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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 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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EtherCATBaseParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATBase.xsd"))

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    43

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def EtherCATBase_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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# Read DefaultValue from ESI file

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# Add by jblee 151229

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ENTRY_INFOS_KEYS_FOR_DV = [

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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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    ("DefaultValue", str, ""),

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    ("Sub_entry_flag", str, "0")]

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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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        if len(args) > 9:

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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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        else:

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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_FOR_DV, 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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    cls.DataTypes = None

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    profile_numbers_xpath = EtherCATInfo_XPath("Profile/ProfileNo")

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   119

    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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    # Modify by jblee

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    def ExtractDataTypes(self):

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        #self.DataTypes = {}

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        #self.DT = {}

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        DT = {}

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        objects = []

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        # get Profile Field

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        for profile in self.getProfile():

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            # get each (ProfileNo, Dictionary) Field as child

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            for child in profile.getchildren():

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                # child.text is not None -> ProfileNo, is None -> Dictionary

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                if child.text is None:

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                    # get each (DataTypes, Objects) Field 

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                    dataTypes = child.getDataTypes()

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                    objects = child.getObjects()

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                    for dataType in dataTypes.getDataType():

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                        #if dataType.getName() is not None:

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                        #    print dataType.getName(), dataType

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                        DT[dataType.getName()] = dataType

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        return DT, objects

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    setattr(cls, "ExtractDataTypes", ExtractDataTypes)

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    def GetEntriesList(self, limits=None):

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        DataTypes, objects = self.ExtractDataTypes()

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        entries = {}

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        # get each Object Field

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        for object in objects:

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            # Object Field mendatory : Index, Name, Type, BitSize

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            # Frequently Use : Info, Flags

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            # Info Field -> DefaultData, SubItem

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            # Flags Field -> Access, Category, PdoMapping

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            object_index = object.getIndex().getcontent()

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            index = ExtractHexDecValue(object_index)

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            if limits is None or limits[0] <= index <= limits[1]:

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                object_type = object.getType()

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                object_name = ExtractName(object.getName())

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                object_size = object.getBitSize()

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                defaultData = ""

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                object_access = ""

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                object_PDOMapping_data = ""

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                object_type_infos = DataTypes.get(object_type, None)

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                subItem_infos = object_type_infos.getchildren()

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                countSubIndex = 0

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                if len(subItem_infos) > 2:

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                    for subItem_info in subItem_infos:

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                        if subItem_info.tag == "SubItem" : 

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                            subItemName = subItem_info.getName()

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                            subIdx = subItem_info.getSubIdx()

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                            if subIdx is not None:

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                                object_subidx = ExtractHexDecValue(subIdx)

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                            else:

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                                object_subidx = ExtractHexDecValue(countSubIndex)

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                            subType = subItem_info.getType()

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                            subBitSize = subItem_info.getBitSize()

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                            subFlags = subItem_info.getFlags()

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                            subAccess = ""

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                            subPDOMapping_data = ""

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                            if subFlags is not None:

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                                subAccess = subFlags.getAccess().getcontent()

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                                subPDOMapping = subFlags.getPdoMapping()                                                        

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                                if subPDOMapping is not None:

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                                    subPDOMapping_data = subFlags.getPdoMapping().upper()

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                            entries[(index, object_subidx)] = {

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                                "Index": object_index,

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                                "SubIndex": subIdx,

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                                "Name": "%s - %s" % 

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                                    (object_name.decode("utf-8"),

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                                     subItemName.decode("utf-8")),

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                                "Type": subType,

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                                "BitSize": subBitSize,

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                                "Access": subAccess, 

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                                "PDOMapping": subPDOMapping_data}

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                            countSubIndex += 1

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                    info = object.getInfo()

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                    # subItemTest : check subItem 

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                    countSubIndex = 0

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                    if info is not None:

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                        subItems = info.getchildren()

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                        if len(subItems) > 1:

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                            for subItem in subItems:

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                                defaultdata_subidx = ExtractHexDecValue(countSubIndex)

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                                defaultData = subItem.getchildren()[1].findtext("DefaultData")

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                                entry = entries.get((index, defaultdata_subidx), None)

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                                if entry is not None:

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                                    entry["DefaultData"] = defaultData

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                                countSubIndex += 1

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                else :

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                    info = object.getInfo()

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                    if info is not None:

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                        subItems = info.getchildren()

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                        if len(subItems) <= 1:

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                            defaultData = subItems[0].text

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                    object_flag = object.getFlags()

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                    object_access = object_flag.getAccess().getcontent()

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                    object_PDOMapping = object_flag.getPdoMapping()

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                    if object_PDOMapping is not None:

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                        object_PDOMapping_data = object_flag.getPdoMapping().upper()

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                    entries[(index, 0)] = {

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                        "Index": object_index,

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                        "SubIndex": "0",

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                        "Name": object_name,                                                               

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                        "Type": object_type,

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                        "BitSize": object_size,

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                        "DefaultData" : defaultData,

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                        "Access": object_access, 

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                        "PDOMapping": object_PDOMapping_data}

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        for TxPdo in self.getTxPdo():

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            ExtractPdoInfos(TxPdo, "Transmit", entries, limits)

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        for RxPdo in self.getRxPdo():

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            ExtractPdoInfos(RxPdo, "Receive", entries, limits)

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        return entries

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    setattr(cls, "GetEntriesList", GetEntriesList)

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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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#        

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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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def ExtractPdoInfos(pdo, pdo_type, entries, limits=None):

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    pdo_index = pdo.getIndex().getcontent()

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    pdo_name = ExtractName(pdo.getName())

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    exclude = pdo.getExclude()

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    for pdo_entry in pdo.getEntry():

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        entry_index = pdo_entry.getIndex().getcontent()

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        entry_subindex = pdo_entry.getSubIndex()

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        index = ExtractHexDecValue(entry_index)

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        subindex = ExtractHexDecValue(entry_subindex)

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        object_size = pdo_entry.getBitLen()

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   320

        if limits is None or limits[0] <= index <= limits[1]:

   321

            entry = entries.get((index, subindex), None)

   322

            if entry is not None:

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                entry["PDO index"] = pdo_index

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                entry["PDO name"] = pdo_name

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                entry["PDO type"] = pdo_type

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            else:

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                entry_type = pdo_entry.getDataType()

   328

                if entry_type is not None:

   329

                    if pdo_type == "Transmit":

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                        access = "ro"

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                        pdomapping = "T"

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                    else:

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                        access = "wo"

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                        pdomapping = "R"

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                    entries[(index, subindex)] = {

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                        "Index": entry_index,

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                        "SubIndex": entry_subindex,

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                        "Name": ExtractName(pdo_entry.getName()),

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                        "Type": entry_type.getcontent(),

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                        "BitSize": object_size,

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                        "Access": access,

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                        "PDOMapping": pdomapping}

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   344

class ModulesLibrary(object):

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   346

    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)""")

   375

            }

   376

        )

   377

    ]

   378

   379

    def __init__(self, path, parent_library=None):

   380

        self.Path = path

   381

        if not os.path.exists(self.Path):

   382

            os.makedirs(self.Path)

   383

        self.ParentLibrary = parent_library

   384

   385

        if parent_library is not None:

   386

            self.LoadModules()

   387

        else:

   388

            self.Library = None

   389

        self.LoadModulesExtraParams()

   390

   391

    def GetPath(self):

   392

        return self.Path

   393

   394

    def GetModulesExtraParamsFilePath(self):

   395

        return os.path.join(self.Path, "modules_extra_params.cfg")

   396

   397

    groups_xpath = EtherCATInfo_XPath("Descriptions/Groups/Group")

   398

    devices_xpath = EtherCATInfo_XPath("Descriptions/Devices/Device")

   399

    module_xpath = EtherCATBase_XPath("Descriptions/Modules/Module")

   400

   401

    def LoadModules(self):

   402

        self.Library = {}

   403

        # add by jblee for Modular Device Profile

   404

        self.MDPList = []

   405

        self.ModuleList = []

   406

        self.MDPEntryList = {}

   407

        dtDic = {}

   408

        self.idxIncrement = 0

   409

        self.slotIncrement = 0

   410

        # add by jblee for PDO Mapping

   411

        self.DataTypes = {}

   412

        self.ObjectDictionary = {}

   413

   414

        files = os.listdir(self.Path)

   415

        for file in files:

   416

            filepath = os.path.join(self.Path, file)

   417

            if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml":

   418

                self.modules_infos = None

   419

   420

                xmlfile = open(filepath, 'r')

   421

                try:

   422

                    self.modules_infos, error = EtherCATInfoParser.LoadXMLString(xmlfile.read())

   423

                    # if error is not None:

   424

                    #     self.GetCTRoot().logger.write_warning(

   425

                    #         XSDSchemaErrorMessage % (filepath + error))

   426

                except Exception as exc:

   427

                    self.modules_infos, error = None, str(exc)

   428

                xmlfile.close()

   429

   430

                if self.modules_infos is not None:

   431

                    vendor = self.modules_infos.getVendor()

   432

   433

                    vendor_category = self.Library.setdefault(

   434

                        ExtractHexDecValue(vendor.getId()),

   435

                        {"name": ExtractName(vendor.getName(), _("Miscellaneous")),

   436

                         "groups": {}})

   437

   438

                    for group in self.groups_xpath(self.modules_infos):

   439

                        group_type = group.getType()

   440

                        # add for XmlToEeprom Func by jblee.

   441

                        self.LcId_data = group.getchildren()[1]

   442

                        self.Image16x14_data = group.getchildren()[2]

   443

   444

                        vendor_category["groups"].setdefault(

   445

                            group_type,

   446

                            {

   447

                                "name": ExtractName(group.getName(), group_type),

   448

                                "parent": group.getParentGroup(),

   449

                                "order": group.getSortOrder(),

   450

                                "devices": [],

   451

                                # add jblee for support Moduler Device Profile (MDP)

   452

                                "modules": []})

   453

                            })

   454

   455

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

   456

                        device_group = device.getGroupType()

   457

                        if device_group not in vendor_category["groups"]:

   458

                            raise ValueError("Not such group \"%s\"" % device_group)

   459

                        vendor_category["groups"][device_group]["devices"].append(

   460

                            (device.getType().getcontent(), device))

   461

   462

                        # ------------------ Test Section --------------------#

   463

                        slots = device.getSlots()

   464

                        if slots is not None:

   465

                            for slot in slots.getSlot():

   466

                                self.idxIncrement = slot.getSlotIndexIncrement()

   467

                                self.slotIncrement = slot.getSlotPdoIncrement()

   468

                                for child in slot.getchildren():

   469

                                    if child.tag == "ModuleClass":

   470

                                        child_class = child.getClass()

   471

                                        child_name = child.getName()

   472

   473

                    # -------------------- Test Section ----------------------------------# 

   474

                        LocalMDPList = []

   475

                        for module in self.module_xpath(self.modules_infos):

   476

                            module_type = module.getType().getModuleClass()

   477

                            module_name = module.getName()

   478

                            LocalMDPData = ExtractName(module_name) + " (" + module_type + ")"

   479

   480

                            self.ModuleList.append(module)

   481

                            try :

   482

                                module_pdos = module.getTxPdo()

   483

                                module_pdos += module.getRxPdo()

   484

                                for module_pdo in module_pdos:

   485

                                    device_name = ExtractName(module_name)

   486

                                    pdo_index = module_pdo.getIndex().getcontent()

   487

                                    pdo_name = ExtractName(module_pdo.getName())

   488

                                    pdo_entry = module_pdo.getEntry()

   489

                                    if module_pdo.tag == "TxPdo":

   490