlaveStatePanel UI dictionaries

   113

        self.StaticBoxDic = {}

   114

        self.StaticTextDic = {}

   115

        self.TextCtrlDic = {}

   116

        self.ButtonDic = {}

   117

   118

        # iniitalize BoxSizer and FlexGridSizer

   119

        self.SizerDic = {

   120

            "SlaveState_main_sizer" : wx.BoxSizer(wx.VERTICAL),

   121

            "SlaveState_inner_main_sizer" : wx.FlexGridSizer(cols=1, hgap=50, rows=3, vgap=10),

   122

            "SlaveInfosDetailsInnerSizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

   123

            "SyncManagerInnerSizer" : wx.FlexGridSizer(cols=1, hgap=5, rows=1, vgap=5),

   124

            "SlaveState_sizer" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10),

   125

            "SlaveState_up_sizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),

   126

            "SlaveState_down_sizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)}

   127

   128

        # initialize StaticBox and StaticBoxSizer

   129

        for box_name, box_label in [

   130

                ("SlaveInfosDetailsBox", "Slave Informations"),

   131

                ("SyncManagerBox", "Sync Manager"),

   132

                ("SlaveStateBox", "Slave State Transition && Monitoring")]:

   133

            self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label))

   134

            self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name])

   135

   136

        for statictext_name, statictext_label, textctrl_name in [

   137

                ("VendorLabel", "Vendor:", "vendor"),

   138

                ("ProductcodeLabel", "Product code:", "product_code"),

   139

                ("RevisionnumberLabel", "Slave Count:", "revision_number"),

   140

                ("PhysicsLabel", "Physics:", "physics")]:

   141

            self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

   142

            self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)

   143

            self.SizerDic["SlaveInfosDetailsInnerSizer"].AddMany([self.StaticTextDic[statictext_name],

   144

                                                               self.TextCtrlDic[textctrl_name]])

   145

   146

        self.SizerDic["SlaveInfosDetailsBox"].AddSizer(self.SizerDic["SlaveInfosDetailsInnerSizer"])

   147

   148

        self.SyncManagersGrid = CustomGrid(self, size=wx.Size(605, 155), style=wx.VSCROLL)

   149

   150

        self.SizerDic["SyncManagerInnerSizer"].Add(self.SyncManagersGrid)

   151

        self.SizerDic["SyncManagerBox"].Add(self.SizerDic["SyncManagerInnerSizer"])

   152

   153

        for button_name, button_id, button_label, button_tooltipstring, event_method, sub_item in [

   154

                ("InitButton",   0, "INIT", "State Transition to \"Init\" State",     self.OnButtonClick, []),

   155

                ("PreOPButton",  1, "PREOP", "State Transition to \"PreOP\" State",   self.OnButtonClick, [

   156

                        ("TargetStateLabel", "Target State:" , "TargetState")]),

   157

                ("SafeOPButton", 2, "SAFEOP", "State Transition to \"SafeOP\" State", self.OnButtonClick, []),

   158

                ("OPButton",     3, "OP",  "State Transition to \"OP\" State",        self.OnButtonClick, [

   159

                        ("CurrentStateLabel", "Current State:", "CurrentState")])]:

   160

            self.ButtonDic[button_name] = wx.Button(self, id=button_id, label=_(button_label))

   161

            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

   162

            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

   163

            self.SizerDic["SlaveState_up_sizer"].Add(self.ButtonDic[button_name])

   164

            for statictext_name, statictext_label, textctrl_name in sub_item :

   165

                self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))

   166

                self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.DefaultSize, style=wx.TE_READONLY)

   167

                self.SizerDic["SlaveState_up_sizer"].AddMany([self.StaticTextDic[statictext_name],

   168

                                                               self.TextCtrlDic[textctrl_name]])

   169

   170

        for button_name, button_label, button_tooltipstring, event_method in [

   171

                ("StartTimerButton", "Start State Monitoring", "Slave State Update Restart", self.StartTimer),

   172

                ("StopTimerButton", "Stop State Monitoring", "Slave State Update Stop", self.CurrentStateThreadStop)]:

   173

            self.ButtonDic[button_name] = wx.Button(self, label=_(button_label))

   174

            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)

   175

            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)

   176

            self.SizerDic["SlaveState_down_sizer"].Add(self.ButtonDic[button_name])

   177

   178

        self.SizerDic["SlaveState_sizer"].AddMany([self.SizerDic["SlaveState_up_sizer"],

   179

            self.SizerDic["SlaveState_down_sizer"]])

   180

   181

        self.SizerDic["SlaveStateBox"].Add(self.SizerDic["SlaveState_sizer"])

   182

   183

        self.SizerDic["SlaveState_inner_main_sizer"].AddMany([

   184

            self.SizerDic["SlaveInfosDetailsBox"], self.SizerDic["SyncManagerBox"],

   185

            self.SizerDic["SlaveStateBox"]])

   186

   187

        self.SizerDic["SlaveState_main_sizer"].Add(self.SizerDic["SlaveState_inner_main_sizer"])

   188

   189

        self.SetSizer(self.SizerDic["SlaveState_main_sizer"])

   190

   191

        # register a timer for periodic exectuion of slave state update (period: 1000 ms)

   192

        self.Bind(wx.EVT_TIMER, self.GetCurrentState)

   193

   194

        self.CreateSyncManagerTable()

   195

   196

        self.Centre()

   197

   198

    def CreateSyncManagerTable(self):

   199

        """

   200

        Create grid for "SyncManager"

   201

        """

   202

        # declare Table object

   203

        self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames())

   204

        self.SyncManagersGrid.SetTable(self.SyncManagersTable)

   205

        # set grid alignment attr. (CENTER)

   206

        self.SyncManagersGridColAlignements = [wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE,

   207

                                               wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE]

   208

        # set grid size

   209

        self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100]

   210

        self.SyncManagersGrid.SetRowLabelSize(0)

   211

        for col in range(self.SyncManagersTable.GetNumberCols()):

   212

            attr = wx.grid.GridCellAttr()

   213

            attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTRE)

   214

            self.SyncManagersGrid.SetColAttr(col, attr)

   215

            self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col])

   216

            self.SyncManagersGrid.AutoSizeColumn(col, False)

   217

   218

        self.RefreshSlaveInfos()

   219

   220

    def RefreshSlaveInfos(self):

   221

        """

   222

        Fill data in "Slave Information" and "SyncManager"

   223

        """

   224

        slave_infos = self.Controler.GetSlaveInfos()

   225

        sync_manager_section = ["vendor", "product_code", "revision_number", "physics"]

   226

        if slave_infos is not None:

   227

            # this method is same as "TextCtrl.SetValue"

   228

            for textctrl_name in sync_manager_section:

   229

                self.TextCtrlDic[textctrl_name].SetValue(slave_infos[textctrl_name])

   230

            self.SyncManagersTable.SetData(slave_infos["sync_managers"])

   231

            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

   232

        else:

   233

            for textctrl_name in sync_manager_section:

   234

                self.TextCtrlDic[textctrl_name].SetValue("")

   235

            self.SyncManagersTable.SetData([])

   236

            self.SyncManagersTable.ResetView(self.SyncManagersGrid)

   237

   238

    def OnButtonClick(self, event):

   239

        """

   240

        Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button)

   241

        @param event : wx.EVT_BUTTON object

   242

        """

   243

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)

   244

        if check_connect_flag :

   245

            state_dic = ["INIT", "PREOP", "SAFEOP", "OP"]

   246

   247

            # If target state is one of {INIT, PREOP, SAFEOP}, request slave state transition immediately.

   248

            if event.GetId() < 3 :

   249

                self.Controler.CommonMethod.RequestSlaveState(state_dic[event.GetId()])

   250

                self.TextCtrlDic["TargetState"].SetValue(state_dic[event.GetId()])

   251

   252

            # If target state is OP, first check "PLC status".

   253

            #  (1) If current PLC status is "Started", then request slave state transition

   254

            #  (2) Otherwise, show error message and return

   255

            else :

   256

                status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()

   257

                if status == "Started" :

   258

                    self.Controler.CommonMethod.RequestSlaveState("OP")

   259

                    self.TextCtrlDic["TargetState"].SetValue("OP")

   260

                else :

   261

                    self.Controler.CommonMethod.CreateErrorDialog("PLC is Not Started")

   262

   263

    def GetCurrentState(self, event):

   264

        """

   265

        Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec).

