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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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import cPickle

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from types import *

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import re

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"""

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Dictionary of translation between access symbol and their signification

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"""

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

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

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

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

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

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

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    (0x1B, 0)]

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

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

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#                      Dictionary Mapping and Organisation

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

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"""

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Properties of entry structure in the Object Dictionary

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"""

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OD_Subindex = 1             # Entry has at least one subindex

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OD_MultipleSubindexes = 2   # Entry has more than one subindex

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OD_IdenticalSubindexes = 4  # Subindexes of entry have the same description

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

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"""

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

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for all sorts of entries use in CAN Open specification

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"""

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

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var = OD_Subindex

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array = OD_Subindex | OD_MultipleSubindexes

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rec = OD_Subindex | OD_MultipleSubindexes | OD_IdenticalSubindexes

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# Entries identical on multiple indexes

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plurivar = OD_Subindex | OD_IdenticalIndexes

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

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

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"""

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MappingDictionary is the structure used for writing a good organised Object

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Dictionary. It follows the specifications of the CANOpen standard.

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

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

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"""

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MappingDictionary = {

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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                 {"name" : "Save Manufacturer Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},

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

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

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

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

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

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                 {"name" : "Restore Manufacturer Default Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

   188

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

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

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

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

   192

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

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

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                 {"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" :

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

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                 {"name" : "COB ID Client to Server (Receive SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False},

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                 {"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" :

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                [{"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" :

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                [{"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):

   274

    base_index = FindIndex(index, mappingdictionary)

   275

    if base_index:

   276

        infos = mappingdictionary[base_index]

   277

        if infos["struct"] & OD_IdenticalIndexes:

   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):

   287

    base_index = FindIndex(index, mappingdictionary)

   288

    if base_index:

   289

        copy = mappingdictionary[base_index].copy()

   290

        if copy["struct"] & OD_IdenticalIndexes:

   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):

   300

    base_index = FindIndex(index, mappingdictionary)

   301

    if base_index:

   302

        struct = mappingdictionary[base_index]["struct"]

   303

        if struct & OD_Subindex:

   304

            if struct & OD_IdenticalSubindexes:

   305

                if struct & OD_IdenticalIndexes:

   306

                    incr = mappingdictionary[base_index]["incr"]

   307

                else:

   308

                    incr = 1

   309

                if subIndex == 0:

   310

                    return mappingdictionary[base_index]["values"][0].copy()

   311

                elif 0 < subIndex <= mappingdictionary[base_index]["values"][1]["nbmax"]:

   312

                    copy = mappingdictionary[base_index]["values"][1].copy()

   313

                    copy["name"] = StringFormat(copy["name"], (index - base_index) / incr + 1, subIndex)

   314

                    return copy

   315

            elif struct & OD_MultipleSubindexes and 0 <= subIndex < len(mappingdictionary[base_index]["values"]):

   316

                return mappingdictionary[base_index]["values"][subIndex].copy()

   317

            elif subIndex == 0:

   318

                return mappingdictionary[base_index]["values"][0].copy()

   319

    return None

   320

   321

"""

   322

Return the list of variables that can be mapped defined in mappingdictionary 

   323

"""

   324

def FindMapVariableList(mappingdictionary, Node):

   325

    list = []

   326

    for index in mappingdictionary.iterkeys():

   327

        if Node.IsEntry(index):

   328

            for subIndex, values in enumerate(mappingdictionary[index]["values"]):

   329

                if mappingdictionary[index]["values"][subIndex]["pdo"]:

   330

                    infos = Node.GetEntryInfos(mappingdictionary[index]["values"][subIndex]["type"])

   331

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

   332

                        values = Node.GetEntry(index)

   333

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

   334

                            list.append((index, i + 1, infos["size"], StringFormat(mappingdictionary[index]["values"][subIndex]["name"],1,i+1)))

   335

                    else:

   336

                        list.append((index, subIndex, infos["size"], mappingdictionary[index]["values"][subIndex]["name"]))

   337

    return list

   338

   339

"""

   340

Return the list of mandatory indexes defined in mappingdictionary 

   341

"""

   342

def FindMandatoryIndexes(mappingdictionary):

   343

    list = []

   344

    for index in mappingdictionary.iterkeys():

   345

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

   346

            list.append(index)

   347

    return list

   348

   349

"""

   350

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

   351

indexes

   352

"""

   353

def FindIndex(index, mappingdictionary):

   354

    if index in mappingdictionary:

   355

        return index

   356

    else:

   357

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

   358

        listpluri.sort()

   359

        for idx in listpluri:

   360

            nb_max = mappingdictionary[idx]["nbmax"]

   361

            incr = mappingdictionary[idx]["incr"]

   362

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

   363

                return idx

   364

    return None

   365

   366

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

   367

#                           Formating Name of an Entry

   368

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

   369

   370

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

   371

   372

"""

   373

Format the text given with the index and subindex defined

   374

"""

   375

def StringFormat(text, idx, sub):

   376

    result = name_model.match(text)

   377

    if result:

   378

        format = result.groups()

   379

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

   380

    else:

   381

        return text

   382

   383

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

   384

#                          Definition of Node Object

   385

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

   386

   387

"""

   388

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

   389

that the structure of the Object Dictionary stay coherent

   390

"""

   391

   392

class Node:

   393

   394

    DefaultStringSize = 10

   395

   396

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

   397

        self.Name = name

   398

        self.Type = type

   399

        self.ID = id

   400

        self.Description = description

   401

        self.ProfileName = profilename

   402

        self.Profile = profile

   403

        self.SpecificMenu = specificmenu

   404

        self.Dictionary = {}

   405

        self.ParamsDictionary = {}

   406

        self.DS302 = {}

   407

        self.UserMapping = {}

   408

   409

    """

   410

    Return the node name

   411

    """

   412

    def GetNodeName(self):

   413

        return self.Name

   414

   415

    """

   416

    Define the node name

   417

    """

   418

    def SetNodeName(self, name):

   419

        self.Name = name

   420

   421

    """

   422

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

   423

    """

   424

    def GetNodeType(self):

   425

        return self.Type

   426

   427

    """

   428

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

   429

    """

   430

    def SetNodeType(self, type):

   431

        self.Type = type

   432

   433

    """

   434

    Return the node ID

   435

    """

   436

    def GetNodeID(self):

   437

        return self.ID

   438

   439

    """

   440

    Define the node ID

   441

    """

   442

    def SetNodeID(self, id):

   443

        self.ID = id

   444

   445

    """

   446

    Return the node description

   447

    """

   448

    def GetNodeDescription(self):

   449

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

   450

            return self.Description

   451

        else:

   452

            return ""

   453

   454

    """

   455

    Define the node description

   456

    """

   457

    def SetNodeDescription(self, description):

   458

        self.Description = description

   459

   460

    """

   461

    Return the Specific Profile Name

   462

    """

   463

    def GetProfileName(self):

   464

        return self.ProfileName

   465

   466

    """

   467

    Define the Specific Profile Name

   468

    """

   469

    def SetProfileName(self, profilename):

   470

        self.ProfileName = profilename

   471

   472

    """

   473

    Return the Specific Profile

   474

    """

   475

    def GetProfile(self):

   476

        return self.Profile

   477

   478

    """

   479

    Define the Specific Profile

   480

    """

   481

    def SetProfile(self, profile):

   482

        self.Profile = profile

   483

   484

    """

   485

    Return the default string size

   486

    """

   487

    def GetDefaultStringSize(self):

   488

        return self.DefaultStringSize

   489

   490

    """

   491

    Define the default string size

   492

    """

   493

    def SetDefaultStringSize(self, size):

   494

        self.DefaultStringSize = size

   495

   496

    """

   497

    Define the DS-302 Profile

   498

    """

   499

    def SetDS302Profile(self, profile):

   500

        self.DS302 = profile

   501

   502

    """

   503

    Define the DS-302 Profile

   504