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7 # RTES Lab : CRKim, JBLee, youcu |
7 # RTES Lab : CRKim, JBLee, youcu |
8 # Higen Motor : Donggu Kang |
8 # Higen Motor : Donggu Kang |
9 # |
9 # |
10 # See COPYING file for copyrights details. |
10 # See COPYING file for copyrights details. |
11 |
11 |
12 from __future__ import absolute_import |
12 |
13 import os |
13 import os |
14 from copy import deepcopy |
14 from copy import deepcopy |
15 from functools import reduce |
15 from functools import reduce |
16 from lxml import etree |
16 from lxml import etree |
17 |
17 |
296 try: |
296 try: |
297 self.Config, error = \ |
297 self.Config, error = \ |
298 EtherCATConfigParser.LoadXMLString(config_xmlfile.read()) |
298 EtherCATConfigParser.LoadXMLString(config_xmlfile.read()) |
299 if error is None: |
299 if error is None: |
300 config_is_saved = True |
300 config_is_saved = True |
301 except Exception, e: |
301 except Exception as e: |
302 error = e.message |
302 error = e.message |
303 config_xmlfile.close() |
303 config_xmlfile.close() |
304 |
304 |
305 if error is not None: |
305 if error is not None: |
306 self.GetCTRoot().logger.write_error( |
306 self.GetCTRoot().logger.write_error( |
649 device, _module_extra_params = self.GetModuleInfos(type_infos) |
649 device, _module_extra_params = self.GetModuleInfos(type_infos) |
650 if device is not None: |
650 if device is not None: |
651 # Test OD |
651 # Test OD |
652 entries = device.GetEntriesList(limits) |
652 entries = device.GetEntriesList(limits) |
653 #entries = self.CTNParent.GetEntriesList() |
653 #entries = self.CTNParent.GetEntriesList() |
654 entries_list = entries.items() |
654 entries_list = list(entries.items()) |
655 entries_list.sort() |
655 entries_list.sort() |
656 entries = [] |
656 entries = [] |
657 current_index = None |
657 current_index = None |
658 current_entry = {} |
658 current_entry = {} |
659 for (index, _subindex), entry in entries_list: |
659 for (index, _subindex), entry in entries_list: |
815 if sync_manager_direction: |
815 if sync_manager_direction: |
816 sync_managers.append(LOCATION_VAR_OUTPUT) |
816 sync_managers.append(LOCATION_VAR_OUTPUT) |
817 else: |
817 else: |
818 sync_managers.append(LOCATION_VAR_INPUT) |
818 sync_managers.append(LOCATION_VAR_INPUT) |
819 |
819 |
820 entries = device.GetEntriesList().items() |
820 entries = list(device.GetEntriesList().items()) |
821 entries.sort() |
821 entries.sort() |
822 for (index, subindex), entry in entries: |
822 for (index, subindex), entry in entries: |
823 var_size = self.GetSizeOfType(entry["Type"]) |
823 var_size = self.GetSizeOfType(entry["Type"]) |
824 if var_size is not None: |
824 if var_size is not None: |
825 var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None) |
825 var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None) |