CanFestival: /home/epimerde/documents/tc11/CanFestival-3/objdictgen/nodelist.py Source File

00001 #!/usr/bin/env python
+00002 # -*- coding: utf-8 -*-
+00003 
+00004 #This file is part of CanFestival, a library implementing CanOpen Stack. 
+00005 #
+00006 #Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
+00007 #
+00008 #See COPYING file for copyrights details.
+00009 #
+00010 #This library is free software; you can redistribute it and/or
+00011 #modify it under the terms of the GNU Lesser General Public
+00012 #License as published by the Free Software Foundation; either
+00013 #version 2.1 of the License, or (at your option) any later version.
+00014 #
+00015 #This library is distributed in the hope that it will be useful,
+00016 #but WITHOUT ANY WARRANTY; without even the implied warranty of
+00017 #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+00018 #Lesser General Public License for more details.
+00019 #
+00020 #You should have received a copy of the GNU Lesser General Public
+00021 #License along with this library; if not, write to the Free Software
+00022 #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+00023 
+00024 from gnosis.xml.pickle import *
+00025 from gnosis.xml.pickle.util import setParanoia
+00026 setParanoia(0)
+00027 
+00028 from node import *
+00029 import eds_utils
+00030 import os, shutil
+00031 
+00032 #-------------------------------------------------------------------------------
+00033 #                          Definition of NodeList Object
+00034 #-------------------------------------------------------------------------------
+00035 
+00036 """
+00037 Class recording a node list for a CANOpen network.
+00038 """
+00039 
+00040 class NodeList:
+00041     
+00042     def __init__(self, manager):
+00043         self.RootRoot = ""
+00044         self.ManagerManager = manager
+00045         self.NetworkNameNetworkName = ""
+00046         self.SlaveNodesSlaveNodes = {}
+00047         self.EDSNodesEDSNodes = {}
+00048         self.CurrentSelectedCurrentSelected = None
+00049     
+00050     def GetNetworkName(self):
+00051         return self.NetworkNameNetworkName
+00052     
+00053     def SetNetworkName(self, name):
+00054         self.NetworkNameNetworkName = name
+00055     
+00056     def GetManager(self):
+00057         return self.ManagerManager
+00058     
+00059     def GetRoot(self):
+00060         return self.RootRoot
+00061     
+00062     def GetSlaveNumber(self):
+00063         return len(self.SlaveNodesSlaveNodes)
+00064     
+00065     def GetSlaveNames(self):
+00066         nodes = self.SlaveNodesSlaveNodes.keys()
+00067         nodes.sort()
+00068         return ["0x%2.2X %s"%(idx, self.SlaveNodesSlaveNodes[idx]["Name"]) for idx in nodes]
+00069     
+00070     def GetSlaveIDs(self):
+00071         nodes = self.SlaveNodesSlaveNodes.keys()
+00072         nodes.sort()
+00073         return nodes
+00074         
+00075     def SetCurrentSelected(self, selected):
+00076         self.CurrentSelectedCurrentSelected = selected
+00077         
+00078     def GetCurrentSelected(self):
+00079         return self.CurrentSelectedCurrentSelected
+00080             
+00081     def LoadProject(self, root):
+00082         self.SlaveNodesSlaveNodes = {}
+00083         self.EDSNodesEDSNodes = {}
+00084         
+00085         self.RootRoot = root
+00086         if not os.path.exists(self.RootRoot):
+00087             return "\"%s\" folder doesn't exist"%self.RootRoot
+00088         
+00089         self.EDSFolderEDSFolder = os.path.join(self.RootRoot, "eds")
+00090         if not os.path.exists(self.EDSFolderEDSFolder):
+00091             return "\"%s\" folder doesn't contain a \"eds\" folder"%self.RootRoot
+00092         
+00093         files = os.listdir(self.EDSFolderEDSFolder)
+00094         for file in files:
+00095             result = self.LoadEDSLoadEDS(file)
+00096             if result != None:
+00097                 return result
+00098                 
+00099         result = self.LoadMasterNodeLoadMasterNode()
+00100         if result != None:
+00101             return result
+00102             
+00103         result = self.LoadSlaveNodesLoadSlaveNodes()
+00104         if result != None:
+00105             return result
+00106     
+00107     def SaveProject(self):
+00108         result = self.SaveMasterNodeSaveMasterNode()
+00109         if result != None:
+00110             return result
+00111             
+00112         result = self.SaveNodeListSaveNodeList()
+00113         if result != None:
+00114             return result
+00115     
+00116     def ImportEDSFile(self, edspath):
+00117         dir, file = os.path.split(edspath)
+00118         eds = os.path.join(self.EDSFolderEDSFolder, file)
+00119         if os.path.isfile(eds):
+00120             return "EDS file already imported"
+00121         else:
+00122             shutil.copy(edspath, self.EDSFolderEDSFolder)
+00123             return self.LoadEDSLoadEDS(file)
+00124     
+00125     def LoadEDS(self, eds):
+00126         edspath = os.path.join(self.EDSFolderEDSFolder, eds)
+00127         node = eds_utils.GenerateNode(edspath, self.ManagerManager.ScriptDirectory)
+00128         if isinstance(node, Node):
+00129             self.EDSNodesEDSNodes[eds] = node
+00130             return None
+00131         else:
+00132             return node
+00133     
+00134     def AddSlaveNode(self, nodeName, nodeID, eds):
+00135         if eds in self.EDSNodesEDSNodes.keys():
+00136             slave = {"Name" : nodeName, "EDS" : eds, "Node" : self.EDSNodesEDSNodes[eds]}
+00137             self.SlaveNodesSlaveNodes[nodeID] = slave
+00138             return None
+00139         else:
+00140             return "\"%s\" EDS file is not available"%eds
+00141     
+00142     def RemoveSlaveNode(self, index):
+00143         if index in self.SlaveNodesSlaveNodes.keys():
+00144             self.SlaveNodesSlaveNodes.pop(index)
+00145             return None
+00146         else:
+00147             return "Node with \"0x%2.2X\" ID doesn't exist"
+00148     
+00149     def LoadMasterNode(self):
+00150         masterpath = os.path.join(self.RootRoot, "master.od")
+00151         if os.path.isfile(masterpath):
+00152             self.ManagerManager.OpenFileInCurrent(masterpath)
+00153         else:
+00154             self.ManagerManager.CreateNewNode("MasterNode", 0x00, "master", "", "None", "", "heartbeat", ["DS302"])
+00155         return None
+00156     
+00157     def SaveMasterNode(self):
+00158         masterpath = os.path.join(self.RootRoot, "master.od")
+00159         if self.ManagerManager.SaveCurrentInFile(masterpath):
+00160             return None
+00161         else:
+00162             return "Fail to save Master Node"
+00163     
+00164     def LoadSlaveNodes(self):
+00165         cpjpath = os.path.join(self.RootRoot, "nodelist.cpj")
+00166         if os.path.isfile(cpjpath):
+00167             try:
+00168                 networks = eds_utils.ParseCPJFile(cpjpath)
+00169                 if len(networks) > 0:
+00170                     self.NetworkNameNetworkName = networks[0]["Name"]
+00171                     for nodeid, node in networks[0]["Nodes"].items():
+00172                         if node["Present"] == 1:
+00173                             result = self.AddSlaveNodeAddSlaveNode(node["Name"], nodeid, node["DCFName"])
+00174                             if result != None:
+00175                                 return result
+00176             except SyntaxError, message:
+00177                 return "Unable to load CPJ file\n%s"%message
+00178         return None
+00179     
+00180     def SaveNodeList(self):
+00181         cpjpath = os.path.join(self.RootRoot, "nodelist.cpj")
+00182         content = eds_utils.GenerateCPJContent(self)
+00183         file = open(cpjpath, "w")
+00184         file.write(content)
+00185         file.close()
+00186     
+00187     def GetSlaveNodeEntry(self, nodeid, index, subindex = None):
+00188         if nodeid in self.SlaveNodesSlaveNodes.keys():
+00189             self.SlaveNodesSlaveNodes[nodeid]["Node"].SetNodeID(nodeid)
