def decode_string(self, string):
# look for true/false keywords
if str.lower(string).strip() == "true":
return True
elif str.lower(string).strip() == "false":
return False
# try to interprete as integer number
num_value = parseIntAutoBase(string)
if num_value is None: # interpretation failed
return None
else:
return num_value != 0 # c interpretation of bool
def decode_string(self, string):
# look for true/false keywords
if str.lower(string).strip() == "true":
return True
elif str.lower(string).strip() == "false":
return False
# try to interprete as integer number
num_value = parseIntAutoBase(string)
if num_value is None: # interpretation failed
return None
else:
return num_value != 0 # c interpretation of bool
def __init__(self, config_parser, section):
super(EdsObjectList, self).__init__()
# get section from eds file
dictionary = get_section(config_parser,section)
# retrieve number of objects and then read objects
self.num_objects = int(dictionary["SupportedObjects"])
self.object_ids = list()
self.objects = dict()
# read objects
for k in range(1,self.num_objects+1):
object_id = parseIntAutoBase(dictionary[str(k)])
self.object_ids.append(object_id)
self.objects[object_id] = EdsObject(config_parser,object_id)
def __init__(self, config_parser, index, subindex = 0):
super(EdsObject, self).__init__()
object_id_str = str.upper(hex(index)[2:])
if subindex > 0:
object_id_str += "sub" + str.upper(hex(subindex)[2:])
dictionary = get_section(config_parser,object_id_str)
self.index = index
self.subindex = subindex
self.parameter_name = dictionary["ParameterName"]
if dictionary["ObjectType"] is None:
# Missing ObjectType equals ObjectType VAR. (306_v01030000.pdf pg. 15)
self.object_type = CanOpenObjectType.var
else:
self.object_type = parseIntAutoBase(dictionary["ObjectType"])
self.object_type = CanOpenObjectType(self.object_type)
if dictionary["ObjFlags"] is None:
self.obj_flags = 0
else:
self.obj_flags = dictionary["ObjFlags"]
# object types: (301_v04020005_cor3.pdf pg. 89)
# 0x00: null - object with no data fields
# 0x01: null - object with no data fields
if self.object_type == CanOpenObjectType.var:
# var type
self.datatype = parseIntAutoBase(dictionary["DataType"])
self.access_type = dictionary["AccessType"]
# todo map access_type string to CanOpenObjectAttribute
# 306_v01030000.pdf pg. 15
# AccessType for this object, represented by the following strings ( „ro“ - read only, „wo“ -
# write only, „rw“ - read/write, „rwr“ - read/write on process input, „rww“ -
# read/write on process output, „const“ - constant value)
if dictionary["DefaultValue"] is None:
self.default_value = None
elif CanOpenBasicDatatypes(self.datatype) == CanOpenBasicDatatypes.vis_str:
self.default_value = dictionary["DefaultValue"]
elif CanOpenBasicDatatypes(self.datatype) in [CanOpenBasicDatatypes.boolean,
CanOpenBasicDatatypes.int8,
CanOpenBasicDatatypes.int16,
CanOpenBasicDatatypes.int32,
CanOpenBasicDatatypes.uint8,
CanOpenBasicDatatypes.uint16,
CanOpenBasicDatatypes.uint32]:
if "$NODEID" in str.upper(dictionary["DefaultValue"]):
self.default_value = dictionary["DefaultValue"] # todo parse this
else:
self.default_value = parseIntAutoBase(dictionary["DefaultValue"])
elif CanOpenBasicDatatypes(self.datatype) == CanOpenBasicDatatypes.float32:
self.default_value = float(dictionary["DefaultValue"])
self.low_limit = parseIntAutoBase(dictionary["LowLimit"])
self.high_limit = parseIntAutoBase(dictionary["HighLimit"])
self.pdo_mapping = dictionary["PDOMapping"] == "1"
elif self.object_type in [CanOpenObjectType.array, CanOpenObjectType.record]:
# array or record type
# determine number of sub objects
self.sub_number = int(dictionary["SubNumber"])
self.sub_objects = list()
# read sub objects
for k in range(1,self.sub_number):
self.sub_objects.append(EdsObject(config_parser, self.index, k))
def decode_string(self, string):
# default implementation tries to interprete as integer number
return parseIntAutoBase(string)
def decode_string(self, string):
# default implementation tries to interprete as integer number
return parseIntAutoBase(string)