etisserant@0: #!/usr/bin/env python
etisserant@0: # -*- coding: utf-8 -*-
etisserant@0: 
etisserant@0: #This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: #
etisserant@0: #Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
etisserant@0: #
etisserant@0: #See COPYING file for copyrights details.
etisserant@0: #
etisserant@0: #This library is free software; you can redistribute it and/or
etisserant@0: #modify it under the terms of the GNU Lesser General Public
etisserant@0: #License as published by the Free Software Foundation; either
etisserant@0: #version 2.1 of the License, or (at your option) any later version.
etisserant@0: #
etisserant@0: #This library is distributed in the hope that it will be useful,
etisserant@0: #but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: #Lesser General Public License for more details.
etisserant@0: #
etisserant@0: #You should have received a copy of the GNU Lesser General Public
etisserant@0: #License along with this library; if not, write to the Free Software
etisserant@0: #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: 
etisserant@0: import cPickle
etisserant@0: from types import *
lbessard@205: import re
etisserant@0: 
etisserant@0: """
etisserant@0: Dictionary of translation between access symbol and their signification
etisserant@0: """
etisserant@0: AccessType = {"ro" : "Read Only", "wo" : "Write Only", "rw" : "Read/Write"}
etisserant@0: 
etisserant@0: BoolType = {True : "True", False : "False"} 
etisserant@0: OptionType = {True : "Yes", False : "No"}
etisserant@0: 
etisserant@0: CustomisableTypes = [(0x02, 0), (0x03, 0), (0x04, 0), (0x05, 0), (0x06, 0), (0x07, 0),
etisserant@0:     (0x08, 0), (0x09, 1), (0x0A, 1), (0x0B, 1), (0x10, 0), (0x11, 0), (0x12, 0),
etisserant@0:     (0x13, 0), (0x14, 0), (0x15, 0), (0x16, 0), (0x18, 0), (0x19, 0), (0x1A, 0),
etisserant@0:     (0x1B, 0)]
etisserant@0: 
etisserant@0: DefaultParams = {"comment" : "", "save" : False}
etisserant@0: 
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: #                      Dictionary Mapping and Organisation
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: 
etisserant@0: """
etisserant@0: Properties of entry structure in the Object Dictionary
etisserant@0: """
etisserant@0: OD_Subindex = 1             # Entry has at least one subindex
etisserant@0: OD_MultipleSubindexes = 2   # Entry has more than one subindex
etisserant@0: OD_IdenticalSubindexes = 4  # Subindexes of entry have the same description
etisserant@0: OD_IdenticalIndexes = 8     # Entry has the same description on multiple indexes
etisserant@0: 
etisserant@0: """
etisserant@0: Structures of entry in the Object Dictionary, sum of the properties described above
etisserant@0: for all sorts of entries use in CAN Open specification
etisserant@0: """
etisserant@0: nosub = 0 # Entry without subindex (only for type declaration)
etisserant@260: var = OD_Subindex
etisserant@260: array = OD_Subindex | OD_MultipleSubindexes
etisserant@260: rec = OD_Subindex | OD_MultipleSubindexes | OD_IdenticalSubindexes
etisserant@0: # Entries identical on multiple indexes
etisserant@260: plurivar = OD_Subindex | OD_IdenticalIndexes
etisserant@260: pluriarray = OD_Subindex | OD_MultipleSubindexes | OD_IdenticalIndexes # Example : PDO Parameters
etisserant@260: plurirec = OD_Subindex | OD_MultipleSubindexes | OD_IdenticalSubindexes |OD_IdenticalIndexes   # Example : PDO Mapping
etisserant@0: 
etisserant@0: """
etisserant@0: MappingDictionary is the structure used for writing a good organised Object
etisserant@0: Dictionary. It follows the specifications of the CANOpen standard.
etisserant@0: Change the informations within it if there is a mistake. But don't modify the
etisserant@0: organisation of this object, it will involve in a malfunction of the application.
etisserant@0: """
etisserant@0: 
etisserant@0: MappingDictionary = {
etisserant@0:     0x0001 : {"name" : "BOOLEAN", "struct" : nosub, "size" : 1, "default" : False, "values" : []},
etisserant@0:     0x0002 : {"name" : "INTEGER8", "struct" : nosub, "size" : 8, "default" : 0, "values" : []},
etisserant@0:     0x0003 : {"name" : "INTEGER16", "struct" : nosub, "size" : 16, "default" : 0, "values" : []},
etisserant@0:     0x0004 : {"name" : "INTEGER32", "struct" : nosub, "size" : 32, "default" : 0, "values" : []},
etisserant@0:     0x0005 : {"name" : "UNSIGNED8", "struct" : nosub, "size" : 8, "default" : 0, "values" : []},
etisserant@0:     0x0006 : {"name" : "UNSIGNED16", "struct" : nosub, "size" : 16, "default" : 0, "values" : []},
etisserant@0:     0x0007 : {"name" : "UNSIGNED32", "struct" : nosub, "size" : 32, "default" : 0, "values" : []},
etisserant@0:     0x0008 : {"name" : "REAL32", "struct" : nosub, "size" : 32, "default" : 0.0, "values" : []},
etisserant@0:     0x0009 : {"name" : "VISIBLE_STRING", "struct" : nosub, "size" : 8, "default" : "", "values" : []},
etisserant@0:     0x000A : {"name" : "OCTET_STRING", "struct" : nosub, "size" : 8, "default" : "", "values" : []},
etisserant@0:     0x000B : {"name" : "UNICODE_STRING", "struct" : nosub, "size" : 16, "default" : "", "values" : []},
lbessard@67: #    0x000C : {"name" : "TIME_OF_DAY", "struct" : nosub, "size" : 48, "default" : 0, "values" : []},
lbessard@67: #    0x000D : {"name" : "TIME_DIFFERENCE", "struct" : nosub, "size" : 48, "default" : 0, "values" : []},
greg@176:     0x000F : {"name" : "DOMAIN", "struct" : nosub, "size" : 0, "default" : "", "values" : []},
etisserant@0:     0x0010 : {"name" : "INTEGER24", "struct" : nosub, "size" : 24, "default" : 0, "values" : []},
etisserant@0:     0x0011 : {"name" : "REAL64", "struct" : nosub, "size" : 64, "default" : 0.0, "values" : []},
etisserant@0:     0x0012 : {"name" : "INTEGER40", "struct" : nosub, "size" : 40, "default" : 0, "values" : []},
etisserant@0:     0x0013 : {"name" : "INTEGER48", "struct" : nosub, "size" : 48, "default" : 0, "values" : []},
etisserant@0:     0x0014 : {"name" : "INTEGER56", "struct" : nosub, "size" : 56, "default" : 0, "values" : []},
etisserant@0:     0x0015 : {"name" : "INTEGER64", "struct" : nosub, "size" : 64, "default" : 0, "values" : []},
etisserant@0:     0x0016 : {"name" : "UNSIGNED24", "struct" : nosub, "size" : 24, "default" : 0, "values" : []},
etisserant@0:     0x0018 : {"name" : "UNSIGNED40", "struct" : nosub, "size" : 40, "default" : 0, "values" : []},
etisserant@0:     0x0019 : {"name" : "UNSIGNED48", "struct" : nosub, "size" : 48, "default" : 0, "values" : []},
etisserant@0:     0x001A : {"name" : "UNSIGNED56", "struct" : nosub, "size" : 56, "default" : 0, "values" : []},
etisserant@0:     0x001B : {"name" : "UNSIGNED64", "struct" : nosub, "size" : 64, "default" : 0, "values" : []},
etisserant@0:     0x1000 : {"name" : "Device Type", "struct" : var, "need" : True, "values" : 
lbessard@182:                 [{"name" : "Device Type", "type" : 0x07, "access" : 'ro', "pdo" : False}]},
etisserant@0:     0x1001 : {"name" : "Error Register", "struct" : var,  "need" : True, "values" : 
lbessard@182:                 [{"name" : "Error Register", "type" : 0x05, "access": 'ro', "pdo" : True}]},
etisserant@0:     0x1002 : {"name" : "Manufacturer Status Register", "struct" : var, "need" : False,  "values" :
lbessard@182:                 [{"name" : "Manufacturer Status Register", "type" : 0x07, "access" : 'ro', "pdo" : True}]},
luis@284:     0x1003 : {"name" : "Pre-defined Error Field", "struct" : rec, "need" : False, "callback" : True,  "values" :
lbessard@182:                 [{"name" : "Number of Errors", "type" : 0x05, "access" : 'rw', "pdo" : False},
Laurent@783:                  {"name" : "Standard Error Field", "type" : 0x07, "access" : 'ro', "pdo" : False, "nbmin" : 1, "nbmax" : 0xFE}]},
lbessard@258:     0x1005 : {"name" : "SYNC COB ID", "struct" : var, "need" : False, "callback" : True, "values" :
lbessard@182:                 [{"name" : "SYNC COB ID", "type" : 0x07, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1006 : {"name" : "Communication / Cycle Period", "struct" : var, "need" : False, "callback" : True, "values" :
lbessard@182:                 [{"name" : "Communication Cycle Period", "type" : 0x07, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1007 : {"name" : "Synchronous Window Length", "struct" : var, "need" : False, "values" :
lbessard@182:                 [{"name" : "Synchronous Window Length", "type" : 0x07, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1008 : {"name" : "Manufacturer Device Name", "struct" : var, "need" : False, "values" :
etisserant@0:                 [{"name" : "Manufacturer Device Name", "type" : 0x09, "access" : 'ro', "pdo" : False}]},
etisserant@0:     0x1009 : {"name" : "Manufacturer Hardware Version", "struct" : var, "need" : False, "values" :
etisserant@0:                 [{"name" : "Manufacturer Hardware Version", "type" : 0x09, "access" : 'ro', "pdo" : False}]},