   266

        @param event : wx.TIMER object

   267

        """

   268

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(True)

   269

        if check_connect_flag:

   270

            returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave()

   271

            line = returnVal.split("\n")

   272

            try :

   273

                self.SetCurrentState(line[self.Controler.GetSlavePos()])

   274

            except Exception:

   275

                pass

   276

   277

    def SetCurrentState(self, line):

   278

        """

   279

        Show current slave state using the executiob result of "ethercat slaves" command.

   280

        @param line : result of "ethercat slaves" command

   281

        """

   282

        state_array = ["INIT", "PREOP", "SAFEOP", "OP"]

   283

        try :

   284

            # parse the execution result of  "ethercat slaves" command

   285

            # Result example : 0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)

   286

            token = line.split("  ")

   287

            if token[2] in state_array:

   288

                self.TextCtrlDic["CurrentState"].SetValue(token[2])

   289

        except Exception:

   290

            pass

   291

   292

    def StartTimer(self, event):

   293

        """

   294

        Event handler for "Start State Monitoring" button.

   295

          - start slave state monitoring thread

   296

        @param event : wx.EVT_BUTTON object

   297

        """

   298

        self.SlaveStateThread = wx.Timer(self)

   299

        # set timer period (1000 ms)

   300

        self.SlaveStateThread.Start(1000)

   301

   302

    def CurrentStateThreadStop(self, event):

   303

        """

   304

        Event handler for "Stop State Monitoring" button.

   305

          - stop slave state monitoring thread

   306

        @param event : wx.EVT_BUTTON object

   307

        """

   308

        try:

   309

            self.SlaveStateThread.Stop()

   310

        except Exception:

   311

            pass

   312

   313

   314

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

   315

#                    For SDO Management Panel

   316

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

   317

class SDOPanelClass(wx.Panel):

   318

    def __init__(self, parent, controler):

   319

        """

   320

        Constructor

   321

        @param parent: Reference to the parent EtherCATManagementTreebook class

   322

        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

   323

        """

   324

        wx.Panel.__init__(self, parent, -1)

   325

   326

        self.DatatypeDescription, self.CommunicationObject, self.ManufacturerSpecific, \

   327

        self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6)

   328

   329

        self.Controler = controler

   330

   331

        self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL)

   332

        self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)

   333

   334

        self.SDOUpdate = wx.Button(self, label=_('update'))

   335

        self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate)

   336

   337

        self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler)

   338

        self.SDOManagementInnerMainSizer.Add(self.SDOUpdate)

   339

        self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND)

   340

   341

        self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer)

   342

   343

        self.SetSizer(self.SDOManagementMainSizer)

   344

   345

    def SDOInfoUpdate(self, event):

   346

        """

   347

        Evenet handler for SDO "update" button.

   348

          - Load SDO data from current slave

   349

        @param event : wx.EVT_BUTTON object

   350

        """

   351

        self.Controler.CommonMethod.SaveSDOData = []

   352

        self.Controler.CommonMethod.ClearSDODataSet()

   353

        self.SDOFlag = False

   354

   355

        # Check whether beremiz connected or not.

   356

        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)

   357

        if check_connect_flag:

   358

            self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave()

   359

            # SDOFlag is "False", user click "Cancel" button

   360

            self.SDOFlag = self.SDOParser()

   361

   362

            if self.SDOFlag :

   363

                self.CallSDONoteBook.CreateNoteBook()

   364

                self.Refresh()

   365

   366

    def SDOParser(self):

   367

        """

   368

        Parse SDO data set that obtain "SDOInfoUpdate" Method

   369

        @return True or False

   370

        """

   371

   372

        slaveSDO_progress = wx.ProgressDialog("Slave SDO Monitoring", "Now Uploading...",

