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1 #!/usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 |
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4 #This file is part of CanFestival, a library implementing CanOpen Stack. |
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5 # |
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6 #Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD |
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7 # |
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8 #See COPYING file for copyrights details. |
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9 # |
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10 #This library is free software; you can redistribute it and/or |
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11 #modify it under the terms of the GNU Lesser General Public |
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12 #License as published by the Free Software Foundation; either |
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13 #version 2.1 of the License, or (at your option) any later version. |
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14 # |
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15 #This library is distributed in the hope that it will be useful, |
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16 #but WITHOUT ANY WARRANTY; without even the implied warranty of |
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17 #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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18 #Lesser General Public License for more details. |
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19 # |
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20 #You should have received a copy of the GNU Lesser General Public |
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21 #License along with this library; if not, write to the Free Software |
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22 #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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23 |
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24 from gnosis.xml.pickle import * |
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25 from gnosis.xml.pickle.util import setParanoia |
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26 setParanoia(0) |
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27 |
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28 from node import * |
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29 import eds_utils |
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30 import os, shutil |
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31 |
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32 #------------------------------------------------------------------------------- |
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33 # Definition of NodeList Object |
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34 #------------------------------------------------------------------------------- |
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35 |
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36 """ |
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37 Class recording a node list for a CANOpen network. |
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38 """ |
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39 |
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40 class NodeList: |
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41 |
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42 def __init__(self, manager): |
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43 self.Root = "" |
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44 self.Manager = manager |
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45 self.NetworkName = "" |
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46 self.SlaveNodes = {} |
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47 self.EDSNodes = {} |
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48 self.CurrentSelected = None |
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49 |
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50 def GetNetworkName(self): |
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51 return self.NetworkName |
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52 |
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53 def SetNetworkName(self, name): |
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54 self.NetworkName = name |
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55 |
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56 def GetManager(self): |
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57 return self.Manager |
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58 |
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59 def GetRoot(self): |
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60 return self.Root |
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61 |
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62 def GetSlaveNumber(self): |
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63 return len(self.SlaveNodes) |
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64 |
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65 def GetSlaveNames(self): |
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66 nodes = self.SlaveNodes.keys() |
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67 nodes.sort() |
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68 return ["0x%2.2X %s"%(idx, self.SlaveNodes[idx]["Name"]) for idx in nodes] |
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69 |
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70 def GetSlaveIDs(self): |
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71 nodes = self.SlaveNodes.keys() |
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72 nodes.sort() |
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73 return nodes |
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74 |
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75 def SetCurrentSelected(self, selected): |
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76 self.CurrentSelected = selected |
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77 |
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78 def GetCurrentSelected(self): |
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79 return self.CurrentSelected |
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80 |
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81 def LoadProject(self, root): |
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82 self.SlaveNodes = {} |
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83 self.EDSNodes = {} |
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84 |
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85 self.Root = root |
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86 if not os.path.exists(self.Root): |
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87 return "\"%s\" folder doesn't exist"%self.Root |
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88 |
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89 self.EDSFolder = os.path.join(self.Root, "eds") |
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90 if not os.path.exists(self.EDSFolder): |
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91 return "\"%s\" folder doesn't contain a \"eds\" folder"%self.Root |
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92 |
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93 files = os.listdir(self.EDSFolder) |
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94 for file in files: |
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95 result = self.LoadEDS(file) |
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96 if result != None: |
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97 return result |
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98 |
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99 result = self.LoadMasterNode() |
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100 if result != None: |
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101 return result |
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102 |
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103 result = self.LoadSlaveNodes() |
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104 if result != None: |
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105 return result |
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106 |
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107 def SaveProject(self): |
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108 result = self.SaveMasterNode() |
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109 if result != None: |
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110 return result |
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111 |
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112 result = self.SaveNodeList() |
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113 if result != None: |
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114 return result |
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115 |
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116 def ImportEDSFile(self, edspath): |
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117 dir, file = os.path.split(edspath) |
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118 eds = os.path.join(self.EDSFolder, file) |
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119 if os.path.isfile(eds): |
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120 return "EDS file already imported" |
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121 else: |
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122 shutil.copy(edspath, self.EDSFolder) |
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123 return self.LoadEDS(file) |
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124 |
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125 def LoadEDS(self, eds): |
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126 edspath = os.path.join(self.EDSFolder, eds) |
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127 node = eds_utils.GenerateNode(edspath, self.Manager.ScriptDirectory) |
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128 if isinstance(node, Node): |
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129 self.EDSNodes[eds] = node |
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130 return None |
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131 else: |
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132 return node |
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133 |
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134 def AddSlaveNode(self, nodeName, nodeID, eds): |
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135 if eds in self.EDSNodes.keys(): |
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136 slave = {"Name" : nodeName, "EDS" : eds, "Node" : self.EDSNodes[eds]} |
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137 self.SlaveNodes[nodeID] = slave |
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138 return None |
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139 else: |
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140 return "\"%s\" EDS file is not available"%eds |
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141 |
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142 def RemoveSlaveNode(self, index): |
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143 if index in self.SlaveNodes.keys(): |
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144 self.SlaveNodes.pop(index) |
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145 return None |
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146 else: |
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147 return "Node with \"0x%2.2X\" ID doesn't exist" |
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148 |
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149 def LoadMasterNode(self): |
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150 masterpath = os.path.join(self.Root, "master.od") |
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151 if os.path.isfile(masterpath): |
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152 self.Manager.OpenFileInCurrent(masterpath) |
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153 else: |
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154 self.Manager.CreateNewNode("MasterNode", 0x00, "master", "", "None", "", "heartbeat", ["DS302"]) |
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155 return None |
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156 |
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157 def SaveMasterNode(self): |
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158 masterpath = os.path.join(self.Root, "master.od") |
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159 if self.Manager.SaveCurrentInFile(masterpath): |
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160 return None |
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161 else: |
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162 return "Fail to save Master Node" |
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163 |
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164 def LoadSlaveNodes(self): |
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165 cpjpath = os.path.join(self.Root, "nodelist.cpj") |
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166 if os.path.isfile(cpjpath): |
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167 try: |
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168 networks = eds_utils.ParseCPJFile(cpjpath) |
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169 if len(networks) > 0: |
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170 self.NetworkName = networks[0]["Name"] |
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171 for nodeid, node in networks[0]["Nodes"].items(): |
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172 if node["Present"] == 1: |
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173 result = self.AddSlaveNode(node["Name"], nodeid, node["DCFName"]) |
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174 if result != None: |
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175 return result |
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176 except SyntaxError, message: |
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177 return "Unable to load CPJ file\n%s"%message |
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178 return None |
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179 |
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180 def SaveNodeList(self): |
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181 cpjpath = os.path.join(self.Root, "nodelist.cpj") |
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182 content = eds_utils.GenerateCPJContent(self) |
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183 file = open(cpjpath, "w") |
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184 file.write(content) |
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185 file.close() |
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186 |
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187 def GetSlaveNodeEntry(self, nodeid, index, subindex = None): |
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188 if nodeid in self.SlaveNodes.keys(): |
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189 self.SlaveNodes[nodeid]["Node"].SetNodeID(nodeid) |
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190 return self.SlaveNodes[nodeid]["Node"].GetEntry(index, subindex) |
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191 else: |
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192 return "Node 0x%2.2X doesn't exist"%nodeid |
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193 |
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194 def GetMasterNodeEntry(self, index, subindex = None): |
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195 return self.Manager.GetCurrentEntry(index, subindex) |
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196 |
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197 def SetMasterNodeEntry(self, index, subindex = None, value = None): |
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198 self.Manager.SetCurrentEntry(index, subindex, value) |
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199 |
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200 def GetOrderNumber(self, nodeid): |
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201 nodeindexes = self.SlaveNodes.keys() |
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202 nodeindexes.sort() |
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203 return nodeindexes.index(nodeid) + 1 |
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204 |
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205 def GetNodeByOrder(self, order): |
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206 if order > 0: |
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207 nodeindexes = self.SlaveNodes.keys() |
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208 nodeindexes.sort() |
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209 print nodeindexes |
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210 if order <= len(nodeindexes): |
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211 return self.SlaveNodes[nodeindexes[order - 1]]["Node"] |
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212 return None |
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213 |
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214 def IsCurrentEntry(self, index): |
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215 if self.CurrentSelected != None: |
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216 if self.CurrentSelected == 0: |
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217 return self.Manager.IsCurrentEntry(index) |
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218 else: |
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219 node = self.SlaveNodes[self.CurrentSelected]["Node"] |
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220 if node: |
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221 return node.IsEntry(index) |
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222 return False |
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223 |
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224 def GetEntryInfos(self, index): |
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225 if self.CurrentSelected != None: |
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226 if self.CurrentSelected == 0: |
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227 return self.Manager.GetEntryInfos(index) |
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228 else: |
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229 node = self.SlaveNodes[self.CurrentSelected]["Node"] |
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230 if node: |
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231 return node.GetEntryInfos(index) |
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232 return None |
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233 |
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234 def GetCurrentValidIndexes(self, min, max): |
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235 if self.CurrentSelected != None: |
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236 if self.CurrentSelected == 0: |
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237 return self.Manager.GetCurrentValidIndexes(min, max) |
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238 else: |
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239 node = self.SlaveNodes[self.CurrentSelected]["Node"] |
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240 if node: |
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241 validindexes = [] |
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242 for index in node.GetIndexes(): |
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243 if min <= index <= max: |
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244 validindexes.append((node.GetEntryName(index), index)) |
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245 return validindexes |
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246 else: |
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247 print "Can't find node" |
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248 return [] |
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249 |
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250 def GetCurrentEntryValues(self, index): |
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251 if self.CurrentSelected != None: |
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252 node = self.SlaveNodes[self.CurrentSelected]["Node"] |
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253 if node: |
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254 return self.Manager.GetNodeEntryValues(node, index) |
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255 else: |
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256 print "Can't find node" |
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257 return [], [] |
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258 |
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259 if __name__ == "__main__": |
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260 from nodemanager import * |
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261 import os, sys, shutil |
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262 |
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263 manager = NodeManager(sys.path[0]) |
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264 |
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265 nodelist = NodeList(manager) |
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266 |
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267 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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275 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 |