def test_add_array(self):
test_od = od.ObjectDictionary()
array = od.Array("Test Array", 0x1002)
array.add_member(od.Variable("Last subindex", 0x1002, 0))
test_od.add_object(array)
self.assertEqual(test_od["Test Array"], array)
self.assertEqual(test_od[0x1002], array)
def import_epf(epf):
"""Import an EPF file.
:param epf:
Either a path to an EPF-file, a file-like object, or an instance of
:class:`xml.etree.ElementTree.Element`.
:returns:
The Object Dictionary.
:rtype: canopen.ObjectDictionary
"""
od = objectdictionary.ObjectDictionary()
if etree.iselement(epf):
tree = epf
else:
tree = etree.parse(epf).getroot()
# Find and set default bitrate
can_config = tree.find("Configuration/CANopen")
if can_config is not None:
bitrate = can_config.get("BitRate", "250")
bitrate = bitrate.replace("U", "")
od.bitrate = int(bitrate) * 1000
# Parse Object Dictionary
for group_tree in tree.iterfind("Dictionary/Parameters/Group"):
name = group_tree.get("SymbolName")
parameters = group_tree.findall("Parameter")
index = int(parameters[0].get("Index"), 0)
if len(parameters) == 1:
# Simple variable
var = build_variable(parameters[0])
# Use top level index name instead
var.name = name
od.add_object(var)
elif len(parameters) == 2 and parameters[1].get(
"ObjectType") == "ARRAY":
# Array
arr = objectdictionary.Array(name, index)
for par_tree in parameters:
var = build_variable(par_tree)
arr.add_member(var)
description = group_tree.find("Description")
if description is not None:
arr.description = description.text
od.add_object(arr)
else:
# Complex record
record = objectdictionary.Record(name, index)
for par_tree in parameters:
var = build_variable(par_tree)
record.add_member(var)
description = group_tree.find("Description")
if description is not None:
record.description = description.text
od.add_object(record)
return od
def import_eds(source, node_id):
eds = ConfigParser()
if hasattr(source, "read"):
fp = source
else:
fp = open(source)
try:
# Python 3
eds.read_file(fp)
except AttributeError:
# Python 2
eds.readfp(fp)
fp.close()
od = objectdictionary.ObjectDictionary()
if eds.has_section("DeviceComissioning"):
od.bitrate = int(eds.get("DeviceComissioning", "Baudrate")) * 1000
od.node_id = int(eds.get("DeviceComissioning", "NodeID"))
for section in eds.sections():
# Match indexes
match = re.match(r"^[0-9A-Fa-f]{4}$", section)
if match is not None:
index = int(section, 16)
name = eds.get(section, "ParameterName")
object_type = int(eds.get(section, "ObjectType"), 0)
if object_type == VAR:
var = build_variable(eds, section, index)
od.add_object(var)
elif object_type == ARR and eds.has_option(section,
"CompactSubObj"):
arr = objectdictionary.Array(name, index)
last_subindex = objectdictionary.Variable(
"Number of entries", index, 0)
last_subindex.data_type = objectdictionary.UNSIGNED8
arr.add_member(last_subindex)
arr.add_member(build_variable(eds, section, index, 1))
od.add_object(arr)
elif object_type == ARR:
arr = objectdictionary.Array(name, index)
od.add_object(arr)
elif object_type == RECORD:
record = objectdictionary.Record(name, index)
od.add_object(record)
continue
# Match subindexes
match = re.match(r"^([0-9A-Fa-f]{4})sub([0-9A-Fa-f]+)$", section)
if match is not None:
index = int(match.group(1), 16)
subindex = int(match.group(2), 16)
entry = od[index]
if isinstance(entry,
(objectdictionary.Record, objectdictionary.Array)):
var = build_variable(eds, section, index, subindex)
entry.add_member(var)
return od
def test_add_record(self):
test_od = od.ObjectDictionary()
record = od.Record("Test Record", 0x1001)
var = od.Variable("Test Subindex", 0x1001, 1)
record.add_member(var)
test_od.add_object(record)
self.assertEqual(test_od["Test Record"], record)
self.assertEqual(test_od[0x1001], record)
self.assertEqual(test_od["Test Record"]["Test Subindex"], var)
def _convert_eds(eds, node_id):
od = objectdictionary.ObjectDictionary()
if eds.has_section("DeviceComissioning"):
od.bitrate = int(eds.get("DeviceComissioning", "Baudrate")) * 1000
od.node_id = int(eds.get("DeviceComissioning", "NodeID"))
for section in eds.sections():
# Match indexes
match = re.match(r"^[0-9A-Fa-f]{4}$", section)
if match is not None:
index = int(section, 16)
name = eds.get(section, "ParameterName")
object_type = int(eds.get(section, "ObjectType"), 0)
if object_type == VAR:
var = build_variable(eds, section, index)
od.add_object(var)
elif object_type == ARR and eds.has_option(section, "CompactSubObj"):
arr = objectdictionary.Array(name, index)
last_subindex = objectdictionary.Variable(
"Number of entries", index, 0)
last_subindex.data_type = objectdictionary.UNSIGNED8
arr.add_member(last_subindex)
arr.add_member(build_variable(eds, section, index, 1))
od.add_object(arr)
elif object_type == ARR:
arr = objectdictionary.Array(name, index)
od.add_object(arr)
elif object_type == RECORD:
record = objectdictionary.Record(name, index)
od.add_object(record)
continue
# Match subindexes
match = re.match(r"^([0-9A-Fa-f]{4})sub([0-9A-Fa-f]+)$", section)
if match is not None:
index = int(match.group(1), 16)
subindex = int(match.group(2), 16)
entry = od[index]
if isinstance(entry, (objectdictionary.Record,
objectdictionary.Array)):
var = build_variable(eds, section, index, subindex)
entry.add_member(var)
return od
def import_eds(filename):
od = objectdictionary.ObjectDictionary()
eds = ConfigParser()
eds.read(filename)
for section in eds.sections():
# Match indexes
match = re.match(r"^[0-9A-Fa-f]{4}$", section)
if match is not None:
index = int(section, 16)
name = eds.get(section, "ParameterName")
object_type = int(eds.get(section, "ObjectType"), 0)
if object_type == VAR:
var = build_variable(eds, section, index)
od.add_object(var)
elif object_type == ARR and eds.has_option(section,
"CompactSubObj"):
arr = objectdictionary.Array(name, index)
arr.template = build_variable(eds, section, index, 1)
arr.length = int(eds.get(section, "CompactSubObj"), 0)
od.add_object(arr)
elif object_type == ARR:
arr = objectdictionary.Array(name, index)
arr.last_subindex = build_variable(eds, section + "sub0",
index, 0)
arr.template = build_variable(eds, section + "sub1", index, 1)
od.add_object(arr)
elif object_type == RECORD:
record = objectdictionary.Record(name, index)
od.add_object(record)
continue
# Match subindexes
match = re.match(r"^([0-9A-Fa-f]{4})sub([0-9A-Fa-f]+)$", section)
if match is not None:
index = int(match.group(1), 16)
subindex = int(match.group(2), 16)
entry = od[index]
if isinstance(entry, objectdictionary.Record):
var = build_variable(eds, section, index, subindex)
entry.add_member(var)
return od
def import_from_node(node_id, network):
""" Download the configuration from the remote node
:param int node_id: Identifier of the node
:param network: network object
"""
# Create temporary SDO client
sdo_client = SdoClient(0x600 + node_id, 0x580 + node_id, objectdictionary.ObjectDictionary())
sdo_client.network = network
# Subscribe to SDO responses
network.subscribe(0x580 + node_id, sdo_client.on_response)
# Create file like object for Store EDS variable
try:
eds_fp = sdo_client.open(0x1021, 0, "rt")
od = import_eds(eds_fp, node_id)
except Exception as e:
logger.error("No object dictionary could be loaded for node %d: %s",
node_id, e)
od = None
finally:
network.unsubscribe(0x580 + node_id)
return od
def import_from_node(node_id, network):
# Create temporary SDO client
sdo_client = SdoClient(node_id, None)
sdo_client.network = network
# Subscribe to SDO responses
network.subscribe(0x580 + node_id, sdo_client.on_response)
# Create file like object for Store EDS variable
try:
eds_fp = ReadableStream(sdo_client, 0x1021)
eds_fp = io.BufferedReader(eds_fp)
eds_fp = io.TextIOWrapper(eds_fp, "ascii")
# Create config parser
eds = ConfigParser()
eds.readfp(eds_fp)
od = _convert_eds(eds, node_id)
except Exception as e:
logger.error("No object dictionary could be loaded for node %d: %s",
node_id, e)
od = objectdictionary.ObjectDictionary()
finally:
network.unsubscribe(0x580 + node_id)
return od
def import_epf(filename):
od = objectdictionary.ObjectDictionary()
tree = etree.parse(filename).getroot()
# Find and set default bitrate
can_config = tree.find("Configuration/CANopen")
if can_config is not None:
bitrate = can_config.get("BitRate", "250")
bitrate = bitrate.replace("U", "")
od.bitrate = int(bitrate) * 1000
# Parse Object Dictionary
for group_tree in tree.iterfind("Dictionary/Parameters/Group"):
name = group_tree.get("SymbolName")
parameters = group_tree.findall("Parameter")
index = int(parameters[0].get("Index"), 0)
if len(parameters) == 1:
# Simple variable
var = build_variable(parameters[0])
od.add_object(var)
elif len(parameters) == 2 and parameters[1].get(
"ObjectType") == "ARRAY":
# Array
arr = objectdictionary.Array(name, index)
arr.last_subindex = build_variable(parameters[0])
arr.template = build_variable(parameters[1])
od.add_object(arr)
else:
# Complex record
record = objectdictionary.Record(name, index)
for par_tree in parameters:
var = build_variable(par_tree)
record.add_member(var)
od.add_object(record)
return od
def import_eds(source, node_id):
eds = RawConfigParser()
if hasattr(source, "read"):
fp = source
else:
fp = open(source)
try:
# Python 3
eds.read_file(fp)
except AttributeError:
# Python 2
eds.readfp(fp)
fp.close()
od = objectdictionary.ObjectDictionary()
if eds.has_section("DeviceComissioning"):
od.bitrate = int(eds.get("DeviceComissioning", "Baudrate")) * 1000
od.node_id = int(eds.get("DeviceComissioning", "NodeID"))
for section in eds.sections():
# Match dummy definitions
match = re.match(r"^[Dd]ummy[Uu]sage$", section)
if match is not None:
for i in range(1, 8):
key = "Dummy%04d" % i
if eds.getint(section, key) == 1:
var = objectdictionary.Variable(key, i, 0)
var.data_type = i
var.access_type = "const"
od.add_object(var)
# Match indexes
match = re.match(r"^[0-9A-Fa-f]{4}$", section)
if match is not None:
index = int(section, 16)
name = eds.get(section, "ParameterName")
try:
object_type = int(eds.get(section, "ObjectType"), 0)
except NoOptionError:
# DS306 4.6.3.2 object description
# If the keyword ObjectType is missing, this is regarded as
# "ObjectType=0x7" (=VAR).
object_type = VAR
if object_type in (VAR, DOMAIN):
var = build_variable(eds, section, node_id, index)
od.add_object(var)
elif object_type == ARR and eds.has_option(section, "CompactSubObj"):
arr = objectdictionary.Array(name, index)
last_subindex = objectdictionary.Variable(
"Number of entries", index, 0)
last_subindex.data_type = objectdictionary.UNSIGNED8
arr.add_member(last_subindex)
arr.add_member(build_variable(eds, section, node_id, index, 1))
od.add_object(arr)
elif object_type == ARR:
arr = objectdictionary.Array(name, index)
od.add_object(arr)
elif object_type == RECORD:
record = objectdictionary.Record(name, index)
od.add_object(record)
continue
# Match subindexes
match = re.match(r"^([0-9A-Fa-f]{4})[S|s]ub([0-9A-Fa-f]+)$", section)
if match is not None:
index = int(match.group(1), 16)
subindex = int(match.group(2), 16)
entry = od[index]
if isinstance(entry, (objectdictionary.Record,
objectdictionary.Array)):
var = build_variable(eds, section, node_id, index, subindex)
entry.add_member(var)
# Match [index]Name
match = re.match(r"^([0-9A-Fa-f]{4})Name", section)
if match is not None:
index = int(match.group(1), 16)
num_of_entries = int(eds.get(section, "NrOfEntries"))
entry = od[index]
# For CompactSubObj index 1 is were we find the variable
src_var = od[index][1]
for subindex in range(1, num_of_entries + 1):
var = copy_variable(eds, section, subindex, src_var)
if var is not None:
entry.add_member(var)
return od
def test_add_variable(self):
test_od = od.ObjectDictionary()
var = od.Variable("Test Variable", 0x1000)
test_od.add_object(var)
self.assertEqual(test_od["Test Variable"], var)
self.assertEqual(test_od[0x1000], var)
def import_eds(source, node_id):
eds = RawConfigParser()
eds.optionxform = str
if hasattr(source, "read"):
fp = source
else:
fp = open(source)
try:
# Python 3
eds.read_file(fp)
except AttributeError:
# Python 2
eds.readfp(fp)
fp.close()
od = objectdictionary.ObjectDictionary()
if eds.has_section("FileInfo"):
od.__edsFileInfo = {
opt: eds.get("FileInfo", opt)
for opt in eds.options("FileInfo")
}
if eds.has_section("Comments"):
linecount = int(eds.get("Comments", "Lines"), 0)
od.comments = '\n'.join([
eds.get("Comments", "Line%i" % line)
for line in range(1, linecount + 1)
])
if not eds.has_section("DeviceInfo"):
logger.warn(
"eds file does not have a DeviceInfo section. This section is mandatory"
)
else:
for rate in [10, 20, 50, 125, 250, 500, 800, 1000]:
baudPossible = int(
eds.get("DeviceInfo", "BaudRate_%i" % rate, fallback='0'), 0)
if baudPossible != 0:
od.device_information.allowed_baudrates.add(rate * 1000)
for t, eprop, odprop in [
(str, "VendorName", "vendor_name"),
(int, "VendorNumber", "vendor_number"),
(str, "ProductName", "product_name"),
(int, "ProductNumber", "product_number"),
(int, "RevisionNumber", "revision_number"),
(str, "OrderCode", "order_code"),
(bool, "SimpleBootUpMaster", "simple_boot_up_master"),
(bool, "SimpleBootUpSlave", "simple_boot_up_slave"),
(bool, "Granularity", "granularity"),
(bool, "DynamicChannelsSupported", "dynamic_channels_supported"),
(bool, "GroupMessaging", "group_messaging"),
(int, "NrOfRXPDO", "nr_of_RXPDO"),
(int, "NrOfTXPDO", "nr_of_TXPDO"),
(bool, "LSS_Supported", "LSS_supported"),
]:
try:
if t in (int, bool):
setattr(od.device_information, odprop,
t(int(eds.get("DeviceInfo", eprop), 0)))
elif t is str:
setattr(od.device_information, odprop,
eds.get("DeviceInfo", eprop))
except NoOptionError:
pass
if eds.has_section("DeviceComissioning"):
od.bitrate = int(eds.get("DeviceComissioning", "BaudRate")) * 1000
od.node_id = int(eds.get("DeviceComissioning", "NodeID"), 0)
for section in eds.sections():
# Match dummy definitions
match = re.match(r"^[Dd]ummy[Uu]sage$", section)
if match is not None:
for i in range(1, 8):
key = "Dummy%04d" % i
if eds.getint(section, key) == 1:
var = objectdictionary.Variable(key, i, 0)
var.data_type = i
var.access_type = "const"
od.add_object(var)
# Match indexes
match = re.match(r"^[0-9A-Fa-f]{4}$", section)
if match is not None:
index = int(section, 16)
name = eds.get(section, "ParameterName")
try:
object_type = int(eds.get(section, "ObjectType"), 0)
except NoOptionError:
# DS306 4.6.3.2 object description
# If the keyword ObjectType is missing, this is regarded as
# "ObjectType=0x7" (=VAR).
object_type = VAR
try:
storage_location = eds.get(section, "StorageLocation")
except NoOptionError:
storage_location = None
if object_type in (VAR, DOMAIN):
var = build_variable(eds, section, node_id, index)
od.add_object(var)
elif object_type == ARR and eds.has_option(section,
"CompactSubObj"):
arr = objectdictionary.Array(name, index)
last_subindex = objectdictionary.Variable(
"Number of entries", index, 0)
last_subindex.data_type = objectdictionary.UNSIGNED8
arr.add_member(last_subindex)
arr.add_member(build_variable(eds, section, node_id, index, 1))
arr.storage_location = storage_location
od.add_object(arr)
elif object_type == ARR:
arr = objectdictionary.Array(name, index)
arr.storage_location = storage_location
od.add_object(arr)
elif object_type == RECORD:
record = objectdictionary.Record(name, index)
record.storage_location = storage_location
od.add_object(record)
continue
# Match subindexes
match = re.match(r"^([0-9A-Fa-f]{4})[S|s]ub([0-9A-Fa-f]+)$", section)
if match is not None:
index = int(match.group(1), 16)
subindex = int(match.group(2), 16)
entry = od[index]
if isinstance(entry,
(objectdictionary.Record, objectdictionary.Array)):
var = build_variable(eds, section, node_id, index, subindex)
entry.add_member(var)
# Match [index]Name
match = re.match(r"^([0-9A-Fa-f]{4})Name", section)
if match is not None:
index = int(match.group(1), 16)
num_of_entries = int(eds.get(section, "NrOfEntries"))
entry = od[index]
# For CompactSubObj index 1 is were we find the variable
src_var = od[index][1]
for subindex in range(1, num_of_entries + 1):
var = copy_variable(eds, section, subindex, src_var)
if var is not None:
entry.add_member(var)
return od
def test_add_array(self):
test_od = od.ObjectDictionary()
array = od.Array("Test Array", 0x1002)
test_od.add_object(array)
self.assertEqual(test_od["Test Array"], array)
self.assertEqual(test_od[0x1002], array)
