etherlab/etherlab.py
author Andrey Skvortsov <andrej.skvortzov@gmail.com>
Fri, 05 Oct 2018 13:48:54 +0300
changeset 2436 82bfc75bcd9d
parent 2434 07f48018b6f5
child 2643 b98d9e08231f
permissions -rw-r--r--
Make easier to run pytest on local X-server
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# This file is part of Beremiz
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#
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# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
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#                          RTES Lab : CRKim, JBLee, youcu
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#                          Higen Motor : Donggu Kang
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#
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# See COPYING file for copyrights details.
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from __future__ import absolute_import
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import os
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import shutil
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import csv
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from builtins import str as text
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from lxml import etree
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import wx
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from xmlclass import *
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from ConfigTreeNode import XSDSchemaErrorMessage
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from etherlab.EthercatSlave import ExtractHexDecValue, ExtractName
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from etherlab.EthercatMaster import _EthercatCTN
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from etherlab.ConfigEditor import LibraryEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE
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ScriptDirectory = os.path.split(os.path.realpath(__file__))[0]
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# --------------------------------------------------
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#                 Ethercat ConfNode
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# --------------------------------------------------
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EtherCATInfoParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd"))
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def EtherCATInfo_XPath(xpath):
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    return etree.XPath(xpath)
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def HexDecValue(context, *args):
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    return str(ExtractHexDecValue(args[0][0]))
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def EntryName(context, *args):
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    return ExtractName(args[0], args[1][0] if len(args) > 1 else None)
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ENTRY_INFOS_KEYS = [
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    ("Index", lambda x: "#x%4.4X" % int(x), "#x0000"),
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    ("SubIndex", str, "0"),
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    ("Name", str, ""),
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    ("Type", str, ""),
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    ("BitSize", int, 0),
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    ("Access", str, ""),
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    ("PDOMapping", str, ""),
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    ("PDO index", str, ""),
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    ("PDO name", str, ""),
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    ("PDO type", str, "")]
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class EntryListFactory(object):
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    def __init__(self, entries):
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        self.Entries = entries
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    def AddEntry(self, context, *args):
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        index, subindex = map(lambda x: int(x[0]), args[:2])
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        new_entry_infos = {
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            key: translate(arg[0]) if len(arg) > 0 else default
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            for (key, translate, default), arg
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            in zip(ENTRY_INFOS_KEYS, args)}
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        if (index, subindex) != (0, 0):
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            entry_infos = self.Entries.get((index, subindex))
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            if entry_infos is not None:
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                for param in ["PDO index", "PDO name", "PDO type"]:
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                    value = new_entry_infos.get(param)
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                    if value is not None:
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                        entry_infos[param] = value
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            else:
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                self.Entries[(index, subindex)] = new_entry_infos
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entries_list_xslt = etree.parse(
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    os.path.join(ScriptDirectory, "entries_list.xslt"))
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cls = EtherCATInfoParser.GetElementClass("DeviceType")
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if cls:
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    profile_numbers_xpath = EtherCATInfo_XPath("Profile/ProfileNo")
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    def GetProfileNumbers(self):
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        return [number.text for number in profile_numbers_xpath(self)]
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    setattr(cls, "GetProfileNumbers", GetProfileNumbers)
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    def getCoE(self):
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        mailbox = self.getMailbox()
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        if mailbox is not None:
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            return mailbox.getCoE()
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        return None
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    setattr(cls, "getCoE", getCoE)
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    def GetEntriesList(self, limits=None):
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        entries = {}
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        factory = EntryListFactory(entries)
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        entries_list_xslt_tree = etree.XSLT(
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            entries_list_xslt, extensions={
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                ("entries_list_ns", "AddEntry"): factory.AddEntry,
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                ("entries_list_ns", "HexDecValue"): HexDecValue,
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                ("entries_list_ns", "EntryName"): EntryName})
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        entries_list_xslt_tree(self, **dict(zip(
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            ["min_index", "max_index"],
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            map(lambda x: etree.XSLT.strparam(str(x)),
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                limits if limits is not None else [0x0000, 0xFFFF])
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            )))
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        return entries
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    setattr(cls, "GetEntriesList", GetEntriesList)
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    def GetSyncManagers(self):
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        sync_managers = []
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        for sync_manager in self.getSm():
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            sync_manager_infos = {}
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            for name, value in [("Name", sync_manager.getcontent()),
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                                ("Start Address", sync_manager.getStartAddress()),
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                                ("Default Size", sync_manager.getDefaultSize()),
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                                ("Control Byte", sync_manager.getControlByte()),
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                                ("Enable", sync_manager.getEnable())]:
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                if value is None:
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                    value = ""
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                sync_manager_infos[name] = value
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            sync_managers.append(sync_manager_infos)
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        return sync_managers
