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#!/usr/bin/env python

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# -*- coding: utf-8 -*-

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#This file is part of CanFestival, a library implementing CanOpen Stack. 

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#

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#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD

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#

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#See COPYING file for copyrights details.

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#

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#This library is free software; you can redistribute it and/or

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#modify it under the terms of the GNU Lesser General Public

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#License as published by the Free Software Foundation; either

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#version 2.1 of the License, or (at your option) any later version.

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#

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#This library is distributed in the hope that it will be useful,

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#but WITHOUT ANY WARRANTY; without even the implied warranty of

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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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#Lesser General Public License for more details.

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#

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#You should have received a copy of the GNU Lesser General Public

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#License along with this library; if not, write to the Free Software

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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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import cPickle

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from types import *

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import re

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"""

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Dictionary of translation between access symbol and their signification

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"""

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AccessType = {"ro" : "Read Only", "wo" : "Write Only", "rw" : "Read/Write"}

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BoolType = {True : "True", False : "False"} 

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OptionType = {True : "Yes", False : "No"}

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CustomisableTypes = [(0x02, 0), (0x03, 0), (0x04, 0), (0x05, 0), (0x06, 0), (0x07, 0),

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    (0x08, 0), (0x09, 1), (0x0A, 1), (0x0B, 1), (0x10, 0), (0x11, 0), (0x12, 0),

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    (0x13, 0), (0x14, 0), (0x15, 0), (0x16, 0), (0x18, 0), (0x19, 0), (0x1A, 0),

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    (0x1B, 0)]

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DefaultParams = {"comment" : "", "save" : False}

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#-------------------------------------------------------------------------------

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#                      Dictionary Mapping and Organisation

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#-------------------------------------------------------------------------------

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"""

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Properties of entry structure in the Object Dictionary

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"""

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OD_Subindex = 1             # Entry has at least one subindex

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OD_MultipleSubindexes = 2   # Entry has more than one subindex

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OD_IdenticalSubindexes = 4  # Subindexes of entry have the same description

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OD_IdenticalIndexes = 8     # Entry has the same description on multiple indexes

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"""

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Structures of entry in the Object Dictionary, sum of the properties described above

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for all sorts of entries use in CAN Open specification

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"""

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nosub = 0 # Entry without subindex (only for type declaration)

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var = OD_Subindex

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array = OD_Subindex | OD_MultipleSubindexes

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rec = OD_Subindex | OD_MultipleSubindexes | OD_IdenticalSubindexes

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# Entries identical on multiple indexes

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plurivar = OD_Subindex | OD_IdenticalIndexes

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pluriarray = OD_Subindex | OD_MultipleSubindexes | OD_IdenticalIndexes # Example : PDO Parameters

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plurirec = OD_Subindex | OD_MultipleSubindexes | OD_IdenticalSubindexes |OD_IdenticalIndexes   # Example : PDO Mapping

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"""

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MappingDictionary is the structure used for writing a good organised Object

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Dictionary. It follows the specifications of the CANOpen standard.

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Change the informations within it if there is a mistake. But don't modify the

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organisation of this object, it will involve in a malfunction of the application.

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"""

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MappingDictionary = {

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    0x0001 : {"name" : "BOOLEAN", "struct" : nosub, "size" : 1, "default" : False, "values" : []},

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    0x0002 : {"name" : "INTEGER8", "struct" : nosub, "size" : 8, "default" : 0, "values" : []},

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    0x0003 : {"name" : "INTEGER16", "struct" : nosub, "size" : 16, "default" : 0, "values" : []},

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    0x0004 : {"name" : "INTEGER32", "struct" : nosub, "size" : 32, "default" : 0, "values" : []},

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    0x0005 : {"name" : "UNSIGNED8", "struct" : nosub, "size" : 8, "default" : 0, "values" : []},

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    0x0006 : {"name" : "UNSIGNED16", "struct" : nosub, "size" : 16, "default" : 0, "values" : []},

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    0x0007 : {"name" : "UNSIGNED32", "struct" : nosub, "size" : 32, "default" : 0, "values" : []},

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    0x0008 : {"name" : "REAL32", "struct" : nosub, "size" : 32, "default" : 0.0, "values" : []},

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    0x0009 : {"name" : "VISIBLE_STRING", "struct" : nosub, "size" : 8, "default" : "", "values" : []},

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    0x000A : {"name" : "OCTET_STRING", "struct" : nosub, "size" : 8, "default" : "", "values" : []},

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    0x000B : {"name" : "UNICODE_STRING", "struct" : nosub, "size" : 16, "default" : "", "values" : []},

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#    0x000C : {"name" : "TIME_OF_DAY", "struct" : nosub, "size" : 48, "default" : 0, "values" : []},

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#    0x000D : {"name" : "TIME_DIFFERENCE", "struct" : nosub, "size" : 48, "default" : 0, "values" : []},

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    0x000F : {"name" : "DOMAIN", "struct" : nosub, "size" : 0, "default" : "", "values" : []},

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    0x0010 : {"name" : "INTEGER24", "struct" : nosub, "size" : 24, "default" : 0, "values" : []},

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    0x0011 : {"name" : "REAL64", "struct" : nosub, "size" : 64, "default" : 0.0, "values" : []},

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    0x0012 : {"name" : "INTEGER40", "struct" : nosub, "size" : 40, "default" : 0, "values" : []},

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    0x0013 : {"name" : "INTEGER48", "struct" : nosub, "size" : 48, "default" : 0, "values" : []},

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    0x0014 : {"name" : "INTEGER56", "struct" : nosub, "size" : 56, "default" : 0, "values" : []},

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    0x0015 : {"name" : "INTEGER64", "struct" : nosub, "size" : 64, "default" : 0, "values" : []},

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    0x0016 : {"name" : "UNSIGNED24", "struct" : nosub, "size" : 24, "default" : 0, "values" : []},

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    0x0018 : {"name" : "UNSIGNED40", "struct" : nosub, "size" : 40, "default" : 0, "values" : []},

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    0x0019 : {"name" : "UNSIGNED48", "struct" : nosub, "size" : 48, "default" : 0, "values" : []},

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    0x001A : {"name" : "UNSIGNED56", "struct" : nosub, "size" : 56, "default" : 0, "values" : []},

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    0x001B : {"name" : "UNSIGNED64", "struct" : nosub, "size" : 64, "default" : 0, "values" : []},

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    0x1000 : {"name" : "Device Type", "struct" : var, "need" : True, "values" : 

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                [{"name" : "Device Type", "type" : 0x07, "access" : 'ro', "pdo" : False}]},

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    0x1001 : {"name" : "Error Register", "struct" : var,  "need" : True, "values" : 

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                [{"name" : "Error Register", "type" : 0x05, "access": 'ro', "pdo" : True}]},

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    0x1002 : {"name" : "Manufacturer Status Register", "struct" : var, "need" : False,  "values" :

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                [{"name" : "Manufacturer Status Register", "type" : 0x07, "access" : 'ro', "pdo" : True}]},

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    0x1003 : {"name" : "Pre-defined Error Field", "struct" : rec, "need" : False, "callback" : True,  "values" :

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                [{"name" : "Number of Errors", "type" : 0x05, "access" : 'rw', "pdo" : False},

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                 {"name" : "Standard Error Field", "type" : 0x07, "access" : 'ro', "pdo" : False, "nbmax" : 0xFE}]},

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    0x1005 : {"name" : "SYNC COB ID", "struct" : var, "need" : False, "callback" : True, "values" :

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                [{"name" : "SYNC COB ID", "type" : 0x07, "access" : 'rw', "pdo" : False}]},

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    0x1006 : {"name" : "Communication / Cycle Period", "struct" : var, "need" : False, "callback" : True, "values" :

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                [{"name" : "Communication Cycle Period", "type" : 0x07, "access" : 'rw', "pdo" : False}]},

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    0x1007 : {"name" : "Synchronous Window Length", "struct" : var, "need" : False, "values" :

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                [{"name" : "Synchronous Window Length", "type" : 0x07, "access" : 'rw', "pdo" : False}]},

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    0x1008 : {"name" : "Manufacturer Device Name", "struct" : var, "need" : False, "values" :

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                [{"name" : "Manufacturer Device Name", "type" : 0x09, "access" : 'ro', "pdo" : False}]},

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    0x1009 : {"name" : "Manufacturer Hardware Version", "struct" : var, "need" : False, "values" :

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                [{"name" : "Manufacturer Hardware Version", "type" : 0x09, "access" : 'ro', "pdo" : False}]},

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    0x100A : {"name" : "Manufacturer Software Version", "struct" : var, "need" : False, "values" :

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                [{"name" : "Manufacturer Software Version", "type" : 0x09, "access" : 'ro', "pdo" : False}]},

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    0x100C : {"name" : "Guard Time", "struct" : var, "need" : False, "values" :

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                [{"name" : "Guard Time", "type" : 0x06, "access" : 'rw', "pdo" : False}]},

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    0x100D : {"name" : "Life Time Factor", "struct" : var, "need" : False, "values" :

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                [{"name" : "Life Time Factor", "type" : 0x05, "access" : 'rw', "pdo" : False}]},

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    0x1010 : {"name" : "Store parameters", "struct" : array, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Save All Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},

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                 {"name" : "Save Communication Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},

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                 {"name" : "Save Application Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},

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                 {"name" : "Save Manufacturer Parameters %d[(sub - 3)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},

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    0x1011 : {"name" : "Restore Default Parameters", "struct" : array, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Restore All Default Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},

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                 {"name" : "Restore Communication Default Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},

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                 {"name" : "Restore Application Default Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},

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                 {"name" : "Restore Manufacturer Defined Default Parameters %d[(sub - 3)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},

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    0x1012 : {"name" : "TIME COB ID", "struct" : var, "need" : False, "values" :

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                [{"name" : "TIME COB ID", "type" : 0x07, "access" : 'rw', "pdo" : False}]},

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    0x1013 : {"name" : "High Resolution Timestamp", "struct" : var, "need" : False, "values" :

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                [{"name" : "High Resolution Time Stamp", "type" : 0x07, "access" : 'rw', "pdo" : True}]},

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    0x1014 : {"name" : "Emergency COB ID", "struct" : var, "need" : False, "values" :

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                [{"name" : "Emergency COB ID", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "\"$NODEID+0x80\""}]},

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    0x1015 : {"name" : "Inhibit Time Emergency", "struct" : var, "need" : False, "values" :

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                [{"name" : "Inhibit Time Emergency", "type" : 0x06, "access" : 'rw', "pdo" : False}]},

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    0x1016 : {"name" : "Consumer Heartbeat Time", "struct" : rec, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Consumer Heartbeat Time", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 1, "nbmax" : 0x7F}]},

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    0x1017 : {"name" : "Producer Heartbeat Time", "struct" : var, "need" : False, "callback" : True, "values" :

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                [{"name" : "Producer Heartbeat Time", "type" : 0x06, "access" : 'rw', "pdo" : False}]},

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    0x1018 : {"name" : "Identity", "struct" : array, "need" : True, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Vendor ID", "type" : 0x07, "access" : 'ro', "pdo" : False},

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                 {"name" : "Product Code", "type" : 0x07, "access" : 'ro', "pdo" : False},

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                 {"name" : "Revision Number", "type" : 0x07, "access" : 'ro', "pdo" : False},

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                 {"name" : "Serial Number", "type" : 0x07, "access" : 'ro', "pdo" : False}]},

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    0x1020 : {"name" : "Verify Configuration", "struct" : array, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Configuration Date", "type" : 0x07, "access" : 'ro', "pdo" : False},

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                 {"name" : "Configuration Time", "type" : 0x07, "access" : 'ro', "pdo" : False}]},

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#    0x1021 : {"name" : "Store EDS", "struct" : var, "need" : False, "values" :

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#                [{"name" : "Store EDS", "type" : 0x0F, "access" : 'rw', "pdo" : False}]},

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#    0x1022 : {"name" : "Storage Format", "struct" : var, "need" : False, "values" :

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#                [{"name" : "Storage Format", "type" : 0x06, "access" : 'rw', "pdo" : False}]},

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    0x1023 : {"name" : "OS Command", "struct" : array, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Command", "type" : 0x0A, "access" : 'rw', "pdo" : False},

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                 {"name" : "Status", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Reply", "type" : 0x0A, "access" : 'ro', "pdo" : False}]},

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    0x1024 : {"name" : "OS Command Mode", "struct" : var, "need" : False, "values" :

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                [{"name" : "OS Command Mode", "type" : 0x05, "access" : 'wo', "pdo" : False}]},

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    0x1025 : {"name" : "OS Debugger Interface", "struct" : array, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Command", "type" : 0x0A, "access" : 'rw', "pdo" : False},

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                 {"name" : "Status", "type" : 0x07, "access" : 'ro', "pdo" : False},

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                 {"name" : "Reply", "type" : 0x0A, "access" : 'ro', "pdo" : False}]},

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    0x1026 : {"name" : "OS Prompt", "struct" : array, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "StdIn", "type" : 0x05, "access" : 'wo', "pdo" : True},

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                 {"name" : "StdOut", "type" : 0x05, "access" : 'ro', "pdo" : True},

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                 {"name" : "StdErr", "type" : 0x05, "access" : 'ro', "pdo" : True}]},

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    0x1027 : {"name" : "Module List", "struct" : rec, "need" : False, "values" :

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                [{"name" : "Number of Connected Modules", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Module %d[(sub)]", "type" : 0x06, "access" : 'ro', "pdo" : False, "nbmin" : 1, "nbmax" : 0xFE}]},

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    0x1028 : {"name" : "Emergency Consumer", "struct" : rec, "need" : False, "values" :

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                [{"name" : "Number of Consumed Emergency Objects", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Emergency Consumer", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 1, "nbmax" : 0x7E}]},

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    0x1029 : {"name" : "Error Behavior", "struct" : array, "need" : False, "values" :

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                [{"name" : "Number of Error Classes", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "Communication Error", "type" : 0x05, "access" : 'rw', "pdo" : False},

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                 {"name" : "Device Profile", "type" : 0x05, "access" : 'rw', "pdo" : False, "nbmax" : 0xFE}]},

   192

    0x1200 : {"name" : "Server SDO Parameter", "struct" : array, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

   194

                 {"name" : "COB ID Client to Server (Receive SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False, "default" : "\"$NODEID+0x600\""},

   195

                 {"name" : "COB ID Server to Client (Transmit SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False, "default" : "\"$NODEID+0x580\""}]},

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    0x1201 : {"name" : "Additional Server SDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x7F, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

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                 {"name" : "COB ID Client to Server (Receive SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False},

   199

                 {"name" : "COB ID Server to Client (Transmit SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False},

   200

                 {"name" : "Node ID of the SDO Client", "type" : 0x05, "access" : 'ro', "pdo" : False}]},

   201

    0x1280 : {"name" : "Client SDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x100, "need" : False, "values" :

   202

                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},

   203

                 {"name" : "COB ID Client to Server (Transmit SDO)", "type" : 0x07, "access" : 'rw', "pdo" : False},

   204

                 {"name" : "COB ID Server to Client (Receive SDO)", "type" : 0x07, "access" : 'rw', "pdo" : False},

   205

                 {"name" : "Node ID of the SDO Server", "type" : 0x05, "access" : 'rw', "pdo" : False}]},

   206

    0x1400 : {"name" : "Receive PDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :

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                [{"name" : "Highest SubIndex Supported", "type" : 0x05, "access" : 'ro', "pdo" : False},

   208

                 {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "{True:\"$NODEID+0x%X00\"%(base+2),False:0x80000000}[base<4]"},

   209

                 {"name" : "Transmission Type", "type" : 0x05, "access" : 'rw', "pdo" : False},

   210

                 {"name" : "Inhibit Time", "type" : 0x06, "access" : 'rw', "pdo" : False},

   211

                 {"name" : "Compatibility Entry", "type" : 0x05, "access" : 'rw', "pdo" : False},

   212

                 {"name" : "Event Timer", "type" : 0x06, "access" : 'rw', "pdo" : False}]},

   213

    0x1600 : {"name" : "Receive PDO %d Mapping[(idx)]", "struct" : plurirec, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :

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                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'rw', "pdo" : False},

   215

                 {"name" : "PDO %d Mapping for an application object %d[(idx,sub)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 0, "nbmax" : 0x40}]},

   216

    0x1800 : {"name" : "Transmit PDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x200, "need" : False, "callback" : True, "values" :

   217

                [{"name" : "Highest SubIndex Supported", "type" : 0x05, "access" : 'ro', "pdo" : False},

   218

                 {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "{True:\"$NODEID+0x%X80\"%(base+1),False:0x80000000}[base<4]"},

   219

                 {"name" : "Transmission Type", "type" : 0x05, "access" : 'rw', "pdo" : False},

   220

                 {"name" : "Inhibit Time", "type" : 0x06, "access" : 'rw', "pdo" : False},

   221

                 {"name" : "Compatibility Entry", "type" : 0x05, "access" : 'rw', "pdo" : False},

   222

                 {"name" : "Event Timer", "type" : 0x06, "access" : 'rw', "pdo" : False}]},

   223

    0x1A00 : {"name" : "Transmit PDO %d Mapping[(idx)]", "struct" : plurirec, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :

   224

                [{"name" : "Number of Entries", "type" : 0x05, "access" : 'rw', "pdo" : False},

   225

                 {"name" : "PDO %d Mapping for a process data variable %d[(idx,sub)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 0, "nbmax" : 0x40}]},

   226

}

   227

   228

#-------------------------------------------------------------------------------

   229

#                         Search in a Mapping Dictionary

   230

#-------------------------------------------------------------------------------

   231

   232

"""

   233

Return the index of the typename given by searching in mappingdictionary 

   234

"""

   235

def FindTypeIndex(typename, mappingdictionary):

   236

    testdic = {}

   237

    for index, values in mappingdictionary.iteritems():

   238

        if index < 0x1000:

   239

            testdic[values["name"]] = index

   240

    if typename in testdic:

   241

        return testdic[typename]

   242

    return None

   243

   244

"""

   245

Return the name of the type by searching in mappingdictionary 

   246

"""

   247

def FindTypeName(typeindex, mappingdictionary):

   248

    if typeindex < 0x1000 and typeindex in mappingdictionary:

   249

        return mappingdictionary[typeindex]["name"]

   250

    return None

   251

   252

"""

   253

Return the default value of the type by searching in mappingdictionary 

   254

"""

   255

def FindTypeDefaultValue(typeindex, mappingdictionary):

   256

    if typeindex < 0x1000 and typeindex in mappingdictionary:

   257

        return mappingdictionary[typeindex]["default"]

   258

    return None

   259

   260

"""

   261

Return the list of types defined in mappingdictionary 

   262

"""

   263

def FindTypeList(mappingdictionary):

   264

    list = []

   265

    for index in mappingdictionary.keys():

   266

        if index < 0x1000:

   267

            list.append(mappingdictionary[index]["name"])

   268

    return list

   269

   270

"""

   271

Return the name of an entry by searching in mappingdictionary 

   272

"""

   273

def FindEntryName(index, mappingdictionary):

   274

    base_index = FindIndex(index, mappingdictionary)

   275

    if base_index:

   276

        infos = mappingdictionary[base_index]

   277

        if infos["struct"] & OD_IdenticalIndexes:

   278

            return StringFormat(infos["name"], (index - base_index) / infos["incr"] + 1, 0)

   279

        else:

   280

            return infos["name"]

   281

    return None

   282

   283

"""

   284

Return the informations of one entry by searching in mappingdictionary 

   285

"""

   286

def FindEntryInfos(index, mappingdictionary):

   287

    base_index = FindIndex(index, mappingdictionary)

   288

    if base_index:

   289

        copy = mappingdictionary[base_index].copy()

   290

        if copy["struct"] & OD_IdenticalIndexes:

   291

            copy["name"] = StringFormat(copy["name"], (index - base_index) / copy["incr"] + 1, 0)

   292

        copy.pop("values")

   293

        return copy

   294

    return None

   295

   296

"""

   297

Return the informations of one subentry of an entry by searching in mappingdictionary 

   298

"""

   299

def FindSubentryInfos(index, subIndex, mappingdictionary):

   300

    base_index = FindIndex(index, mappingdictionary)

   301

    if base_index:

   302

        struct = mappingdictionary[base_index]["struct"]

   303

        if struct & OD_IdenticalIndexes:

   304

            incr = mappingdictionary[base_index]["incr"]

   305

        else:

   306

            incr = 1

   307

        if struct & OD_Subindex:

   308

            infos = None

   309

            if struct & OD_IdenticalSubindexes:

   310

                if subIndex == 0:

   311

                    infos = mappingdictionary[base_index]["values"][0].copy()

   312

                elif 0 < subIndex <= mappingdictionary[base_index]["values"][1]["nbmax"]:

   313

                    infos = mappingdictionary[base_index]["values"][1].copy()

   314

            elif struct & OD_MultipleSubindexes:

   315

                idx = 0

   316

                for subindex_infos in mappingdictionary[base_index]["values"]:

   317

                    if "nbmax" in subindex_infos:

   318

                        if idx <= subIndex < idx + subindex_infos["nbmax"]:

   319

                            infos = subindex_infos.copy()

   320

                            break;

   321

                        idx += subindex_infos["nbmax"]

   322

                    else:

   323

                        if subIndex == idx:

   324

                            infos = subindex_infos.copy()

   325

                            break;

   326

                        idx += 1

   327

            elif subIndex == 0:

   328

                infos = mappingdictionary[base_index]["values"][0].copy()

   329

            if infos is not None:

   330

                infos["name"] = StringFormat(infos["name"], (index - base_index) / incr + 1, subIndex)

   331

            return infos

   332

    return None

   333

   334

"""

   335

Return the list of variables that can be mapped defined in mappingdictionary 

   336

"""

   337

def FindMapVariableList(mappingdictionary, Node):

   338

    list = []

   339

    for index in mappingdictionary.iterkeys():

   340

        if Node.IsEntry(index):

   341

            for subIndex, values in enumerate(mappingdictionary[index]["values"]):

   342

                if mappingdictionary[index]["values"][subIndex]["pdo"]:

   343

                    infos = Node.GetEntryInfos(mappingdictionary[index]["values"][subIndex]["type"])

   344

                    if mappingdictionary[index]["struct"] & OD_IdenticalSubindexes:

   345

                        values = Node.GetEntry(index)

   346

                        for i in xrange(len(values) - 1):

   347

                            list.append((index, i + 1, infos["size"], StringFormat(mappingdictionary[index]["values"][subIndex]["name"],1,i+1)))

   348

                    else:

   349

                        list.append((index, subIndex, infos["size"], mappingdictionary[index]["values"][subIndex]["name"]))

   350

    return list

   351

   352

"""

   353

Return the list of mandatory indexes defined in mappingdictionary 

   354

"""

   355

def FindMandatoryIndexes(mappingdictionary):

   356

    list = []

   357

    for index in mappingdictionary.iterkeys():

   358

        if index >= 0x1000 and mappingdictionary[index]["need"]:

   359

            list.append(index)

   360

    return list

   361

   362

"""

   363

Return the index of the informations in the Object Dictionary in case of identical

   364

indexes

   365

"""

   366

def FindIndex(index, mappingdictionary):

   367

    if index in mappingdictionary:

   368

        return index

   369

    else:

   370

        listpluri = [idx for idx in mappingdictionary.keys() if mappingdictionary[idx]["struct"] & OD_IdenticalIndexes]

   371

        listpluri.sort()

   372

        for idx in listpluri:

   373

            nb_max = mappingdictionary[idx]["nbmax"]

   374

            incr = mappingdictionary[idx]["incr"]

   375

            if idx < index < idx + incr * nb_max and (index - idx)%incr == 0:

   376

                return idx

   377

    return None

   378

   379

#-------------------------------------------------------------------------------

   380

#                           Formating Name of an Entry

   381

#-------------------------------------------------------------------------------

   382

   383

name_model = re.compile('(.*)\[(.*)\]')

   384

   385

"""

   386

Format the text given with the index and subindex defined

   387

"""

   388

def StringFormat(text, idx, sub):

   389

    result = name_model.match(text)

   390

    if result:

   391

        format = result.groups()

   392

        return format[0]%eval(format[1])

   393

    else:

   394

        return text

   395

   396

#-------------------------------------------------------------------------------

   397

#                          Definition of Node Object

   398

#-------------------------------------------------------------------------------

   399

   400

"""

   401

Class recording the Object Dictionary entries. It checks at each modification

   402

that the structure of the Object Dictionary stay coherent

   403

"""

   404

   405

class Node:

   406

   407

    DefaultStringSize = 10

   408

   409

    def __init__(self, name = "", type = "slave", id = 0, description = "", profilename = "DS-301", profile = {}, specificmenu = []):

   410

        self.Name = name

   411

        self.Type = type

   412

        self.ID = id

   413

        self.Description = description

   414

        self.ProfileName = profilename

   415

        self.Profile = profile

   416

        self.SpecificMenu = specificmenu

   417

        self.Dictionary = {}

   418

        self.ParamsDictionary = {}

   419

        self.DS302 = {}

   420

        self.UserMapping = {}

   421

   422

    """

   423

    Return the node name

   424

    """

   425

    def GetNodeName(self):

   426

        return self.Name

   427

   428

    """

   429

    Define the node name

   430

    """

   431

    def SetNodeName(self, name):

   432

        self.Name = name

   433

   434

    """

   435

    Return the node type ("master" or "slave")

   436

    """

   437

    def GetNodeType(self):

   438

        return self.Type

   439

   440

    """

   441

    Define the node type ("master" or "slave")

   442

    """

   443

    def SetNodeType(self, type):

   444

        self.Type = type

   445

   446

    """

   447

    Return the node ID

   448

    """

   449

    def GetNodeID(self):

   450

        return self.ID

   451

   452

    """

   453

    Define the node ID

   454

    """

   455

    def SetNodeID(self, id):

   456

        self.ID = id

   457

   458

    """

   459

    Return the node description

   460

    """

   461

    def GetNodeDescription(self):

   462

        if getattr(self, "Description", False):

   463

            return self.Description

   464

        else:

   465

            return ""

   466

   467

    """

   468

    Define the node description

   469

    """

   470

    def SetNodeDescription(self, description):

   471

        self.Description = description

   472

   473

    """

   474

    Return the Specific Profile Name

   475

    """

   476

    def GetProfileName(self):

   477

        return self.ProfileName

   478

   479

    """

   480

    Define the Specific Profile Name

   481

    """

   482

    def SetProfileName(self, profilename):

   483

        self.ProfileName = profilename

   484

   485

    """

   486

    Return the Specific Profile

   487

    """

   488

    def GetProfile(self):

   489

        return self.Profile

   490

   491

    """

   492

    Define the Specific Profile

   493

    """

   494

    def SetProfile(self, profile):

   495

        self.Profile = profile

   496

   497

    """

   498

    Return the default string size

   499

    """

   500

    def GetDefaultStringSize(self):

   501

        return self.DefaultStringSize

   502