   373

                               maximum=len(self.SDOs.splitlines()), parent=self,

   374

                               style=wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME |

   375

                                     wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME |

   376

                                     wx.PD_AUTO_HIDE | wx.PD_SMOOTH)

   377

   378

        # If keep_going flag is False, SDOParser method is stop and return "False".

   379

        keep_going = True

   380

        count = 0

   381

   382

        # SDO data example

   383

        # SDO 0x1000, "Device type"

   384

        # 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474

   385

        for details_line in self.SDOs.splitlines():

   386

            count += 1

   387

            line_token = details_line.split("\"")

   388

            # len(line_token[2]) case : SDO 0x1000, "Device type"

   389

            if len(line_token[2]) == 0:

   390

                title_name = line_token[1]

   391

            # else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474

   392

            else :

   393

                # line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474']

   394

                token_head, name, token_tail = line_token

   395

   396

                # token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', '']

   397

                token_head = token_head.split(",")

   398

                ful_idx, access, type, size, empty = token_head

   399

                # ful_idx.split(":") = ['0x1000', '00']

   400

                idx, sub_idx = ful_idx.split(":")

   401

   402

                # token_tail = ['', '0x00020192', '131474']

   403

                token_tail = token_tail.split(",")

   404

                try :

   405

                    empty, hex_val, dec_val = token_tail

   406

   407

                # SDO data is not return "dec value"

   408

                # line example :

   409

                # 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ----

   410

                except Exception:

   411

                    empty, hex_val = token_tail

   412

   413

                name_after_check = self.StringTest(name)

   414

   415

                # convert hex type

   416

                sub_idx = "0x" + sub_idx

   417

   418

                if type == "octet_string":

   419

                    hex_val = ' ---- '

   420

   421

                # SResult of SlaveSDO data parsing. (data type : dictionary)

   422

                self.Data = {'idx': idx.strip(), 'subIdx': sub_idx.strip(), 'access': access.strip(),

   423

                             'type': type.strip(), 'size': size.strip(),  'name': name_after_check.strip("\""),

   424

                             'value': hex_val.strip(), "category": title_name.strip("\"")}

   425

   426

                category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]

   427

   428

                for count in range(len(category_divide_value)) :

   429

                    if int(idx, 0) < category_divide_value[count]:

   430

                        self.Controler.CommonMethod.SaveSDOData[count].append(self.Data)

   431

                        break

   432

   433

                self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data)

   434

   435

            if count >= len(self.SDOs.splitlines()) / 2:

   436

                (keep_going, skip) = slaveSDO_progress.Update(count, "Please waiting a moment!!")

   437

            else:

   438

                (keep_going, skip) = slaveSDO_progress.Update(count)

   439

   440

            # If user click "Cancel" loop suspend immediately

   441

            if (keep_going == False):

   442

                break

   443

   444

        slaveSDO_progress.Destroy()

   445

        return keep_going

   446

   447

    def StringTest(self, check_string):

   448

        """

   449

        Test value 'name' is alphanumeric

   450

        @param check_string : input data for check

   451

        @return result : output data after check

   452

        """

   453

        # string.printable is print this result

   454

        # '0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ

   455

        # !"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c

   456

        allow_range = string.printable

   457

        result = check_string

   458

        for i in range(0, len(check_string)):

   459

            # string.isalnum() is check whether string is alphanumeric or not

   460

            if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range :

   461

                result = check_string[:len(check_string) - i]

   462

                break

   463

        return result

   464

   465

   466

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

   467

#                    For SDO Notebook (divide category)

   468

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

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class SDONoteBook(wx.Notebook):

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    def __init__(self, parent, controler):

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        """

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        Constructor

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        @param parent: Reference to the parent SDOPanelClass class

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        @param controler: _EthercatSlaveCTN class in EthercatSlave.py

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        """

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        wx.Notebook.__init__(self, parent, id=-1, size=(850, 500))

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        self.Controler = controler

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        self.parent = parent

   479

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        self.CreateNoteBook()

   481

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        self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)

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        self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)

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    def CreateNoteBook(self):