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