etisserant@0:     0x100A : {"name" : "Manufacturer Software Version", "struct" : var, "need" : False, "values" :
frdupin@62:                 [{"name" : "Manufacturer Software Version", "type" : 0x09, "access" : 'ro', "pdo" : False}]},
etisserant@0:     0x100C : {"name" : "Guard Time", "struct" : var, "need" : False, "values" :
lbessard@182:                 [{"name" : "Guard Time", "type" : 0x06, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x100D : {"name" : "Life Time Factor", "struct" : var, "need" : False, "values" :
lbessard@182:                 [{"name" : "Life Time Factor", "type" : 0x05, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1010 : {"name" : "Store parameters", "struct" : array, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Save All Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Save Communication Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Save Application Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},
lbessard@510:                  {"name" : "Save Manufacturer Parameters %d[(sub - 3)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},
etisserant@0:     0x1011 : {"name" : "Restore Default Parameters", "struct" : array, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Restore All Default Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Restore Communication Default Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Restore Application Default Parameters", "type" : 0x07, "access" : 'rw', "pdo" : False},
lbessard@510:                  {"name" : "Restore Manufacturer Defined Default Parameters %d[(sub - 3)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},
etisserant@0:     0x1012 : {"name" : "TIME COB ID", "struct" : var, "need" : False, "values" :
lbessard@182:                 [{"name" : "TIME COB ID", "type" : 0x07, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1013 : {"name" : "High Resolution Timestamp", "struct" : var, "need" : False, "values" :
lbessard@182:                 [{"name" : "High Resolution Time Stamp", "type" : 0x07, "access" : 'rw', "pdo" : True}]},
etisserant@0:     0x1014 : {"name" : "Emergency COB ID", "struct" : var, "need" : False, "values" :
lbessard@313:                 [{"name" : "Emergency COB ID", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "\"$NODEID+0x80\""}]},
etisserant@0:     0x1015 : {"name" : "Inhibit Time Emergency", "struct" : var, "need" : False, "values" :
lbessard@182:                 [{"name" : "Inhibit Time Emergency", "type" : 0x06, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1016 : {"name" : "Consumer Heartbeat Time", "struct" : rec, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@299:                  {"name" : "Consumer Heartbeat Time", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 1, "nbmax" : 0x7F}]},
greg@177:     0x1017 : {"name" : "Producer Heartbeat Time", "struct" : var, "need" : False, "callback" : True, "values" :
lbessard@182:                 [{"name" : "Producer Heartbeat Time", "type" : 0x06, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1018 : {"name" : "Identity", "struct" : array, "need" : True, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Vendor ID", "type" : 0x07, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Product Code", "type" : 0x07, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Revision Number", "type" : 0x07, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Serial Number", "type" : 0x07, "access" : 'ro', "pdo" : False}]},
Laurent@783:     0x1019 : {"name" : "Synchronous counter overflow value", "struct" : var, "need" : False, "values" :
Laurent@783:                 [{"name" : "Synchronous counter overflow value", "type" : 0x05, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1020 : {"name" : "Verify Configuration", "struct" : array, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
Laurent@783:                  {"name" : "Configuration Date", "type" : 0x07, "access" : 'rw', "pdo" : False},
Laurent@783:                  {"name" : "Configuration Time", "type" : 0x07, "access" : 'rw', "pdo" : False}]},
lbessard@59: #    0x1021 : {"name" : "Store EDS", "struct" : var, "need" : False, "values" :
lbessard@59: #                [{"name" : "Store EDS", "type" : 0x0F, "access" : 'rw', "pdo" : False}]},
lbessard@59: #    0x1022 : {"name" : "Storage Format", "struct" : var, "need" : False, "values" :
lbessard@182: #                [{"name" : "Storage Format", "type" : 0x06, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1023 : {"name" : "OS Command", "struct" : array, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
etisserant@0:                  {"name" : "Command", "type" : 0x0A, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Status", "type" : 0x05, "access" : 'ro', "pdo" : False},
etisserant@0:                  {"name" : "Reply", "type" : 0x0A, "access" : 'ro', "pdo" : False}]},
etisserant@0:     0x1024 : {"name" : "OS Command Mode", "struct" : var, "need" : False, "values" :
lbessard@182:                 [{"name" : "OS Command Mode", "type" : 0x05, "access" : 'wo', "pdo" : False}]},
etisserant@0:     0x1025 : {"name" : "OS Debugger Interface", "struct" : array, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Command", "type" : 0x0A, "access" : 'rw', "pdo" : False},
Laurent@783:                  {"name" : "Status", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Reply", "type" : 0x0A, "access" : 'ro', "pdo" : False}]},
etisserant@0:     0x1026 : {"name" : "OS Prompt", "struct" : array, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "StdIn", "type" : 0x05, "access" : 'wo', "pdo" : True},
lbessard@182:                  {"name" : "StdOut", "type" : 0x05, "access" : 'ro', "pdo" : True},
lbessard@182:                  {"name" : "StdErr", "type" : 0x05, "access" : 'ro', "pdo" : True}]},
etisserant@0:     0x1027 : {"name" : "Module List", "struct" : rec, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Connected Modules", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@299:                  {"name" : "Module %d[(sub)]", "type" : 0x06, "access" : 'ro', "pdo" : False, "nbmin" : 1, "nbmax" : 0xFE}]},
etisserant@0:     0x1028 : {"name" : "Emergency Consumer", "struct" : rec, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Consumed Emergency Objects", "type" : 0x05, "access" : 'ro', "pdo" : False},
Laurent@783:                  {"name" : "Emergency Consumer", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 1, "nbmax" : 0x7F}]},
etisserant@0:     0x1029 : {"name" : "Error Behavior", "struct" : array, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Error Classes", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Communication Error", "type" : 0x05, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Device Profile", "type" : 0x05, "access" : 'rw', "pdo" : False, "nbmax" : 0xFE}]},
etisserant@0:     0x1200 : {"name" : "Server SDO Parameter", "struct" : array, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@299:                  {"name" : "COB ID Client to Server (Receive SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False, "default" : "\"$NODEID+0x600\""},
lbessard@299:                  {"name" : "COB ID Server to Client (Transmit SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False, "default" : "\"$NODEID+0x580\""}]},
etisserant@0:     0x1201 : {"name" : "Additional Server SDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x7F, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "COB ID Client to Server (Receive SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "COB ID Server to Client (Transmit SDO)", "type" : 0x07, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "Node ID of the SDO Client", "type" : 0x05, "access" : 'ro', "pdo" : False}]},
etisserant@0:     0x1280 : {"name" : "Client SDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x100, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@182:                  {"name" : "COB ID Client to Server (Transmit SDO)", "type" : 0x07, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "COB ID Server to Client (Receive SDO)", "type" : 0x07, "access" : 'rw', "pdo" : False},
lbessard@273:                  {"name" : "Node ID of the SDO Server", "type" : 0x05, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1400 : {"name" : "Receive PDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :
lbessard@182:                 [{"name" : "Highest SubIndex Supported", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@317:                  {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "{True:\"$NODEID+0x%X00\"%(base+2),False:0x80000000}[base<4]"},
lbessard@182:                  {"name" : "Transmission Type", "type" : 0x05, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Inhibit Time", "type" : 0x06, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Compatibility Entry", "type" : 0x05, "access" : 'rw', "pdo" : False},
