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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, "nbmin" : 1, "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 %d[(sub - 3)]", "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 Defined Default Parameters %d[(sub - 3)]", "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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    0x1019 : {"name" : "Synchronous counter overflow value", "struct" : var, "need" : False, "values" :

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                [{"name" : "Synchronous counter overflow value", "type" : 0x05, "access" : 'rw', "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" : 'rw', "pdo" : False},

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                 {"name" : "Configuration Time", "type" : 0x07, "access" : 'rw', "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" : 0x05, "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" : 0x7F}]},

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    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}]},

   194

    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\""},

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                 {"name" : "COB ID Server to Client (Transmit SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False, "default" : "\"$NODEID+0x580\""}]},

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    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},

   201

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

   202

                 {"name" : "Node ID of the SDO Client", "type" : 0x05, "access" : 'ro', "pdo" : False}]},

   203

    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},

   205

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

   206

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

   207

                 {"name" : "Node ID of the SDO Server", "type" : 0x05, "access" : 'rw', "pdo" : False}]},

   208

    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},

   210

                 {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "{True:\"$NODEID+0x%X00\"%(base+2),False:0x80000000}[base<4]"},

   211

                 {"name" : "Transmission Type", "type" : 0x05, "access" : 'rw', "pdo" : False},

   212

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

   213

                 {"name" : "Compatibility Entry", "type" : 0x05, "access" : 'rw', "pdo" : False},

   214

                 {"name" : "Event Timer", "type" : 0x06, "access" : 'rw', "pdo" : False},

   215

                 {"name" : "SYNC start value", "type" : 0x05, "access" : 'rw', "pdo" : False}]},

   216

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

   217

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

   218

                 {"name" : "PDO %d Mapping for an application object %d[(idx,sub)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 0, "nbmax" : 0x40}]},

   219

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

   220

                [{"name" : "Highest SubIndex Supported", "type" : 0x05, "access" : 'ro', "pdo" : False},

   221

                 {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "{True:\"$NODEID+0x%X80\"%(base+1),False:0x80000000}[base<4]"},

   222

                 {"name" : "Transmission Type", "type" : 0x05, "access" : 'rw', "pdo" : False},

   223

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

   224

                 {"name" : "Compatibility Entry", "type" : 0x05, "access" : 'rw', "pdo" : False},

   225

                 {"name" : "Event Timer", "type" : 0x06, "access" : 'rw', "pdo" : False},

   226

                 {"name" : "SYNC start value", "type" : 0x05, "access" : 'rw', "pdo" : False}]},

   227

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

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

   229

                 {"name" : "PDO %d Mapping for a process data variable %d[(idx,sub)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 0, "nbmax" : 0x40}]},

   230

}

   231

   232

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

   233

#                         Search in a Mapping Dictionary

   234

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

   235

   236

"""

   237

Return the index of the typename given by searching in mappingdictionary 

   238

"""

   239

def FindTypeIndex(typename, mappingdictionary):

   240

    testdic = {}

   241

    for index, values in mappingdictionary.iteritems():

   242

        if index < 0x1000:

   243

            testdic[values["name"]] = index

   244

    if typename in testdic:

   245

        return testdic[typename]

   246

    return None

   247

   248

"""

   249

Return the name of the type by searching in mappingdictionary 

   250

"""

   251

def FindTypeName(typeindex, mappingdictionary):

   252

    if typeindex < 0x1000 and typeindex in mappingdictionary:

   253

        return mappingdictionary[typeindex]["name"]

   254

    return None

   255

   256

"""

   257

Return the default value of the type by searching in mappingdictionary 

   258

"""

   259

def FindTypeDefaultValue(typeindex, mappingdictionary):

   260

    if typeindex < 0x1000 and typeindex in mappingdictionary:

   261

        return mappingdictionary[typeindex]["default"]

   262

    return None

   263

   264

"""

   265

Return the list of types defined in mappingdictionary 

   266

"""

   267

def FindTypeList(mappingdictionary):

   268

    list = []

   269

    for index in mappingdictionary.keys():

   270

        if index < 0x1000:

   271

            list.append(mappingdictionary[index]["name"])

   272

    return list

   273

   274

"""

   275

Return the name of an entry by searching in mappingdictionary 

   276

"""

   277

def FindEntryName(index, mappingdictionary, compute=True):

   278

    base_index = FindIndex(index, mappingdictionary)

   279

    if base_index:

   280

        infos = mappingdictionary[base_index]

   281

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

   282

            return StringFormat(infos["name"], (index - base_index) / infos["incr"] + 1, 0)

   283

        else:

   284

            return infos["name"]

   285

    return None

   286

   287

"""

   288

Return the informations of one entry by searching in mappingdictionary 

   289

"""

   290

def FindEntryInfos(index, mappingdictionary, compute=True):

   291

    base_index = FindIndex(index, mappingdictionary)

   292

    if base_index:

   293

        copy = mappingdictionary[base_index].copy()

   294

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

   295

            copy["name"] = StringFormat(copy["name"], (index - base_index) / copy["incr"] + 1, 0)

   296

        copy.pop("values")

   297

        return copy

   298

    return None

   299

   300

"""

   301

Return the informations of one subentry of an entry by searching in mappingdictionary 

   302

"""

   303

def FindSubentryInfos(index, subIndex, mappingdictionary, compute=True):

   304

    base_index = FindIndex(index, mappingdictionary)

   305

    if base_index:

   306

        struct = mappingdictionary[base_index]["struct"]

   307

        if struct & OD_IdenticalIndexes:

   308

            incr = mappingdictionary[base_index]["incr"]

   309

        else:

   310

            incr = 1

   311

        if struct & OD_Subindex:

   312

            infos = None

   313

            if struct & OD_IdenticalSubindexes:

   314

                if subIndex == 0:

   315

                    infos = mappingdictionary[base_index]["values"][0].copy()

   316

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

   317

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

   318

            elif struct & OD_MultipleSubindexes:

   319

                idx = 0

   320

                for subindex_infos in mappingdictionary[base_index]["values"]:

   321

                    if "nbmax" in subindex_infos:

   322

                        if idx <= subIndex < idx + subindex_infos["nbmax"]:

   323

                            infos = subindex_infos.copy()

   324

                            break;

   325

                        idx += subindex_infos["nbmax"]

   326

                    else:

   327

                        if subIndex == idx:

   328

                            infos = subindex_infos.copy()

   329

                            break;

   330

                        idx += 1

   331

            elif subIndex == 0:

   332

                infos = mappingdictionary[base_index]["values"][0].copy()

   333

            if infos is not None and compute:

   334

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

   335

            return infos

   336

    return None

   337

   338

"""

   339

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

   340

"""

   341

def FindMapVariableList(mappingdictionary, Node, compute=True):

   342

    list = []

   343

    for index in mappingdictionary.iterkeys():

   344

        if Node.IsEntry(index):

   345

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

   346

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

   347

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

   348

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

   349

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

   350

                        values = Node.GetEntry(index)

   351

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

   352

                            computed_name = name

   353

                            if compute:

   354

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

   355

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

   356

                    else:

   357

                        computed_name = name

   358

                        if compute:

   359

                            computed_name = StringFormat(computed_name, 1, subIndex)

   360

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

   361

    return list

   362

   363

"""

   364

Return the list of mandatory indexes defined in mappingdictionary 

   365

"""

   366

def FindMandatoryIndexes(mappingdictionary):

   367

    list = []

   368

    for index in mappingdictionary.iterkeys():

   369

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

   370

            list.append(index)

   371

    return list

   372

   373

"""

   374

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

   375

indexes

   376

"""

   377

def FindIndex(index, mappingdictionary):

   378

    if index in mappingdictionary:

   379

        return index

   380

    else:

   381

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

   382

        listpluri.sort()

   383

        for idx in listpluri:

   384

            nb_max = mappingdictionary[idx]["nbmax"]

   385

            incr = mappingdictionary[idx]["incr"]

   386

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

   387

                return idx

   388

    return None

   389

   390

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

   391

#                           Formating Name of an Entry

   392

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

   393

   394

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

   395

   396

"""

   397

Format the text given with the index and subindex defined

   398

"""

   399

def StringFormat(text, idx, sub):

   400

    result = name_model.match(text)

   401

    if result:

   402

        format = result.groups()

   403

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

   404

    else:

   405

        return text

   406

   407

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

   408

#                          Definition of Node Object

   409

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

   410

   411

"""

   412

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

   413

that the structure of the Object Dictionary stay coherent

   414

"""

   415

   416

class Node:

   417

   418

    DefaultStringSize = 10

   419

   420

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

   421

        self.Name = name

   422

        self.Type = type

   423

        self.ID = id

   424

        self.Description = description

   425

        self.ProfileName = profilename

   426

        self.Profile = profile

   427

        self.SpecificMenu = specificmenu

   428

        self.Dictionary = {}

   429

        self.ParamsDictionary = {}

   430

        self.DS302 = {}

   431

        self.UserMapping = {}

   432

   433

    """

   434

    Return the node name

   435

    """

   436

    def GetNodeName(self):

   437

        return self.Name

   438

   439

    """

   440

    Define the node name

   441

    """

   442

    def SetNodeName(self, name):

   443

        self.Name = name

   444

   445

    """

   446

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

   447

    """

   448

    def GetNodeType(self):

   449

        return self.Type

   450

   451

    """

   452

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

   453

    """

   454

    def SetNodeType(self, type):

   455

        self.Type = type

   456

   457

    """

   458

    Return the node ID

   459

    """

   460

    def GetNodeID(self):

   461

        return self.ID

   462

   463

    """

   464

    Define the node ID

   465

    """

   466

    def SetNodeID(self, id):

   467

        self.ID = id

   468

   469

    """

   470

    Return the node description

   471

    """

   472

    def GetNodeDescription(self):

   473

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

   474

            return self.Description

   475

        else:

   476

            return ""

   477

   478

    """

   479

    Define the node description

   480

    """

   481

    def SetNodeDescription(self, description):

   482

        self.Description = description

   483

   484

    """

   485

    Return the Specific Profile Name

   486

    """

   487

    def GetProfileName(self):

   488

        return self.ProfileName

   489

   490

    """

   491

    Define the Specific Profile Name

   492

    """

   493

    def SetProfileName(self, profilename):

   494

        self.ProfileName = profilename

   495

   496

    """

   497

    Return the Specific Profile

   498

    """

   499

    def GetProfile(self):

   500

        return self.Profile

   501