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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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import os, shutil

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from lxml import etree

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import wx

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import csv

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from xmlclass import *

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from ConfigTreeNode import ConfigTreeNode, XSDSchemaErrorMessage

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from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY

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from EthercatSlave import ExtractHexDecValue, ExtractName

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from EthercatMaster import _EthercatCTN

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from 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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EtherCATInfo_XPath = lambda xpath: 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], 

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        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:

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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:

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    MODULES_EXTRA_PARAMS = [

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        ("pdo_alignment", {

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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": _(

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"Minimal size in bits between 2 pdo entries")}),

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        ("max_pdo_size", {

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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": _(

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"""Maximal number of entries mapped in a PDO

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including empty entries used for PDO alignment""")}),

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        ("add_pdo", {

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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": _(

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"""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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    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, exc:

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                    self.modules_infos, error = None, unicode(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(group_type, 

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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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                    for device in self.devices_xpath(self.modules_infos):

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                        device_group = device.getGroupType()

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                        if not vendor_category["groups"].has_key(device_group):

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                            raise ValueError, "Not such group \"%\"" % 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 %s XML file:\n%s") % (filepath, 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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    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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                             for param in extra_params])

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        csvfile.close()

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    def SetModuleExtraParam(self, vendor, product_code, revision_number, param, value):

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        vendor = ExtractHexDecValue(vendor)

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        product_code = ExtractHexDecValue(product_code)

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        revision_number = ExtractHexDecValue(revision_number)

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        module_infos = (vendor, product_code, revision_number)

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        self.ModulesExtraParams.setdefault(module_infos, {})

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        self.ModulesExtraParams[module_infos][param] = value

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        self.SaveModulesExtraParams()

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    def GetModuleExtraParams(self, vendor, product_code, revision_number):

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        vendor = ExtractHexDecValue(vendor)

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        product_code = ExtractHexDecValue(product_code)

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        revision_number = ExtractHexDecValue(revision_number)

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   367

        if self.ParentLibrary is not None:

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            extra_params = self.ParentLibrary.GetModuleExtraParams(vendor, product_code, revision_number)

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        else:

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            extra_params = {}

   371

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        extra_params.update(self.ModulesExtraParams.get((vendor, product_code, revision_number), {}))

   373

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        for param, param_infos in self.MODULES_EXTRA_PARAMS:

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            extra_params.setdefault(param, param_infos["default"])

   376

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        return extra_params

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USERDATA_DIR = wx.StandardPaths.Get().GetUserDataDir()

   380

if wx.Platform != '__WXMSW__':

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    USERDATA_DIR += '_files'

   382

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ModulesDatabase = ModulesLibrary(

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    os.path.join(USERDATA_DIR, "ethercat_modules"))

   385

   386

class RootClass:

   387

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    CTNChildrenTypes = [("EthercatNode",_EthercatCTN,"Ethercat Master")]

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    EditorType = LibraryEditor

   390

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    def __init__(self):

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        self.ModulesLibrary = None

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        self.LoadModulesLibrary()

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    def GetIconName(self):

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        return "Ethercat"

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    def GetModulesLibraryPath(self, project_path=None):

   400

        if project_path is None:

   401

            project_path = self.CTNPath()

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        return os.path.join(project_path, "modules") 

   403

   404

    def OnCTNSave(self, from_project_path=None):

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        if from_project_path is not None:

   406

            shutil.copytree(self.GetModulesLibraryPath(from_project_path),

   407

                            self.GetModulesLibraryPath())

   408

        return True

   409

   410

    def CTNGenerate_C(self, buildpath, locations):

   411

        return [],"",False

   412

   413

    def LoadModulesLibrary(self):

   414

        if self.ModulesLibrary is None:

   415

            self.ModulesLibrary = ModulesLibrary(self.GetModulesLibraryPath(), ModulesDatabase)

   416

        else:

   417

            self.ModulesLibrary.LoadModulesLibrary()

   418

   419

    def GetModulesDatabaseInstance(self):

   420

        return ModulesDatabase

   421

   422

    def GetModulesLibraryInstance(self):

   423

        return self.ModulesLibrary

   424

   425

    def GetModulesLibrary(self, profile_filter=None):

   426

        return self.ModulesLibrary.GetModulesLibrary(profile_filter)

   427

   428

    def GetVendors(self):

   429

        return self.ModulesLibrary.GetVendors()

   430

   431

    def GetModuleInfos(self, module_infos):

   432

        return self.ModulesLibrary.GetModuleInfos(module_infos)

   433