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

    27

"""

    28

Dictionary of translation between access symbol and their signification

    29

"""

    30

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

    31

    32

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

    33

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

    34

    35

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

    36

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

    37

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

    38

    (0x1B, 0)]

    39

    40

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

    41

    42

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

    43

#                      Dictionary Mapping and Organisation

    44

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

    45

    46

"""

    47

Properties of entry structure in the Object Dictionary

    48

"""

    49

OD_Subindex = 1             # Entry has at least one subindex

    50

OD_MultipleSubindexes = 2   # Entry has more than one subindex

    51

OD_IdenticalSubindexes = 4  # Subindexes of entry have the same description

    52

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

    53

    54

"""

    55

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

    56

for all sorts of entries use in CAN Open specification

    57

"""

    58

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

    59

var = 1

    60

array = 3

    61

rec = 7

    62

# Entries identical on multiple indexes

    63

plurivar = 9

    64

pluriarray = 11 # Example : PDO Parameters

    65

plurirec = 15   # Example : PDO Mapping

    66

    67

"""

    68

MappingDictionary is the structure used for writing a good organised Object

    69

Dictionary. It follows the specifications of the CANOpen standard.

    70

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

    71

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

    72

"""

    73

    74

MappingDictionary = {

    75

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

    76

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

    77

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

    78

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

    79

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

    80

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

    81

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

    82

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

    83

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

    84

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

    85

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

    86

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

    87

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

    89

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

    90

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

    91

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

    92

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

    93

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

    94

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

    95

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

    96

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

    97

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

    98

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

    99

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

   100

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

   101

                [{"name" : "Device Type", "type" : 0x04, "access" : 'ro', "pdo" : False}]},

   102

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

   103

                [{"name" : "Error Register", "type" : 0x02, "access": 'ro', "pdo" : True}]},

   104

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

   105

                [{"name" : "Manufacturer Status Register", "type" : 0x04, "access" : 'ro', "pdo" : True}]},

   106

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

   107

                [{"name" : "Number of Errors", "type" : 0x04, "access" : 'rw', "pdo" : False},

   108

                 {"name" : "Standard Error Field", "type" : 0x04, "access" : 'ro', "pdo" : False, "nbmax" : 0xFE}]},

   109

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

   110

                [{"name" : "SYNC COB ID", "type" : 0x04, "access" : 'rw', "pdo" : False}]},

   111

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

   112

                [{"name" : "Communication Cycle Period", "type" : 0x04, "access" : 'rw', "pdo" : False}]},

   113

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

   114

                [{"name" : "Synchronous Window Length", "type" : 0x04, "access" : 'rw', "pdo" : False}]},

   115

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

   116

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

   117

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

   118

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

   119

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

   120

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

   121

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

   122

                [{"name" : "Guard Time", "type" : 0x03, "access" : 'rw', "pdo" : False}]},

   123

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

   124

                [{"name" : "Life Time Factor", "type" : 0x02, "access" : 'rw', "pdo" : False}]},

   125

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

   126

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   127

                 {"name" : "Save All Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},

   128

                 {"name" : "Save Communication Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},

   129

                 {"name" : "Save Application Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},

   130

                 {"name" : "Save Manufacturer Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},

   131

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

   132

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   133

                 {"name" : "Restore All Default Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},

   134

                 {"name" : "Restore Communication Default Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},

   135

                 {"name" : "Restore Application Default Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},

   136

                 {"name" : "Restore Manufacturer Default Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},

   137

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

   138

                [{"name" : "TIME COB ID", "type" : 0x04, "access" : 'rw', "pdo" : False}]},

   139

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

   140

                [{"name" : "High Resolution Time Stamp", "type" : 0x04, "access" : 'rw', "pdo" : True}]},

   141

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

   142

                [{"name" : "Emergency COB ID", "type" : 0x04, "access" : 'rw', "pdo" : False}]},

   143

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

   144

                [{"name" : "Inhibit Time Emergency", "type" : 0x03, "access" : 'rw', "pdo" : False}]},

   145

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

   146

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   147

                 {"name" : "Consumer Heartbeat Time", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x7F}]},

   148

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

   149

                [{"name" : "Producer Heartbeat Time", "type" : 0x03, "access" : 'rw', "pdo" : False}]},

