import cPickle
from types import *
+import re
"""
Dictionary of translation between access symbol and their signification
for all sorts of entries use in CAN Open specification
"""
nosub = 0 # Entry without subindex (only for type declaration)
-var = 1
-array = 3
-rec = 7
+var = OD_Subindex
+array = OD_Subindex | OD_MultipleSubindexes
+rec = OD_Subindex | OD_MultipleSubindexes | OD_IdenticalSubindexes
# Entries identical on multiple indexes
-plurivar = 9
-pluriarray = 11 # Example : PDO Parameters
-plurirec = 15 # Example : PDO Mapping
+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
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" : 0x04, "access" : 'ro', "pdo" : False}]},
+ [{"name" : "Device Type", "type" : 0x07, "access" : 'ro', "pdo" : False}]},
0x1001 : {"name" : "Error Register", "struct" : var, "need" : True, "values" :
- [{"name" : "Error Register", "type" : 0x02, "access": 'ro', "pdo" : True}]},
+ [{"name" : "Error Register", "type" : 0x05, "access": 'ro', "pdo" : True}]},
0x1002 : {"name" : "Manufacturer Status Register", "struct" : var, "need" : False, "values" :
- [{"name" : "Manufacturer Status Register", "type" : 0x04, "access" : 'ro', "pdo" : True}]},
- 0x1003 : {"name" : "Pre-defined Error Field", "struct" : rec, "need" : False, "values" :
- [{"name" : "Number of Errors", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Standard Error Field", "type" : 0x04, "access" : 'ro', "pdo" : False, "nbmax" : 0xFE}]},
- 0x1005 : {"name" : "SYNC COB ID", "struct" : var, "need" : True, "callback" : True, "values" :
- [{"name" : "SYNC COB ID", "type" : 0x04, "access" : 'rw', "pdo" : False}]},
+ [{"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, "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" : 0x04, "access" : 'rw', "pdo" : False}]},
+ [{"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" : 0x04, "access" : 'rw', "pdo" : False}]},
+ [{"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" :
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" : 0x03, "access" : 'rw', "pdo" : False}]},
+ [{"name" : "Guard Time", "type" : 0x06, "access" : 'rw', "pdo" : False}]},
0x100D : {"name" : "Life Time Factor", "struct" : var, "need" : False, "values" :
- [{"name" : "Life Time Factor", "type" : 0x02, "access" : 'rw', "pdo" : False}]},
+ [{"name" : "Life Time Factor", "type" : 0x05, "access" : 'rw', "pdo" : False}]},
0x1010 : {"name" : "Store parameters", "struct" : array, "need" : False, "values" :
- [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "Save All Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Save Communication Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Save Application Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Save Manufacturer Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "Restore All Default Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Restore Communication Default Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Restore Application Default Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Restore Manufacturer Default Parameters", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x7C}]},
+ [{"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" : 0x04, "access" : 'rw', "pdo" : False}]},
+ [{"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" : 0x04, "access" : 'rw', "pdo" : True}]},
+ [{"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" : 0x04, "access" : 'rw', "pdo" : False}]},
+ [{"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" : 0x03, "access" : 'rw', "pdo" : False}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "Consumer Heartbeat Time", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x7F}]},
- 0x1017 : {"name" : "Producer Heartbeat Time", "struct" : var, "need" : False, "values" :
- [{"name" : "Producer Heartbeat Time", "type" : 0x03, "access" : 'rw', "pdo" : False}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "Vendor ID", "type" : 0x04, "access" : 'ro', "pdo" : False},
- {"name" : "Product Code", "type" : 0x04, "access" : 'ro', "pdo" : False},
- {"name" : "Revision Number", "type" : 0x04, "access" : 'ro', "pdo" : False},
- {"name" : "Serial Number", "type" : 0x04, "access" : 'ro', "pdo" : False}]},
+ [{"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}]},
0x1020 : {"name" : "Verify Configuration", "struct" : array, "need" : False, "values" :
- [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "Configuration Date", "type" : 0x04, "access" : 'ro', "pdo" : False},
- {"name" : "Configuration Time", "type" : 0x04, "access" : 'ro', "pdo" : False}]},
+ [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
+ {"name" : "Configuration Date", "type" : 0x07, "access" : 'ro', "pdo" : False},
+ {"name" : "Configuration Time", "type" : 0x07, "access" : 'ro', "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" : 0x04, "access" : 'rw', "pdo" : False}]},
+# [{"name" : "Storage Format", "type" : 0x06, "access" : 'rw', "pdo" : False}]},
0x1023 : {"name" : "OS Command", "struct" : array, "need" : False, "values" :
- [{"name" : "Number of Entries", "type" : 0x02, "access" : 'ro', "pdo" : False},
+ [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
{"name" : "Command", "type" : 0x0A, "access" : 'rw', "pdo" : False},
- {"name" : "Status", "type" : 0x02, "access" : 'ro', "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" : 0x02, "access" : 'wo', "pdo" : False}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "Command", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Status", "type" : 0x04, "access" : 'ro', "pdo" : False},
- {"name" : "Reply", "type" : 0x04, "access" : 'ro', "pdo" : False}]},
+ [{"name" : "Number of Entries", "type" : 0x05, "access" : 'ro', "pdo" : False},
+ {"name" : "Command", "type" : 0x0A, "access" : 'rw', "pdo" : False},
+ {"name" : "Status", "type" : 0x07, "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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "StdIn", "type" : 0x02, "access" : 'wo', "pdo" : True},
- {"name" : "StdOut", "type" : 0x02, "access" : 'ro', "pdo" : True},
- {"name" : "StdErr", "type" : 0x02, "access" : 'ro', "pdo" : True}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "Module %d[(sub)]", "type" : 0x03, "access" : 'ro', "pdo" : False, "nbmax" : 0xFE}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "Emergency Consumer", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x7E}]},
+ [{"name" : "Number of Consumed Emergency Objects", "type" : 0x05, "access" : 'ro', "pdo" : False},
+ {"name" : "Emergency Consumer", "type" : 0x07, "access" : 'rw', "pdo" : False, "nbmin" : 1, "nbmax" : 0x7E}]},
0x1029 : {"name" : "Error Behavior", "struct" : array, "need" : False, "values" :
- [{"name" : "Number of Error Classes", "type" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "Communication Error", "type" : 0x02, "access" : 'rw', "pdo" : False},
- {"name" : "Device Profile", "type" : 0x02, "access" : 'rw', "pdo" : False, "nbmax" : 0xFE}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "COB ID Client to Server (Receive SDO)", "type" : 0x04, "access" : 'ro', "pdo" : False},
- {"name" : "COB ID Server to Client (Transmit SDO)", "type" : 0x04, "access" : 'ro', "pdo" : False}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "COB ID Client to Server (Receive SDO)", "type" : 0x04, "access" : 'ro', "pdo" : False},
- {"name" : "COB ID Server to Client (Transmit SDO)", "type" : 0x04, "access" : 'ro', "pdo" : False},
- {"name" : "Node ID of the SDO Client", "type" : 0x04, "access" : 'ro', "pdo" : False}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "COB ID Client to Server (Transmit SDO)", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "COB ID Server to Client (Receive SDO)", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Node ID of the SDO Server", "type" : 0x04, "access" : 'rw', "pdo" : False}]},
+ [{"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" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "COB ID used by PDO", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Transmission Type", "type" : 0x02, "access" : 'rw', "pdo" : False},
- {"name" : "Inhibit Time", "type" : 0x03, "access" : 'rw', "pdo" : False},
- {"name" : "Compatibility Entry", "type" : 0x03, "access" : 'rw', "pdo" : False},
- {"name" : "Event Timer", "type" : 0x03, "access" : 'rw', "pdo" : False}]},
+ [{"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" : 0x02, "access" : 'rw', "pdo" : False},
- {"name" : "PDO %d Mapping for an application object %d[(idx,sub)]", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x40}]},
- 0x1800 : {"name" : "Transmit PDO %d Parameter[(idx)]", "struct" : pluriarray, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :
- [{"name" : "Highest SubIndex Supported", "type" : 0x02, "access" : 'ro', "pdo" : False},
- {"name" : "COB ID used by PDO", "type" : 0x04, "access" : 'rw', "pdo" : False},
- {"name" : "Transmission Type", "type" : 0x02, "access" : 'rw', "pdo" : False},
- {"name" : "Inhibit Time", "type" : 0x03, "access" : 'rw', "pdo" : False},
- {"name" : "Compatibility Entry", "type" : 0x03, "access" : 'rw', "pdo" : False},
- {"name" : "Event Timer", "type" : 0x03, "access" : 'rw', "pdo" : False}]},
+ [{"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}]},
0x1A00 : {"name" : "Transmit PDO %d Mapping[(idx)]", "struct" : plurirec, "incr" : 1, "nbmax" : 0x200, "need" : False, "values" :
- [{"name" : "Number of Entries", "type" : 0x02, "access" : 'rw', "pdo" : False},
- {"name" : "PDO %d Mapping for a process data variable %d[(idx,sub)]", "type" : 0x04, "access" : 'rw', "pdo" : False, "nbmax" : 0x40}]},
+ [{"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.iteritems():
+ 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):
+ list = []
+ for index in mappingdictionary.keys():
+ if index < 0x1000:
+ list.append(mappingdictionary[index]["name"])
+ return list
+
+"""
+Return the name of an entry by searching in mappingdictionary
+"""
+def FindEntryName(index, mappingdictionary):
+ base_index = FindIndex(index, mappingdictionary)
+ if base_index:
+ infos = mappingdictionary[base_index]
+ if infos["struct"] & OD_IdenticalIndexes:
+ 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):
+ base_index = FindIndex(index, mappingdictionary)
+ if base_index:
+ copy = mappingdictionary[base_index].copy()
+ if copy["struct"] & OD_IdenticalIndexes:
+ 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):
+ 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:
+ 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):
+ list = []
+ for index in mappingdictionary.iterkeys():
+ 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"])
+ if mappingdictionary[index]["struct"] & OD_IdenticalSubindexes:
+ values = Node.GetEntry(index)
+ for i in xrange(len(values) - 1):
+ list.append((index, i + 1, infos["size"], StringFormat(mappingdictionary[index]["values"][subIndex]["name"],1,i+1)))
+ else:
+ list.append((index, subIndex, infos["size"], mappingdictionary[index]["values"][subIndex]["name"]))
+ return list
+
+"""
+Return the list of mandatory indexes defined in mappingdictionary
+"""
+def FindMandatoryIndexes(mappingdictionary):
+ list = []
+ for index in mappingdictionary.iterkeys():
+ if index >= 0x1000 and mappingdictionary[index]["need"]:
+ list.append(index)
+ return list
+
+"""
+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 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 Node:
- def __init__(self, name = "", type = "slave", id = 0, profilename = "DS-301", profile = {}, specificmenu = []):
+ 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
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 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
"""
elif subIndex == 1:
self.Dictionary[index] = [value]
return True
- elif subIndex > 1 and type(self.Dictionary[index]) == ListType and subIndex == len(self.Dictionary[index]) + 1:
+ elif subIndex > 0 and type(self.Dictionary[index]) == ListType and subIndex == len(self.Dictionary[index]) + 1:
self.Dictionary[index].append(value)
return True
return False
"""
Check if an entry exists in the Object Dictionary and returns the answer.
"""
- def IsEntry(self, index):
+ def IsEntry(self, index, subIndex = None):
if index in self.Dictionary:
- return True
+ 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):
+ def GetEntry(self, index, subIndex = None, compute = True):
if index in self.Dictionary:
if subIndex == None:
if type(self.Dictionary[index]) == ListType:
values = [len(self.Dictionary[index])]
- values.extend(self.Dictionary[index])
+ for value in self.Dictionary[index]:
+ values.append(self.CompileValue(value, index, compute))
return values
else:
- return self.Dictionary[index]
+ return self.CompileValue(self.Dictionary[index], index, compute)
elif subIndex == 0:
if type(self.Dictionary[index]) == ListType:
return len(self.Dictionary[index])
else:
- return self.Dictionary[index]
+ return self.CompileValue(self.Dictionary[index], index, compute)
elif type(self.Dictionary[index]) == ListType and 0 < subIndex <= len(self.Dictionary[index]):
- return self.Dictionary[index][subIndex - 1]
+ return self.CompileValue(self.Dictionary[index][subIndex - 1], index, compute)
return None
"""
return None
def HasEntryCallbacks(self, index):
- 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"]
+ 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
"""
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 xrange(len(self.Dictionary[index])):
+ self.SetEntry(index, i + 1, 0.)
+ elif not self.IsStringType(values["type"]):
+ for i in xrange(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 xrange(len(self.Dictionary[index])):
+ self.SetEntry(index, i + 1, "")
+ elif not self.IsRealType(values["type"]):
+ for i in xrange(len(self.Dictionary[index])):
+ self.SetEntry(index, i + 1, 0)
+ elif self.IsStringType(values["type"]):
+ for i in xrange(len(self.Dictionary[index])):
+ self.SetEntry(index, i + 1, "")
+ elif self.IsRealType(values["type"]):
+ for i in xrange(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
return True
return False
- def RemoveMapVariable(self, index, subIndex):
+ def RemoveMapVariable(self, index, subIndex = None):
model = index << 16
mask = 0xFFFF << 16
if subIndex:
model += subIndex << 8
- mask = 0xFF << 8
+ mask += 0xFF << 8
for i in self.Dictionary.iterkeys():
if 0x1600 <= i <= 0x17FF or 0x1A00 <= i <= 0x1BFF:
for j,value in enumerate(self.Dictionary[i]):
Print the Dictionary values
"""
def Print(self):
+ print self.PrintString()
+
+ def PrintString(self):
+ result = ""
listindex = self.Dictionary.keys()
listindex.sort()
for index in listindex:
- print "%04X : %s"%(index, self.Dictionary[index])
+ name = self.GetEntryName(index)
+ values = self.Dictionary[index]
+ if isinstance(values, ListType):
+ 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, IntType):
+ value = "%X"%value
+ result += "%04X %02X (%s): %s\n"%(index, subidx+1, subentry_infos["name"], value)
+ else:
+ if isinstance(values, IntType):
+ values = "%X"%values
+ result += "%04X (%s): %s\n"%(index, name, values)
+ return result
+
+ def CompileValue(self, value, index, compute = True):
+ if isinstance(value, (StringType, UnicodeType)) 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):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindEntryName(index, mappings[i])
+ i += 1
+ if result == None:
+ result = FindEntryName(index, MappingDictionary)
+ return result
+
+ def GetEntryInfos(self, index):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindEntryInfos(index, mappings[i])
+ i += 1
+ if result == None:
+ result = FindEntryInfos(index, MappingDictionary)
+ return result
+
+ def GetSubentryInfos(self, index, subIndex):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindSubentryInfos(index, subIndex, mappings[i])
+ if result:
+ result["user_defined"] = i == len(mappings) - 1 and index >= 0x1000
+ i += 1
+ if result == None:
+ result = FindSubentryInfos(index, subIndex, MappingDictionary)
+ if result:
+ result["user_defined"] = False
+ return result
+
+ def GetTypeIndex(self, typename):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindTypeIndex(typename, mappings[i])
+ i += 1
+ if result == None:
+ result = FindTypeIndex(typename, MappingDictionary)
+ return result
+
+ def GetTypeName(self, typeindex):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindTypeName(typeindex, mappings[i])
+ i += 1
+ if result == None:
+ result = FindTypeName(typeindex, MappingDictionary)
+ return result
+
+ def GetTypeDefaultValue(self, typeindex):
+ result = None
+ mappings = self.GetMappings()
+ i = 0
+ while not result and i < len(mappings):
+ result = FindTypeDefaultValue(typeindex, mappings[i])
+ i += 1
+ if result == None:
+ result = FindTypeDefaultValue(typeindex, MappingDictionary)
+ return result
+
+ def GetMapVariableList(self):
+ list = FindMapVariableList(MappingDictionary, self)
+ for mapping in self.GetMappings():
+ list.extend(FindMapVariableList(mapping, self))
+ list.sort()
+ return list
+
+ def GetMandatoryIndexes(self, node = None):
+ list = FindMandatoryIndexes(MappingDictionary)
+ for mapping in self.GetMappings():
+ list.extend(FindMandatoryIndexes(mapping))
+ return list
+
+ def GetCustomisableTypes(self):
+ dic = {}
+ for index, valuetype in CustomisableTypes:
+ name = self.GetTypeName(index)
+ dic[index] = [name, valuetype]
+ return dic
+
+#-------------------------------------------------------------------------------
+# Type helper functions
+#-------------------------------------------------------------------------------
+
+ def IsStringType(self, index):
+ if index in (0x9, 0xA, 0xB, 0xF):
+ return True
+ elif 0xA0 <= index < 0x100:
+ result = self.GetEntry(index, 1)
+ if result is not None and result in (0x9, 0xA, 0xB):
+ return True
+ return False
+
+ def IsRealType(self, index):
+ if index in (0x8, 0x11):
+ return True
+ elif 0xA0 <= index < 0x100:
+ result = self.GetEntry(index, 1)
+ if result is not None and result in (0x8, 0x11):
+ return True
+ return False
+
+#-------------------------------------------------------------------------------
+# Type and Map Variable Lists
+#-------------------------------------------------------------------------------
+
+ def GetTypeList(self):
+ list = FindTypeList(MappingDictionary)
+ for mapping in self.GetMappings():
+ list.extend(FindTypeList(mapping))
+ list.sort()
+ return ",".join(list)
+
+ def GenerateMapName(self, name, index, subindex):
+ return "%s (0x%4.4X)" % (name, index)
+
+ """
+ Generate the list of variables that can be mapped for the current node
+ """
+ def GenerateMapList(self):
+ self.MapList = "None"
+ self.NameTranslation = {"None" : "00000000"}
+ self.MapTranslation = {"00000000" : "None"}
+ list = self.GetMapVariableList()
+ for index, subIndex, size, name in list:
+ self.MapList += ",%s"%name
+ map = "%04X%02X%02X"%(index,subIndex,size)
+ mapname = self.GenerateMapName(name, index, subIndex)
+ self.NameTranslation[mapname] = map
+ self.MapTranslation[map] = mapname
+
+ def GetMapValue(self, mapname):
+ if mapname == "None":
+ return 0
+ else:
+ list = self.GetMapVariableList()
+ for index, subIndex, size, name in list:
+ if mapname == self.GenerateMapName(name, index, subIndex):
+ return (index << 16) + (subIndex << 8) + size
+ return None
+
+ def GetMapName(self, value):
+ if value != 0:
+ index = value >> 16
+ subindex = (value >> 8) % (1 << 8)
+ result = self.GetSubentryInfos(index, subindex)
+ if result:
+ return self.GenerateMapName(result["name"], index, subindex)
+ return "None"
+
+ """
+ Return the list of variables that can be mapped for the current node
+ """
+ def GetMapList(self):
+ list = ["None"] + [self.GenerateMapName(name, index, subIndex) for index, subIndex, size, name in self.GetMapVariableList()]
+ return ",".join(list)
+
+def BE_to_LE(value):
+ """
+ Convert Big Endian to Little Endian
+ @param value: value expressed in Big Endian
+ @param size: number of bytes generated
+ @return: a string containing the value converted
+ """
+
+ data = [char for char in value]
+ data.reverse()
+ return int("".join(["%2.2X"%ord(char) for char in data]), 16)
+
+def LE_to_BE(value, size):
+ """
+ Convert Little Endian to Big Endian
+ @param value: value expressed in integer
+ @param size: number of bytes generated
+ @return: a string containing the value converted
+ """
+
+ data = ("%" + str(size * 2) + "." + str(size * 2) + "X") % value
+ list_car = [data[i:i+2] for i in xrange(0, len(data), 2)]
+ list_car.reverse()
+ return "".join([chr(int(car, 16)) for car in list_car])
+
projects / CanFestival-3.git / blobdiff