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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 node

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from node import nosub, var, array, rec, plurivar, pluriarray, plurirec

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from sets import *

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from types import *

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from time import *

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import os,re

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# Regular expression for finding index section names

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index_model = re.compile('([0-9A-F]{1,4})')

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# Regular expression for finding subindex section names

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subindex_model = re.compile('([0-9A-F]{1,4})SUB([0-9A-F]{1,2})')

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# Regular expression for finding NodeXPresent keynames

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nodepresent_model = re.compile('NODE([0-9]{1,3})PRESENT')

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# Regular expression for finding NodeXName keynames

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nodename_model = re.compile('NODE([0-9]{1,3})NAME')

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# Regular expression for finding NodeXDCFName keynames

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nodedcfname_model = re.compile('NODE([0-9]{1,3})DCFNAME')

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# Dictionary for quickly translate boolean into integer value

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BOOL_TRANSLATE = {True : "1", False : "0"}

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# Dictionary for quickly translate eds access value into canfestival access value

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ACCESS_TRANSLATE = {"ro" : "ro", "wo" : "wo", "rw" : "rw", "rwr" : "rw", "rww" : "rw", "const" : "ro"}

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# Function for verifying data values

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is_integer = lambda x: type(x) in (IntType, LongType)

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is_string = lambda x: type(x) in (StringType, UnicodeType)

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is_boolean = lambda x: x in (0, 1)

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# Define checking of value for each attribute

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ENTRY_ATTRIBUTES = {"SUBNUMBER" : is_integer, "PARAMETERNAME" : is_string, 

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                    "OBJECTTYPE" : lambda x: x in (7, 8, 9), "DATATYPE" : is_integer, 

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                    "LOWLIMIT" : is_integer, "HIGHLIMIT" : is_integer,

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                    "ACCESSTYPE" : lambda x: x in ["ro","wo", "rw", "rwr", "rww", "const"],

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                    "DEFAULTVALUE" : lambda x: True, "PDOMAPPING" : is_boolean,

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                    "OBJFLAGS" : is_integer}

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# Define entry parameters by entry ObjectType number

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ENTRY_TYPES = {7 : {"name" : " VAR",

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                    "require" : ["PARAMETERNAME", "DATATYPE", "ACCESSTYPE"],

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                    "optional" : ["OBJECTTYPE", "DEFAULTVALUE", "PDOMAPPING", "LOWLIMIT", "HIGHLIMIT", "OBJFLAGS"]},

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               8 : {"name" : "n ARRAY",

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                    "require" : ["PARAMETERNAME", "OBJECTTYPE", "SUBNUMBER"],

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                    "optional" : ["OBJFLAGS"]},

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               9 : {"name" : " RECORD",

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                    "require" : ["PARAMETERNAME", "OBJECTTYPE", "SUBNUMBER"],

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                    "optional" : ["OBJFLAGS"]}}

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# Function that search into Node Mappings the informations about an index or a subindex

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# and return the default value

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def GetDefaultValue(index, subIndex = None):

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    infos = Node.GetEntryInfos(index)

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    if infos["struct"] & node.OD_MultipleSubindexes:

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        # First case entry is a record

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        if infos["struct"] & node.OD_IdenticalSubindexes:

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            subentry_infos = Node.GetSubentryInfos(index, 1)

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        # Second case entry is an array

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        else:

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            subentry_infos = Node.GetSubentryInfos(index, subIndex)

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        # If a default value is defined for this subindex, returns it

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        if "default" in subentry_infos:

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            return subentry_infos["default"]

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        # If not, returns the default value for the subindex type

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        else:

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            return Node.GetTypeDefaultValue(subentry_infos["type"])

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    # Third case entry is a var

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    else:

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        subentry_infos = Node.GetSubentryInfos(index, 0)

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        # If a default value is defined for this subindex, returns it

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        if "default" in subentry_infos:

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            return subentry_infos["default"]

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        # If not, returns the default value for the subindex type

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        else:

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            return Node.GetTypeDefaultValue(subentry_infos["type"])

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    return None

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

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#                               Parse file

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

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# List of section names that are not index and subindex and that we can meet in

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# an EDS file

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SECTION_KEYNAMES = ["FILEINFO", "DEVICEINFO", "DUMMYUSAGE", "COMMENTS", 

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                    "MANDATORYOBJECTS", "OPTIONALOBJECTS", "MANUFACTUREROBJECTS"]

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# Function that extract sections from a file and returns a dictionary of the informations

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def ExtractSections(file):

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    return [(blocktuple[0],                # EntryName : Assignements dict

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             blocktuple[-1].splitlines())  # all the lines

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             for blocktuple in [           # Split the eds files into

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             block.split("]", 1)              # (EntryName,Assignements) tuple

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             for block in                  # for each blocks staring with '['

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             ("\n"+file).split("\n[")]

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             if blocktuple[0].isalnum()]   # if EntryName exists

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# Function that parse an CPJ file and returns a dictionary of the informations

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def ParseCPJFile(filepath):

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    networks = []

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    # Read file text

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    cpj_file = open(filepath,'r').read()

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    sections = ExtractSections(cpj_file)

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    # Parse assignments for each section

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    for section_name, assignments in sections:

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        # Verify that section name is TOPOLOGY 

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        if section_name.upper() in "TOPOLOGY":

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            # Reset values for topology

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            topology = {"Name" : "", "Nodes" : {}}

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   141

            for assignment in assignments:

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                # Escape any comment

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                if assignment.startswith(";"):

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                    pass

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                # Verify that line is a valid assignment

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                elif assignment.find('=') > 0:

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                    # Split assignment into the two values keyname and value

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                    keyname, value = assignment.split("=", 1)

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                    # keyname must be immediately followed by the "=" sign, so we

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                    # verify that there is no whitespace into keyname

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                    if keyname.isalnum():

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                        # value can be preceded and followed by whitespaces, so we escape them

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                        value = value.strip()

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                        # First case, value starts with "0x", then it's an hexadecimal value

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                        if value.startswith("0x"):

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                            try:

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                                computed_value = int(value, 16)

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                            except:

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                                raise SyntaxError, "\"%s\" is not a valid value for attribute \"%s\" of section \"[%s]\""%(value, keyname, section_name)

   162

                        elif value.isdigit():

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                            # Second case, value is a number and starts with "0", then it's an octal value

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                            if value.startswith("0"):

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                                computed_value = int(value, 8)

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                            # Third case, value is a number and don't start with "0", then it's a decimal value

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                            else:

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                                computed_value = int(value)

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                        # In any other case, we keep string value

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                        else:

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                            computed_value = value

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                        # Search if the section name match any cpj expression

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                        nodepresent_result = nodepresent_model.match(keyname.upper())

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                        nodename_result = nodename_model.match(keyname.upper())

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                        nodedcfname_result = nodedcfname_model.match(keyname.upper())

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   178

                        if keyname.upper() == "NETNAME":

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                            if not is_string(computed_value):

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                                raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)

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                            topology["Name"] = computed_value

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                        elif keyname.upper() == "NODES":

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                            if not is_integer(computed_value):

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                                raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)

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                            topology["Number"] = computed_value

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                        elif keyname.upper() == "EDSBASENAME":

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                            if not is_string(computed_value):

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                                raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)

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                            topology["Path"] = computed_value

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                        elif nodepresent_result:

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                            if not is_boolean(computed_value):

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                                raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)

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                            nodeid = int(nodepresent_result.groups()[0])

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                            if nodeid not in topology["Nodes"].keys():

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                                topology["Nodes"][nodeid] = {}

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                            topology["Nodes"][nodeid]["Present"] = computed_value

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                        elif nodename_result:

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                            if not is_string(value):

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                                raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)

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                            nodeid = int(nodename_result.groups()[0])

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                            if nodeid not in topology["Nodes"].keys():