   150

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

   151

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   152

                 {"name" : "Vendor ID", "type" : 0x04, "access" : 'ro', "pdo" : False},

   153

                 {"name" : "Product Code", "type" : 0x04, "access" : 'ro', "pdo" : False},

   154

                 {"name" : "Revision Number", "type" : 0x04, "access" : 'ro', "pdo" : False},

   155

                 {"name" : "Serial Number", "type" : 0x04, "access" : 'ro', "pdo" : False}]},

   156

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

   157

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   158

                 {"name" : "Configuration Date", "type" : 0x04, "access" : 'ro', "pdo" : False},

   159

                 {"name" : "Configuration Time", "type" : 0x04, "access" : 'ro', "pdo" : False}]},

   160

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

   161

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

   162

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

   163

#                [{"name" : "Storage Format", "type" : 0x04, "access" : 'rw', "pdo" : False}]},

   164

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

   165

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   166

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

   167

                 {"name" : "Status", "type" : 0x02, "access" : 'ro', "pdo" : False},

   168

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

   169

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

   170

                [{"name" : "OS Command Mode", "type" : 0x02, "access" : 'wo', "pdo" : False}]},

   171

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

   172

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   173

                 {"name" : "Command", "type" : 0x04, "access" : 'rw', "pdo" : False},

   174

                 {"name" : "Status", "type" : 0x04, "access" : 'ro', "pdo" : False},

   175

                 {"name" : "Reply", "type" : 0x04, "access" : 'ro', "pdo" : False}]},

   176

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

   177

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   178

                 {"name" : "StdIn", "type" : 0x02, "access" : 'wo', "pdo" : True},

   179

                 {"name" : "StdOut", "type" : 0x02, "access" : 'ro', "pdo" : True},

   180

                 {"name" : "StdErr", "type" : 0x02, "access" : 'ro', "pdo" : True}]},

   181

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

   182

                [{"name" : "Number of Connected Modules", "type" : 0x02, "access" : 'ro', "pdo" : False},

   183

                 {"name" : "Module %d[(sub)]", "type" : 0x03, "access" : 'ro', "pdo" : False, "nbmax" : 0xFE}]},

   184

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

   185

                [{"name" : "Number of Consumed Emergency Objects", "type" : 0x02, "access" : 'ro', "pdo" : False},

   186

                 {"name" : "Emergency Consumer", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x7E}]},

   187

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

   188

                [{"name" : "Number of Error Classes", "type" : 0x02, "access" : 'ro', "pdo" : False},

   189

                 {"name" : "Communication Error", "type" : 0x02, "access" : 'rw', "pdo" : False},

   190

                 {"name" : "Device Profile", "type" : 0x02, "access" : 'rw', "pdo" : False, "nbmax" : 0xFE}]},

   191

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

   192

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   193

                 {"name" : "COB ID Client to Server (Receive SDO)", "type" : 0x04, "access" : 'ro', "pdo" : False},

   194

                 {"name" : "COB ID Server to Client (Transmit SDO)", "type" : 0x04, "access" : 'ro', "pdo" : False}]},

   195

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

   196

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   197

                 {"name" : "COB ID Client to Server (Receive SDO)", "type" : 0x04, "access" : 'ro', "pdo" : False},

   198

                 {"name" : "COB ID Server to Client (Transmit SDO)", "type" : 0x04, "access" : 'ro', "pdo" : False},

   199

                 {"name" : "Node ID of the SDO Client", "type" : 0x04, "access" : 'ro', "pdo" : False}]},

   200

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

   201

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},

   202

                 {"name" : "COB ID Client to Server (Transmit SDO)", "type" : 0x04, "access" : 'rw', "pdo" : False},

   203

                 {"name" : "COB ID Server to Client (Receive SDO)", "type" : 0x04, "access" : 'rw', "pdo" : False},

   204

                 {"name" : "Node ID of the SDO Server", "type" : 0x04, "access" : 'rw', "pdo" : False}]},

   205

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

   206

                [{"name" : "Highest SubIndex Supported", "type" : 0x02, "access" : 'ro', "pdo" : False},

