plugins/canfestival/canfestival.py
author greg
Tue, 26 Aug 2008 15:31:09 +0200
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parent 203 cb9901076a21
child 250 01963beca027
permissions -rw-r--r--
remove import signal in beremiz.py
remove SIGKILL signal in wxPopen
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import os, sys
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base_folder = os.path.split(sys.path[0])[0]
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CanFestivalPath = os.path.join(base_folder, "CanFestival-3")
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sys.path.append(os.path.join(CanFestivalPath, "objdictgen"))
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from nodelist import NodeList
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from nodemanager import NodeManager
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import config_utils, gen_cfile, eds_utils
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from networkedit import networkedit
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from objdictedit import objdictedit
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import canfestival_config
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from plugger import PlugTemplate
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from commondialogs import CreateNodeDialog
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import wx
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from gnosis.xml.pickle import *
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from gnosis.xml.pickle.util import setParanoia
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setParanoia(0)
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#--------------------------------------------------
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#                    SLAVE
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#--------------------------------------------------
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class _SlavePlug(NodeManager):
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    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
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    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
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      <xsd:element name="CanFestivalSlaveNode">
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        <xsd:complexType>
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          <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>
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          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>
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          <xsd:attribute name="NodeId" type="xsd:string" use="required"/>
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          <xsd:attribute name="Sync_Align" type="xsd:integer" use="optional" default="0"/>
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          <xsd:attribute name="Sync_Align_Ratio" use="optional" default="50">
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            <xsd:simpleType>
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                <xsd:restriction base="xsd:integer">
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                    <xsd:minInclusive value="1"/>
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                    <xsd:maxInclusive value="99"/>
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                </xsd:restriction>
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            </xsd:simpleType>
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          </xsd:attribute>
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        </xsd:complexType>
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      </xsd:element>
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    </xsd:schema>
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    """
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    def GetSlaveODPath(self):
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        return os.path.join(self.PlugPath(), 'slave.od')
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    def __init__(self):
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        # TODO change netname when name change
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        NodeManager.__init__(self)
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        odfilepath = self.GetSlaveODPath()
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        if(os.path.isfile(odfilepath)):
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            self.OpenFileInCurrent(odfilepath)
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        else:
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            self.FilePath = ""
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            dialog = CreateNodeDialog(None, wx.OK)
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            dialog.Type.Enable(False)
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            dialog.GenSYNC.Enable(False)
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            if dialog.ShowModal() == wx.ID_OK:
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                name, id, nodetype, description = dialog.GetValues()
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                profile, filepath = dialog.GetProfile()
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                NMT = dialog.GetNMTManagement()
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                options = dialog.GetOptions()
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                self.CreateNewNode(name,       # Name - will be changed at build time
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                                   id,         # NodeID - will be changed at build time
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                                   "slave",    # Type
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                                   description,# description 
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                                   profile,    # profile
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                                   filepath,   # prfile filepath
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                                   NMT,        # NMT
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                                   options)     # options
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            else:
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                self.CreateNewNode("SlaveNode",  # Name - will be changed at build time
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                                   0x00,         # NodeID - will be changed at build time
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                                   "slave",      # Type
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                                   "",           # description 
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                                   "None",       # profile
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                                   "", # prfile filepath
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                                   "heartbeat",  # NMT
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                                   [])           # options
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            dialog.Destroy()
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    _View = None
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    def _OpenView(self):
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        if not self._View:
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            def _onclose():
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                self._View = None
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            def _onsave():
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                self.GetPlugRoot().SaveProject()
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            self._View = objdictedit(self.GetPlugRoot().AppFrame, self)
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            # TODO redefine BusId when IEC channel change
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            self._View.SetBusId(self.GetCurrentLocation())
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            self._View._onclose = _onclose
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            self._View._onsave = _onsave
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            self._View.Show()
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    PluginMethods = [
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        {"bitmap" : os.path.join("images", "NetworkEdit"),
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         "name" : "Edit slave", 
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         "tooltip" : "Edit CanOpen slave with ObjdictEdit",
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         "method" : "_OpenView"},
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    ]
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    def OnPlugClose(self):
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        if self._View:
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            self._View.Close()
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    def PlugTestModified(self):
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        return self.ChangesToSave or self.OneFileHasChanged()
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    def OnPlugSave(self):
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        return self.SaveCurrentInFile(self.GetSlaveODPath())
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    def PlugGenerate_C(self, buildpath, locations):
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        """
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        Generate C code
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        @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)
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        @param locations: List of complete variables locations \
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            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
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            "NAME" : name of the variable (generally "__IW0_1_2" style)
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            "DIR" : direction "Q","I" or "M"
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            "SIZE" : size "X", "B", "W", "D", "L"
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            "LOC" : tuple of interger for IEC location (0,1,2,...)
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            }, ...]
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        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
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        """
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        current_location = self.GetCurrentLocation()
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        # define a unique name for the generated C file
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        prefix = "_".join(map(str, current_location))
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        Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
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        # Create a new copy of the model
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        slave = self.GetCurrentNodeCopy()
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        slave.SetNodeName("OD_%s"%prefix)
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        # allow access to local OD from Slave PLC
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        pointers = config_utils.LocalODPointers(locations, current_location, slave)
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        res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)
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        if res :
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            raise Exception, res
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        res = eds_utils.GenerateEDSFile(os.path.join(buildpath, "Slave_%s.eds"%prefix), slave)
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        if res :
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            raise Exception, res
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        return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False
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#--------------------------------------------------
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#                    MASTER
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#--------------------------------------------------
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class _NodeListPlug(NodeList):
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    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
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    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
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      <xsd:element name="CanFestivalNode">
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        <xsd:complexType>
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          <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>
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          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>
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          <xsd:attribute name="NodeId" type="xsd:string" use="required"/>
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          <xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>
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        </xsd:complexType>
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      </xsd:element>
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    </xsd:schema>
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    """
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    def __init__(self):
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        manager = NodeManager()
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        # TODO change netname when name change
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        NodeList.__init__(self, manager, self.BaseParams.getName())
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        self.LoadProject(self.PlugPath())
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    _View = None
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    def _OpenView(self):
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        if not self._View:
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            def _onclose():
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                self._View = None
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            def _onsave():
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                self.GetPlugRoot().SaveProject()
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            self._View = networkedit(self.GetPlugRoot().AppFrame, self)
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            # TODO redefine BusId when IEC channel change
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            self._View.SetBusId(self.GetCurrentLocation())
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            self._View._onclose = _onclose
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            self._View._onsave = _onsave
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            self._View.Show()
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    def _ShowMasterGenerated(self):
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        buildpath = self._getBuildPath()
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        # Eventually create build dir
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        if not os.path.exists(buildpath):
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            self.logger.write_error("Error: No PLC built\n")
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            return
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        masterpath = os.path.join(buildpath, "MasterGenerated.od")
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        if not os.path.exists(masterpath):
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            self.logger.write_error("Error: No Master generated\n")
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            return
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        new_dialog = objdictedit(None, filesOpen=[masterpath])
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        new_dialog.Show()
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    PluginMethods = [
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        {"bitmap" : os.path.join("images", "NetworkEdit"),
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         "name" : "Edit network", 
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         "tooltip" : "Edit CanOpen Network with NetworkEdit",
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         "method" : "_OpenView"},
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        {"name" : "Show Master", 
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         "tooltip" : "Show Master generated by config_utils",
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         "method" : "_ShowMasterGenerated"}
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    ]
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    def OnPlugClose(self):
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        if self._View:
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            self._View.Close()
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    def PlugTestModified(self):
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        return self.ChangesToSave or self.HasChanged()
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    def OnPlugSave(self):
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        self.SetRoot(self.PlugPath())
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        return self.SaveProject() is not None
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    def PlugGenerate_C(self, buildpath, locations):
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        """
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        Generate C code
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        @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)
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        @param locations: List of complete variables locations \
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            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)
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            "NAME" : name of the variable (generally "__IW0_1_2" style)
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            "DIR" : direction "Q","I" or "M"
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            "SIZE" : size "X", "B", "W", "D", "L"
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            "LOC" : tuple of interger for IEC location (0,1,2,...)
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            }, ...]
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        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND
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        """
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        current_location = self.GetCurrentLocation()
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        # define a unique name for the generated C file
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        prefix = "_".join(map(str, current_location))
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        Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )
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        # Create a new copy of the model with DCF loaded with PDO mappings for desired location
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        master, pointers = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(),"OD_%s"%prefix)
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        # allow access to local OD from Master PLC
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        pointers.update(config_utils.LocalODPointers(locations, current_location, master))
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        # Do generate C file.
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        res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)
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        if res :
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            raise Exception, res
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        file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")
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        dump(master, file)
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        file.close()
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        return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False
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class RootClass:
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    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
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    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
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      <xsd:element name="CanFestivalInstance">
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        <xsd:complexType>
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          <xsd:attribute name="CAN_Driver" type="xsd:string" use="required"/>
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          <xsd:attribute name="Debug_mode" type="xsd:boolean" use="optional" default="false"/>
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        </xsd:complexType>
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      </xsd:element>
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    </xsd:schema>
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    """
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    PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"),
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                       ("CanOpenSlave",_SlavePlug, "CanOpen Slave")]
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    def GetParamsAttributes(self, path = None):
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        infos = PlugTemplate.GetParamsAttributes(self, path = None)
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        for element in infos:
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            if element["name"] == "CanFestivalInstance":
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                for child in element["children"]:
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                    if child["name"] == "CAN_Driver":
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                        DLL_LIST= getattr(canfestival_config,"DLL_LIST",None)
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                        if DLL_LIST is not None:
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                            child["type"] = DLL_LIST
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                        return infos    
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        return infos
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    def PlugGenerate_C(self, buildpath, locations):
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        format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())),
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                       "candriver" : self.CanFestivalInstance.getCAN_Driver(),
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                       "nodes_includes" : "",
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                       "board_decls" : "",
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                       "nodes_init" : "",
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                       "nodes_open" : "",
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                       "nodes_close" : "",
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                       "nodes_send_sync" : "",
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                       "nodes_proceed_sync" : "",
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                       "slavebootups" : "",
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                       "slavebootup_register" : "",
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                       "post_sync" : "",
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                       "post_sync_register" : "",
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                       }
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        for child in self.IECSortedChilds():
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            childlocstr = "_".join(map(str,child.GetCurrentLocation()))
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            nodename = "OD_%s" % childlocstr
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   294
            
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   295
            # Try to get Slave Node
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   296
            child_data = getattr(child, "CanFestivalSlaveNode", None)
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            if child_data is None:
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                # Not a slave -> master
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                child_data = getattr(child, "CanFestivalNode")
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                # Apply sync setting
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                format_dict["nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n    '%(
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                       nodename,
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                       child_data.getNodeId())
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                if child_data.getSync_TPDOs():
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                    format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n    '%(nodename)
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                    format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n    '%(nodename)
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                # initialize and declare node boot status variables for post_SlaveBootup lookup
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                SlaveIDs = child.GetSlaveIDs()
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                for id in SlaveIDs:
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                    format_dict["slavebootups"] += (
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                    "int %s_slave_%d_booted = 0;\n"%(nodename, id))
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                # define post_SlaveBootup lookup functions
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                format_dict["slavebootups"] += (
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                    "static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"%(nodename)+
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                    "    switch(nodeId){\n")
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                # one case per declared node, mark node as booted
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                for id in SlaveIDs:
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                    format_dict["slavebootups"] += (
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                    "        case %d:\n"%(id)+
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                    "            %s_slave_%d_booted = 1;\n"%(nodename, id)+
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                    "            break;\n")
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                format_dict["slavebootups"] += (
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                    "        default:\n"+
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                    "            break;\n"+
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                    "    }\n"+
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                    "    if( ")
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                # expression to test if all declared nodes booted
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                format_dict["slavebootups"] += " && ".join(["%s_slave_%d_booted"%(nodename, id) for id in SlaveIDs])
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                format_dict["slavebootups"] += " )\n" + (
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                    "        Master_post_SlaveBootup(d,nodeId);\n"+
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                    "}\n")
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                # register previously declared func as post_SlaveBootup callback for that node
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                format_dict["slavebootup_register"] += (
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                    "%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n"%(nodename,nodename))
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            else:
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                # Slave node
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                align = child_data.getSync_Align()
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                align_ratio=child_data.getSync_Align_Ratio()
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                if align > 0:
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                    format_dict["post_sync"] += (
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                        "static int %s_CalCount = 0;\n"%(nodename)+
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                        "static void %s_post_sync(CO_Data* d){\n"%(nodename)+
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                        "    if(%s_CalCount < %d){\n"%(nodename, align)+
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                        "        %s_CalCount++;\n"%(nodename)+
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                        "        align_tick(-1);\n"+
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                        "    }else{\n"+
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                        "        align_tick(%d);\n"%(align_ratio)+
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                        "    }\n"+
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                        "}\n")
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                    format_dict["post_sync_register"] += (
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                        "%s_Data.post_sync = %s_post_sync;\n"%(nodename,nodename))
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                format_dict["nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n    '%(
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                       nodename,
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                       child_data.getNodeId())
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            # Include generated OD headers
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            format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)
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            # Declare CAN channels according user filled config
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            format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(
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                   nodename,
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                   child_data.getCAN_Device(),
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                   child_data.getCAN_Baudrate())
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            format_dict["nodes_open"] += 'NODE_OPEN(%s)\n    '%(nodename)
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            format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n    '%(nodename)
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        if sys.platform == 'win32':
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            if self.CanFestivalInstance.getDebug_mode() and os.path.isfile(os.path.join("%s"%(format_dict["candriver"] + '_DEBUG.dll'))):
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                    format_dict["candriver"] += '_DEBUG.dll'
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            else:
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                format_dict["candriver"] += '.dll'
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        filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")
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        cf_main = open(filename).read() % format_dict
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        cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)
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        f = open(cf_main_path,'w')
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        f.write(cf_main)
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        f.close()
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        return [(cf_main_path, canfestival_config.getCFLAGS(CanFestivalPath))],canfestival_config.getLDFLAGS(CanFestivalPath), True
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7a473efc4530 More precise design for plugins.... to be continued...
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   382