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    setattr(cls, "GetSyncManagers", GetSyncManagers)
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def GroupItemCompare(x, y):
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    if x["type"] == y["type"]:
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        if x["type"] == ETHERCAT_GROUP:
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            return cmp(x["order"], y["order"])
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        else:
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            return cmp(x["name"], y["name"])
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    elif x["type"] == ETHERCAT_GROUP:
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        return -1
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    return 1
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def SortGroupItems(group):
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    for item in group["children"]:
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        if item["type"] == ETHERCAT_GROUP:
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            SortGroupItems(item)
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    group["children"].sort(GroupItemCompare)
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class ModulesLibrary(object):
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    MODULES_EXTRA_PARAMS = [
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        (
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            "pdo_alignment",
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            {
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                "column_label": _("PDO alignment"),
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                "column_size": 150,
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                "default": 8,
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                "description": _("Minimal size in bits between 2 pdo entries")
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            }
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        ),
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        (
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            "max_pdo_size",
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            {
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                "column_label": _("Max entries by PDO"),
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                "column_size": 150,
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                "default": 255,
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                "description": _("""Maximal number of entries mapped in a PDO
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including empty entries used for PDO alignment""")
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            }
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        ),
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        (
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            "add_pdo",
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            {
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                "column_label": _("Creating new PDO"),
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                "column_size": 150,
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                "default": 0,
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                "description": _("""Adding a PDO not defined in default configuration
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for mapping needed location variables
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(1 if possible)""")
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            }
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        )
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    ]
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    def __init__(self, path, parent_library=None):
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        self.Path = path
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        if not os.path.exists(self.Path):
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            os.makedirs(self.Path)
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        self.ParentLibrary = parent_library
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        if parent_library is not None:
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            self.LoadModules()
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        else:
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            self.Library = None
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        self.LoadModulesExtraParams()
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    def GetPath(self):
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        return self.Path
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    def GetModulesExtraParamsFilePath(self):
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        return os.path.join(self.Path, "modules_extra_params.cfg")
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    groups_xpath = EtherCATInfo_XPath("Descriptions/Groups/Group")
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    devices_xpath = EtherCATInfo_XPath("Descriptions/Devices/Device")
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    def LoadModules(self):
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        self.Library = {}
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        files = os.listdir(self.Path)
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        for file in files:
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            filepath = os.path.join(self.Path, file)
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            if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml":
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                self.modules_infos = None
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                xmlfile = open(filepath, 'r')
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                try:
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                    self.modules_infos, error = EtherCATInfoParser.LoadXMLString(xmlfile.read())
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                    if error is not None:
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                        self.GetCTRoot().logger.write_warning(
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                            XSDSchemaErrorMessage % (filepath + error))
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                except Exception as exc:
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                    self.modules_infos, error = None, text(exc)
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                xmlfile.close()
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                if self.modules_infos is not None:
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                    vendor = self.modules_infos.getVendor()
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                    vendor_category = self.Library.setdefault(
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                        ExtractHexDecValue(vendor.getId()),
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                        {"name": ExtractName(vendor.getName(), _("Miscellaneous")),
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                         "groups": {}})
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                    for group in self.groups_xpath(self.modules_infos):
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                        group_type = group.getType()
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                        vendor_category["groups"].setdefault(
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                            group_type,
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                            {
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                                "name": ExtractName(group.getName(), group_type),
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                                "parent": group.getParentGroup(),
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                                "order": group.getSortOrder(),
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                                # "value": group.getcontent()["value"],
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                                "devices": [],
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                            })
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                    for device in self.devices_xpath(self.modules_infos):
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                        device_group = device.getGroupType()
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                        if device_group not in vendor_category["groups"]:
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                            raise ValueError("Not such group \"%s\"" % device_group)
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                        vendor_category["groups"][device_group]["devices"].append(
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                            (device.getType().getcontent(), device))
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                else:
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                    self.GetCTRoot().logger.write_error(
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                        _("Couldn't load {a1} XML file:\n{a2}").format(a1=filepath, a2=error))
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        return self.Library
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    def GetModulesLibrary(self, profile_filter=None):
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        if self.Library is None:
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            self.LoadModules()
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        library = []
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        for vendor_id, vendor in self.Library.iteritems():
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            groups = []
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            children_dict = {}
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            for group_type, group in vendor["groups"].iteritems():
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                group_infos = {"name": group["name"],
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                               "order": group["order"],
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                               "type": ETHERCAT_GROUP,
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                               "infos": None,
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                               "children": children_dict.setdefault(group_type, [])}
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                device_dict = {}
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                for device_type, device in group["devices"]:
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                    if profile_filter is None or profile_filter in device.GetProfileNumbers():
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                        product_code = device.getType().getProductCode()
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                        revision_number = device.getType().getRevisionNo()
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                        module_infos = {"device_type": device_type,
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                                        "vendor": vendor_id,
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                                        "product_code": product_code,
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                                        "revision_number": revision_number}
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                        module_infos.update(self.GetModuleExtraParams(vendor_id, product_code, revision_number))
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                        device_infos = {"name": ExtractName(device.getName()),
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                                        "type": ETHERCAT_DEVICE,
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                                        "infos": module_infos,
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                                        "children": []}
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                        group_infos["children"].append(device_infos)
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                        device_type_occurrences = device_dict.setdefault(device_type, [])
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                        device_type_occurrences.append(device_infos)
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                for device_type_occurrences in device_dict.itervalues():
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                    if len(device_type_occurrences) > 1:
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                        for occurrence in device_type_occurrences:
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                            occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"]
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                if len(group_infos["children"]) > 0:
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                    if group["parent"] is not None:
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                        parent_children = children_dict.setdefault(group["parent"], [])
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                        parent_children.append(group_infos)
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                    else:
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                        groups.append(group_infos)
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            if len(groups) > 0:
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                library.append({"name": vendor["name"],
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                                "type": ETHERCAT_VENDOR,
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                                "infos": None,
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                                "children": groups})
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        library.sort(lambda x, y: cmp(x["name"], y["name"]))
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        return library
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    def GetVendors(self):
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        return [(vendor_id, vendor["name"]) for vendor_id, vendor in self.Library.items()]
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    def GetModuleInfos(self, module_infos):
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        vendor = ExtractHexDecValue(module_infos["vendor"])
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        vendor_infos = self.Library.get(vendor)
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        if vendor_infos is not None:
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            for _group_name, group_infos in vendor_infos["groups"].iteritems():
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                for device_type, device_infos in group_infos["devices"]:
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                    product_code = ExtractHexDecValue(device_infos.getType().getProductCode())
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                    revision_number = ExtractHexDecValue(device_infos.getType().getRevisionNo())
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                    if product_code == ExtractHexDecValue(module_infos["product_code"]) and \
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                       revision_number == ExtractHexDecValue(module_infos["revision_number"]):
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                        self.cntdevice = device_infos
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                        self.cntdeviceType = device_type
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                        return device_infos, self.GetModuleExtraParams(vendor, product_code, revision_number)
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        return None, None
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   334
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    def ImportModuleLibrary(self, filepath):
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        if os.path.isfile(filepath):
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            shutil.copy(filepath, self.Path)
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            self.LoadModules()
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            return True
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        return False
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    def LoadModulesExtraParams(self):
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        self.ModulesExtraParams = {}
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        csvfile_path = self.GetModulesExtraParamsFilePath()
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        if os.path.exists(csvfile_path):
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            csvfile = open(csvfile_path, "rb")
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            sample = csvfile.read(1024)
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            csvfile.seek(0)
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            dialect = csv.Sniffer().sniff(sample)
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            has_header = csv.Sniffer().has_header(sample)
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            reader = csv.reader(csvfile, dialect)
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            for row in reader:
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                if has_header:
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                    has_header = False
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                else:
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                    params_values = {}
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                    for (param, _param_infos), value in zip(
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                            self.MODULES_EXTRA_PARAMS, row[3:]):
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                        if value != "":
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                            params_values[param] = int(value)
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                    self.ModulesExtraParams[
