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 gnosis.xml.pickle import *
lbessard@205: from gnosis.xml.pickle.util import setParanoia
lbessard@205: setParanoia(0)
lbessard@205: 
lbessard@205: from node import *
lbessard@205: import eds_utils
lbessard@205: import os, shutil
lbessard@205: 
greg@239: 
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205: #                          Definition of NodeList Object
lbessard@205: #-------------------------------------------------------------------------------
lbessard@205: 
greg@239: 
lbessard@205: """
lbessard@205: Class recording a node list for a CANOpen network.
lbessard@205: """
lbessard@205: 
lbessard@205: class NodeList:
lbessard@205:     
lbessard@205:     def __init__(self, manager):
lbessard@205:         self.Root = ""
lbessard@205:         self.Manager = manager
lbessard@205:         self.NetworkName = ""
lbessard@205:         self.SlaveNodes = {}
lbessard@205:         self.EDSNodes = {}
lbessard@205:         self.CurrentSelected = None
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:     
lbessard@205:     def GetRoot(self):
lbessard@205:         return self.Root
lbessard@205:     
lbessard@205:     def GetSlaveNumber(self):
lbessard@205:         return len(self.SlaveNodes)
lbessard@205:     
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@205:     def LoadProject(self, root):
lbessard@205:         self.SlaveNodes = {}
lbessard@205:         self.EDSNodes = {}
lbessard@205:         
lbessard@205:         self.Root = root
lbessard@205:         if not os.path.exists(self.Root):
lbessard@205:             return "\"%s\" folder doesn't exist"%self.Root
lbessard@205:         
lbessard@205:         self.EDSFolder = os.path.join(self.Root, "eds")
lbessard@205:         if not os.path.exists(self.EDSFolder):
lbessard@205:             return "\"%s\" folder doesn't contain a \"eds\" folder"%self.Root
lbessard@205:         
lbessard@205:         files = os.listdir(self.EDSFolder)
lbessard@205:         for file in files:
lbessard@205:             result = self.LoadEDS(file)
lbessard@205:             if result != None:
lbessard@205:                 return result
lbessard@205:                 
lbessard@205:         result = self.LoadMasterNode()
lbessard@205:         if result != None:
lbessard@205:             return result
lbessard@205:             
lbessard@205:         result = self.LoadSlaveNodes()
lbessard@205:         if result != None:
lbessard@205:             return result
lbessard@205:     
lbessard@205:     def SaveProject(self):
lbessard@205:         result = self.SaveMasterNode()
lbessard@205:         if result != None:
lbessard@205:             return result
lbessard@205:             
lbessard@205:         result = self.SaveNodeList()
lbessard@205:         if result != None:
lbessard@205:             return result
lbessard@205:     
lbessard@205:     def ImportEDSFile(self, edspath):
lbessard@205:         dir, file = os.path.split(edspath)
lbessard@205:         eds = os.path.join(self.EDSFolder, file)
lbessard@205:         if os.path.isfile(eds):
lbessard@205:             return "EDS file already imported"
lbessard@205:         else:
lbessard@205:             shutil.copy(edspath, self.EDSFolder)
lbessard@205:             return self.LoadEDS(file)
lbessard@205:     
lbessard@205:     def LoadEDS(self, eds):
lbessard@205:         edspath = os.path.join(self.EDSFolder, eds)
lbessard@205:         node = eds_utils.GenerateNode(edspath, self.Manager.ScriptDirectory)
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@205:             return None
lbessard@205:         else:
lbessard@205:             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)
lbessard@205:             return None
lbessard@205:         else:
lbessard@205:             return "Node with \"0x%2.2X\" ID doesn't exist"
lbessard@205:     
lbessard@205:     def LoadMasterNode(self):
lbessard@205:         masterpath = os.path.join(self.Root, "master.od")
lbessard@205:         if os.path.isfile(masterpath):
lbessard@205:             self.Manager.OpenFileInCurrent(masterpath)
lbessard@205:         else:
lbessard@205:             self.Manager.CreateNewNode("MasterNode", 0x00, "master", "", "None", "", "heartbeat", ["DS302"])
lbessard@205:         return None
lbessard@205:     
lbessard@205:     def SaveMasterNode(self):
lbessard@205:         masterpath = os.path.join(self.Root, "master.od")
lbessard@205:         if self.Manager.SaveCurrentInFile(masterpath):
lbessard@205:             return None
lbessard@205:         else:
lbessard@205:             return "Fail to save Master Node"
lbessard@205:     
lbessard@205:     def LoadSlaveNodes(self):
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@205:                 if len(networks) > 0:
lbessard@205:                     self.NetworkName = networks[0]["Name"]
lbessard@205:                     for nodeid, node in networks[0]["Nodes"].items():
lbessard@205:                         if node["Present"] == 1:
lbessard@205:                             result = self.AddSlaveNode(node["Name"], nodeid, node["DCFName"])
lbessard@205:                             if result != None:
lbessard@205:                                 return result
lbessard@205:             except SyntaxError, message:
lbessard@205:                 return "Unable to load CPJ file\n%s"%message
lbessard@205:         return None
lbessard@205:     
lbessard@205:     def SaveNodeList(self):
lbessard@205:         cpjpath = os.path.join(self.Root, "nodelist.cpj")
lbessard@205:         content = eds_utils.GenerateCPJContent(self)
lbessard@205:         file = open(cpjpath, "w")
lbessard@205:         file.write(content)
lbessard@205:         file.close()
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:
lbessard@205:             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:             print nodeindexes
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@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@205:                     return node.GetEntryInfos(index)
lbessard@205:         return None
lbessard@205: 
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@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:
lbessard@205:                     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"]
greg@239:             node.SetNodeID(self.CurrentSelected)
lbessard@205:             if node:
lbessard@205:                 return self.Manager.GetNodeEntryValues(node, index)
lbessard@205:             else:
lbessard@205:                 print "Can't find node"
lbessard@205:         return [], []
greg@239: 
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@205:     nodelist = NodeList(manager)
greg@239:     #result = nodelist.LoadProject("/home/deobox/beremiz/test_nodelist")
greg@239:     result = nodelist.LoadProject("/home/deobox/Desktop/TestMapping")
lbessard@205:     if result != None:
lbessard@205:         print result
lbessard@205:     else:
lbessard@205:         print "MasterNode :"
lbessard@205:         manager.CurrentNode.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()
greg@239: