objdictgen/nodelist.py
author lbessard
Mon, 10 Dec 2007 16:25:18 +0100
changeset 336 42ab55532da8
parent 327 b904d9a99e28
child 337 9aab477d8a8a
permissions -rw-r--r--
Bug on DCF edition fixed
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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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from node import *
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import eds_utils
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import os, shutil, types
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#-------------------------------------------------------------------------------
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#                          Definition of NodeList Object
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#-------------------------------------------------------------------------------
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"""
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Class recording a node list for a CANOpen network.
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"""
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class NodeList:
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    def __init__(self, manager, netname = ""):
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        self.Root = ""
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        self.EDSFolder = ""
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        self.Manager = manager
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        self.NetworkName = netname
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        self.SlaveNodes = {}
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        self.EDSNodes = {}
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        self.CurrentSelected = None
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        self.Changed = False
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    def HasChanged(self):
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        return self.Changed or not self.Manager.CurrentIsSaved()
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    def ForceChanged(self, changed):
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        self.Changed = changed
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    def GetNetworkName(self):
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        return self.NetworkName
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    def SetNetworkName(self, name):
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        self.NetworkName = name
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    def GetManager(self):
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        return self.Manager
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    def GetRoot(self):
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        return self.Root
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    def SetRoot(self, newrootpath):
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        """
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        Define a new path for the CanOpen network project
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        !!! Does not check if new path is valid !!!
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        """
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        self.Root = newrootpath
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        self.Manager.SetCurrentFilePath(os.path.join(self.Root, "master.od"))
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    def GetSlaveNumber(self):
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        return len(self.SlaveNodes)
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    def GetSlaveNames(self):
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        nodes = self.SlaveNodes.keys()
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        nodes.sort()
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        return ["0x%2.2X %s"%(idx, self.SlaveNodes[idx]["Name"]) for idx in nodes]
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    def GetSlaveIDs(self):
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        nodes = self.SlaveNodes.keys()
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        nodes.sort()
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        return nodes
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    def SetCurrentSelected(self, selected):
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        self.CurrentSelected = selected
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    def GetCurrentSelected(self):
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        return self.CurrentSelected
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    def LoadProject(self, root, netname = None):
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        self.SlaveNodes = {}
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        self.EDSNodes = {}
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        self.Root = root
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        if not os.path.exists(self.Root):
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            return "\"%s\" folder doesn't exist"%self.Root
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        self.EDSFolder = os.path.join(self.Root, "eds")
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        if not os.path.exists(self.EDSFolder):
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            os.mkdir(self.EDSFolder)
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            #return "\"%s\" folder doesn't contain a \"eds\" folder"%self.Root
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        files = os.listdir(self.EDSFolder)
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        for file in files:
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            filepath = os.path.join(self.EDSFolder, file)
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            if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".eds":
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                result = self.LoadEDS(file)
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                if result != None:
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                    return result
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        result = self.LoadMasterNode(netname)
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        if result != None:
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            return result
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        result = self.LoadSlaveNodes(netname)
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        if result != None:
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            return result
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        self.NetworkName = netname
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    def SaveProject(self, netname = None):
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        result = self.SaveMasterNode(netname)
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        if result != None:
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            return result
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        result = self.SaveNodeList(netname)
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        if result != None:
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            return result
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    def ImportEDSFile(self, edspath):
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        dir, file = os.path.split(edspath)
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        eds = os.path.join(self.EDSFolder, file)
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        if os.path.isfile(eds):
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            return "EDS file already imported"
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        else:
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            shutil.copy(edspath, self.EDSFolder)
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            return self.LoadEDS(file)
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    def LoadEDS(self, eds):
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        edspath = os.path.join(self.EDSFolder, eds)
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        node = eds_utils.GenerateNode(edspath)
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        if isinstance(node, Node):
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            self.EDSNodes[eds] = node
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            return None
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        else:
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            return node
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    def AddSlaveNode(self, nodeName, nodeID, eds):
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        if eds in self.EDSNodes.keys():
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            slave = {"Name" : nodeName, "EDS" : eds, "Node" : self.EDSNodes[eds]}
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            self.SlaveNodes[nodeID] = slave
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            self.Changed = True
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            return None
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        else:
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            return "\"%s\" EDS file is not available"%eds
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    def RemoveSlaveNode(self, index):
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        if index in self.SlaveNodes.keys():
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            self.SlaveNodes.pop(index)
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            return None
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        else:
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            return "Node with \"0x%2.2X\" ID doesn't exist"
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    def LoadMasterNode(self, netname = None):
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        if netname:
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            masterpath = os.path.join(self.Root, "%s_master.od"%netname)
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        else:
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            masterpath = os.path.join(self.Root, "master.od")
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        if os.path.isfile(masterpath):
268
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diff changeset
   173
            result = self.Manager.OpenFileInCurrent(masterpath)
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diff changeset
   174
        else:
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diff changeset
   175
            result = self.Manager.CreateNewNode("MasterNode", 0x00, "master", "", "None", "", "heartbeat", ["DS302"])
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diff changeset
   176
        if not isinstance(result, types.IntType):
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diff changeset
   177
            return result
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diff changeset
   178
        return None
205
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diff changeset
   179
    
242
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diff changeset
   180
    def SaveMasterNode(self, netname = None):
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diff changeset
   181
        if netname:
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   182
            masterpath = os.path.join(self.Root, "%s_master.od"%netname)
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diff changeset
   183
        else:
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   184
            masterpath = os.path.join(self.Root, "master.od")
205
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   185
        if self.Manager.SaveCurrentInFile(masterpath):
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   186
            return None
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   187
        else:
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   188
            return "Fail to save Master Node"
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diff changeset
   189
    
242
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diff changeset
   190
    def LoadSlaveNodes(self, netname = None):
205
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   191
        cpjpath = os.path.join(self.Root, "nodelist.cpj")
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diff changeset
   192
        if os.path.isfile(cpjpath):
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   193
            try:
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   194
                networks = eds_utils.ParseCPJFile(cpjpath)
242
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diff changeset
   195
                network = None
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diff changeset
   196
                if netname:
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diff changeset
   197
                    for net in networks:
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   198
                        if net["Name"] == netname:
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   199
                            network = net
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   200
                    self.NetworkName = netname
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diff changeset
   201
                elif len(networks) > 0:
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diff changeset
   202
                    network = networks[0]
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   203
                    self.NetworkName = network["Name"]
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   204
                if network:
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   205
                    for nodeid, node in network["Nodes"].items():
205
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   206
                        if node["Present"] == 1:
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   207
                            result = self.AddSlaveNode(node["Name"], nodeid, node["DCFName"])
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   208
                            if result != None:
242
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   209
                                return result        
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   210
                self.Changed = False
205
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   211
            except SyntaxError, message:
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   212
                return "Unable to load CPJ file\n%s"%message
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   213
        return None
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diff changeset
   214
    
242
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diff changeset
   215
    def SaveNodeList(self, netname = None):
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diff changeset
   216
        try:
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diff changeset
   217
            cpjpath = os.path.join(self.Root, "nodelist.cpj")
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diff changeset
   218
            content = eds_utils.GenerateCPJContent(self)
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diff changeset
   219
            if netname:
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diff changeset
   220
                file = open(cpjpath, "a")
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diff changeset
   221
            else:
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diff changeset
   222
                file = open(cpjpath, "w")
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diff changeset
   223
            file.write(content)
4864f7f01e1d Changes in networkedit for integration with beremiz
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diff changeset
   224
            file.close()
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diff changeset
   225
            self.Changed = False
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diff changeset
   226
            return None
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diff changeset
   227
        except:
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diff changeset
   228
            return "Fail to save node list"
205
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diff changeset
   229
    
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   230
    def GetSlaveNodeEntry(self, nodeid, index, subindex = None):
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   231
        if nodeid in self.SlaveNodes.keys():
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   232
            self.SlaveNodes[nodeid]["Node"].SetNodeID(nodeid)
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   233
            return self.SlaveNodes[nodeid]["Node"].GetEntry(index, subindex)
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   234
        else:
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   235
            return "Node 0x%2.2X doesn't exist"%nodeid
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diff changeset
   236
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   237
    def GetMasterNodeEntry(self, index, subindex = None):
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   238
        return self.Manager.GetCurrentEntry(index, subindex)
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diff changeset
   239
        
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   240
    def SetMasterNodeEntry(self, index, subindex = None, value = None):
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   241
        self.Manager.SetCurrentEntry(index, subindex, value)
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diff changeset
   242
    
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   243
    def GetOrderNumber(self, nodeid):
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   244
        nodeindexes = self.SlaveNodes.keys()
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   245
        nodeindexes.sort()
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   246
        return nodeindexes.index(nodeid) + 1
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diff changeset
   247
    
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diff changeset
   248
    def GetNodeByOrder(self, order):
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   249
        if order > 0:
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   250
            nodeindexes = self.SlaveNodes.keys()
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diff changeset
   251
            nodeindexes.sort()
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diff changeset
   252
            if order <= len(nodeindexes):
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diff changeset
   253
                return self.SlaveNodes[nodeindexes[order - 1]]["Node"]
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diff changeset
   254
        return None
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parents:
diff changeset
   255
    
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diff changeset
   256
    def IsCurrentEntry(self, index):
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diff changeset
   257
        if self.CurrentSelected != None:
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parents:
diff changeset
   258
            if self.CurrentSelected == 0:
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diff changeset
   259
                return self.Manager.IsCurrentEntry(index)
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diff changeset
   260
            else:
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diff changeset
   261
                node = self.SlaveNodes[self.CurrentSelected]["Node"]
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   262
                if node:
273
58b39f97e352 Some bugs fixed
lbessard
parents: 272
diff changeset
   263
                    node.SetNodeID(self.CurrentSelected)
205
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parents:
diff changeset
   264
                    return node.IsEntry(index)
dac0f9b4e3f8 Adding program for network management
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   265
        return False
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parents:
diff changeset
   266
    
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diff changeset
   267
    def GetEntryInfos(self, index):
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diff changeset
   268
        if self.CurrentSelected != None:
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diff changeset
   269
            if self.CurrentSelected == 0:
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diff changeset
   270
                return self.Manager.GetEntryInfos(index)
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diff changeset
   271
            else:
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   272
                node = self.SlaveNodes[self.CurrentSelected]["Node"]
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diff changeset
   273
                if node:
273
58b39f97e352 Some bugs fixed
lbessard
parents: 272
diff changeset
   274
                    node.SetNodeID(self.CurrentSelected)
205
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diff changeset
   275
                    return node.GetEntryInfos(index)
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diff changeset
   276
        return None
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parents:
diff changeset
   277
242
4864f7f01e1d Changes in networkedit for integration with beremiz
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diff changeset
   278
    def GetSubentryInfos(self, index, subindex):
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diff changeset
   279
        if self.CurrentSelected != None:
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diff changeset
   280
            if self.CurrentSelected == 0:
4864f7f01e1d Changes in networkedit for integration with beremiz
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diff changeset
   281
                return self.Manager.GetSubentryInfos(index, subindex)
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diff changeset
   282
            else:
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diff changeset
   283
                node = self.SlaveNodes[self.CurrentSelected]["Node"]
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diff changeset
   284
                if node:
273
58b39f97e352 Some bugs fixed
lbessard
parents: 272
diff changeset
   285
                    node.SetNodeID(self.CurrentSelected)
242
4864f7f01e1d Changes in networkedit for integration with beremiz
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diff changeset
   286
                    return node.GetSubentryInfos(index, subindex)
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diff changeset
   287
        return None
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diff changeset
   288
205
dac0f9b4e3f8 Adding program for network management
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diff changeset
   289
    def GetCurrentValidIndexes(self, min, max):
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diff changeset
   290
        if self.CurrentSelected != None:
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   291
            if self.CurrentSelected == 0:
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parents:
diff changeset
   292
                return self.Manager.GetCurrentValidIndexes(min, max)
dac0f9b4e3f8 Adding program for network management
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parents:
diff changeset
   293
            else:
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diff changeset
   294
                node = self.SlaveNodes[self.CurrentSelected]["Node"]
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diff changeset
   295
                if node:
273
58b39f97e352 Some bugs fixed
lbessard
parents: 272
diff changeset
   296
                    node.SetNodeID(self.CurrentSelected)
205
dac0f9b4e3f8 Adding program for network management
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parents:
diff changeset
   297
                    validindexes = []
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diff changeset
   298
                    for index in node.GetIndexes():
dac0f9b4e3f8 Adding program for network management
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diff changeset
   299
                        if min <= index <= max:
dac0f9b4e3f8 Adding program for network management
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diff changeset
   300
                            validindexes.append((node.GetEntryName(index), index))
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parents:
diff changeset
   301
                    return validindexes
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parents:
diff changeset
   302
                else:
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parents:
diff changeset
   303
                    print "Can't find node"
dac0f9b4e3f8 Adding program for network management
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parents:
diff changeset
   304
        return []
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parents:
diff changeset
   305
    
dac0f9b4e3f8 Adding program for network management
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diff changeset
   306
    def GetCurrentEntryValues(self, index):
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lbessard
parents:
diff changeset
   307
        if self.CurrentSelected != None:
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parents:
diff changeset
   308
            node = self.SlaveNodes[self.CurrentSelected]["Node"]
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   309
            if node:
273
58b39f97e352 Some bugs fixed
lbessard
parents: 272
diff changeset
   310
                node.SetNodeID(self.CurrentSelected)
205
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   311
                return self.Manager.GetNodeEntryValues(node, index)
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   312
            else:
dac0f9b4e3f8 Adding program for network management
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parents:
diff changeset
   313
                print "Can't find node"
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   314
        return [], []
242
4864f7f01e1d Changes in networkedit for integration with beremiz
lbessard
parents: 239
diff changeset
   315
    
327
b904d9a99e28 Adding DCFEditor Dialog to networkedit
lbessard
parents: 293
diff changeset
   316
    def AddToMasterDCF(self, node_id, index, subindex, size, value):
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lbessard
parents: 293
diff changeset
   317
        # Adding DCF entry into Master node
b904d9a99e28 Adding DCFEditor Dialog to networkedit
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parents: 293
diff changeset
   318
        if not self.Manager.IsCurrentEntry(0x1F22):
b904d9a99e28 Adding DCFEditor Dialog to networkedit
lbessard
parents: 293
diff changeset
   319
            self.Manager.AddCurrentEntry(0x1F22, 1, "")
b904d9a99e28 Adding DCFEditor Dialog to networkedit
lbessard
parents: 293
diff changeset
   320
        self.Manager.AddSubentriesToCurrent(0x1F22, 127)
b904d9a99e28 Adding DCFEditor Dialog to networkedit
lbessard
parents: 293
diff changeset
   321
b904d9a99e28 Adding DCFEditor Dialog to networkedit
lbessard
parents: 293
diff changeset
   322
        self.Manager.AddToDCF(node_id, index, subindex, size, value)
b904d9a99e28 Adding DCFEditor Dialog to networkedit
lbessard
parents: 293
diff changeset
   323
    
205
dac0f9b4e3f8 Adding program for network management
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parents:
diff changeset
   324
if __name__ == "__main__":
dac0f9b4e3f8 Adding program for network management
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parents:
diff changeset
   325
    from nodemanager import *
dac0f9b4e3f8 Adding program for network management
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parents:
diff changeset
   326
    import os, sys, shutil
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   327
    
dac0f9b4e3f8 Adding program for network management
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parents:
diff changeset
   328
    manager = NodeManager(sys.path[0])
242
4864f7f01e1d Changes in networkedit for integration with beremiz
lbessard
parents: 239
diff changeset
   329
    
205
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   330
    nodelist = NodeList(manager)
242
4864f7f01e1d Changes in networkedit for integration with beremiz
lbessard
parents: 239
diff changeset
   331
    
4864f7f01e1d Changes in networkedit for integration with beremiz
lbessard
parents: 239
diff changeset
   332
    result = nodelist.LoadProject("/home/laurent/test_nodelist")
205
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   333
    if result != None:
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   334
        print result
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   335
    else:
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   336
        print "MasterNode :"
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   337
        manager.CurrentNode.Print()
242
4864f7f01e1d Changes in networkedit for integration with beremiz
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parents: 239
diff changeset
   338
        print 
205
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   339
        for nodeid, node in nodelist.SlaveNodes.items():
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   340
            print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)
dac0f9b4e3f8 Adding program for network management
lbessard
parents:
diff changeset
   341
            node["Node"].Print()
242
4864f7f01e1d Changes in networkedit for integration with beremiz
lbessard
parents: 239
diff changeset
   342
            print
4864f7f01e1d Changes in networkedit for integration with beremiz
lbessard
parents: 239
diff changeset
   343