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                                topology["Nodes"][nodeid] = {}

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                            topology["Nodes"][nodeid]["Name"] = computed_value

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                        elif nodedcfname_result:

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                            if not is_string(computed_value):

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                                raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)

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                            nodeid = int(nodedcfname_result.groups()[0])

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                            if nodeid not in topology["Nodes"].keys():

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                                topology["Nodes"][nodeid] = {}

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                            topology["Nodes"][nodeid]["DCFName"] = computed_value

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                        else:

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                            raise SyntaxError, "Keyname \"%s\" not recognised for section \"[%s]\""%(keyname, section_name)

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                # All lines that are not empty and are neither a comment neither not a valid assignment

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                elif assignment.strip() != "":

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                    raise SyntaxError, "\"%s\" is not a valid CPJ line"%assignment.strip()

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            if "Number" not in topology.keys():

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                raise SyntaxError, "\"Nodes\" keyname in \"[%s]\" section is missing"%section_name

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            if topology["Number"] != len(topology["Nodes"]):

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                raise SyntaxError, "\"Nodes\" value not corresponding to number of nodes defined"

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            for nodeid, node in topology["Nodes"].items():

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                if "Present" not in node.keys():

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                    raise SyntaxError, "\"Node%dPresent\" keyname in \"[%s]\" section is missing"%(nodeid, section_name)

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            networks.append(topology)

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        # In other case, there is a syntax problem into CPJ file

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        else:

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            raise SyntaxError, "Section \"[%s]\" is unrecognized"%section_name

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    return networks

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# Function that parse an EDS file and returns a dictionary of the informations

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def ParseEDSFile(filepath):

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    eds_dict = {}

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    # Read file text

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    eds_file = open(filepath,'r').read()

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    sections = ExtractSections(eds_file)

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    # Parse assignments for each section

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    for section_name, assignments in sections:

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        # Reset values of entry

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        values = {}

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        # Search if the section name match an index or subindex expression

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        index_result = index_model.match(section_name.upper())

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        subindex_result = subindex_model.match(section_name.upper())

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        # Compilation of the EDS information dictionary

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        is_entry = False

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        # First case, section name is in SECTION_KEYNAMES 

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        if section_name.upper() in SECTION_KEYNAMES:

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            # Verify that entry is not already defined

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            if section_name.upper() not in eds_dict:

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                eds_dict[section_name.upper()] = values

   260

            else:

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                raise SyntaxError, "\"[%s]\" section is defined two times"%section_name

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        # Second case, section name is a subindex name 

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        elif subindex_result:

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            # Extract index and subindex number

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            index, subindex = [int(value, 16) for value in subindex_result.groups()]

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            # If index hasn't been referenced before, we add an entry into the dictionary

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            # that will be updated later

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            if index not in eds_dict:

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                eds_dict[index] = {"subindexes" : {}}

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            if subindex not in eds_dict[index]["subindexes"]:

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                eds_dict[index]["subindexes"][subindex] = values

   272

            else:

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                raise SyntaxError, "\"[%s]\" section is defined two times"%section_name

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            is_entry = True

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        # Third case, section name is an index name 

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        elif index_result:

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            # Extract index number

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            index = int(index_result.groups()[0], 16)

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            # If index hasn't been referenced before, we add an entry into the dictionary

   280

            if index not in eds_dict:

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                eds_dict[index] = values

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                eds_dict[index]["subindexes"] = {}

   283

            elif eds_dict[index].keys() == ["subindexes"]:

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                values["subindexes"] = eds_dict[index]["subindexes"]

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                eds_dict[index] = values

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            else:

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                raise SyntaxError, "\"[%s]\" section is defined two times"%section_name

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            is_entry = True

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        # In any other case, there is a syntax problem into EDS file

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        else:

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            raise SyntaxError, "Section \"[%s]\" is unrecognized"%section_name

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   293

        for assignment in assignments:

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            # Escape any comment

   295

            if assignment.startswith(";"):

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                pass

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            # Verify that line is a valid assignment

   298

            elif assignment.find('=') > 0:

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                # Split assignment into the two values keyname and value

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                keyname, value = assignment.split("=", 1)

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   302

                # keyname must be immediately followed by the "=" sign, so we

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                # verify that there is no whitespace into keyname

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                if keyname.isalnum():

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                    # value can be preceded and followed by whitespaces, so we escape them

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                    value = value.strip()

   307

                    # First case, value starts with "$NODEID", then it's a formula

   308

                    if value.startswith("$NODEID"):

   309

                        try:

   310

                            test = int(value.replace("$NODEID+", ""), 16)

   311

                            computed_value = value.replace("$NODEID", "self.ID")

   312

                        except:

   313

                            raise SyntaxError, "\"%s\" is not a valid formula for attribute \"%s\" of section \"[%s]\""%(value, keyname, section_name)

   314

                    # Second case, value starts with "0x", then it's an hexadecimal value

   315

                    elif value.startswith("0x"):

   316

                        try:

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                            computed_value = int(value, 16)

   318

                        except:

   319

                            raise SyntaxError, "\"%s\" is not a valid value for attribute \"%s\" of section \"[%s]\""%(value, keyname, section_name)

   320

                    elif value.isdigit():

   321

                        # Third case, value is a number and starts with "0", then it's an octal value

   322

                        if value.startswith("0"):

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                            computed_value = int(value, 8)

   324

                        # Forth case, value is a number and don't start with "0", then it's a decimal value

   325

                        else:

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                            computed_value = int(value)

   327

                    # In any other case, we keep string value

   328

                    else:

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                        computed_value = value

   330

   331

                    # Add value to values dictionary

   332

                    if computed_value != "":

   333

                        # If entry is an index or a subindex

   334

                        if is_entry:

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                            # Verify that keyname is a possible attribute

   336

                            if keyname.upper() not in ENTRY_ATTRIBUTES:

   337

                                raise SyntaxError, "Keyname \"%s\" not recognised for section \"[%s]\""%(keyname, section_name)

   338

                            # Verify that value is valid

   339

                            elif not ENTRY_ATTRIBUTES[keyname.upper()](computed_value):

   340

                                raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)

   341

                            else:

   342

                                values[keyname.upper()] = computed_value

   343

                        else:

   344

                            values[keyname.upper()] = computed_value

   345

            # All lines that are not empty and are neither a comment neither not a valid assignment

   346

            elif assignment.strip() != "":

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                raise SyntaxError, "\"%s\" is not a valid EDS line"%assignment.strip()

   348

   349

        # If entry is an index or a subindex

   350

        if is_entry:

   351

            # Verify that entry has an ObjectType

   352

            if "OBJECTTYPE" in values.keys():

   353

                # Extract entry ObjectType

   354

                objecttype = values["OBJECTTYPE"]

   355

            else:

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                # Set ObjectType to VAR by default

   357

                objecttype = 7

   358

            # Extract parameters defined

   359

            keys = Set(values.keys())

   360

            keys.discard("subindexes")

   361

            # Extract possible parameters and parameters required

   362

            possible = Set(ENTRY_TYPES[objecttype]["require"] + ENTRY_TYPES[objecttype]["optional"])

   363

            required = Set(ENTRY_TYPES[objecttype]["require"])

   364

            # Verify that parameters defined contains all the parameters required

   365

            if not keys.issuperset(required):

   366

                missing = required.difference(keys)._data.keys()

   367

                if len(missing) > 1:

   368

                    attributes = "Attributes %s are"%", ".join(["\"%s\""%attribute for attribute in missing])

   369

                else:

   370

                    attributes = "Attribute \"%s\" is"%missing[0]

   371

                raise SyntaxError, "Error on section \"[%s]\":\n%s required for a%s entry"%(section_name, attributes, ENTRY_TYPES[objecttype]["name"])

   372

            # Verify that parameters defined are all in the possible parameters

   373

            if not keys.issubset(possible):

   374

                unsupported = keys.difference(possible)._data.keys()

   375

                if len(unsupported) > 1:

   376

                    attributes = "Attributes %s are"%", ".join(["\"%s\""%attribute for attribute in unsupported])

   377

                else:

   378

                    attributes = "Attribute \"%s\" is"%unsupported[0]

   379

                raise SyntaxError, "Error on section \"[%s]\":\n%s unsupported for a%s entry"%(section_name, attributes, ENTRY_TYPES[objecttype]["name"])

   380

   381

            if "DEFAULTVALUE" in values:

   382

                try:

   383

                    if values["DATATYPE"] in (0x09, 0x0A, 0x0B, 0x0F):

   384

                        values["DEFAULTVALUE"] = str(values["DEFAULTVALUE"])

   385

                    elif values["DATATYPE"] in (0x08, 0x11):

   386

                        values["DEFAULTVALUE"] = float(values["DEFAULTVALUE"])

   387

                    elif values["DATATYPE"] == 0x01:

   388

                        values["DEFAULTVALUE"] = {0 : True, 1 : False}[values["DEFAULTVALUE"]]

   389

                    else:

   390

                        if type(values["DEFAULTVALUE"]) != IntType and values["DEFAULTVALUE"].find("self.ID") == -1:

   391

                            raise

   392

                except:

   393

                    raise SyntaxError, "Error on section \"[%s]\":\nDefaultValue incompatible with DataType"%section_name

   394

   395

    return eds_dict

   396

   397

   398

# Function that write an EDS file after generate it's content

   399

def WriteFile(filepath, content):

   400

    # Open file in write mode

   401

    cfile = open(filepath,"w")

   402

    # Write content

   403

    cfile.write(content)

   404

    # Close file

   405

    cfile.close()

   406

   407

   408

# Function that generate the EDS file content for the current node in the manager

   409

def GenerateFileContent(filepath):

   410

    # Dictionary of each index contents

   411

    indexContents = {}

   412

   413

    # Extract local time

   414

    current_time = localtime()

   415

    # Extract node informations

   416

    nodename, nodeid, nodetype, description = Manager.GetCurrentNodeInfos()

   417

   418

    # Compiling lists of indexes defined

   419

    entries = [idx for name, idx in Manager.GetCurrentValidIndexes(0, 0xFFFF)]

   420

   421

    # Generate FileInfo section

   422

    fileContent = "[FileInfo]\n"

   423

    fileContent += "FileName=%s\n"%os.path.split(filepath)[-1]

   424

    fileContent += "FileVersion=1\n"

   425

    fileContent += "FileRevision=1\n"

   426

    fileContent += "EDSVersion=4.0\n"

   427

    fileContent += "Description=%s\n"%description

   428

    fileContent += "CreationTime=%s"%strftime("%I:%M", current_time)

   429

    # %p option of strftime seems not working, then generate AM/PM by hands

   430

    if strftime("%I", current_time) == strftime("%H", current_time):

   431

        fileContent += "AM\n"

   432

    else:

   433

        fileContent += "PM\n"

   434

    fileContent += "CreationDate=%s\n"%strftime("%m-%d-%Y", current_time)

   435

    fileContent += "CreatedBy=CANFestival\n"

   436

    fileContent += "ModificationTime=%s"%strftime("%I:%M", current_time)

   437

    # %p option of strftime seems not working, then generate AM/PM by hands

   438

    if strftime("%I", current_time) == strftime("%H", current_time):

   439

        fileContent += "AM\n"

   440

    else:

   441

        fileContent += "PM\n"

   442

    fileContent += "ModificationDate=%s\n"%strftime("%m-%d-%Y", current_time)

   443

    fileContent += "ModifiedBy=CANFestival\n"

   444

   445

    # Generate DeviceInfo section

   446

    fileContent += "\n[DeviceInfo]\n"

   447

    fileContent += "VendorName=CANFestival\n"

