lbessard@205: #!/usr/bin/env python
lbessard@205: # -*- coding: utf-8 -*-
lbessard@205: 
lbessard@205: #This file is part of CanFestival, a library implementing CanOpen Stack. 
lbessard@205: #
lbessard@205: #Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
lbessard@205: #
lbessard@205: #See COPYING file for copyrights details.
lbessard@205: #
lbessard@205: #This library is free software; you can redistribute it and/or
lbessard@205: #modify it under the terms of the GNU Lesser General Public
lbessard@205: #License as published by the Free Software Foundation; either
lbessard@205: #version 2.1 of the License, or (at your option) any later version.
lbessard@205: #
lbessard@205: #This library is distributed in the hope that it will be useful,
lbessard@205: #but WITHOUT ANY WARRANTY; without even the implied warranty of
lbessard@205: #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
lbessard@205: #Lesser General Public License for more details.
lbessard@205: #
lbessard@205: #You should have received a copy of the GNU Lesser General Public
lbessard@205: #License along with this library; if not, write to the Free Software
lbessard@205: #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
lbessard@205: 
lbessard@205: from node import *
lbessard@205: import eds_utils
lbessard@268: import os, shutil, types
lbessard@205: 
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205: #                          Definition of NodeList Object
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205: 
lbessard@205: """
lbessard@205: Class recording a node list for a CANOpen network.
lbessard@205: """
lbessard@205: 
lbessard@205: class NodeList:
lbessard@205:     
lbessard@242:     def __init__(self, manager, netname = ""):
lbessard@205:         self.Root = ""
lbessard@205:         self.Manager = manager
lbessard@242:         self.NetworkName = netname
lbessard@205:         self.SlaveNodes = {}
lbessard@205:         self.EDSNodes = {}
lbessard@205:         self.CurrentSelected = None
lbessard@242:         self.Changed = False
lbessard@242:     
lbessard@242:     def HasChanged(self):
lbessard@242:         return self.Changed or not self.Manager.CurrentIsSaved()
lbessard@242:     
lbessard@242:     def ForceChanged(self, changed):
lbessard@242:         self.Changed = changed
lbessard@205:     
lbessard@205:     def GetNetworkName(self):
lbessard@205:         return self.NetworkName
lbessard@205:     
lbessard@205:     def SetNetworkName(self, name):
lbessard@205:         self.NetworkName = name
lbessard@205:     
lbessard@205:     def GetManager(self):
lbessard@205:         return self.Manager
lbessard@205:     
Laurent@781:     def GetEDSFolder(self, root_path=None):
Laurent@781:         if root_path is None:
Laurent@781:             root_path = self.Root
Laurent@781:         return os.path.join(root_path, "eds")
Laurent@781:     
lbessard@205:     def GetRoot(self):
lbessard@205:         return self.Root
etisserant@272: 
etisserant@272:     def SetRoot(self, newrootpath):
Laurent@781:         if os.path.isdir(newrootpath):
Laurent@781:             self.Root = newrootpath
Laurent@781:             self.Manager.SetCurrentFilePath(os.path.join(self.Root, "master.od"))
Laurent@781:             return True
Laurent@781:         return False
lbessard@205:     
Laurent@748:     def GetMasterNodeID(self):
Laurent@748:         return self.Manager.GetCurrentNodeID()
Laurent@748:     
lbessard@205:     def GetSlaveNumber(self):
lbessard@205:         return len(self.SlaveNodes)
lbessard@205:     
Laurent@740:     def GetSlaveName(self, idx):
Laurent@740:         return self.SlaveNodes[idx]["Name"]
Laurent@740:     
lbessard@205:     def GetSlaveNames(self):
lbessard@205:         nodes = self.SlaveNodes.keys()
lbessard@205:         nodes.sort()
lbessard@205:         return ["0x%2.2X %s"%(idx, self.SlaveNodes[idx]["Name"]) for idx in nodes]
lbessard@205:     
lbessard@205:     def GetSlaveIDs(self):
lbessard@205:         nodes = self.SlaveNodes.keys()
lbessard@205:         nodes.sort()
lbessard@205:         return nodes
lbessard@205:         
lbessard@205:     def SetCurrentSelected(self, selected):
lbessard@205:         self.CurrentSelected = selected
lbessard@205:         
lbessard@205:     def GetCurrentSelected(self):
lbessard@205:         return self.CurrentSelected
lbessard@205:             
lbessard@242:     def LoadProject(self, root, netname = None):
lbessard@205:         self.SlaveNodes = {}
lbessard@205:         self.EDSNodes = {}
lbessard@205:         
lbessard@205:         self.Root = root
lbessard@205:         if not os.path.exists(self.Root):
laurent@580:             return _("\"%s\" folder doesn't exist")%self.Root
lbessard@205:         
Laurent@781:         eds_folder = self.GetEDSFolder()
Laurent@781:         if not os.path.exists(eds_folder):
Laurent@781:             os.mkdir(eds_folder)
lbessard@265:             #return "\"%s\" folder doesn't contain a \"eds\" folder"%self.Root
lbessard@205:         
Laurent@781:         files = os.listdir(eds_folder)
lbessard@205:         for file in files:
Laurent@781:             filepath = os.path.join(eds_folder, file)
lbessard@243:             if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".eds":
lbessard@243:                 result = self.LoadEDS(file)
lbessard@243:                 if result != None:
lbessard@243:                     return result
etisserant@270:                 
lbessard@242:         result = self.LoadMasterNode(netname)
lbessard@205:         if result != None:
lbessard@205:             return result
lbessard@205:             
lbessard@242:         result = self.LoadSlaveNodes(netname)
lbessard@205:         if result != None:
lbessard@205:             return result
lbessard@242:         
lbessard@242:         self.NetworkName = netname
lbessard@242:     
lbessard@242:     def SaveProject(self, netname = None):
lbessard@242:         result = self.SaveMasterNode(netname)
lbessard@205:         if result != None:
lbessard@205:             return result
lbessard@205:             
lbessard@242:         result = self.SaveNodeList(netname)
lbessard@205:         if result != None:
lbessard@205:             return result
lbessard@205:     
lbessard@505:     def ImportEDSFile(self, edspath, force = False):
lbessard@205:         dir, file = os.path.split(edspath)
Laurent@781:         eds_folder = self.GetEDSFolder()
Laurent@781:         eds = os.path.join(eds_folder, file)
lbessard@505:         if not force and os.path.isfile(eds):
Laurent@740:             return _("EDS file already imported"), True
lbessard@205:         else:
Laurent@781:             shutil.copy(edspath, eds_folder)
Laurent@740:             return self.LoadEDS(file), False
lbessard@205:     
lbessard@205:     def LoadEDS(self, eds):
Laurent@781:         edspath = os.path.join(self.GetEDSFolder(), eds)
lbessard@258:         node = eds_utils.GenerateNode(edspath)
lbessard@205:         if isinstance(node, Node):
lbessard@205:             self.EDSNodes[eds] = node
lbessard@205:             return None
lbessard@205:         else:
lbessard@205:             return node
lbessard@205:     
lbessard@205:     def AddSlaveNode(self, nodeName, nodeID, eds):
lbessard@205:         if eds in self.EDSNodes.keys():
lbessard@205:             slave = {"Name" : nodeName, "EDS" : eds, "Node" : self.EDSNodes[eds]}
lbessard@205:             self.SlaveNodes[nodeID] = slave
lbessard@242:             self.Changed = True
lbessard@205:             return None
lbessard@205:         else:
laurent@580:             return _("\"%s\" EDS file is not available")%eds
lbessard@205:     
lbessard@205:     def RemoveSlaveNode(self, index):
lbessard@205:         if index in self.SlaveNodes.keys():
lbessard@205:             self.SlaveNodes.pop(index)
Laurent@744:             self.Changed = True
lbessard@205:             return None
lbessard@205:         else:
laurent@580:             return _("Node with \"0x%2.2X\" ID doesn't exist")
lbessard@205:     
lbessard@242:     def LoadMasterNode(self, netname = None):
lbessard@242:         if netname:
lbessard@242:             masterpath = os.path.join(self.Root, "%s_master.od"%netname)
lbessard@242:         else:
lbessard@242:             masterpath = os.path.join(self.Root, "master.od")
lbessard@205:         if os.path.isfile(masterpath):
lbessard@268:             result = self.Manager.OpenFileInCurrent(masterpath)
lbessard@268:         else:
lbessard@268:             result = self.Manager.CreateNewNode("MasterNode", 0x00, "master", "", "None", "", "heartbeat", ["DS302"])
lbessard@268:         if not isinstance(result, types.IntType):
lbessard@268:             return result
lbessard@268:         return None
lbessard@205:     
lbessard@242:     def SaveMasterNode(self, netname = None):
lbessard@242:         if netname:
lbessard@242:             masterpath = os.path.join(self.Root, "%s_master.od"%netname)
lbessard@242:         else:
lbessard@242:             masterpath = os.path.join(self.Root, "master.od")
lbessard@205:         if self.Manager.SaveCurrentInFile(masterpath):
lbessard@205:             return None
lbessard@205:         else:
laurent@580:             return _("Fail to save Master Node")
lbessard@205:     
lbessard@242:     def LoadSlaveNodes(self, netname = None):
lbessard@205:         cpjpath = os.path.join(self.Root, "nodelist.cpj")
lbessard@205:         if os.path.isfile(cpjpath):
lbessard@205:             try:
lbessard@205:                 networks = eds_utils.ParseCPJFile(cpjpath)
lbessard@242:                 network = None
lbessard@242:                 if netname:
lbessard@242:                     for net in networks:
lbessard@242:                         if net["Name"] == netname:
lbessard@242:                             network = net
lbessard@242:                     self.NetworkName = netname
lbessard@242:                 elif len(networks) > 0:
lbessard@242:                     network = networks[0]
lbessard@242:                     self.NetworkName = network["Name"]
lbessard@242:                 if network:
lbessard@242:                     for nodeid, node in network["Nodes"].items():
lbessard@205:                         if node["Present"] == 1:
lbessard@205:                             result = self.AddSlaveNode(node["Name"], nodeid, node["DCFName"])
lbessard@205:                             if result != None:
lbessard@242:                                 return result        
lbessard@242:                 self.Changed = False
lbessard@205:             except SyntaxError, message:
laurent@580:                 return _("Unable to load CPJ file\n%s")%message
lbessard@205:         return None
lbessard@205:     
lbessard@242:     def SaveNodeList(self, netname = None):
lbessard@242:         try:
lbessard@242:             cpjpath = os.path.join(self.Root, "nodelist.cpj")
lbessard@242:             content = eds_utils.GenerateCPJContent(self)
lbessard@242:             if netname:
lbessard@242:                 file = open(cpjpath, "a")
lbessard@242:             else:
lbessard@242:                 file = open(cpjpath, "w")
lbessard@242:             file.write(content)
lbessard@242:             file.close()
lbessard@242:             self.Changed = False
lbessard@242:             return None
lbessard@242:         except:
laurent@580:             return _("Fail to save node list")
lbessard@205:     
lbessard@205:     def GetSlaveNodeEntry(self, nodeid, index, subindex = None):
lbessard@205:         if nodeid in self.SlaveNodes.keys():
lbessard@205:             self.SlaveNodes[nodeid]["Node"].SetNodeID(nodeid)
lbessard@205:             return self.SlaveNodes[nodeid]["Node"].GetEntry(index, subindex)
lbessard@205:         else:
laurent@580:             return _("Node 0x%2.2X doesn't exist")%nodeid
lbessard@205: 
lbessard@205:     def GetMasterNodeEntry(self, index, subindex = None):
lbessard@205:         return self.Manager.GetCurrentEntry(index, subindex)
lbessard@205:         
lbessard@205:     def SetMasterNodeEntry(self, index, subindex = None, value = None):
lbessard@205:         self.Manager.SetCurrentEntry(index, subindex, value)
lbessard@205:     
lbessard@205:     def GetOrderNumber(self, nodeid):
lbessard@205:         nodeindexes = self.SlaveNodes.keys()
lbessard@205:         nodeindexes.sort()
lbessard@205:         return nodeindexes.index(nodeid) + 1
lbessard@205:     
lbessard@205:     def GetNodeByOrder(self, order):
lbessard@205:         if order > 0:
lbessard@205:             nodeindexes = self.SlaveNodes.keys()
lbessard@205:             nodeindexes.sort()
lbessard@205:             if order <= len(nodeindexes):
lbessard@205:                 return self.SlaveNodes[nodeindexes[order - 1]]["Node"]
lbessard@205:         return None
lbessard@205:     
lbessard@205:     def IsCurrentEntry(self, index):
lbessard@205:         if self.CurrentSelected != None:
lbessard@205:             if self.CurrentSelected == 0:
lbessard@205:                 return self.Manager.IsCurrentEntry(index)