   207

                 {"name" : "COB ID used by PDO", "type" : 0x04, "access" : 'rw', "pdo" : False},

   208

                 {"name" : "Transmission Type", "type" : 0x02, "access" : 'rw', "pdo" : False},

   209

                 {"name" : "Inhibit Time", "type" : 0x03, "access" : 'rw', "pdo" : False},

   210

                 {"name" : "Compatibility Entry", "type" : 0x03, "access" : 'rw', "pdo" : False},

   211

                 {"name" : "Event Timer", "type" : 0x03, "access" : 'rw', "pdo" : False}]},

   212

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

   213

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'rw', "pdo" : False},

   214

                 {"name" : "PDO %d Mapping for an application object %d[(idx,sub)]", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x40}]},

   215

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

   216

                [{"name" : "Highest SubIndex Supported", "type" : 0x02, "access" : 'ro', "pdo" : False},

   217

                 {"name" : "COB ID used by PDO", "type" : 0x04, "access" : 'rw', "pdo" : False},

   218

                 {"name" : "Transmission Type", "type" : 0x02, "access" : 'rw', "pdo" : False},

   219

                 {"name" : "Inhibit Time", "type" : 0x03, "access" : 'rw', "pdo" : False},

   220

                 {"name" : "Compatibility Entry", "type" : 0x03, "access" : 'rw', "pdo" : False},

   221

                 {"name" : "Event Timer", "type" : 0x03, "access" : 'rw', "pdo" : False}]},

   222

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

   223

                [{"name" : "Number of Entries", "type" : 0x02, "access" : 'rw', "pdo" : False},

   224

                 {"name" : "PDO %d Mapping for a process data variable %d[(idx,sub)]", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x40}]},

   225

}

   226

   227

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

   228

#                          Definition of Node Object

   229

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

   230

   231

"""

   232

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

   233

that the structure of the Object Dictionary stay coherent

   234

"""

   235

   236

class Node:

   237

   238

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

   239

        self.Name = name

   240

        self.Type = type

   241

        self.ID = id

   242

        self.ProfileName = profilename

   243

        self.Profile = profile

   244

        self.SpecificMenu = specificmenu

   245

        self.Dictionary = {}

   246

        self.ParamsDictionary = {}

   247

        self.DS302 = {}

   248

        self.UserMapping = {}

   249

   250

    """

   251

    Return the node name

   252

    """

   253

    def GetNodeName(self):

   254

        return self.Name

   255

   256

    """

   257

    Define the node name

   258

    """

   259

    def SetNodeName(self, name):

   260

        self.Name = name

   261

   262

    """

   263

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

   264

    """

   265

    def GetNodeType(self):

   266

        return self.Type

   267

   268

    """

   269

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

   270

    """

   271

    def SetNodeType(self, type):

   272

        self.Type = type

   273

   274

    """

   275

    Return the node ID

   276

    """

   277

    def GetNodeID(self):

   278

        return self.ID

   279

   280

    """

   281

    Define the node ID

   282

    """

   283

    def SetNodeID(self, id):

   284

        self.ID = id

   285

   286

    """

   287

    Return the Specific Profile Name

   288

    """

   289

    def GetProfileName(self):

   290

        return self.ProfileName

   291

   292

    """

   293

    Define the Specific Profile Name

   294

    """

   295

    def SetProfileName(self, profilename):

   296

        self.ProfileName = profilename

   297

   298

    """

   299

    Return the Specific Profile

   300

    """

   301

    def GetProfile(self):

   302

        return self.Profile

   303

   304

    """

   305

    Define the Specific Profile

   306

    """

   307

    def SetProfile(self, profile):

   308

        self.Profile = profile

   309

   310

    """

   311

    Define the DS-302 Profile

   312

    """

   313

    def SetDS302Profile(self, profile):

   314

        self.DS302 = profile

   315

   316

    """

   317

    Define the DS-302 Profile

   318

    """

   319

    def GetDS302Profile(self):

   320

        return self.DS302

   321

   322

    """

   323

    Return the Specific Menu Entries

   324

    """

   325

    def GetSpecificMenu(self):

   326

        return self.SpecificMenu

   327

   328

    """

   329

    Define the Specific Menu Entries

   330

    """

   331

    def SetSpecificMenu(self, specificmenu):

   332

        self.SpecificMenu = specificmenu

   333

   334

    """

   335

    Extend the Specific Menu Entries

   336

    """

   337

   338

    def ExtendSpecificMenu(self, specificmenu):

   340

   341

    """

   342

    Function which return the different Mappings available for this node

   343

    """

   344

    def GetMappings(self, userdefinedtoo = True):

   345

        if userdefinedtoo:

   346

            return [self.Profile, self.DS302, self.UserMapping]

   347

        else:

   348

            return [self.Profile, self.DS302]

   349

   350

    """

   351

    Add a new entry in the Object Dictionary

   352

    """

   353

    def AddEntry(self, index, subIndex = None, value = None):

   354

        if index not in self.Dictionary:

   355

            if not subIndex:

   356

                self.Dictionary[index] = value

   357

                return True

   358

            elif subIndex == 1:

   359

                self.Dictionary[index] = [value]

   360

                return True

   361

        elif subIndex > 1 and type(self.Dictionary[index]) == ListType and subIndex == len(self.Dictionary[index]) + 1:

   362

            self.Dictionary[index].append(value)

   363

            return True

   364

        return False

   365

   366

    """

   367

    Warning ! Modifies an existing entry in the Object Dictionary. Can't add a new one.

   368

    """

   369

    def SetEntry(self, index, subIndex = None, value = None):

   370

        if index in self.Dictionary:

   371

            if not subIndex:

   372

                if value != None:

   373

                    self.Dictionary[index] = value

   374

                return True

   375

            elif type(self.Dictionary[index]) == ListType and 0 < subIndex <= len(self.Dictionary[index]):

   376

                if value != None:

   377

                    self.Dictionary[index][subIndex - 1] = value

   378

                return True

   379

        return False

   380

   381

    def SetParamsEntry(self, index, subIndex = None, comment = None, save = None, callback = None):

   382

        if not getattr(self, "ParamsDictionary", False):

   383

            self.ParamsDictionary = {}

   384

        if index in self.Dictionary:

   385

            if (comment != None or save != None or callback != None) and index not in self.ParamsDictionary:

   386

                self.ParamsDictionary[index] = {}

   387

            if subIndex == None or type(self.Dictionary[index]) != ListType and subIndex == 0:

   388

                if comment != None:

   389

                    self.ParamsDictionary[index]["comment"] = comment

   390

                if save != None:

   391

                    self.ParamsDictionary[index]["save"] = save

   392

                if callback != None:

   393

                    self.ParamsDictionary[index]["callback"] = callback

   394

                return True

   395

            elif type(self.Dictionary[index]) == ListType and 0 <= subIndex <= len(self.Dictionary[index]):

   396

                if (comment != None or save != None or callback != None) and subIndex not in self.ParamsDictionary[index]:

   397

                    self.ParamsDictionary[index][subIndex] = {}

   398

                if comment != None:

   399

                    self.ParamsDictionary[index][subIndex]["comment"] = comment

   400

                if save != None:

   401

                    self.ParamsDictionary[index][subIndex]["save"] = save

   402

                return True

   403

        return False

   404

   405

    """

   406

    Removes an existing entry in the Object Dictionary. If a subIndex is specified

   407

    it will remove this subIndex only if it's the last of the index. If no subIndex

   408

    is specified it removes the whole index and subIndexes from the Object Dictionary.

   409

    """

   410

    def RemoveEntry(self, index, subIndex = None):

   411

        if not getattr(self, "ParamsDictionary", False):

   412

            self.ParamsDictionary = {}

   413

        if index in self.Dictionary:

   414

            if not subIndex:

   415

                self.Dictionary.pop(index)

   416

                if index in self.ParamsDictionary:

   417

                    self.ParamsDictionary.pop(index)

   418

                return True

   419

            elif type(self.Dictionary[index]) == ListType and subIndex == len(self.Dictionary[index]):

   420

                self.Dictionary[index].pop(subIndex - 1)

   421

                if index in self.ParamsDictionary:

   422

                    if subIndex in self.ParamsDictionary[index]:

   423

                        self.ParamsDictionary[index].pop(subIndex)

   424

                    if len(self.ParamsDictionary[index]) == 0:

   425

                        self.ParamsDictionary.pop(index)

   426

                if len(self.Dictionary[index]) == 0:

   427

                    self.Dictionary.pop(index)

   428

                    if index in self.ParamsDictionary:

   429

                        self.ParamsDictionary.pop(index)

   430

                return True

   431

        return False

   432

   433

    """

   434

    Check if an entry exists in the Object Dictionary and returns the answer.

   435

    """

   436

    def IsEntry(self, index):

   437

        if index in self.Dictionary:

   438

            return True

   439

        return False

   440

   441

    """

   442

    Returns the value of the entry asked. If the entry has the value "count", it

   443

    returns the number of subIndex in the entry except the first.

   444

    """

   445

    def GetEntry(self, index, subIndex = None):

   446

        if index in self.Dictionary:

   447

            if subIndex == None:

   448

                if type(self.Dictionary[index]) == ListType:

   449

                    values = [len(self.Dictionary[index])]

   450

                    values.extend(self.Dictionary[index])

   451

                    return values

   452

                else:

   453

                    return self.Dictionary[index]

   454

            elif subIndex == 0:

   455

                if type(self.Dictionary[index]) == ListType:

   456

                    return len(self.Dictionary[index])

   457

                else:

   458

                    return self.Dictionary[index]

   459

            elif type(self.Dictionary[index]) == ListType and 0 < subIndex <= len(self.Dictionary[index]):

   460

                return self.Dictionary[index][subIndex - 1]

   461

        return None

   462

   463

    """

   464

    Returns the value of the entry asked. If the entry has the value "count", it

   465

    returns the number of subIndex in the entry except the first.

   466

    """

   467

    def GetParamsEntry(self, index, subIndex = None):

   468

        if not getattr(self, "ParamsDictionary", False):

   469

            self.ParamsDictionary = {}

   470

        if index in self.Dictionary:

   471

            if subIndex == None:

   472

                if type(self.Dictionary[index]) == ListType:

   473

                    if index in self.ParamsDictionary:

   474

                        result = []

   475

                        for i in xrange(len(self.Dictionary[index]) + 1):

   476

                            line = DefaultParams.copy()

   477

                            if i in self.ParamsDictionary[index]:

   478

                                line.update(self.ParamsDictionary[index][i])

   479

                            result.append(line)

   480

                        return result

   481

                    else:

   482

                        return [DefaultParams.copy() for i in xrange(len(self.Dictionary[index]) + 1)]

   483

                else:

   484

                    result = DefaultParams.copy()

   485

                    if index in self.ParamsDictionary:

   486

                        result.update(self.ParamsDictionary[index])

   487

                    return result

   488

            elif subIndex == 0 and type(self.Dictionary[index]) != ListType:

   489

                result = DefaultParams.copy()

   490

                if index in self.ParamsDictionary:

   491

                    result.update(self.ParamsDictionary[index])

   492

                return result

   493

            elif type(self.Dictionary[index]) == ListType and 0 <= subIndex <= len(self.Dictionary[index]):

   494

                result = DefaultParams.copy()

   495

                if index in self.ParamsDictionary and subIndex in self.ParamsDictionary[index]:

   496

                    result.update(self.ParamsDictionary[index][subIndex])

   497

                return result

   498

        return None

   499

   500

    def HasEntryCallbacks(self, index):

   501

        if not getattr(self, "ParamsDictionary", False):

   502

            self.ParamsDictionary = {}

   503

        if index in self.Dictionary and index in self.ParamsDictionary and "callback" in self.ParamsDictionary[index]:

   504

            return self.ParamsDictionary[index]["callback"]

   505

        return False

   506

   507

    """

   508

    Check if an entry exists in the User Mapping Dictionary and returns the answer.

   509

    """

   510

    def IsMappingEntry(self, index):

   511

        if index in self.UserMapping:

   512

            return True

   513

        return False

   514

   515

    """

   516

    Add a new entry in the User Mapping Dictionary

   517

    """

   518

    def AddMappingEntry(self, index, subIndex = None, name = "Undefined", struct = 0, size = None, nbmax = None, default = None, values = None):

   519

        if index not in self.UserMapping:

   520

            if values == None:

   521

                values = []

   522

            if subIndex == None:

   523

                self.UserMapping[index] = {"name" : name, "struct" : struct, "need" : False, "values" : values}

   524

                if size != None:

   525

                    self.UserMapping[index]["size"] = size

   526

                if nbmax != None:

   527

                    self.UserMapping[index]["nbmax"] = nbmax