Laurent@783:                  {"name" : "Event Timer", "type" : 0x06, "access" : 'rw', "pdo" : False},
Laurent@783:                  {"name" : "SYNC start value", "type" : 0x05, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1600 : {"name" : "Receive PDO %d Mapping[(idx)]", "struct" : plurirec, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'rw', "pdo" : False},
lbessard@299:                  {"name" : "PDO %d Mapping for an application object %d[(idx,sub)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 0, "nbmax" : 0x40}]},
etisserant@236:     0x1800 : {"name" : "Transmit PDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x200, "need" : False, "callback" : True, "values" :
lbessard@182:                 [{"name" : "Highest SubIndex Supported", "type" : 0x05, "access" : 'ro', "pdo" : False},
lbessard@317:                  {"name" : "COB ID used by PDO", "type" : 0x07, "access" : 'rw', "pdo" : False, "default" : "{True:\"$NODEID+0x%X80\"%(base+1),False:0x80000000}[base<4]"},
lbessard@182:                  {"name" : "Transmission Type", "type" : 0x05, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Inhibit Time", "type" : 0x06, "access" : 'rw', "pdo" : False},
lbessard@182:                  {"name" : "Compatibility Entry", "type" : 0x05, "access" : 'rw', "pdo" : False},
Laurent@783:                  {"name" : "Event Timer", "type" : 0x06, "access" : 'rw', "pdo" : False},
Laurent@783:                  {"name" : "SYNC start value", "type" : 0x05, "access" : 'rw', "pdo" : False}]},
etisserant@0:     0x1A00 : {"name" : "Transmit PDO %d Mapping[(idx)]", "struct" : plurirec, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :
lbessard@182:                 [{"name" : "Number of Entries", "type" : 0x05, "access" : 'rw', "pdo" : False},
lbessard@299:                  {"name" : "PDO %d Mapping for a process data variable %d[(idx,sub)]", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 0, "nbmax" : 0x40}]},
etisserant@0: }
etisserant@0: 
etisserant@0: #-------------------------------------------------------------------------------
lbessard@205: #                         Search in a Mapping Dictionary
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205: 
lbessard@205: """
lbessard@205: Return the index of the typename given by searching in mappingdictionary 
lbessard@205: """
lbessard@205: def FindTypeIndex(typename, mappingdictionary):
lbessard@205:     testdic = {}
lbessard@205:     for index, values in mappingdictionary.iteritems():
lbessard@205:         if index < 0x1000:
lbessard@205:             testdic[values["name"]] = index
lbessard@205:     if typename in testdic:
lbessard@205:         return testdic[typename]
lbessard@205:     return None
lbessard@205: 
lbessard@205: """
lbessard@205: Return the name of the type by searching in mappingdictionary 
lbessard@205: """
lbessard@205: def FindTypeName(typeindex, mappingdictionary):
lbessard@205:     if typeindex < 0x1000 and typeindex in mappingdictionary:
lbessard@205:         return mappingdictionary[typeindex]["name"]
lbessard@205:     return None
lbessard@205: 
lbessard@205: """
lbessard@205: Return the default value of the type by searching in mappingdictionary 
lbessard@205: """
lbessard@205: def FindTypeDefaultValue(typeindex, mappingdictionary):
lbessard@205:     if typeindex < 0x1000 and typeindex in mappingdictionary:
lbessard@205:         return mappingdictionary[typeindex]["default"]
lbessard@205:     return None
lbessard@205: 
lbessard@205: """
lbessard@205: Return the list of types defined in mappingdictionary 
lbessard@205: """
lbessard@205: def FindTypeList(mappingdictionary):
lbessard@205:     list = []
lbessard@205:     for index in mappingdictionary.keys():
lbessard@205:         if index < 0x1000:
lbessard@205:             list.append(mappingdictionary[index]["name"])
lbessard@205:     return list
lbessard@205: 
lbessard@205: """
lbessard@205: Return the name of an entry by searching in mappingdictionary 
lbessard@205: """
laurent@584: def FindEntryName(index, mappingdictionary, compute=True):
lbessard@205:     base_index = FindIndex(index, mappingdictionary)
lbessard@205:     if base_index:
lbessard@205:         infos = mappingdictionary[base_index]
laurent@584:         if infos["struct"] & OD_IdenticalIndexes and compute:
lbessard@205:             return StringFormat(infos["name"], (index - base_index) / infos["incr"] + 1, 0)
lbessard@205:         else:
lbessard@205:             return infos["name"]
lbessard@205:     return None
lbessard@205: 
lbessard@205: """
lbessard@205: Return the informations of one entry by searching in mappingdictionary 
lbessard@205: """
laurent@584: def FindEntryInfos(index, mappingdictionary, compute=True):
lbessard@205:     base_index = FindIndex(index, mappingdictionary)
lbessard@205:     if base_index:
lbessard@205:         copy = mappingdictionary[base_index].copy()
laurent@584:         if copy["struct"] & OD_IdenticalIndexes and compute:
lbessard@205:             copy["name"] = StringFormat(copy["name"], (index - base_index) / copy["incr"] + 1, 0)
lbessard@205:         copy.pop("values")
lbessard@205:         return copy
lbessard@205:     return None
lbessard@205: 
lbessard@205: """
lbessard@205: Return the informations of one subentry of an entry by searching in mappingdictionary 
lbessard@205: """
laurent@584: def FindSubentryInfos(index, subIndex, mappingdictionary, compute=True):
lbessard@205:     base_index = FindIndex(index, mappingdictionary)
lbessard@205:     if base_index:
lbessard@205:         struct = mappingdictionary[base_index]["struct"]
lbessard@510:         if struct & OD_IdenticalIndexes:
lbessard@510:             incr = mappingdictionary[base_index]["incr"]
lbessard@510:         else:
lbessard@510:             incr = 1
lbessard@205:         if struct & OD_Subindex:
lbessard@510:             infos = None
lbessard@205:             if struct & OD_IdenticalSubindexes:
lbessard@205:                 if subIndex == 0:
lbessard@510:                     infos = mappingdictionary[base_index]["values"][0].copy()
lbessard@205:                 elif 0 < subIndex <= mappingdictionary[base_index]["values"][1]["nbmax"]:
lbessard@510:                     infos = mappingdictionary[base_index]["values"][1].copy()
lbessard@510:             elif struct & OD_MultipleSubindexes:
lbessard@510:                 idx = 0
lbessard@510:                 for subindex_infos in mappingdictionary[base_index]["values"]:
lbessard@510:                     if "nbmax" in subindex_infos:
lbessard@510:                         if idx <= subIndex < idx + subindex_infos["nbmax"]:
lbessard@510:                             infos = subindex_infos.copy()
lbessard@510:                             break;
lbessard@510:                         idx += subindex_infos["nbmax"]
lbessard@510:                     else:
lbessard@510:                         if subIndex == idx:
lbessard@510:                             infos = subindex_infos.copy()
lbessard@510:                             break;
lbessard@510:                         idx += 1
lbessard@205:             elif subIndex == 0:
lbessard@510:                 infos = mappingdictionary[base_index]["values"][0].copy()
laurent@584:             if infos is not None and compute:
lbessard@510:                 infos["name"] = StringFormat(infos["name"], (index - base_index) / incr + 1, subIndex)
lbessard@510:             return infos
lbessard@205:     return None
lbessard@205: 
lbessard@205: """
lbessard@205: Return the list of variables that can be mapped defined in mappingdictionary 
lbessard@205: """
laurent@584: def FindMapVariableList(mappingdictionary, Node, compute=True):
lbessard@205:     list = []
lbessard@205:     for index in mappingdictionary.iterkeys():
lbessard@205:         if Node.IsEntry(index):
lbessard@205:             for subIndex, values in enumerate(mappingdictionary[index]["values"]):
lbessard@205:                 if mappingdictionary[index]["values"][subIndex]["pdo"]:
lbessard@205:                     infos = Node.GetEntryInfos(mappingdictionary[index]["values"][subIndex]["type"])
laurent@584:                     name = mappingdictionary[index]["values"][subIndex]["name"]
lbessard@205:                     if mappingdictionary[index]["struct"] & OD_IdenticalSubindexes:
lbessard@205:                         values = Node.GetEntry(index)
lbessard@205:                         for i in xrange(len(values) - 1):
laurent@584:                             computed_name = name
laurent@584:                             if compute:
laurent@584:                                 computed_name = StringFormat(computed_name, 1, i + 1)
laurent@584:                             list.append((index, i + 1, infos["size"], computed_name))
lbessard@205:                     else:
laurent@584:                         computed_name = name
laurent@584:                         if compute:
laurent@584:                             computed_name = StringFormat(computed_name, 1, subIndex)
laurent@584:                         list.append((index, subIndex, infos["size"], computed_name))
lbessard@205:     return list
lbessard@205: 
lbessard@205: """
lbessard@205: Return the list of mandatory indexes defined in mappingdictionary 
lbessard@205: """
lbessard@205: def FindMandatoryIndexes(mappingdictionary):
lbessard@205:     list = []
lbessard@205:     for index in mappingdictionary.iterkeys():
lbessard@205:         if index >= 0x1000 and mappingdictionary[index]["need"]:
lbessard@205:             list.append(index)
lbessard@205:     return list
lbessard@205: 
lbessard@205: """
lbessard@205: Return the index of the informations in the Object Dictionary in case of identical
lbessard@205: indexes
lbessard@205: """
lbessard@205: def FindIndex(index, mappingdictionary):
lbessard@205:     if index in mappingdictionary:
lbessard@205:         return index
lbessard@205:     else:
lbessard@205:         listpluri = [idx for idx in mappingdictionary.keys() if mappingdictionary[idx]["struct"] & OD_IdenticalIndexes]
lbessard@205:         listpluri.sort()
lbessard@205:         for idx in listpluri:
lbessard@205:             nb_max = mappingdictionary[idx]["nbmax"]
lbessard@205:             incr = mappingdictionary[idx]["incr"]
lbessard@205:             if idx < index < idx + incr * nb_max and (index - idx)%incr == 0:
lbessard@205:                 return idx
lbessard@205:     return None
lbessard@205: 
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205: #                           Formating Name of an Entry
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205: 
lbessard@205: name_model = re.compile('(.*)\[(.*)\]')
lbessard@205: 
lbessard@205: """
lbessard@205: Format the text given with the index and subindex defined
lbessard@205: """
lbessard@205: def StringFormat(text, idx, sub):
lbessard@205:     result = name_model.match(text)
lbessard@205:     if result:
lbessard@205:         format = result.groups()
lbessard@205:         return format[0]%eval(format[1])
lbessard@205:     else:
lbessard@205:         return text
lbessard@205: 
lbessard@205: #-------------------------------------------------------------------------------
etisserant@0: #                          Definition of Node Object
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: 
etisserant@0: """
etisserant@0: Class recording the Object Dictionary entries. It checks at each modification
etisserant@0: that the structure of the Object Dictionary stay coherent
etisserant@0: """
etisserant@0: 
etisserant@0: class Node:
etisserant@0:     
lbessard@418:     DefaultStringSize = 10
lbessard@418:     
lbessard@182:     def __init__(self, name = "", type = "slave", id = 0, description = "", profilename = "DS-301", profile = {}, specificmenu = []):
etisserant@0:         self.Name = name
etisserant@0:         self.Type = type
etisserant@0:         self.ID = id
lbessard@182:         self.Description = description
etisserant@0:         self.ProfileName = profilename
etisserant@0:         self.Profile = profile
etisserant@0:         self.SpecificMenu = specificmenu
etisserant@0:         self.Dictionary = {}
etisserant@0:         self.ParamsDictionary = {}
etisserant@0:         self.DS302 = {}
etisserant@0:         self.UserMapping = {}
etisserant@0:     
etisserant@0:     """
etisserant@0:     Return the node name
etisserant@0:     """
etisserant@0:     def GetNodeName(self):
etisserant@0:         return self.Name
etisserant@0:     
etisserant@0:     """
etisserant@0:     Define the node name
etisserant@0:     """
etisserant@0:     def SetNodeName(self, name):
etisserant@0:         self.Name = name
etisserant@0: 
etisserant@0:     """
etisserant@0:     Return the node type ("master" or "slave")
etisserant@0:     """
etisserant@0:     def GetNodeType(self):
etisserant@0:         return self.Type
etisserant@0:     
etisserant@0:     """
etisserant@0:     Define the node type ("master" or "slave")
etisserant@0:     """
etisserant@0:     def SetNodeType(self, type):
etisserant@0:         self.Type = type
etisserant@0: 
etisserant@0:     """
etisserant@0:     Return the node ID
etisserant@0:     """
etisserant@0:     def GetNodeID(self):
etisserant@0:         return self.ID
etisserant@0:     
etisserant@0:     """
etisserant@0:     Define the node ID
etisserant@0:     """
etisserant@0:     def SetNodeID(self, id):
etisserant@0:         self.ID = id
etisserant@0: 
etisserant@0:     """
lbessard@182:     Return the node description
lbessard@182:     """
lbessard@182:     def GetNodeDescription(self):
lbessard@182:         if getattr(self, "Description", False):
lbessard@182:             return self.Description
lbessard@182:         else:
lbessard@182:             return ""
lbessard@182:     
lbessard@182:     """
lbessard@182:     Define the node description
lbessard@182:     """
lbessard@182:     def SetNodeDescription(self, description):
lbessard@182:         self.Description = description
lbessard@182: 
lbessard@182:     """
etisserant@0:     Return the Specific Profile Name
etisserant@0:     """
etisserant@0:     def GetProfileName(self):
etisserant@0:         return self.ProfileName
etisserant@0:     
etisserant@0:     """
etisserant@0:     Define the Specific Profile Name
etisserant@0:     """
etisserant@0:     def SetProfileName(self, profilename):
etisserant@0:         self.ProfileName = profilename
etisserant@0: 
etisserant@0:     """
etisserant@0:     Return the Specific Profile
etisserant@0:     """
etisserant@0:     def GetProfile(self):
etisserant@0:         return self.Profile
etisserant@0:     
etisserant@0:     """
etisserant@0:     Define the Specific Profile
etisserant@0:     """
etisserant@0:     def SetProfile(self, profile):
etisserant@0:         self.Profile = profile
etisserant@0:     
etisserant@0:     """
lbessard@418:     Return the default string size
lbessard@418:     """
lbessard@418:     def GetDefaultStringSize(self):
lbessard@418:         return self.DefaultStringSize
lbessard@418:     
lbessard@418:     """
lbessard@418:     Define the default string size
lbessard@418:     """
lbessard@418:     def SetDefaultStringSize(self, size):
lbessard@418:         self.DefaultStringSize = size
lbessard@418:     
lbessard@418:     """
etisserant@0:     Define the DS-302 Profile
etisserant@0:     """
etisserant@0:     def SetDS302Profile(self, profile):
etisserant@0:         self.DS302 = profile
etisserant@0:     
etisserant@0:     """
etisserant@0:     Define the DS-302 Profile
etisserant@0:     """
etisserant@0:     def GetDS302Profile(self):
etisserant@0:         return self.DS302
etisserant@0:     
etisserant@0:     """
etisserant@0:     Return the Specific Menu Entries
etisserant@0:     """
etisserant@0:     def GetSpecificMenu(self):
etisserant@0:         return self.SpecificMenu
etisserant@0:     
etisserant@0:     """
etisserant@0:     Define the Specific Menu Entries
etisserant@0:     """
etisserant@0:     def SetSpecificMenu(self, specificmenu):
etisserant@0:         self.SpecificMenu = specificmenu
etisserant@0:     
etisserant@0:     """
etisserant@0:     Extend the Specific Menu Entries
etisserant@0:     """
etisserant@0:     
etisserant@0:     def ExtendSpecificMenu(self, specificmenu):
greg@176:         self.SpecificMenu.extend(specificmenu)
etisserant@0:     
etisserant@0:     """
etisserant@0:     Function which return the different Mappings available for this node
etisserant@0:     """
etisserant@0:     def GetMappings(self, userdefinedtoo = True):
etisserant@0:         if userdefinedtoo:
etisserant@0:             return [self.Profile, self.DS302, self.UserMapping]
etisserant@0:         else:
etisserant@0:             return [self.Profile, self.DS302]
etisserant@0:     
etisserant@0:     """
etisserant@0:     Add a new entry in the Object Dictionary
etisserant@0:     """
etisserant@0:     def AddEntry(self, index, subIndex = None, value = None):
etisserant@0:         if index not in self.Dictionary:
etisserant@0:             if not subIndex:
etisserant@0:                 self.Dictionary[index] = value
etisserant@0:                 return True
etisserant@0:             elif subIndex == 1:
etisserant@0:                 self.Dictionary[index] = [value]
etisserant@0:                 return True
lbessard@299:         elif subIndex > 0 and type(self.Dictionary[index]) == ListType and subIndex == len(self.Dictionary[index]) + 1:
etisserant@0:             self.Dictionary[index].append(value)
etisserant@0:             return True
etisserant@0:         return False
etisserant@0: 
etisserant@0:     """
etisserant@0:     Warning ! Modifies an existing entry in the Object Dictionary. Can't add a new one.
etisserant@0:     """
etisserant@0:     def SetEntry(self, index, subIndex = None, value = None):
etisserant@0:         if index in self.Dictionary:
etisserant@0:             if not subIndex:
etisserant@0:                 if value != None:
etisserant@0:                     self.Dictionary[index] = value
etisserant@0:                 return True
etisserant@0:             elif type(self.Dictionary[index]) == ListType and 0 < subIndex <= len(self.Dictionary[index]):
etisserant@0:                 if value != None:
etisserant@0:                     self.Dictionary[index][subIndex - 1] = value
etisserant@0:                 return True
etisserant@0:         return False
etisserant@0:     
etisserant@0:     def SetParamsEntry(self, index, subIndex = None, comment = None, save = None, callback = None):
etisserant@0:         if not getattr(self, "ParamsDictionary", False):
etisserant@0:             self.ParamsDictionary = {}
etisserant@0:         if index in self.Dictionary:
etisserant@0:             if (comment != None or save != None or callback != None) and index not in self.ParamsDictionary:
etisserant@0:                 self.ParamsDictionary[index] = {}
etisserant@0:             if subIndex == None or type(self.Dictionary[index]) != ListType and subIndex == 0:
etisserant@0:                 if comment != None:
etisserant@0:                     self.ParamsDictionary[index]["comment"] = comment
etisserant@0:                 if save != None:
etisserant@0:                     self.ParamsDictionary[index]["save"] = save
etisserant@0:                 if callback != None:
etisserant@0:                     self.ParamsDictionary[index]["callback"] = callback
etisserant@0:                 return True
etisserant@0:             elif type(self.Dictionary[index]) == ListType and 0 <= subIndex <= len(self.Dictionary[index]):
etisserant@0:                 if (comment != None or save != None or callback != None) and subIndex not in self.ParamsDictionary[index]:
etisserant@0:                     self.ParamsDictionary[index][subIndex] = {}
etisserant@0:                 if comment != None:
etisserant@0:                     self.ParamsDictionary[index][subIndex]["comment"] = comment
etisserant@0:                 if save != None:
etisserant@0:                     self.ParamsDictionary[index][subIndex]["save"] = save
etisserant@0:                 return True
etisserant@0:         return False
etisserant@0:     
etisserant@0:     """
etisserant@0:     Removes an existing entry in the Object Dictionary. If a subIndex is specified
etisserant@0:     it will remove this subIndex only if it's the last of the index. If no subIndex
etisserant@0:     is specified it removes the whole index and subIndexes from the Object Dictionary.
etisserant@0:     """
etisserant@0:     def RemoveEntry(self, index, subIndex = None):
etisserant@0:         if not getattr(self, "ParamsDictionary", False):
etisserant@0:             self.ParamsDictionary = {}
etisserant@0:         if index in self.Dictionary:
etisserant@0:             if not subIndex:
etisserant@0:                 self.Dictionary.pop(index)
etisserant@0:                 if index in self.ParamsDictionary:
etisserant@0:                     self.ParamsDictionary.pop(index)
etisserant@0:                 return True
etisserant@0:             elif type(self.Dictionary[index]) == ListType and subIndex == len(self.Dictionary[index]):
etisserant@0:                 self.Dictionary[index].pop(subIndex - 1)
etisserant@0:                 if index in self.ParamsDictionary:
etisserant@0:                     if subIndex in self.ParamsDictionary[index]:
etisserant@0:                         self.ParamsDictionary[index].pop(subIndex)
etisserant@0:                     if len(self.ParamsDictionary[index]) == 0:
etisserant@0:                         self.ParamsDictionary.pop(index)
etisserant@0:                 if len(self.Dictionary[index]) == 0:
etisserant@0:                     self.Dictionary.pop(index)
etisserant@0:                     if index in self.ParamsDictionary:
etisserant@0:                         self.ParamsDictionary.pop(index)
etisserant@0:                 return True
etisserant@0:         return False
etisserant@0:     
etisserant@0:     """
etisserant@0:     Check if an entry exists in the Object Dictionary and returns the answer.
etisserant@0:     """
lbessard@205:     def IsEntry(self, index, subIndex = None):
etisserant@0:         if index in self.Dictionary:
lbessard@205:             if not subIndex:
lbessard@205:                 return True
lbessard@205:             return subIndex <= len(self.Dictionary[index])
etisserant@0:         return False
etisserant@0:     
etisserant@0:     """
etisserant@0:     Returns the value of the entry asked. If the entry has the value "count", it
etisserant@0:     returns the number of subIndex in the entry except the first.
etisserant@0:     """
lbessard@299:     def GetEntry(self, index, subIndex = None, compute = True):
etisserant@0:         if index in self.Dictionary:
etisserant@0:             if subIndex == None:
etisserant@0:                 if type(self.Dictionary[index]) == ListType:
etisserant@0:                     values = [len(self.Dictionary[index])]
lbessard@205:                     for value in self.Dictionary[index]:
lbessard@299:                         values.append(self.CompileValue(value, index, compute))
etisserant@0:                     return values
etisserant@0:                 else:
lbessard@299:                     return self.CompileValue(self.Dictionary[index], index, compute)
etisserant@0:             elif subIndex == 0:
etisserant@0:                 if type(self.Dictionary[index]) == ListType:
etisserant@0:                     return len(self.Dictionary[index])
etisserant@0:                 else:
lbessard@299:                     return self.CompileValue(self.Dictionary[index], index, compute)
etisserant@0:             elif type(self.Dictionary[index]) == ListType and 0 < subIndex <= len(self.Dictionary[index]):
lbessard@299:                 return self.CompileValue(self.Dictionary[index][subIndex - 1], index, compute)
etisserant@0:         return None
etisserant@0: 
etisserant@0:     """
etisserant@0:     Returns the value of the entry asked. If the entry has the value "count", it
etisserant@0:     returns the number of subIndex in the entry except the first.
etisserant@0:     """
etisserant@0:     def GetParamsEntry(self, index, subIndex = None):
etisserant@0:         if not getattr(self, "ParamsDictionary", False):
etisserant@0:             self.ParamsDictionary = {}
etisserant@0:         if index in self.Dictionary:
etisserant@0:             if subIndex == None:
etisserant@0:                 if type(self.Dictionary[index]) == ListType:
etisserant@0:                     if index in self.ParamsDictionary:
etisserant@0:                         result = []
etisserant@0:                         for i in xrange(len(self.Dictionary[index]) + 1):
etisserant@0:                             line = DefaultParams.copy()
etisserant@0:                             if i in self.ParamsDictionary[index]:
etisserant@0:                                 line.update(self.ParamsDictionary[index][i])
etisserant@0:                             result.append(line)
etisserant@0:                         return result
etisserant@0:                     else:
etisserant@0:                         return [DefaultParams.copy() for i in xrange(len(self.Dictionary[index]) + 1)]
etisserant@0:                 else:
etisserant@0:                     result = DefaultParams.copy()
etisserant@0:                     if index in self.ParamsDictionary:
etisserant@0:                         result.update(self.ParamsDictionary[index])
etisserant@0:                     return result
etisserant@0:             elif subIndex == 0 and type(self.Dictionary[index]) != ListType:
etisserant@0:                 result = DefaultParams.copy()
etisserant@0:                 if index in self.ParamsDictionary:
etisserant@0:                     result.update(self.ParamsDictionary[index])
etisserant@0:                 return result
etisserant@0:             elif type(self.Dictionary[index]) == ListType and 0 <= subIndex <= len(self.Dictionary[index]):
etisserant@0:                 result = DefaultParams.copy()
etisserant@0:                 if index in self.ParamsDictionary and subIndex in self.ParamsDictionary[index]:
lbessard@64:                     result.update(self.ParamsDictionary[index][subIndex])
etisserant@0:                 return result
etisserant@0:         return None
etisserant@0: 
etisserant@0:     def HasEntryCallbacks(self, index):
lbessard@245:         entry_infos = self.GetEntryInfos(index)
lbessard@245:         if entry_infos and "callback" in entry_infos:
lbessard@245:             return entry_infos["callback"]
lbessard@245:         else:
lbessard@245:             if not getattr(self, "ParamsDictionary", False):
lbessard@245:                 self.ParamsDictionary = {}
lbessard@245:             if index in self.Dictionary and index in self.ParamsDictionary and "callback" in self.ParamsDictionary[index]:
lbessard@245:                 return self.ParamsDictionary[index]["callback"]
etisserant@0:         return False
etisserant@0: 
etisserant@0:     """
lbessard@68:     Check if an entry exists in the User Mapping Dictionary and returns the answer.
lbessard@68:     """
lbessard@68:     def IsMappingEntry(self, index):
lbessard@68:         if index in self.UserMapping:
lbessard@68:             return True
lbessard@68:         return False
lbessard@68: 
lbessard@68:     """
etisserant@0:     Add a new entry in the User Mapping Dictionary
etisserant@0:     """
etisserant@0:     def AddMappingEntry(self, index, subIndex = None, name = "Undefined", struct = 0, size = None, nbmax = None, default = None, values = None):
etisserant@0:         if index not in self.UserMapping:
etisserant@0:             if values == None:
etisserant@0:                 values = []
etisserant@0:             if subIndex == None:
etisserant@0:                 self.UserMapping[index] = {"name" : name, "struct" : struct, "need" : False, "values" : values}
etisserant@0:                 if size != None:
etisserant@0:                     self.UserMapping[index]["size"] = size
etisserant@0:                 if nbmax != None:
etisserant@0:                     self.UserMapping[index]["nbmax"] = nbmax
etisserant@0:                 if default != None:
etisserant@0:                     self.UserMapping[index]["default"] = default
etisserant@0:                 return True
etisserant@0:         elif subIndex != None and subIndex == len(self.UserMapping[index]["values"]):
etisserant@0:             if values == None:
etisserant@0:                 values = {}
etisserant@0:             self.UserMapping[index]["values"].append(values)
etisserant@0:             return True
etisserant@0:         return False
etisserant@0: 
etisserant@0:     """
etisserant@0:     Warning ! Modifies an existing entry in the User Mapping Dictionary. Can't add a new one.
etisserant@0:     """
etisserant@0:     def SetMappingEntry(self, index, subIndex = None, name = None, struct = None, size = None, nbmax = None, default = None, values = None):
etisserant@0:         if index in self.UserMapping:
etisserant@0:             if subIndex == None:
etisserant@0:                 if name != None:
etisserant@0:                     self.UserMapping[index]["name"] = name
etisserant@0:                     if self.UserMapping[index]["struct"] & OD_IdenticalSubindexes:
etisserant@0:                         self.UserMapping[index]["values"][1]["name"] = name + " %d[(sub)]"
etisserant@0:                     elif not self.UserMapping[index]["struct"] & OD_MultipleSubindexes:
etisserant@0:                         self.UserMapping[index]["values"][0]["name"] = name
etisserant@0:                 if struct != None:
etisserant@0:                     self.UserMapping[index]["struct"] = struct
etisserant@0:                 if size != None:
etisserant@0:                     self.UserMapping[index]["size"] = size
etisserant@0:                 if nbmax != None:
etisserant@0:                     self.UserMapping[index]["nbmax"] = nbmax
etisserant@0:                 if default != None:
etisserant@0:                     self.UserMapping[index]["default"] = default
etisserant@0:                 if values != None:
etisserant@0:                     self.UserMapping[index]["values"] = values
etisserant@0:                 return True
etisserant@0:             elif 0 <= subIndex < len(self.UserMapping[index]["values"]) and values != None:
lbessard@281:                 if "type" in values:
lbessard@453:                     if self.UserMapping[index]["struct"] & OD_IdenticalSubindexes:
lbessard@453:                         if self.IsStringType(self.UserMapping[index]["values"][subIndex]["type"]):
lbessard@453:                             if self.IsRealType(values["type"]):
lbessard@453:                                 for i in xrange(len(self.Dictionary[index])):
lbessard@453:                                     self.SetEntry(index, i + 1, 0.)
lbessard@453:                             elif not self.IsStringType(values["type"]):
lbessard@453:                                 for i in xrange(len(self.Dictionary[index])):
lbessard@453:                                     self.SetEntry(index, i + 1, 0)
lbessard@453:                         elif self.IsRealType(self.UserMapping[index]["values"][subIndex]["type"]):
lbessard@453:                             if self.IsStringType(values["type"]):
lbessard@453:                                 for i in xrange(len(self.Dictionary[index])):
lbessard@453:                                     self.SetEntry(index, i + 1, "")
lbessard@453:                             elif not self.IsRealType(values["type"]):
lbessard@453:                                 for i in xrange(len(self.Dictionary[index])):
lbessard@453:                                     self.SetEntry(index, i + 1, 0)
lbessard@453:                         elif self.IsStringType(values["type"]):
lbessard@453:                             for i in xrange(len(self.Dictionary[index])):
lbessard@453:                                 self.SetEntry(index, i + 1, "")
lbessard@453:                         elif self.IsRealType(values["type"]):
lbessard@453:                             for i in xrange(len(self.Dictionary[index])):
lbessard@453:                                 self.SetEntry(index, i + 1, 0.)                        
lbessard@453:                     else:
lbessard@453:                         if self.IsStringType(self.UserMapping[index]["values"][subIndex]["type"]):
lbessard@453:                             if self.IsRealType(values["type"]):
lbessard@453:                                 self.SetEntry(index, subIndex, 0.)
lbessard@453:                             elif not self.IsStringType(values["type"]):
lbessard@453:                                 self.SetEntry(index, subIndex, 0)
lbessard@453:                         elif self.IsRealType(self.UserMapping[index]["values"][subIndex]["type"]):
lbessard@453:                             if self.IsStringType(values["type"]):
lbessard@453:                                 self.SetEntry(index, subIndex, "")
lbessard@453:                             elif not self.IsRealType(values["type"]):
lbessard@453:                                 self.SetEntry(index, subIndex, 0)
lbessard@453:                         elif self.IsStringType(values["type"]):
lbessard@453:                             self.SetEntry(index, subIndex, "")
lbessard@453:                         elif self.IsRealType(values["type"]):
lbessard@453:                             self.SetEntry(index, subIndex, 0.)
etisserant@0:                 self.UserMapping[index]["values"][subIndex].update(values)
etisserant@0:                 return True
etisserant@0:         return False
etisserant@0:     
etisserant@0:     """
etisserant@0:     Removes an existing entry in the User Mapping Dictionary. If a subIndex is specified
etisserant@0:     it will remove this subIndex only if it's the last of the index. If no subIndex
etisserant@0:     is specified it removes the whole index and subIndexes from the User Mapping Dictionary.
etisserant@0:     """
etisserant@0:     def RemoveMappingEntry(self, index, subIndex = None):
etisserant@0:         if index in self.UserMapping:
etisserant@0:             if subIndex == None:
etisserant@0:                 self.UserMapping.pop(index)
etisserant@0:                 return True
etisserant@0:             elif subIndex == len(self.UserMapping[index]["values"]) - 1:
etisserant@0:                 self.UserMapping[index]["values"].pop(subIndex)
etisserant@0:                 return True
etisserant@0:         return False
etisserant@0: 
lbessard@205:     def RemoveMapVariable(self, index, subIndex = None):
etisserant@0:         model = index << 16
etisserant@0:         mask = 0xFFFF << 16
etisserant@0:         if subIndex:
etisserant@0:             model += subIndex << 8
lbessard@299:             mask += 0xFF << 8
etisserant@0:         for i in self.Dictionary.iterkeys():
etisserant@0:             if 0x1600 <= i <= 0x17FF or 0x1A00 <= i <= 0x1BFF:
etisserant@0:                 for j,value in enumerate(self.Dictionary[i]):
etisserant@0:                     if (value & mask) == model:
etisserant@0:                         self.Dictionary[i][j] = 0
etisserant@0:     
lbessard@63:     def UpdateMapVariable(self, index, subIndex, size):
lbessard@63:         model = index << 16
lbessard@63:         mask = 0xFFFF << 16
lbessard@63:         if subIndex:
lbessard@63:             model += subIndex << 8
lbessard@63:             mask = 0xFF << 8
lbessard@63:         for i in self.Dictionary.iterkeys():
lbessard@63:             if 0x1600 <= i <= 0x17FF or 0x1A00 <= i <= 0x1BFF:
lbessard@63:                 for j,value in enumerate(self.Dictionary[i]):
lbessard@63:                     if (value & mask) == model:
lbessard@63:                         self.Dictionary[i][j] = model + size
lbessard@63:     
etisserant@0:     def RemoveLine(self, index, max, incr = 1):
etisserant@0:         i = index
etisserant@0:         while i < max and self.IsEntry(i + incr):
etisserant@0:             self.Dictionary[i] = self.Dictionary[i + incr]
etisserant@0:             i += incr
etisserant@0:         self.Dictionary.pop(i)
etisserant@0: 
etisserant@0:     def RemoveUserType(self, index):
etisserant@0:         type = self.GetEntry(index, 1)
etisserant@0:         for i in self.UserMapping:
etisserant@0:             for value in self.UserMapping[i]["values"]:
etisserant@0:                 if value["type"] == index:
etisserant@0:                     value["type"] = type
etisserant@0:         self.RemoveMappingEntry(index)
etisserant@0:         self.RemoveEntry(index)
etisserant@0: 
etisserant@0:     """
etisserant@0:     Return a copy of the node
etisserant@0:     """
etisserant@0:     def Copy(self):
etisserant@0:         return cPickle.loads(cPickle.dumps(self))
etisserant@0: 
etisserant@0:     """
etisserant@0:     Return a sorted list of indexes in Object Dictionary
etisserant@0:     """
etisserant@0:     def GetIndexes(self):
etisserant@0:         listindex = self.Dictionary.keys()
etisserant@0:         listindex.sort()
etisserant@0:         return listindex
etisserant@0: 
etisserant@0:     """
etisserant@0:     Print the Dictionary values
etisserant@0:     """
etisserant@0:     def Print(self):
lbessard@273:         print self.PrintString()
lbessard@273:     
lbessard@273:     def PrintString(self):
lbessard@273:         result = ""
etisserant@0:         listindex = self.Dictionary.keys()
etisserant@0:         listindex.sort()
etisserant@0:         for index in listindex:
lbessard@273:             name = self.GetEntryName(index)
greg@239:             values = self.Dictionary[index]
lbessard@273:             if isinstance(values, ListType):
lbessard@273:                 result += "%04X (%s):\n"%(index, name)
lbessard@273:                 for subidx, value in enumerate(values):
lbessard@273:                     subentry_infos = self.GetSubentryInfos(index, subidx + 1)
lbessard@273:                     if index == 0x1F22 and value:
lbessard@273:                         nb_params = BE_to_LE(value[:4])
lbessard@273:                         data = value[4:]
lbessard@274:                         value = "%d arg defined"%nb_params
lbessard@273:                         i = 0
lbessard@274:                         count = 1
lbessard@273:                         while i < len(data):
lbessard@274:                             value += "\n%04X %02X, arg %d: "%(index, subidx+1, count)
lbessard@274:                             value += "%04X"%BE_to_LE(data[i:i+2])
lbessard@274:                             value += " %02X"%BE_to_LE(data[i+2:i+3])
lbessard@273:                             size = BE_to_LE(data[i+3:i+7])
lbessard@274:                             value += " %08X"%size
lbessard@274:                             value += (" %0"+"%d"%(size * 2)+"X")%BE_to_LE(data[i+7:i+7+size])
lbessard@273:                             i += 7 + size
lbessard@274:                             count += 1
lbessard@273:                     elif isinstance(value, IntType):
lbessard@273:                         value = "%X"%value
lbessard@274:                     result += "%04X %02X (%s): %s\n"%(index, subidx+1, subentry_infos["name"], value)
lbessard@273:             else:
lbessard@274:                 if isinstance(values, IntType):
lbessard@274:                     values = "%X"%values
lbessard@273:                 result += "%04X (%s): %s\n"%(index, name, values)
lbessard@273:         return result
lbessard@273:             
lbessard@299:     def CompileValue(self, value, index, compute = True):
greg@541:         if isinstance(value, (StringType, UnicodeType)) and value.upper().find("$NODEID") != -1:
lbessard@205:             base = self.GetBaseIndex(index)
lbessard@205:             try:
lbessard@299:                 raw = eval(value)
lbessard@299:                 if compute:
lbessard@513:                     return eval(raw.upper().replace("$NODEID","self.ID"))
lbessard@299:                 return raw
lbessard@205:             except:
lbessard@205:                 return 0
lbessard@205:         else:
lbessard@205:             return value
lbessard@205: 
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205: #                         Node Informations Functions
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205: 
lbessard@205:     def GetBaseIndex(self, index):
lbessard@205:         for mapping in self.GetMappings():
lbessard@205:             result = FindIndex(index, mapping)
lbessard@205:             if result != None:
lbessard@227:                 return (index - result) / mapping[result].get("incr", 1)
lbessard@205:         result = FindIndex(index, MappingDictionary)
lbessard@205:         if result != None:
lbessard@227:             return (index - result) / MappingDictionary[result].get("incr", 1)
lbessard@205:         return 0
lbessard@205: 
lbessard@205:     def GetCustomisedTypeValues(self, index):
lbessard@205:         values = self.GetEntry(index)
lbessard@205:         customisabletypes = self.GetCustomisableTypes()
lbessard@205:         return values, customisabletypes[values[1]][1]
lbessard@205: 
laurent@584:     def GetEntryName(self, index, compute=True):
lbessard@205:         result = None
lbessard@205:         mappings = self.GetMappings()
lbessard@205:         i = 0
lbessard@205:         while not result and i < len(mappings):
laurent@584:             result = FindEntryName(index, mappings[i], compute)
lbessard@205:             i += 1
lbessard@205:         if result == None:
laurent@584:             result = FindEntryName(index, MappingDictionary, compute)
lbessard@205:         return result
lbessard@205:     
laurent@584:     def GetEntryInfos(self, index, compute=True):
lbessard@205:         result = None
lbessard@205:         mappings = self.GetMappings()
lbessard@205:         i = 0
lbessard@205:         while not result and i < len(mappings):
laurent@584:             result = FindEntryInfos(index, mappings[i], compute)
lbessard@205:             i += 1
Edouard@659:         r301 = FindEntryInfos(index, MappingDictionary, compute)
Edouard@659:         if r301 :
Edouard@659:             if result is not None:
Edouard@659:                 r301.update(result)
Edouard@659:             return r301
lbessard@205:         return result
lbessard@205:     
laurent@584:     def GetSubentryInfos(self, index, subIndex, compute=True):
lbessard@205:         result = None
lbessard@205:         mappings = self.GetMappings()
lbessard@205:         i = 0
lbessard@205:         while not result and i < len(mappings):
laurent@584:             result = FindSubentryInfos(index, subIndex, mappings[i], compute)
lbessard@205:             if result:
lbessard@205:                 result["user_defined"] = i == len(mappings) - 1 and index >= 0x1000
lbessard@205:             i += 1
Edouard@659:         r301 = FindSubentryInfos(index, subIndex, MappingDictionary, compute)
Edouard@659:         if r301 :
Edouard@659:             if result is not None:
Edouard@659:                 r301.update(result)
Edouard@659:             else:
Edouard@659:                 r301["user_defined"] = False
Edouard@659:             return r301
lbessard@205:         return result
lbessard@205:     
lbessard@205:     def GetTypeIndex(self, typename):
lbessard@205:         result = None
lbessard@205:         mappings = self.GetMappings()
lbessard@205:         i = 0
lbessard@205:         while not result and i < len(mappings):
lbessard@205:             result = FindTypeIndex(typename, mappings[i])
lbessard@205:             i += 1
lbessard@205:         if result == None:
lbessard@205:             result = FindTypeIndex(typename, MappingDictionary)
lbessard@205:         return result
lbessard@205:     
lbessard@205:     def GetTypeName(self, typeindex):
lbessard@205:         result = None
lbessard@205:         mappings = self.GetMappings()
lbessard@205:         i = 0
lbessard@205:         while not result and i < len(mappings):
lbessard@205:             result = FindTypeName(typeindex, mappings[i])
lbessard@205:             i += 1
lbessard@205:         if result == None:
lbessard@205:             result = FindTypeName(typeindex, MappingDictionary)
lbessard@205:         return result
lbessard@205:     
lbessard@205:     def GetTypeDefaultValue(self, typeindex):
lbessard@205:         result = None
lbessard@205:         mappings = self.GetMappings()
lbessard@205:         i = 0
lbessard@205:         while not result and i < len(mappings):
lbessard@205:             result = FindTypeDefaultValue(typeindex, mappings[i])
lbessard@205:             i += 1
lbessard@205:         if result == None:
lbessard@205:             result = FindTypeDefaultValue(typeindex, MappingDictionary)
lbessard@205:         return result
lbessard@205:     
laurent@584:     def GetMapVariableList(self, compute=True):
laurent@584:         list = FindMapVariableList(MappingDictionary, self, compute)
lbessard@205:         for mapping in self.GetMappings():
laurent@584:             list.extend(FindMapVariableList(mapping, self, compute))
lbessard@205:         list.sort()
lbessard@205:         return list
lbessard@205:     
lbessard@205:     def GetMandatoryIndexes(self, node = None):
lbessard@205:         list = FindMandatoryIndexes(MappingDictionary)
lbessard@205:         for mapping in self.GetMappings():
lbessard@205:             list.extend(FindMandatoryIndexes(mapping))
lbessard@205:         return list
lbessard@205:     
lbessard@205:     def GetCustomisableTypes(self):
lbessard@205:         dic = {}
lbessard@205:         for index, valuetype in CustomisableTypes:
lbessard@205:             name = self.GetTypeName(index)
lbessard@205:             dic[index] = [name, valuetype]
lbessard@205:         return dic
lbessard@205: 
lbessard@205: #-------------------------------------------------------------------------------
lbessard@281: #                            Type helper functions
lbessard@281: #-------------------------------------------------------------------------------
lbessard@281: 
lbessard@281:     def IsStringType(self, index):
greg@523:         if index in (0x9, 0xA, 0xB, 0xF):
lbessard@281:             return True
lbessard@281:         elif 0xA0 <= index < 0x100:
lbessard@281:             result = self.GetEntry(index, 1)
lbessard@281:             if result is not None and result in (0x9, 0xA, 0xB):
lbessard@281:                 return True
lbessard@281:         return False
lbessard@281: 
lbessard@453:     def IsRealType(self, index):
lbessard@453:         if index in (0x8, 0x11):
lbessard@453:             return True
lbessard@453:         elif 0xA0 <= index < 0x100:
lbessard@453:             result = self.GetEntry(index, 1)
lbessard@453:             if result is not None and result in (0x8, 0x11):
lbessard@453:                 return True
lbessard@453:         return False
lbessard@453: 
lbessard@281: #-------------------------------------------------------------------------------
lbessard@205: #                            Type and Map Variable Lists
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205:     
lbessard@205:     def GetTypeList(self):
lbessard@205:         list = FindTypeList(MappingDictionary)
lbessard@205:         for mapping in self.GetMappings():
lbessard@205:             list.extend(FindTypeList(mapping))
lbessard@205:         list.sort()
lbessard@205:         return ",".join(list)
lbessard@205: 
lbessard@536:     def GenerateMapName(self, name, index, subindex):
lbessard@536:         return "%s (0x%4.4X)" % (name, index)
lbessard@536: 
lbessard@205:     """
lbessard@205:     Generate the list of variables that can be mapped for the current node
lbessard@205:     """
lbessard@205:     def GenerateMapList(self):
lbessard@205:         self.MapList = "None"
lbessard@205:         self.NameTranslation = {"None" : "00000000"}
lbessard@205:         self.MapTranslation = {"00000000" : "None"}
lbessard@205:         list = self.GetMapVariableList()
lbessard@205:         for index, subIndex, size, name in list:
lbessard@205:             self.MapList += ",%s"%name
lbessard@205:             map = "%04X%02X%02X"%(index,subIndex,size)
lbessard@536:             mapname = self.GenerateMapName(name, index, subIndex)
lbessard@536:             self.NameTranslation[mapname] = map
lbessard@536:             self.MapTranslation[map] = mapname
lbessard@205: 
lbessard@205:     def GetMapValue(self, mapname):
lbessard@205:         if mapname == "None":
lbessard@205:             return 0
lbessard@205:         else:
lbessard@205:             list = self.GetMapVariableList()
lbessard@205:             for index, subIndex, size, name in list:
lbessard@536:                 if mapname == self.GenerateMapName(name, index, subIndex):
lbessard@205:                     return (index << 16) + (subIndex << 8) + size
lbessard@205:             return None
lbessard@205:     
lbessard@205:     def GetMapName(self, value):
lbessard@205:         if value != 0:
lbessard@205:             index = value >> 16
lbessard@205:             subindex = (value >> 8) % (1 << 8)
lbessard@205:             result = self.GetSubentryInfos(index, subindex)
lbessard@205:             if result:
lbessard@536:                 return self.GenerateMapName(result["name"], index, subindex)
lbessard@205:         return "None"
lbessard@205:     
lbessard@205:     """
lbessard@205:     Return the list of variables that can be mapped for the current node
lbessard@205:     """
lbessard@205:     def GetMapList(self):
laurent@584:         list = [_("None")] + [self.GenerateMapName(name, index, subIndex) for index, subIndex, size, name in self.GetMapVariableList()]
lbessard@205:         return ",".join(list)
lbessard@273: 
lbessard@273: def BE_to_LE(value):
lbessard@273:     """
lbessard@273:     Convert Big Endian to Little Endian 
lbessard@273:     @param value: value expressed in Big Endian
lbessard@273:     @param size: number of bytes generated
lbessard@273:     @return: a string containing the value converted
lbessard@273:     """
lbessard@273:     
lbessard@273:     data = [char for char in value]
lbessard@273:     data.reverse()
lbessard@273:     return int("".join(["%2.2X"%ord(char) for char in data]), 16)
lbessard@327: 
lbessard@327: def LE_to_BE(value, size):
lbessard@327:     """
lbessard@327:     Convert Little Endian to Big Endian
lbessard@327:     @param value: value expressed in integer
lbessard@327:     @param size: number of bytes generated
lbessard@327:     @return: a string containing the value converted
lbessard@327:     """
lbessard@327:     
lbessard@327:     data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value
lbessard@327:     list_car = [data[i:i+2] for i in xrange(0, len(data), 2)]
lbessard@327:     list_car.reverse()
lbessard@327:     return "".join([chr(int(car, 16)) for car in list_car])
lbessard@327: