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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 index section names

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

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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.upper() in ACCESS_TRANSLATE.keys(),

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

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                    "OBJFLAGS" : is_integer, "PARAMETERVALUE" : lambda x: True,}

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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", "PARAMETERVALUE"]},

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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(Node, 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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                    "STANDARDDATATYPES", "SUPPORTEDMODULES"]

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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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            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" or "-0x", then it's an hexadecimal value

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                        if value.startswith("0x") or 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)

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                        elif value.isdigit() or value.startswith("-") and value[1:].isdigit():

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

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                            if value.startswith("0") or 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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   181

                        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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        index_objectlinks_result = index_objectlinks_model.match(section_name.upper())

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        # Compilation of the EDS information dictionary

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   258

        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

   264

            else:

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

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        # Second 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

   271

            if index not in eds_dict:

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                eds_dict[index] = values

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

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

   275

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

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                eds_dict[index] = values

   277

            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 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

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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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        # Third case, section name is a subindex name 

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        elif index_objectlinks_result:

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            pass

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

   297

        else:

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

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   300

        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

   305

            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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   309

                # 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 "$NODEID", then it's a formula

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                    if value.startswith("$NODEID"):

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                        try:

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

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                            computed_value = "\"%s\""%value

   319

                        except:

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

   321

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

   322

                    elif value.startswith("0x") or value.startswith("-0x"):

   323

                        try:

   324

                            computed_value = int(value, 16)

   325

                        except:

   326

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

   327

                    elif value.isdigit() or value.startswith("-") and value[1:].isdigit():

   328

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

   329

                        if value.startswith("0") or value.startswith("-0"):

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                            computed_value = int(value, 8)

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

   332

                        else:

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                            computed_value = int(value)

   334

                    # In any other case, we keep string value

   335

                    else:

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                        computed_value = value

   337

   338

                    # Add value to values dictionary

   339

                    if computed_value != "":

   340

                        # If entry is an index or a subindex

   341

                        if is_entry:

   342

                            # Verify that keyname is a possible attribute

   343

                            if keyname.upper() not in ENTRY_ATTRIBUTES:

   344

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

   345

                            # Verify that value is valid

   346

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

   347

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

   348

                            else:

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                                values[keyname.upper()] = computed_value

   350

                        else:

   351

                            values[keyname.upper()] = computed_value

   352

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

   353

            elif assignment.strip() != "":

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

   355

   356

        # If entry is an index or a subindex

   357

        if is_entry:

   358

            # Verify that entry has an ObjectType

   359

            if "OBJECTTYPE" in values.keys():

   360

                # Extract entry ObjectType

   361

                objecttype = values["OBJECTTYPE"]

   362

            else:

   363

                # Set ObjectType to VAR by default

   364

                objecttype = 7

   365

            # Extract parameters defined

   366

            keys = Set(values.keys())

   367

            keys.discard("subindexes")

   368

            # Extract possible parameters and parameters required

   369

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

   370

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

   371

            # Verify that parameters defined contains all the parameters required

   372

            if not keys.issuperset(required):

   373

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

   374

                if len(missing) > 1:

   375

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

   376

                else:

   377

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

   378

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

   379

            # Verify that parameters defined are all in the possible parameters

   380

            if not keys.issubset(possible):

   381

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

   382

                if len(unsupported) > 1:

   383

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

   384

                else:

   385

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

   386

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

   387

   388

            if "PARAMETERVALUE" in values:

   389

                try:

   390

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

   391

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

   392

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

   393

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

   394

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

   395

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

   396

                    else:

   397

                        if type(values["PARAMETERVALUE"]) != IntType and values["PARAMETERVALUE"].find("$NODEID") == -1:

   398

                            raise

   399

                except:

   400

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

   401

   402

            if "DEFAULTVALUE" in values:

   403

                try:

   404

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

   405

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

   406

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

   407

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

   408

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

   409

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

   410

                    else:

   411

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

   412

                            raise

   413

                except:

   414

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

   415

   416

    return eds_dict

   417

   418

   419

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

   420

def WriteFile(filepath, content):

   421

    # Open file in write mode

   422

    cfile = open(filepath,"w")

   423

    # Write content

   424

    cfile.write(content)

   425

    # Close file

   426

    cfile.close()

   427

   428

   429

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

   430

def GenerateFileContent(Node, filepath):

   431

    # Dictionary of each index contents

   432

    indexContents = {}

   433

   434

    # Extract local time

   435

    current_time = localtime()

   436

    # Extract node informations

   437

    nodename = Node.GetNodeName()

   438

    nodeid = Node.GetNodeID()

   439

    nodetype = Node.GetNodeType() 

   440

    description = Node.GetNodeDescription()

   441

   442

    # Retreiving lists of indexes defined

   443

    entries = Node.GetIndexes()

   444

   445

    # Generate FileInfo section

   446

    fileContent = "[FileInfo]\n"

   447

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

   448

    fileContent += "FileVersion=1\n"

   449

    fileContent += "FileRevision=1\n"

   450

    fileContent += "EDSVersion=4.0\n"

   451

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

   452

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

   453

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

   454

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

   455

        fileContent += "AM\n"

   456

    else:

   457

        fileContent += "PM\n"

   458

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

   459

    fileContent += "CreatedBy=CANFestival\n"

   460

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

   461

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

   462

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

   463

        fileContent += "AM\n"

   464

    else:

   465

        fileContent += "PM\n"

   466

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

   467

    fileContent += "ModifiedBy=CANFestival\n"

   468

   469

    # Generate DeviceInfo section

   470

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

   471

    fileContent += "VendorName=CANFestival\n"

   472

    # Use information typed by user in Identity entry

   473

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

   474

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

   475

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

   476

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

   477

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

   478

    fileContent += "BaudRate_10=1\n"

   479

    fileContent += "BaudRate_20=1\n"

   480

    fileContent += "BaudRate_50=1\n"

   481

    fileContent += "BaudRate_125=1\n"

   482

    fileContent += "BaudRate_250=1\n"

   483

    fileContent += "BaudRate_500=1\n"

   484

    fileContent += "BaudRate_800=1\n"

   485

    fileContent += "BaudRate_1000=1\n"

   486

    # Select BootUp type from the informations given by user

   487

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

   488

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

   489

    # CANFestival characteristics

   490

    fileContent += "Granularity=8\n"

   491

    fileContent += "DynamicChannelsSupported=0\n"

   492

    fileContent += "CompactPDO=0\n"

   493

    fileContent += "GroupMessaging=0\n"

   494

    # Calculate receive and tranmit PDO numbers with the entry available

   495

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

   496

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

   497

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

   498

    fileContent += "LSS_Supported=0\n"

   499

   500

    # Generate Dummy Usage section

   501

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

   502

    fileContent += "Dummy0001=0\n"

   503

    fileContent += "Dummy0002=1\n"

   504

    fileContent += "Dummy0003=1\n"

   505

    fileContent += "Dummy0004=1\n"