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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):

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            result = self.Manager.OpenFileInCurrent(masterpath)

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        else:

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            result = self.Manager.CreateNewNode("MasterNode", 0x00, "master", "", "None", "", "heartbeat", ["DS302"])

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        if not isinstance(result, types.IntType):

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            return result

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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():

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                        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

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            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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            return None

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        except:

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            return "Fail to save node list"

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    def GetSlaveNodeEntry(self, nodeid, index, subindex = None):

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        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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        else:

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            return "Node 0x%2.2X doesn't exist"%nodeid

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    def GetMasterNodeEntry(self, index, subindex = None):

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        return self.Manager.GetCurrentEntry(index, subindex)

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    def SetMasterNodeEntry(self, index, subindex = None, value = None):

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        self.Manager.SetCurrentEntry(index, subindex, value)

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    def GetOrderNumber(self, nodeid):

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        nodeindexes = self.SlaveNodes.keys()

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        nodeindexes.sort()

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        return nodeindexes.index(nodeid) + 1

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    def GetNodeByOrder(self, order):

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        if order > 0:

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            nodeindexes = self.SlaveNodes.keys()

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            nodeindexes.sort()

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            if order <= len(nodeindexes):

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                return self.SlaveNodes[nodeindexes[order - 1]]["Node"]

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        return None

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    def IsCurrentEntry(self, index):

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        if self.CurrentSelected != None:

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            if self.CurrentSelected == 0:

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                return self.Manager.IsCurrentEntry(index)

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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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                    node.SetNodeID(self.CurrentSelected)

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                    return node.IsEntry(index)

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        return False

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    def GetEntryInfos(self, index):

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        if self.CurrentSelected != None:

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            if self.CurrentSelected == 0:

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                return self.Manager.GetEntryInfos(index)

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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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                    node.SetNodeID(self.CurrentSelected)

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                    return node.GetEntryInfos(index)

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        return None

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    def GetSubentryInfos(self, index, subindex):

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        if self.CurrentSelected != None:

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            if self.CurrentSelected == 0:

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                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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                    node.SetNodeID(self.CurrentSelected)

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                    return node.GetSubentryInfos(index, subindex)

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        return None

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    def GetCurrentValidIndexes(self, min, max):

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        if self.CurrentSelected != None:

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            if self.CurrentSelected == 0:

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                return self.Manager.GetCurrentValidIndexes(min, max)

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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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                    node.SetNodeID(self.CurrentSelected)

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                    validindexes = []

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                    for index in node.GetIndexes():

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                        if min <= index <= max:

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                            validindexes.append((node.GetEntryName(index), index))

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                    return validindexes

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                else:

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                    print "Can't find node"

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        return []

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    def GetCurrentEntryValues(self, index):

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        if self.CurrentSelected != None:

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            node = self.SlaveNodes[self.CurrentSelected]["Node"]

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            if node:

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                node.SetNodeID(self.CurrentSelected)

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                return self.Manager.GetNodeEntryValues(node, index)

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            else:

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                print "Can't find node"

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        return [], []

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    def AddToMasterDCF(self, node_id, index, subindex, size, value):

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        # Adding DCF entry into Master node

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        if not self.Manager.IsCurrentEntry(0x1F22):

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            self.Manager.ManageEntriesOfCurrent([0x1F22], [])

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        self.Manager.AddSubentriesToCurrent(0x1F22, 127)

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        self.Manager.AddToDCF(node_id, index, subindex, size, value)

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if __name__ == "__main__":

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    from nodemanager import *

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    import os, sys, shutil

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    manager = NodeManager(sys.path[0])

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    nodelist = NodeList(manager)

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    result = nodelist.LoadProject("/home/laurent/test_nodelist")

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    if result != None:

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        print result

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    else:

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        print "MasterNode :"

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        manager.CurrentNode.Print()

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        print 

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        for nodeid, node in nodelist.SlaveNodes.items():

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            print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)

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            node["Node"].Print()

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            print

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