   448

    # Use information typed by user in Identity entry

   449

    fileContent += "VendorNumber=0x%8.8X\n"%Manager.GetCurrentEntry(0x1018, 1)

   450

    fileContent += "ProductName=%s\n"%nodename

   451

    fileContent += "ProductNumber=0x%8.8X\n"%Manager.GetCurrentEntry(0x1018, 2)

   452

    fileContent += "RevisionNumber=0x%8.8X\n"%Manager.GetCurrentEntry(0x1018, 3)

   453

    # CANFestival support all baudrates as soon as driver choosen support them

   454

    fileContent += "BaudRate_10=1\n"

   455

    fileContent += "BaudRate_20=1\n"

   456

    fileContent += "BaudRate_50=1\n"

   457

    fileContent += "BaudRate_125=1\n"

   458

    fileContent += "BaudRate_250=1\n"

   459

    fileContent += "BaudRate_500=1\n"

   460

    fileContent += "BaudRate_800=1\n"

   461

    fileContent += "BaudRate_1000=1\n"

   462

    # Select BootUp type from the informations given by user

   463

    fileContent += "SimpleBootUpMaster=%s\n"%BOOL_TRANSLATE[nodetype == "master"]

   464

    fileContent += "SimpleBootUpSlave=%s\n"%BOOL_TRANSLATE[nodetype == "slave"]

   465

    # CANFestival characteristics

   466

    fileContent += "Granularity=8\n"

   467

    fileContent += "DynamicChannelsSupported=0\n"

   468

    fileContent += "CompactPDO=0\n"

   469

    fileContent += "GroupMessaging=0\n"

   470

    # Calculate receive and tranmit PDO numbers with the entry available

   471

    fileContent += "NrOfRXPDO=%d\n"%len([idx for idx in entries if 0x1400 <= idx <= 0x15FF])

   472

    fileContent += "NrOfTXPDO=%d\n"%len([idx for idx in entries if 0x1800 <= idx <= 0x19FF])

   473

    # LSS not supported as soon as DS-302 was not fully implemented

   474

    fileContent += "LSS_Supported=0\n"

   475

   476

    # Generate Dummy Usage section

   477

    fileContent += "\n[DummyUsage]\n"

   478

    fileContent += "Dummy0001=0\n"

   479

    fileContent += "Dummy0002=1\n"

   480

    fileContent += "Dummy0003=1\n"

   481

    fileContent += "Dummy0004=1\n"

   482

    fileContent += "Dummy0005=1\n"

   483

    fileContent += "Dummy0006=1\n"

   484

    fileContent += "Dummy0007=1\n"

   485

   486

    # Generate Comments section

   487

    fileContent += "\n[Comments]\n"

   488

    fileContent += "Lines=0\n"

   489

   490

    # List of entry by type (Mandatory, Optional or Manufacturer

   491

    mandatories = []

   492

    optionals = []

   493

    manufacturers = []

   494

   495

    # For each entry, we generate the entry section or sections if there is subindexes

   496

    for entry in entries:

   497

        # Extract infos and values for the entry

   498

        entry_infos = Manager.GetEntryInfos(entry)

   499

        values = Manager.GetCurrentEntry(entry)

   500

        # Define section name

   501

        text = "\n[%X]\n"%entry

   502

        # If there is only one value, it's a VAR entry

   503

        if type(values) != ListType:

   504

            # Extract the informations of the first subindex

   505

            subentry_infos = Manager.GetSubentryInfos(entry, 0)

   506

            # Generate EDS informations for the entry

   507

            text += "ParameterName=%s\n"%subentry_infos["name"]

   508

            text += "ObjectType=0x7\n"

   509

            text += "DataType=0x%4.4X\n"%subentry_infos["type"]

   510

            text += "AccessType=%s\n"%subentry_infos["access"]

   511

            text += "DefaultValue=%s\n"%values

   512

            text += "PDOMapping=%s\n"%BOOL_TRANSLATE[subentry_infos["pdo"]]