lbessard@205:             else:
lbessard@205:                 node = self.SlaveNodes[self.CurrentSelected]["Node"]
lbessard@205:                 if node:
lbessard@273:                     node.SetNodeID(self.CurrentSelected)
lbessard@205:                     return node.IsEntry(index)
lbessard@205:         return False
lbessard@205:     
lbessard@205:     def GetEntryInfos(self, index):
lbessard@205:         if self.CurrentSelected != None:
lbessard@205:             if self.CurrentSelected == 0:
lbessard@205:                 return self.Manager.GetEntryInfos(index)
lbessard@205:             else:
lbessard@205:                 node = self.SlaveNodes[self.CurrentSelected]["Node"]
lbessard@205:                 if node:
lbessard@273:                     node.SetNodeID(self.CurrentSelected)
lbessard@205:                     return node.GetEntryInfos(index)
lbessard@205:         return None
lbessard@205: 
lbessard@242:     def GetSubentryInfos(self, index, subindex):
lbessard@242:         if self.CurrentSelected != None:
lbessard@242:             if self.CurrentSelected == 0:
lbessard@242:                 return self.Manager.GetSubentryInfos(index, subindex)
lbessard@242:             else:
lbessard@242:                 node = self.SlaveNodes[self.CurrentSelected]["Node"]
lbessard@242:                 if node:
lbessard@273:                     node.SetNodeID(self.CurrentSelected)
lbessard@242:                     return node.GetSubentryInfos(index, subindex)
lbessard@242:         return None
lbessard@242: 
lbessard@205:     def GetCurrentValidIndexes(self, min, max):
lbessard@205:         if self.CurrentSelected != None:
lbessard@205:             if self.CurrentSelected == 0:
lbessard@205:                 return self.Manager.GetCurrentValidIndexes(min, max)
lbessard@205:             else:
lbessard@205:                 node = self.SlaveNodes[self.CurrentSelected]["Node"]
lbessard@205:                 if node:
lbessard@273:                     node.SetNodeID(self.CurrentSelected)
lbessard@205:                     validindexes = []
lbessard@205:                     for index in node.GetIndexes():
lbessard@205:                         if min <= index <= max:
lbessard@205:                             validindexes.append((node.GetEntryName(index), index))
lbessard@205:                     return validindexes
lbessard@205:                 else:
laurent@580:                     print _("Can't find node")
lbessard@205:         return []
lbessard@205:     
lbessard@205:     def GetCurrentEntryValues(self, index):
lbessard@205:         if self.CurrentSelected != None:
lbessard@205:             node = self.SlaveNodes[self.CurrentSelected]["Node"]
lbessard@205:             if node:
lbessard@273:                 node.SetNodeID(self.CurrentSelected)
lbessard@205:                 return self.Manager.GetNodeEntryValues(node, index)
lbessard@205:             else:
laurent@580:                 print _("Can't find node")
lbessard@205:         return [], []
lbessard@242:     
lbessard@327:     def AddToMasterDCF(self, node_id, index, subindex, size, value):
lbessard@327:         # Adding DCF entry into Master node
lbessard@327:         if not self.Manager.IsCurrentEntry(0x1F22):
lbessard@337:             self.Manager.ManageEntriesOfCurrent([0x1F22], [])
lbessard@327:         self.Manager.AddSubentriesToCurrent(0x1F22, 127)
lbessard@327: 
lbessard@327:         self.Manager.AddToDCF(node_id, index, subindex, size, value)
lbessard@327:     
lbessard@205: if __name__ == "__main__":
lbessard@205:     from nodemanager import *
lbessard@205:     import os, sys, shutil
lbessard@205:     
lbessard@205:     manager = NodeManager(sys.path[0])
lbessard@242:     
lbessard@205:     nodelist = NodeList(manager)
lbessard@242:     
lbessard@242:     result = nodelist.LoadProject("/home/laurent/test_nodelist")
lbessard@205:     if result != None:
lbessard@205:         print result
lbessard@205:     else:
lbessard@205:         print "MasterNode :"
lbessard@205:         manager.CurrentNode.Print()
lbessard@242:         print 
lbessard@205:         for nodeid, node in nodelist.SlaveNodes.items():
lbessard@205:             print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)
lbessard@205:             node["Node"].Print()
lbessard@242:             print
lbessard@242: