--- a/objdictgen/node.py Fri May 25 23:57:17 2007 +0200
+++ b/objdictgen/node.py Mon May 28 18:08:24 2007 +0200
@@ -23,6 +23,7 @@
import cPickle
from types import *
+import re
"""
Dictionary of translation between access symbol and their signification
@@ -204,7 +205,7 @@
{"name" : "Node ID of the SDO Server", "type" : 0x04, "access" : 'rw', "pdo" : False}]},
0x1400 : {"name" : "Receive PDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :
[{"name" : "Highest SubIndex Supported", "type" : 0x05, "access" : 'ro', "pdo" : False},
- {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False},
+ {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "{True:self.ID+(base+2)*0x100,False:0}[base<4]"},
{"name" : "Transmission Type", "type" : 0x05, "access" : 'rw', "pdo" : False},
{"name" : "Inhibit Time", "type" : 0x06, "access" : 'rw', "pdo" : False},
{"name" : "Compatibility Entry", "type" : 0x05, "access" : 'rw', "pdo" : False},
@@ -214,7 +215,7 @@
{"name" : "PDO %d Mapping for an application object %d[(idx,sub)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmax" : 0x40}]},
0x1800 : {"name" : "Transmit PDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :
[{"name" : "Highest SubIndex Supported", "type" : 0x05, "access" : 'ro', "pdo" : False},
- {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False},
+ {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "{True:self.ID+(base+1)*0x100+0x80,False:0}[base<4]"},
{"name" : "Transmission Type", "type" : 0x05, "access" : 'rw', "pdo" : False},
{"name" : "Inhibit Time", "type" : 0x06, "access" : 'rw', "pdo" : False},
{"name" : "Compatibility Entry", "type" : 0x05, "access" : 'rw', "pdo" : False},
@@ -225,6 +226,161 @@
}
#-------------------------------------------------------------------------------
+# Search in a Mapping Dictionary
+#-------------------------------------------------------------------------------
+
+"""
+Return the index of the typename given by searching in mappingdictionary
+"""
+def FindTypeIndex(typename, mappingdictionary):
+ testdic = {}
+ for index, values in mappingdictionary.iteritems():
+ if index < 0x1000:
+ testdic[values["name"]] = index
+ if typename in testdic:
+ return testdic[typename]
+ return None
+
+"""
+Return the name of the type by searching in mappingdictionary
+"""
+def FindTypeName(typeindex, mappingdictionary):
+ if typeindex < 0x1000 and typeindex in mappingdictionary:
+ return mappingdictionary[typeindex]["name"]
+ return None
+
+"""
+Return the default value of the type by searching in mappingdictionary
+"""
+def FindTypeDefaultValue(typeindex, mappingdictionary):
+ if typeindex < 0x1000 and typeindex in mappingdictionary:
+ return mappingdictionary[typeindex]["default"]
+ return None
+
+"""
+Return the list of types defined in mappingdictionary
+"""
+def FindTypeList(mappingdictionary):
+ list = []
+ for index in mappingdictionary.keys():
+ if index < 0x1000:
+ list.append(mappingdictionary[index]["name"])
+ return list
+
+"""
+Return the name of an entry by searching in mappingdictionary
+"""
+def FindEntryName(index, mappingdictionary):
+ base_index = FindIndex(index, mappingdictionary)
+ if base_index:
+ infos = mappingdictionary[base_index]
+ if infos["struct"] & OD_IdenticalIndexes:
+ return StringFormat(infos["name"], (index - base_index) / infos["incr"] + 1, 0)
+ else:
+ return infos["name"]
+ return None
+
+"""
+Return the informations of one entry by searching in mappingdictionary
+"""
+def FindEntryInfos(index, mappingdictionary):
+ base_index = FindIndex(index, mappingdictionary)
+ if base_index:
+ copy = mappingdictionary[base_index].copy()
+ if copy["struct"] & OD_IdenticalIndexes:
+ copy["name"] = StringFormat(copy["name"], (index - base_index) / copy["incr"] + 1, 0)
+ copy.pop("values")
+ return copy
+ return None
+
+"""
+Return the informations of one subentry of an entry by searching in mappingdictionary
+"""
+def FindSubentryInfos(index, subIndex, mappingdictionary):
+ base_index = FindIndex(index, mappingdictionary)
+ if base_index:
+ struct = mappingdictionary[base_index]["struct"]
+ if struct & OD_Subindex:
+ if struct & OD_IdenticalSubindexes:
+ if struct & OD_IdenticalIndexes:
+ incr = mappingdictionary[base_index]["incr"]
+ else:
+ incr = 1
+ if subIndex == 0:
+ return mappingdictionary[base_index]["values"][0].copy()
+ elif 0 < subIndex <= mappingdictionary[base_index]["values"][1]["nbmax"]:
+ copy = mappingdictionary[base_index]["values"][1].copy()
+ copy["name"] = StringFormat(copy["name"], (index - base_index) / incr + 1, subIndex)
+ return copy
+ elif struct & OD_MultipleSubindexes and 0 <= subIndex < len(mappingdictionary[base_index]["values"]):
+ return mappingdictionary[base_index]["values"][subIndex].copy()
+ elif subIndex == 0:
+ return mappingdictionary[base_index]["values"][0].copy()
+ return None
+
+"""
+Return the list of variables that can be mapped defined in mappingdictionary
+"""
+def FindMapVariableList(mappingdictionary, Node):
+ list = []
+ for index in mappingdictionary.iterkeys():
+ if Node.IsEntry(index):
+ for subIndex, values in enumerate(mappingdictionary[index]["values"]):
+ if mappingdictionary[index]["values"][subIndex]["pdo"]:
+ infos = Node.GetEntryInfos(mappingdictionary[index]["values"][subIndex]["type"])
+ if mappingdictionary[index]["struct"] & OD_IdenticalSubindexes:
+ values = Node.GetEntry(index)
+ for i in xrange(len(values) - 1):
+ list.append((index, i + 1, infos["size"], StringFormat(mappingdictionary[index]["values"][subIndex]["name"],1,i+1)))
+ else:
+ list.append((index, subIndex, infos["size"], mappingdictionary[index]["values"][subIndex]["name"]))
+ return list
+
+"""
+Return the list of mandatory indexes defined in mappingdictionary
+"""
+def FindMandatoryIndexes(mappingdictionary):
+ list = []
+ for index in mappingdictionary.iterkeys():
+ if index >= 0x1000 and mappingdictionary[index]["need"]:
+ list.append(index)
+ return list
+
+"""
+Return the index of the informations in the Object Dictionary in case of identical
+indexes
+"""
+def FindIndex(index, mappingdictionary):
+ if index in mappingdictionary:
+ return index
+ else:
+ listpluri = [idx for idx in mappingdictionary.keys() if mappingdictionary[idx]["struct"] & OD_IdenticalIndexes]
+ listpluri.sort()
+ for idx in listpluri:
+ nb_max = mappingdictionary[idx]["nbmax"]
+ incr = mappingdictionary[idx]["incr"]
+ if idx < index < idx + incr * nb_max and (index - idx)%incr == 0:
+ return idx
+ return None
+
+#-------------------------------------------------------------------------------
+# Formating Name of an Entry
+#-------------------------------------------------------------------------------
+
+name_model = re.compile('(.*)\[(.*)\]')
+
+"""
+Format the text given with the index and subindex defined
+"""
+def StringFormat(text, idx, sub):
+ result = name_model.match(text)
+ if result:
+ format = result.groups()
+ return format[0]%eval(format[1])
+ else:
+ return text
+
+#-------------------------------------------------------------------------------
# Definition of Node Object
#-------------------------------------------------------------------------------
@@ -449,9 +605,11 @@
"""
Check if an entry exists in the Object Dictionary and returns the answer.
"""
- def IsEntry(self, index):
+ def IsEntry(self, index, subIndex = None):
if index in self.Dictionary:
- return True
+ if not subIndex:
+ return True
+ return subIndex <= len(self.Dictionary[index])
return False
"""
@@ -463,7 +621,8 @@
if subIndex == None:
if type(self.Dictionary[index]) == ListType:
values = [len(self.Dictionary[index])]
- values.extend(self.Dictionary[index])
+ for value in self.Dictionary[index]:
+ values.append(self.CompileValue(value, index))
return values
else:
return self.Dictionary[index]
@@ -471,9 +630,9 @@
if type(self.Dictionary[index]) == ListType:
return len(self.Dictionary[index])
else:
- return self.Dictionary[index]
+ return self.CompileValue(self.Dictionary[index], index)
elif type(self.Dictionary[index]) == ListType and 0 < subIndex <= len(self.Dictionary[index]):
- return self.Dictionary[index][subIndex - 1]
+ return self.CompileValue(self.Dictionary[index][subIndex - 1], index)
return None
"""
@@ -594,7 +753,7 @@
return True
return False
- def RemoveMapVariable(self, index, subIndex):
+ def RemoveMapVariable(self, index, subIndex = None):
model = index << 16
mask = 0xFFFF << 16
if subIndex:
@@ -656,3 +815,173 @@
listindex.sort()
for index in listindex:
print "%04X : %s"%(index, self.Dictionary[index])
+
+ def CompileValue(self, value, index):
+ if type(value) == StringType and value.find("self.ID") != -1:
+ base = self.GetBaseIndex(index)
+ try:
+ return eval(value)
+ except:
+ return 0
+ else:
+ return value
+
+#-------------------------------------------------------------------------------
+# Node Informations Functions
+#-------------------------------------------------------------------------------
+
+ def GetBaseIndex(self, index):
+ for mapping in self.GetMappings():
+ result = FindIndex(index, mapping)
+ if result != None:
+ return (index - result) / mapping[result]["incr"]
+ result = FindIndex(index, MappingDictionary)
+ if result != None:
+ return (index - result) / MappingDictionary[result]["incr"]
+ return 0
+
+ def GetCustomisedTypeValues(self, index):
+ values = self.GetEntry(index)
+ customisabletypes = self.GetCustomisableTypes()
+ return values, customisabletypes[values[1]][1]
+
+ def GetEntryName(self, index):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindEntryName(index, mappings[i])
+ i += 1
+ if result == None:
+ result = FindEntryName(index, MappingDictionary)
+ return result
+
+ def GetEntryInfos(self, index):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindEntryInfos(index, mappings[i])
+ i += 1
+ if result == None:
+ result = FindEntryInfos(index, MappingDictionary)
+ return result
+
+ def GetSubentryInfos(self, index, subIndex):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindSubentryInfos(index, subIndex, mappings[i])
+ if result:
+ result["user_defined"] = i == len(mappings) - 1 and index >= 0x1000
+ i += 1
+ if result == None:
+ result = FindSubentryInfos(index, subIndex, MappingDictionary)
+ if result:
+ result["user_defined"] = False
+ return result
+
+ def GetTypeIndex(self, typename):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindTypeIndex(typename, mappings[i])
+ i += 1
+ if result == None:
+ result = FindTypeIndex(typename, MappingDictionary)
+ return result
+
+ def GetTypeName(self, typeindex):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindTypeName(typeindex, mappings[i])
+ i += 1
+ if result == None:
+ result = FindTypeName(typeindex, MappingDictionary)
+ return result
+
+ def GetTypeDefaultValue(self, typeindex):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindTypeDefaultValue(typeindex, mappings[i])
+ i += 1
+ if result == None:
+ result = FindTypeDefaultValue(typeindex, MappingDictionary)
+ return result
+
+ def GetMapVariableList(self):
+ list = FindMapVariableList(MappingDictionary, self)
+ for mapping in self.GetMappings():
+ list.extend(FindMapVariableList(mapping, self))
+ list.sort()
+ return list
+
+ def GetMandatoryIndexes(self, node = None):
+ list = FindMandatoryIndexes(MappingDictionary)
+ for mapping in self.GetMappings():
+ list.extend(FindMandatoryIndexes(mapping))
+ return list
+
+ def GetCustomisableTypes(self):
+ dic = {}
+ for index, valuetype in CustomisableTypes:
+ name = self.GetTypeName(index)
+ dic[index] = [name, valuetype]
+ return dic
+
+#-------------------------------------------------------------------------------
+# Type and Map Variable Lists
+#-------------------------------------------------------------------------------
+
+ def GetTypeList(self):
+ list = FindTypeList(MappingDictionary)
+ for mapping in self.GetMappings():
+ list.extend(FindTypeList(mapping))
+ list.sort()
+ return ",".join(list)
+
+ """
+ Generate the list of variables that can be mapped for the current node
+ """
+ def GenerateMapList(self):
+ self.MapList = "None"
+ self.NameTranslation = {"None" : "00000000"}
+ self.MapTranslation = {"00000000" : "None"}
+ list = self.GetMapVariableList()
+ for index, subIndex, size, name in list:
+ self.MapList += ",%s"%name
+ map = "%04X%02X%02X"%(index,subIndex,size)
+ self.NameTranslation[name] = map
+ self.MapTranslation[map] = name
+
+ def GetMapValue(self, mapname):
+ if mapname == "None":
+ return 0
+ else:
+ list = self.GetMapVariableList()
+ for index, subIndex, size, name in list:
+ if mapname == name:
+ return (index << 16) + (subIndex << 8) + size
+ return None
+
+ def GetMapName(self, value):
+ if value != 0:
+ index = value >> 16
+ subindex = (value >> 8) % (1 << 8)
+ result = self.GetSubentryInfos(index, subindex)
+ if result:
+ return result["name"]
+ return "None"
+
+ """
+ Return the list of variables that can be mapped for the current node
+ """
+ def GetMapList(self):
+ list = ["None"] + [name for index, subIndex, size, name in self.GetMapVariableList()]
+ return ",".join(list)