1

#!/usr/bin/env python

     2

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

     3

     4

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

     5

#

     6

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

     7

#

     8

#See COPYING file for copyrights details.

     9

#

    10

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

    11

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

    12

#License as published by the Free Software Foundation; either

    13

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

    14

#

    15

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

    16

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

    17

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

    18

#Lesser General Public License for more details.

    19

#

    20

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

    21

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

    22

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

    23

    24

import cPickle

    25

from types import *

    26

import re

    27

    28

"""

    29

Dictionary of translation between access symbol and their signification

    30

"""

    31

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

    32

    33

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

    34

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

    35

    36

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

    37

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

    38

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

    39

    (0x1B, 0)]

    40

    41

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

    42

    43

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

    44

#                      Dictionary Mapping and Organisation

    45

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

    46

    47

"""

    48

Properties of entry structure in the Object Dictionary

    49

"""

    50

OD_Subindex = 1             # Entry has at least one subindex

    51

OD_MultipleSubindexes = 2   # Entry has more than one subindex

    52

OD_IdenticalSubindexes = 4  # Subindexes of entry have the same description

    53

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

    54

    55

"""

    56

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

    57

for all sorts of entries use in CAN Open specification

    58

"""

    59

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

    60

var = OD_Subindex

    61

array = OD_Subindex | OD_MultipleSubindexes

    62

rec = OD_Subindex | OD_MultipleSubindexes | OD_IdenticalSubindexes

    63

# Entries identical on multiple indexes

    64

plurivar = OD_Subindex | OD_IdenticalIndexes

    65

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

    66

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

    67

    68

"""

    69

MappingDictionary is the structure used for writing a good organised Object

    70

Dictionary. It follows the specifications of the CANOpen standard.

    71

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

    72

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

    73

"""

    74

    75

MappingDictionary = {

    76

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

    77

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

    78

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

    79

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

    80

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

    81

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

    82

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

    83

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

    84

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

    85

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

    86

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

    87

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

    88

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

    89

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

    90

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

    91

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

    92

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

    93

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

    94

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

    95

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

    96

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

    97

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

    98

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

    99

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

   100

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

   101

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

   102

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

   103

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

   104

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

   105

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

   106

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

   107

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

   108

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

   109

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

   110

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

   111

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

   112

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

   113

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

   114

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

   115

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

   116

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

   117

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

   118

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

   119

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

   120

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

   121

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

   122

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

   123

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

   124

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

   125

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

   126

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

   127

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

   128

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

   129

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

   130

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

   131

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

   132

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

   133

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

   134

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

   135

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

   136

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

   137

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

   138

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

   139

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

   140

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

   141

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

   142

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

   143

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

   144

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

   145

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

   146

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

   147

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

   148

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

   149

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

   150

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

   151

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

   152

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

   153

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

   154

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

   155

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

   156

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

   157

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

   158

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

   159

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

   160

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

   161

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

   162

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

   163

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

   164

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

   165

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

   166

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

   167

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

   168

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

   169

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

   170

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

   171

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

   172

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

   173

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

   174

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

   175

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

   176

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

   177

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

   178

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

   179

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

   180

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

   181

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

   182

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

   183

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

   184

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

   185

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

   186

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

   187

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

   188

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

   189

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

   190

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

   191

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

   192

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

   193

                [{"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\""}]},

   196

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

   197

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

   198

                 {"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" :

   207

                [{"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" :

   214

                [{"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, compute=True):

   274

    base_index = FindIndex(index, mappingdictionary)

   275

    if base_index:

   276

        infos = mappingdictionary[base_index]

   277

        if infos["struct"] & OD_IdenticalIndexes and compute:

   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, compute=True):

   287

    base_index = FindIndex(index, mappingdictionary)

   288

    if base_index:

   289

        copy = mappingdictionary[base_index].copy()

   290

        if copy["struct"] & OD_IdenticalIndexes and compute:

   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, compute=True):

   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 and compute:

   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, compute=True):

   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

                    name = mappingdictionary[index]["values"][subIndex]["name"]

   345

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

   346

                        values = Node.GetEntry(index)

   347

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

   348

                            computed_name = name

   349

                            if compute:

   350

                                computed_name = StringFormat(computed_name, 1, i + 1)

   351

                            list.append((index, i + 1, infos["size"], computed_name))

   352

                    else:

   353

                        computed_name = name

   354

                        if compute:

   355

                            computed_name = StringFormat(computed_name, 1, subIndex)

   356

                        list.append((index, subIndex, infos["size"], computed_name))

   357

    return list

   358

   359

"""

   360

Return the list of mandatory indexes defined in mappingdictionary 

   361

"""

   362

def FindMandatoryIndexes(mappingdictionary):

   363

    list = []

   364

    for index in mappingdictionary.iterkeys():

   365

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

   366

            list.append(index)

   367

    return list

   368

   369

"""

   370

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

   371

indexes

   372

"""

   373

def FindIndex(index, mappingdictionary):

   374

    if index in mappingdictionary:

   375

        return index

   376

    else:

   377

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

   378

        listpluri.sort()

   379

        for idx in listpluri:

   380

            nb_max = mappingdictionary[idx]["nbmax"]

   381

            incr = mappingdictionary[idx]["incr"]

   382

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

   383

                return idx

   384

    return None

   385

   386

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

   387

#                           Formating Name of an Entry

   388

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

   389

   390

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

   391

   392

"""

   393

Format the text given with the index and subindex defined

   394

"""

   395

def StringFormat(text, idx, sub):

   396

    result = name_model.match(text)

   397

    if result:

   398

        format = result.groups()

   399

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

   400

    else:

   401

        return text

   402

   403

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

   404

#                          Definition of Node Object

   405

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

   406

   407

"""

   408

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

   409

that the structure of the Object Dictionary stay coherent

   410

"""

   411

   412

class Node:

   413

   414

    DefaultStringSize = 10

   415

   416

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

   417

        self.Name = name

   418

        self.Type = type

   419

        self.ID = id

   420

        self.Description = description

   421

        self.ProfileName = profilename

   422

        self.Profile = profile

   423

        self.SpecificMenu = specificmenu

   424

        self.Dictionary = {}

   425

        self.ParamsDictionary = {}

   426

        self.DS302 = {}

   427

        self.UserMapping = {}

   428

   429

    """

   430

    Return the node name

   431

    """

   432

    def GetNodeName(self):

   433

        return self.Name

   434

   435

    """

   436

    Define the node name

   437

    """

   438

    def SetNodeName(self, name):

   439

        self.Name = name

   440

   441

    """

   442

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

   443

    """

   444

    def GetNodeType(self):

   445

        return self.Type

   446

   447

    """

   448

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

   449

    """

   450

    def SetNodeType(self, type):

   451

        self.Type = type

   452

   453

    """

   454

    Return the node ID

   455

    """

   456

    def GetNodeID(self):

   457

        return self.ID

   458

   459

    """

   460

    Define the node ID

   461

    """

   462

    def SetNodeID(self, id):

   463

        self.ID = id

   464

   465

    """

   466

    Return the node description

   467

    """

   468

    def GetNodeDescription(self):

   469

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

   470

            return self.Description

   471

        else:

   472

            return ""

   473

   474

    """

   475

    Define the node description

   476

    """

   477

    def SetNodeDescription(self, description):

   478

        self.Description = description

   479

   480

    """

   481

    Return the Specific Profile Name

   482

    """

   483

    def GetProfileName(self):

   484

        return self.ProfileName

   485

   486

    """

   487

    Define the Specific Profile Name

   488

    """

   489

    def SetProfileName(self, profilename):

   490

        self.ProfileName = profilename

   491

   492

    """

   493

    Return the Specific Profile

   494

    """

   495

    def GetProfile(self):

   496

        return self.Profile

   497

   498

    """

   499

    Define the Specific Profile

   500

    """

   501

    def SetProfile(self, profile):