objdictgen/nodelist.py
author etisserant
Fri, 22 Jun 2007 16:26:12 +0200
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child 239 f45fd4cd3832
permissions -rw-r--r--
Addecd decompo_dcf to .def
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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#This file is part of CanFestival, a library implementing CanOpen Stack. 
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#
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#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
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#
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#See COPYING file for copyrights details.
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#
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#This library is free software; you can redistribute it and/or
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#modify it under the terms of the GNU Lesser General Public
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#License as published by the Free Software Foundation; either
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#version 2.1 of the License, or (at your option) any later version.
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#
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#This library is distributed in the hope that it will be useful,
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#but WITHOUT ANY WARRANTY; without even the implied warranty of
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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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#Lesser General Public License for more details.
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#
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#You should have received a copy of the GNU Lesser General Public
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#License along with this library; if not, write to the Free Software
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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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from gnosis.xml.pickle import *
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from gnosis.xml.pickle.util import setParanoia
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setParanoia(0)
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from node import *
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import eds_utils
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import os, shutil
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#-------------------------------------------------------------------------------
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#                          Definition of NodeList Object
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#-------------------------------------------------------------------------------
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"""
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Class recording a node list for a CANOpen network.
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"""
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class NodeList:
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    def __init__(self, manager):
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        self.Root = ""
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        self.Manager = manager
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        self.NetworkName = ""
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        self.SlaveNodes = {}
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        self.EDSNodes = {}
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        self.CurrentSelected = None
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    def GetNetworkName(self):
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        return self.NetworkName
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    def SetNetworkName(self, name):
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        self.NetworkName = name
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    def GetManager(self):
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        return self.Manager
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    def GetRoot(self):
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        return self.Root
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    def GetSlaveNumber(self):
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        return len(self.SlaveNodes)
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    def GetSlaveNames(self):
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        nodes = self.SlaveNodes.keys()
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        nodes.sort()
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        return ["0x%2.2X %s"%(idx, self.SlaveNodes[idx]["Name"]) for idx in nodes]
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    def GetSlaveIDs(self):
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        nodes = self.SlaveNodes.keys()
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        nodes.sort()
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        return nodes
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    def SetCurrentSelected(self, selected):
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        self.CurrentSelected = selected
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    def GetCurrentSelected(self):
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        return self.CurrentSelected
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    def LoadProject(self, root):
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        self.SlaveNodes = {}
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        self.EDSNodes = {}
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        self.Root = root
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        if not os.path.exists(self.Root):
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            return "\"%s\" folder doesn't exist"%self.Root
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        self.EDSFolder = os.path.join(self.Root, "eds")
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        if not os.path.exists(self.EDSFolder):
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            return "\"%s\" folder doesn't contain a \"eds\" folder"%self.Root
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        files = os.listdir(self.EDSFolder)
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        for file in files:
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            result = self.LoadEDS(file)
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            if result != None:
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                return result
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        result = self.LoadMasterNode()
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        if result != None:
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            return result
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        result = self.LoadSlaveNodes()
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        if result != None:
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            return result
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    def SaveProject(self):
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        result = self.SaveMasterNode()
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        if result != None:
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            return result
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        result = self.SaveNodeList()
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        if result != None:
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            return result
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    def ImportEDSFile(self, edspath):
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        dir, file = os.path.split(edspath)
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        eds = os.path.join(self.EDSFolder, file)
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        if os.path.isfile(eds):
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            return "EDS file already imported"
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        else:
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            shutil.copy(edspath, self.EDSFolder)
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            return self.LoadEDS(file)
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    def LoadEDS(self, eds):
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        edspath = os.path.join(self.EDSFolder, eds)
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        node = eds_utils.GenerateNode(edspath, self.Manager.ScriptDirectory)
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        if isinstance(node, Node):
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            self.EDSNodes[eds] = node
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            return None
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        else:
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            return node
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    def AddSlaveNode(self, nodeName, nodeID, eds):
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        if eds in self.EDSNodes.keys():
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            slave = {"Name" : nodeName, "EDS" : eds, "Node" : self.EDSNodes[eds]}
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            self.SlaveNodes[nodeID] = slave
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            return None
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        else:
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            return "\"%s\" EDS file is not available"%eds
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    def RemoveSlaveNode(self, index):
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        if index in self.SlaveNodes.keys():
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            self.SlaveNodes.pop(index)
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            return None
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        else:
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            return "Node with \"0x%2.2X\" ID doesn't exist"
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    def LoadMasterNode(self):
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        masterpath = os.path.join(self.Root, "master.od")
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        if os.path.isfile(masterpath):
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            self.Manager.OpenFileInCurrent(masterpath)
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        else:
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            self.Manager.CreateNewNode("MasterNode", 0x00, "master", "", "None", "", "heartbeat", ["DS302"])
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        return None
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    def SaveMasterNode(self):
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        masterpath = os.path.join(self.Root, "master.od")
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        if self.Manager.SaveCurrentInFile(masterpath):
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            return None
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        else:
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            return "Fail to save Master Node"
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    def LoadSlaveNodes(self):
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        cpjpath = os.path.join(self.Root, "nodelist.cpj")
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        if os.path.isfile(cpjpath):
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            try:
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                networks = eds_utils.ParseCPJFile(cpjpath)
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                if len(networks) > 0:
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                    self.NetworkName = networks[0]["Name"]
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                    for nodeid, node in networks[0]["Nodes"].items():
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                        if node["Present"] == 1:
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                            result = self.AddSlaveNode(node["Name"], nodeid, node["DCFName"])
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                            if result != None:
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                                return result
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            except SyntaxError, message:
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                return "Unable to load CPJ file\n%s"%message
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        return None
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    def SaveNodeList(self):
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        cpjpath = os.path.join(self.Root, "nodelist.cpj")
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        content = eds_utils.GenerateCPJContent(self)
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        file = open(cpjpath, "w")
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        file.write(content)
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        file.close()
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    def GetSlaveNodeEntry(self, nodeid, index, subindex = None):
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        if nodeid in self.SlaveNodes.keys():
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            self.SlaveNodes[nodeid]["Node"].SetNodeID(nodeid)
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            return self.SlaveNodes[nodeid]["Node"].GetEntry(index, subindex)
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        else:
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            return "Node 0x%2.2X doesn't exist"%nodeid
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    def GetMasterNodeEntry(self, index, subindex = None):
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        return self.Manager.GetCurrentEntry(index, subindex)
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    def SetMasterNodeEntry(self, index, subindex = None, value = None):
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        self.Manager.SetCurrentEntry(index, subindex, value)
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    def GetOrderNumber(self, nodeid):
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        nodeindexes = self.SlaveNodes.keys()
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        nodeindexes.sort()
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        return nodeindexes.index(nodeid) + 1
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    def GetNodeByOrder(self, order):
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        if order > 0:
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            nodeindexes = self.SlaveNodes.keys()
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            nodeindexes.sort()
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            print nodeindexes
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            if order <= len(nodeindexes):
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                return self.SlaveNodes[nodeindexes[order - 1]]["Node"]
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        return None
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    def IsCurrentEntry(self, index):
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        if self.CurrentSelected != None:
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            if self.CurrentSelected == 0:
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                return self.Manager.IsCurrentEntry(index)
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            else:
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                node = self.SlaveNodes[self.CurrentSelected]["Node"]
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                if node:
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                    return node.IsEntry(index)
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        return False
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    def GetEntryInfos(self, index):
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        if self.CurrentSelected != None:
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            if self.CurrentSelected == 0:
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                return self.Manager.GetEntryInfos(index)
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            else:
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                node = self.SlaveNodes[self.CurrentSelected]["Node"]
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                if node:
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                    return node.GetEntryInfos(index)
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        return None
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    def GetCurrentValidIndexes(self, min, max):
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        if self.CurrentSelected != None:
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            if self.CurrentSelected == 0:
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                return self.Manager.GetCurrentValidIndexes(min, max)
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            else:
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                node = self.SlaveNodes[self.CurrentSelected]["Node"]
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                if node:
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                    validindexes = []
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                    for index in node.GetIndexes():
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                        if min <= index <= max:
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                            validindexes.append((node.GetEntryName(index), index))
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                    return validindexes
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                else:
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                    print "Can't find node"
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        return []
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    def GetCurrentEntryValues(self, index):
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        if self.CurrentSelected != None:
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            node = self.SlaveNodes[self.CurrentSelected]["Node"]
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            if node:
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                return self.Manager.GetNodeEntryValues(node, index)
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            else:
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                print "Can't find node"
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        return [], []
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   258
    
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if __name__ == "__main__":
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    from nodemanager import *
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    import os, sys, shutil
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    manager = NodeManager(sys.path[0])
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    nodelist = NodeList(manager)
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    result = nodelist.LoadProject("/home/laurent/test_nodelist")
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   268
    if result != None:
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   269
        print result
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   270
    else:
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   271
        print "MasterNode :"
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   272
        manager.CurrentNode.Print()
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   273
        print 
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   274
        for nodeid, node in nodelist.SlaveNodes.items():
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            print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)
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   276
            node["Node"].Print()
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   277
            print
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   278