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                        tuple(map(int, row[:3]))] = params_values
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            csvfile.close()
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    def SaveModulesExtraParams(self):
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        csvfile = open(self.GetModulesExtraParamsFilePath(), "wb")
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        extra_params = [param for param, _params_infos in self.MODULES_EXTRA_PARAMS]
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        writer = csv.writer(csvfile, delimiter=';')
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        writer.writerow(['Vendor', 'product_code', 'revision_number'] + extra_params)
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        for (vendor, product_code, revision_number), module_extra_params in self.ModulesExtraParams.iteritems():
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            writer.writerow([vendor, product_code, revision_number] +
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                            [module_extra_params.get(param, '')
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   374
                             for param in extra_params])
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   375
        csvfile.close()
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   376
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   377
    def SetModuleExtraParam(self, vendor, product_code, revision_number, param, value):
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   378
        vendor = ExtractHexDecValue(vendor)
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   379
        product_code = ExtractHexDecValue(product_code)
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   380
        revision_number = ExtractHexDecValue(revision_number)
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   381
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   382
        module_infos = (vendor, product_code, revision_number)
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   383
        self.ModulesExtraParams.setdefault(module_infos, {})
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   384
        self.ModulesExtraParams[module_infos][param] = value
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   385
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   386
        self.SaveModulesExtraParams()
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   387
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   388
    def GetModuleExtraParams(self, vendor, product_code, revision_number):
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   389
        vendor = ExtractHexDecValue(vendor)
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diff changeset
   390
        product_code = ExtractHexDecValue(product_code)
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   391
        revision_number = ExtractHexDecValue(revision_number)
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diff changeset
   392
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diff changeset
   393
        if self.ParentLibrary is not None:
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   394
            extra_params = self.ParentLibrary.GetModuleExtraParams(vendor, product_code, revision_number)
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   395
        else:
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   396
            extra_params = {}
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   397
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   398
        extra_params.update(self.ModulesExtraParams.get((vendor, product_code, revision_number), {}))
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diff changeset
   399
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   400
        for param, param_infos in self.MODULES_EXTRA_PARAMS:
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   401
            extra_params.setdefault(param, param_infos["default"])
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diff changeset
   402
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diff changeset
   403
        return extra_params
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diff changeset
   404
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diff changeset
   405
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diff changeset
   406
USERDATA_DIR = wx.StandardPaths.Get().GetUserDataDir()
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   407
if wx.Platform != '__WXMSW__':
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   408
    USERDATA_DIR += '_files'
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diff changeset
   409
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diff changeset
   410
ModulesDatabase = ModulesLibrary(
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   411
    os.path.join(USERDATA_DIR, "ethercat_modules"))
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diff changeset
   412
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diff changeset
   413
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   414
class RootClass(object):
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   415
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   416
    CTNChildrenTypes = [("EthercatNode", _EthercatCTN, "Ethercat Master")]
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   417
    EditorType = LibraryEditor
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diff changeset
   418
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   419
    def __init__(self):
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   420
        self.ModulesLibrary = None
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   421
        self.LoadModulesLibrary()
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   422
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   423
    def GetIconName(self):
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   424
        return "Ethercat"
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diff changeset
   425
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diff changeset
   426
    def GetModulesLibraryPath(self, project_path=None):
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diff changeset
   427
        if project_path is None:
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diff changeset
   428
            project_path = self.CTNPath()
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   429
        return os.path.join(project_path, "modules")
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diff changeset
   430
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diff changeset
   431
    def OnCTNSave(self, from_project_path=None):
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diff changeset
   432
        if from_project_path is not None:
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diff changeset
   433
            shutil.copytree(self.GetModulesLibraryPath(from_project_path),
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diff changeset
   434
                            self.GetModulesLibraryPath())
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diff changeset
   435
        return True
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diff changeset
   436
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diff changeset
   437
    def CTNGenerate_C(self, buildpath, locations):
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diff changeset
   438
        return [], "", False
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diff changeset
   439
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diff changeset
   440
    def LoadModulesLibrary(self):
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   441
        if self.ModulesLibrary is None:
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   442
            self.ModulesLibrary = ModulesLibrary(self.GetModulesLibraryPath(), ModulesDatabase)
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diff changeset
   443
        else:
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   444
            self.ModulesLibrary.LoadModulesLibrary()
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diff changeset
   445
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diff changeset
   446
    def GetModulesDatabaseInstance(self):
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diff changeset
   447
        return ModulesDatabase
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diff changeset
   448
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diff changeset
   449
    def GetModulesLibraryInstance(self):
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   450
        return self.ModulesLibrary
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diff changeset
   451
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diff changeset
   452
    def GetModulesLibrary(self, profile_filter=None):
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   453
        return self.ModulesLibrary.GetModulesLibrary(profile_filter)
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diff changeset
   454
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diff changeset
   455
    def GetVendors(self):
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diff changeset
   456
        return self.ModulesLibrary.GetVendors()
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diff changeset
   457
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diff changeset
   458
    def GetModuleInfos(self, module_infos):
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diff changeset
   459
        return self.ModulesLibrary.GetModuleInfos(module_infos)