author | leonid |
Wed, 08 Aug 2007 18:29:55 +0200 | |
changeset 255 | 7b9f36dbfe5f |
parent 253 | bf58ce630b88 |
child 258 | 8f7725451453 |
permissions | -rw-r--r-- |
205 | 1 |
#!/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 |
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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.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 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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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, self.Manager.ScriptDirectory) |
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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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OnCloseProjectMenu |
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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") |
205 | 163 |
if os.path.isfile(masterpath): |
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self.Manager.OpenFileInCurrent(masterpath) |
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else: |
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self.Manager.CreateNewNode("MasterNode", 0x00, "master", "", "None", "", "heartbeat", ["DS302"]) |
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return None |
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def SaveMasterNode(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 self.Manager.SaveCurrentInFile(masterpath): |
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return None |
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else: |
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return "Fail to save Master Node" |
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def LoadSlaveNodes(self, netname = None): |
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cpjpath = os.path.join(self.Root, "nodelist.cpj") |
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if os.path.isfile(cpjpath): |
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try: |
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networks = eds_utils.ParseCPJFile(cpjpath) |
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network = None |
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if netname: |
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for net in networks: |
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if net["Name"] == netname: |
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network = net |
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self.NetworkName = netname |
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elif len(networks) > 0: |
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network = networks[0] |
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self.NetworkName = network["Name"] |
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if network: |
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for nodeid, node in network["Nodes"].items(): |
205 | 195 |
if node["Present"] == 1: |
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result = self.AddSlaveNode(node["Name"], nodeid, node["DCFName"]) |
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if result != None: |
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return result |
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self.Changed = False |
205 | 200 |
except SyntaxError, message: |
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return "Unable to load CPJ file\n%s"%message |
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return None |
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def SaveNodeList(self, netname = None): |
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try: |
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cpjpath = os.path.join(self.Root, "nodelist.cpj") |
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content = eds_utils.GenerateCPJContent(self) |
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if netname: |
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file = open(cpjpath, "a") |
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else: |
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file = open(cpjpath, "w") |
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file.write(content) |
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file.close() |
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self.Changed = False |
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215 |
return None |
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except: |
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return "Fail to save node list" |
205 | 218 |
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219 |
def GetSlaveNodeEntry(self, nodeid, index, subindex = None): |
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220 |
if nodeid in self.SlaveNodes.keys(): |
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self.SlaveNodes[nodeid]["Node"].SetNodeID(nodeid) |
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return self.SlaveNodes[nodeid]["Node"].GetEntry(index, subindex) |
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223 |
else: |
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224 |
return "Node 0x%2.2X doesn't exist"%nodeid |
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225 |
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226 |
def GetMasterNodeEntry(self, index, subindex = None): |
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return self.Manager.GetCurrentEntry(index, subindex) |
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228 |
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229 |
def SetMasterNodeEntry(self, index, subindex = None, value = None): |
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230 |
self.Manager.SetCurrentEntry(index, subindex, value) |
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231 |
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232 |
def GetOrderNumber(self, nodeid): |
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233 |
nodeindexes = self.SlaveNodes.keys() |
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234 |
nodeindexes.sort() |
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235 |
return nodeindexes.index(nodeid) + 1 |
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236 |
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237 |
def GetNodeByOrder(self, order): |
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238 |
if order > 0: |
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239 |
nodeindexes = self.SlaveNodes.keys() |
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240 |
nodeindexes.sort() |
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241 |
print nodeindexes |
|
242 |
if order <= len(nodeindexes): |
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243 |
return self.SlaveNodes[nodeindexes[order - 1]]["Node"] |
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244 |
return None |
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245 |
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246 |
def IsCurrentEntry(self, index): |
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247 |
if self.CurrentSelected != None: |
|
248 |
if self.CurrentSelected == 0: |
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249 |
return self.Manager.IsCurrentEntry(index) |
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250 |
else: |
|
251 |
node = self.SlaveNodes[self.CurrentSelected]["Node"] |
|
252 |
if node: |
|
253 |
return node.IsEntry(index) |
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254 |
return False |
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255 |
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256 |
def GetEntryInfos(self, index): |
|
257 |
if self.CurrentSelected != None: |
|
258 |
if self.CurrentSelected == 0: |
|
259 |
return self.Manager.GetEntryInfos(index) |
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260 |
else: |
|
261 |
node = self.SlaveNodes[self.CurrentSelected]["Node"] |
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262 |
if node: |
|
263 |
return node.GetEntryInfos(index) |
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264 |
return None |
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265 |
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def GetSubentryInfos(self, index, subindex): |
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267 |
if self.CurrentSelected != None: |
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268 |
if self.CurrentSelected == 0: |
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269 |
return self.Manager.GetSubentryInfos(index, subindex) |
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else: |
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node = self.SlaveNodes[self.CurrentSelected]["Node"] |
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if node: |
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return node.GetSubentryInfos(index, subindex) |
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274 |
return None |
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|
205 | 276 |
def GetCurrentValidIndexes(self, min, max): |
277 |
if self.CurrentSelected != None: |
|
278 |
if self.CurrentSelected == 0: |
|
279 |
return self.Manager.GetCurrentValidIndexes(min, max) |
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280 |
else: |
|
281 |
node = self.SlaveNodes[self.CurrentSelected]["Node"] |
|
282 |
if node: |
|
283 |
validindexes = [] |
|
284 |
for index in node.GetIndexes(): |
|
285 |
if min <= index <= max: |
|
286 |
validindexes.append((node.GetEntryName(index), index)) |
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287 |
return validindexes |
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288 |
else: |
|
289 |
print "Can't find node" |
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290 |
return [] |
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291 |
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292 |
def GetCurrentEntryValues(self, index): |
|
293 |
if self.CurrentSelected != None: |
|
294 |
node = self.SlaveNodes[self.CurrentSelected]["Node"] |
|
295 |
if node: |
|
296 |
return self.Manager.GetNodeEntryValues(node, index) |
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297 |
else: |
|
298 |
print "Can't find node" |
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299 |
return [], [] |
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|
205 | 301 |
if __name__ == "__main__": |
302 |
from nodemanager import * |
|
303 |
import os, sys, shutil |
|
304 |
||
305 |
manager = NodeManager(sys.path[0]) |
|
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diff
changeset
|
306 |
|
205 | 307 |
nodelist = NodeList(manager) |
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lbessard
parents:
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diff
changeset
|
308 |
|
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lbessard
parents:
239
diff
changeset
|
309 |
result = nodelist.LoadProject("/home/laurent/test_nodelist") |
205 | 310 |
if result != None: |
311 |
print result |
|
312 |
else: |
|
313 |
print "MasterNode :" |
|
314 |
manager.CurrentNode.Print() |
|
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lbessard
parents:
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diff
changeset
|
315 |
|
205 | 316 |
for nodeid, node in nodelist.SlaveNodes.items(): |
317 |
print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid) |
|
318 |
node["Node"].Print() |
|
242
4864f7f01e1d
Changes in networkedit for integration with beremiz
lbessard
parents:
239
diff
changeset
|
319 |
|
4864f7f01e1d
Changes in networkedit for integration with beremiz
lbessard
parents:
239
diff
changeset
|
320 |