+00190             return self.SlaveNodesSlaveNodes[nodeid]["Node"].GetEntry(index, subindex)
+00191         else:
+00192             return "Node 0x%2.2X doesn't exist"%nodeid
+00193 
+00194     def GetMasterNodeEntry(self, index, subindex = None):
+00195         return self.ManagerManager.GetCurrentEntry(index, subindex)
+00196         
+00197     def SetMasterNodeEntry(self, index, subindex = None, value = None):
+00198         self.ManagerManager.SetCurrentEntry(index, subindex, value)
+00199     
+00200     def GetOrderNumber(self, nodeid):
+00201         nodeindexes = self.SlaveNodesSlaveNodes.keys()
+00202         nodeindexes.sort()
+00203         return nodeindexes.index(nodeid) + 1
+00204     
+00205     def GetNodeByOrder(self, order):
+00206         if order > 0:
+00207             nodeindexes = self.SlaveNodesSlaveNodes.keys()
+00208             nodeindexes.sort()
+00209             print nodeindexes
+00210             if order <= len(nodeindexes):
+00211                 return self.SlaveNodesSlaveNodes[nodeindexes[order - 1]]["Node"]
+00212         return None
+00213     
+00214     def IsCurrentEntry(self, index):
+00215         if self.CurrentSelectedCurrentSelected != None:
+00216             if self.CurrentSelectedCurrentSelected == 0:
+00217                 return self.ManagerManager.IsCurrentEntry(index)
+00218             else:
+00219                 node = self.SlaveNodesSlaveNodes[self.CurrentSelectedCurrentSelected]["Node"]
+00220                 if node:
+00221                     return node.IsEntry(index)
+00222         return False
+00223     
+00224     def GetEntryInfos(self, index):
+00225         if self.CurrentSelectedCurrentSelected != None:
+00226             if self.CurrentSelectedCurrentSelected == 0:
+00227                 return self.ManagerManager.GetEntryInfos(index)
+00228             else:
+00229                 node = self.SlaveNodesSlaveNodes[self.CurrentSelectedCurrentSelected]["Node"]
+00230                 if node:
+00231                     return node.GetEntryInfos(index)
+00232         return None
+00233 
+00234     def GetCurrentValidIndexes(self, min, max):
+00235         if self.CurrentSelectedCurrentSelected != None:
+00236             if self.CurrentSelectedCurrentSelected == 0:
+00237                 return self.ManagerManager.GetCurrentValidIndexes(min, max)
+00238             else:
+00239                 node = self.SlaveNodesSlaveNodes[self.CurrentSelectedCurrentSelected]["Node"]
+00240                 if node:
+00241                     validindexes = []
+00242                     for index in node.GetIndexes():
+00243                         if min <= index <= max:
+00244                             validindexes.append((node.GetEntryName(index), index))
+00245                     return validindexes
+00246                 else:
+00247                     print "Can't find node"
+00248         return []
+00249     
+00250     def GetCurrentEntryValues(self, index):
+00251         if self.CurrentSelectedCurrentSelected != None:
+00252             node = self.SlaveNodesSlaveNodes[self.CurrentSelectedCurrentSelected]["Node"]
+00253             if node:
+00254                 return self.ManagerManager.GetNodeEntryValues(node, index)
+00255             else:
+00256                 print "Can't find node"
+00257         return [], []
+00258     
+00259 if __name__ == "__main__":
+00260     from nodemanager import *
+00261     import os, sys, shutil
+00262     
+00263     manager = NodeManager(sys.path[0])
+00264     
+00265     nodelist = NodeList(manager)
+00266     
+00267     result = nodelist.LoadProject("/home/laurent/test_nodelist")
+00268     if result != None:
+00269         print result
+00270     else:
+00271         print "MasterNode :"
+00272         manager.CurrentNode.Print()
+00273         print 
+00274         for nodeid, node in nodelist.SlaveNodes.items():
+00275             print "SlaveNode name=%s id=0x%2.2X :"%(node["Name"], nodeid)
+00276             node["Node"].Print()
+00277             print
+00278 
+