Rev 748 | Only display areas with differences | Regard whitespace | Details | Blame | Last modification | View Log | SVN | RSS feed
| Rev 748 | Rev 749 | ||
|---|---|---|---|
| 1 | ########################################################### |
1 | ########################################################### |
| 2 | # |
2 | # |
| 3 | # Daemon configuration |
3 | # Daemon configuration |
| 4 | # |
4 | # |
| 5 | ########################################################### |
5 | ########################################################### |
| 6 | import logging as log |
6 | import logging as log |
| 7 | import pickle |
7 | import pickle |
| 8 | import hashlib |
8 | import hashlib |
| 9 | import os |
9 | import os |
| 10 | import imp |
10 | import imp |
| 11 | import re |
11 | import re |
| 12 | from ConfigParser import ConfigParser |
12 | from ConfigParser import ConfigParser |
| 13 | import filters |
13 | import filters |
| 14 | import statespaces |
14 | import statespaces |
| 15 | - | ||
| - | 15 | from CanPktHandlerBase import CanPktHandlerBase |
|
| - | 16 | from CanPktHandler1 import CanPktHandler1 |
|
| 16 | 17 | ||
| 17 | class DynamicModuleCfg: |
18 | class DynamicModuleCfg: |
| 18 | """Dynamic module manager""" |
19 | """Dynamic module manager""" |
| 19 | 20 | ||
| 20 | modSubDir = None |
21 | modSubDir = None |
| 21 | CHECKSUM_FILE = 'checksums' |
22 | CHECKSUM_FILE = 'checksums' |
| 22 | CHECKSUM_SECTION = 'SHA-1_CHECKSUMS' |
23 | CHECKSUM_SECTION = 'SHA-1_CHECKSUMS' |
| 23 | 24 | ||
| 24 | def __init__(self, modSubDir): |
25 | def __init__(self, modSubDir): |
| 25 | self.modSubDir = modSubDir |
26 | self.modSubDir = modSubDir |
| 26 | self.checkSumFile = modSubDir + '/' + self.CHECKSUM_FILE |
27 | self.checkSumFile = modSubDir + '/' + self.CHECKSUM_FILE |
| 27 | if not os.path.exists(self.checkSumFile): |
28 | if not os.path.exists(self.checkSumFile): |
| 28 | self.__createCsumsFile() |
29 | self.__createCsumsFile() |
| 29 | 30 | ||
| 30 | def loadModule(self, className): |
31 | def loadModule(self, className): |
| 31 | pFileName = os.getcwd() + '/' + self.modSubDir + '/' + className + '.p' |
32 | pFileName = os.getcwd() + '/' + self.modSubDir + '/' + className + '.p' |
| 32 | log.debug('Reading from ' + pFileName) |
33 | log.debug('Reading from ' + pFileName) |
| 33 | fp = open(pFileName, 'r') |
34 | fp = open(pFileName, 'r') |
| 34 | p = pickle.Unpickler(fp) |
35 | p = pickle.Unpickler(fp) |
| 35 | loadedMod = p.load() |
36 | loadedMod = p.load() |
| 36 | fp.close() |
37 | fp.close() |
| 37 | if not self.__verifyCheckSum(className, pFileName): |
38 | if not self.__verifyCheckSum(className, pFileName): |
| 38 | print 'Invalid checksum' |
39 | print 'Invalid checksum' |
| 39 | return None |
40 | return None |
| 40 | else: |
41 | else: |
| 41 | return loadedMod |
42 | return loadedMod |
| 42 | 43 | ||
| 43 | 44 | ||
| 44 | def loadModules(self, config = None): |
45 | def loadModules(self, config = None): |
| 45 | subDirFiles = os.listdir(os.getcwd() + '/' + self.modSubDir) |
46 | subDirFiles = os.listdir(os.getcwd() + '/' + self.modSubDir) |
| 46 | p = re.compile('.p$', re.IGNORECASE) |
47 | p = re.compile('.p$', re.IGNORECASE) |
| 47 | modFiles = [elem for elem in subDirFiles if p.search(elem) is not None] |
48 | modFiles = [elem for elem in subDirFiles if p.search(elem) is not None] |
| 48 | modNames = [] |
49 | modNames = [] |
| 49 | for mfName in modFiles: |
50 | for mfName in modFiles: |
| 50 | modNames.append(mfName.split('.')[0]) |
51 | modNames.append(mfName.split('.')[0]) |
| 51 | log.debug('Found modules: ' + str(modNames)) |
52 | log.debug('Found modules: ' + str(modNames)) |
| 52 | myMods = {} |
53 | myMods = {} |
| 53 | for mName in modNames: |
54 | for mName in modNames: |
| 54 | classObj = self.loadModule(mName) |
55 | classObj = self.loadModule(mName) |
| 55 | if classObj is not None: |
56 | if classObj is not None: |
| 56 | myMods[mName] = classObj |
57 | myMods[mName] = classObj |
| 57 | return myMods |
58 | return myMods |
| 58 | 59 | ||
| 59 | 60 | ||
| 60 | def saveModule(self, className, classObj): |
61 | def saveModule(self, className, classObj): |
| 61 | pFileName = os.getcwd() + '/' + self.modSubDir + '/' + className + '.p' |
62 | pFileName = os.getcwd() + '/' + self.modSubDir + '/' + className + '.p' |
| 62 | log.debug('Writing to ' + pFileName) |
63 | log.debug('Writing to ' + pFileName) |
| 63 | fp = open(pFileName, 'w') |
64 | fp = open(pFileName, 'w') |
| 64 | p = pickle.Pickler(fp) |
65 | p = pickle.Pickler(fp) |
| 65 | p.dump(classObj) |
66 | p.dump(classObj) |
| 66 | fp.close() |
67 | fp.close() |
| 67 | self.__writeCheckSum(className, pFileName) |
68 | self.__writeCheckSum(className, pFileName) |
| 68 | 69 | ||
| 69 | 70 | ||
| 70 | def __doCheckSum(self, filename): |
71 | def __doCheckSum(self, filename): |
| 71 | f = open(filename, 'r') |
72 | f = open(filename, 'r') |
| 72 | data = f.read() |
73 | data = f.read() |
| 73 | f.close() |
74 | f.close() |
| 74 | hasher = hashlib.sha1() |
75 | hasher = hashlib.sha1() |
| 75 | hasher.update(data) |
76 | hasher.update(data) |
| 76 | digest = hasher.hexdigest() |
77 | digest = hasher.hexdigest() |
| 77 | return digest |
78 | return digest |
| 78 | 79 | ||
| 79 | 80 | ||
| 80 | def __createCsumsFile(self): |
81 | def __createCsumsFile(self): |
| 81 | csumsfile = open(self.checkSumFile, 'w') |
82 | csumsfile = open(self.checkSumFile, 'w') |
| 82 | csumsfile.write('[' + self.CHECKSUM_SECTION + ']\n') |
83 | csumsfile.write('[' + self.CHECKSUM_SECTION + ']\n') |
| 83 | csumsfile.close() |
84 | csumsfile.close() |
| 84 | 85 | ||
| 85 | 86 | ||
| 86 | def __writeCheckSum(self, entryname, filename): |
87 | def __writeCheckSum(self, entryname, filename): |
| 87 | csumsfile = open(self.checkSumFile, 'r+') |
88 | csumsfile = open(self.checkSumFile, 'r+') |
| 88 | csumcfg = ConfigParser() |
89 | csumcfg = ConfigParser() |
| 89 | csumcfg.readfp(csumsfile) |
90 | csumcfg.readfp(csumsfile) |
| 90 | digest = self.__doCheckSum(filename) |
91 | digest = self.__doCheckSum(filename) |
| 91 | csumcfg.set(self.CHECKSUM_SECTION, entryname, digest) |
92 | csumcfg.set(self.CHECKSUM_SECTION, entryname, digest) |
| 92 | csumsfile.seek(0) |
93 | csumsfile.seek(0) |
| 93 | csumcfg.write(csumsfile) |
94 | csumcfg.write(csumsfile) |
| 94 | 95 | ||
| 95 | 96 | ||
| 96 | def __verifyCheckSum(self, entryname, filename): |
97 | def __verifyCheckSum(self, entryname, filename): |
| 97 | csumsfile = open(self.checkSumFile, 'r') |
98 | csumsfile = open(self.checkSumFile, 'r') |
| 98 | csumcfg = ConfigParser() |
99 | csumcfg = ConfigParser() |
| 99 | csumcfg.readfp(csumsfile) |
100 | csumcfg.readfp(csumsfile) |
| 100 | digest = csumcfg.get(self.CHECKSUM_SECTION, entryname) |
101 | digest = csumcfg.get(self.CHECKSUM_SECTION, entryname) |
| 101 | cur_digest = self.__doCheckSum(filename) |
102 | cur_digest = self.__doCheckSum(filename) |
| 102 | log.debug('Old checksum ' + digest + '\nNew checksum: ' + cur_digest) |
103 | log.debug('Old checksum ' + digest + '\nNew checksum: ' + cur_digest) |
| 103 | if cur_digest == digest: |
104 | if cur_digest == digest: |
| 104 | return True |
105 | return True |
| 105 | return False |
106 | return False |
| 106 | 107 | ||
| 107 | 108 | ||
| 108 | def importModule(self, className, requiredAttributes): |
109 | def importModule(self, className, requiredAttributes): |
| 109 | """Imports a given class from the module with the same name """ |
110 | """Imports a given class from the module with the same name """ |
| 110 | 111 | ||
| 111 | codeFile = os.getcwd() + '/' + self.modSubDir + '/' + className + '.py' |
112 | codeFile = os.getcwd() + '/' + self.modSubDir + '/' + className + '.py' |
| 112 | mod = imp.load_source(self.modSubDir + '.' + className, codeFile) |
113 | mod = imp.load_source(self.modSubDir + '.' + className, codeFile) |
| 113 | newClass = eval('mod.' + className)() |
114 | newClass = eval('mod.' + className)() |
| 114 | 115 | ||
| 115 | for ra in requiredAttributes: |
116 | for ra in requiredAttributes: |
| 116 | if not hasattr(newClass, ra): |
117 | if not hasattr(newClass, ra): |
| 117 | print className, ': missing required symbol \"' + ra + '\"' |
118 | print className, ': missing required symbol \"' + ra + '\"' |
| 118 | return None |
119 | return None |
| 119 | 120 | ||
| 120 | self.saveModule(className, newClass) |
121 | self.saveModule(className, newClass) |
| 121 | return newClass |
122 | return newClass |
| 122 | 123 | ||
| 123 | 124 | ||
| 124 | class FilterCfg: |
125 | class FilterCfg: |
| 125 | """Filter resource manager""" |
126 | """Filter resource manager""" |
| 126 | 127 | ||
| 127 | REQUIRED_ATTRIBUTES = ['ASSOCIATED_SPACES', 'DESCRIPTIVE_NAME', |
128 | REQUIRED_ATTRIBUTES = ['ASSOCIATED_SPACES', 'DESCRIPTIVE_NAME', |
| 128 | 'attach', 'detach', 'filter'] |
129 | 'attach', 'detach', 'filter'] |
| 129 | 130 | ||
| 130 | dynamicModuleCfg = None |
131 | dynamicModuleCfg = None |
| 131 | FILTER_SUBDIR = 'filters' |
132 | FILTER_SUBDIR = 'filters' |
| 132 | filterModules = {} |
133 | filterModules = {} |
| 133 | 134 | ||
| 134 | def __init__(self): |
135 | def __init__(self): |
| 135 | self.dynamicModuleCfg = DynamicModuleCfg(self.FILTER_SUBDIR) |
136 | self.dynamicModuleCfg = DynamicModuleCfg(self.FILTER_SUBDIR) |
| 136 | 137 | ||
| 137 | def loadFilter(self, name): |
138 | def loadFilter(self, name): |
| 138 | newFilt = self.dynamicModuleCfg.loadModule(name) |
139 | newFilt = self.dynamicModuleCfg.loadModule(name) |
| 139 | if newFilt is not None: |
140 | if newFilt is not None: |
| 140 | self.filterModules[name] = newFilt |
141 | self.filterModules[name] = newFilt |
| 141 | return True |
142 | return True |
| 142 | else: |
143 | else: |
| 143 | return False |
144 | return False |
| 144 | 145 | ||
| 145 | def loadFilters(self, config = None): |
146 | def loadFilters(self, config = None): |
| 146 | self.filterModules = self.dynamicModuleCfg.loadModules() |
147 | self.filterModules = self.dynamicModuleCfg.loadModules() |
| 147 | for fM in self.filterModules: |
148 | for fM in self.filterModules: |
| 148 | log.debug(fM) |
149 | log.debug(fM) |
| 149 | 150 | ||
| 150 | def __saveFilter(self, className, classObj): |
151 | def __saveFilter(self, className, classObj): |
| 151 | self.dynamicModuleCfg.saveModule(className, classObj) |
152 | self.dynamicModuleCfg.saveModule(className, classObj) |
| 152 | 153 | ||
| 153 | def saveFilters(self): |
154 | def saveFilters(self): |
| 154 | for className in self.filterModules: |
155 | for className in self.filterModules: |
| 155 | self.__saveFilter(className, self.filterModules[className]) |
156 | self.__saveFilter(className, self.filterModules[className]) |
| 156 | 157 | ||
| 157 | def importFilter(self, className): |
158 | def importFilter(self, className): |
| 158 | """Imports a given filter definition """ |
159 | """Imports a given filter definition """ |
| 159 | classObj = self.dynamicModuleCfg.importModule(className, self.REQUIRED_ATTRIBUTES) |
160 | classObj = self.dynamicModuleCfg.importModule(className, self.REQUIRED_ATTRIBUTES) |
| 160 | if classObj is not None: |
161 | if classObj is not None: |
| 161 | print 'Imported: ' + classObj.DESCRIPTIVE_NAME |
162 | print 'Imported: ' + classObj.DESCRIPTIVE_NAME |
| 162 | return True |
163 | return True |
| 163 | else: |
164 | else: |
| 164 | return False |
165 | return False |
| 165 | 166 | ||
| 166 | 167 | ||
| 167 | class StateSpaceCfg: |
168 | class StateSpaceCfg: |
| 168 | """State space resource manager""" |
169 | """State space resource manager""" |
| 169 | 170 | ||
| 170 | REQUIRED_ATTRIBUTES = ['DESCRIPTIVE_NAME', 'RELATED_SPACES' |
171 | REQUIRED_ATTRIBUTES = ['DESCRIPTIVE_NAME', 'RELATED_SPACES' |
| 171 | 'load', 'reset', 'run', 'unload'] |
172 | 'load', 'reset', 'run', 'unload'] |
| 172 | 173 | ||
| 173 | dynamicModuleCfg = None |
174 | dynamicModuleCfg = None |
| 174 | FILTER_SUBDIR = 'statespaces' |
175 | FILTER_SUBDIR = 'statespaces' |
| 175 | spaceModules = {} |
176 | spaceModules = {} |
| 176 | 177 | ||
| 177 | def __init__(self): |
178 | def __init__(self): |
| 178 | self.dynamicModuleCfg = DynamicModuleCfg(self.FILTER_SUBDIR) |
179 | self.dynamicModuleCfg = DynamicModuleCfg(self.FILTER_SUBDIR) |
| 179 | 180 | ||
| 180 | def loadSpace(self, name): |
181 | def loadSpace(self, name): |
| 181 | newSpace = self.dynamicModuleCfg.loadModule(name) |
182 | newSpace = self.dynamicModuleCfg.loadModule(name) |
| 182 | if newSpace is not None: |
183 | if newSpace is not None: |
| 183 | self.spaceModules[name] = newFilt |
184 | self.spaceModules[name] = newFilt |
| 184 | return True |
185 | return True |
| 185 | else: |
186 | else: |
| 186 | return False |
187 | return False |
| 187 | 188 | ||
| 188 | def loadSpaces(self, config = None): |
189 | def loadSpaces(self, config = None): |
| 189 | self.spaceModules = self.dynamicModuleCfg.loadModules() |
190 | self.spaceModules = self.dynamicModuleCfg.loadModules() |
| 190 | for sM in self.spaceModules: |
191 | for sM in self.spaceModules: |
| 191 | log.debug(sM) |
192 | log.debug(sM) |
| 192 | 193 | ||
| 193 | def __saveSpace(self, className, classObj): |
194 | def __saveSpace(self, className, classObj): |
| 194 | self.dynamicModuleCfg.saveModule(className, classObj) |
195 | self.dynamicModuleCfg.saveModule(className, classObj) |
| 195 | 196 | ||
| 196 | def saveSpaces(self): |
197 | def saveSpaces(self): |
| 197 | for className in self.spaceModules: |
198 | for className in self.spaceModules: |
| 198 | self.__saveSpace(className, self.spaceModules[className]) |
199 | self.__saveSpace(className, self.spaceModules[className]) |
| 199 | 200 | ||
| 200 | def importSpace(self, name): |
201 | def importSpace(self, name): |
| 201 | """Imports a given state space definition file """ |
202 | """Imports a given state space definition file """ |
| 202 | classObj = self.dynamicModuleCfg.importModule(name, self.REQUIRED_ATTRIBUTES) |
203 | classObj = self.dynamicModuleCfg.importModule(name, self.REQUIRED_ATTRIBUTES) |
| 203 | if classObj is not None: |
204 | if classObj is not None: |
| 204 | print 'Imported: ' + classObj.DESCRIPTIVE_NAME |
205 | print 'Imported: ' + classObj.DESCRIPTIVE_NAME |
| 205 | return True |
206 | return True |
| 206 | else: |
207 | else: |
| 207 | return False |
208 | return False |
| 208 | 209 | ||
| 209 | class DaemonConfig: |
210 | class DaemonConfig: |
| 210 | 211 | ||
| 211 | stateSpaceCfg = None |
212 | stateSpaceCfg = None |
| 212 | filterCfg = None |
213 | filterCfg = None |
| - | 214 | pktHandler = None |
|
| - | 215 | ||
| 213 | filterChain = [] |
216 | filterChain = [] |
| - | 217 | nodeInterfaces = [] |
|
| - | 218 | nodeInterfaceMap = {} |
|
| 214 | 219 | ||
| 215 | def __init__ (self): |
220 | def __init__ (self): |
| 216 | self.filterCfg = FilterCfg() |
221 | self.filterCfg = FilterCfg() |
| 217 | self.stateSpaceCfg = StateSpaceCfg() |
222 | self.stateSpaceCfg = StateSpaceCfg() |
| - | 223 | self.pktHandler = CanPktHandler1() |
|
| - | 224 | ||
| - | 225 | def load(self): |
|
| - | 226 | self.stateSpaceCfg.loadSpaces() |
|
| - | 227 | self.stateSpaceCfg.loadFilters() |
|
| - | 228 | __setupFilterBindings() |
|
| - | 229 | __setupFilterChain() |
|
| - | 230 | ||
| - | 231 | def save(self): |
|
| - | 232 | self.stateSpaceCfg.saveSpaces() |
|
| - | 233 | self.filterCfg.saveFilters() |
|
| 218 | 234 | ||
| 219 | def |
235 | def __setupFilterChain(self): |
| 220 | self.filterChain = ['DefaultFilter'] |
236 | self.filterChain = ['DefaultFilter'] |
| 221 | 237 | ||
| 222 | def |
238 | def __setupFilterBindings(self): |
| 223 | for f in self.filterCfg.filterModules.values(): |
239 | for f in self.filterCfg.filterModules.values(): |
| 224 | assocSpaces = [] |
240 | assocSpaces = [] |
| 225 | for s in f.ASSOCIATED_SPACES: |
241 | for s in f.ASSOCIATED_SPACES: |
| 226 | if self.stateSpaceCfg.spaceModules.has_key(s): |
242 | if self.stateSpaceCfg.spaceModules.has_key(s): |
| 227 | assocSpaces.append(self.stateSpaceCfg.spaceModules[s]) |
243 | assocSpaces.append(self.stateSpaceCfg.spaceModules[s]) |
| 228 | else: |
244 | else: |
| 229 | print 'WARNING: Reference to undefined state space: ' + s |
245 | print 'WARNING: Reference to undefined state space: ' + s |
| 230 | setattr(f, '__ASSOCIATED_SPACES__', assocSpaces) |
246 | setattr(f, '__ASSOCIATED_SPACES__', assocSpaces) |
| 231 | 247 | ||
| 232 | 248 | ||
| 233 | def setupStateSpaceRelations(self): |
249 | def setupStateSpaceRelations(self): |
| 234 | for sm in self.stateSpaceCfg.spaceModules: |
250 | for sm in self.stateSpaceCfg.spaceModules: |
| 235 | relatedSpaceNames = self.stateSpaceCfg.spaceModules[sm].RELATED_SPACES |
251 | relatedSpaceNames = self.stateSpaceCfg.spaceModules[sm].RELATED_SPACES |
| 236 | relatedSpaces = {} |
252 | relatedSpaces = {} |
| 237 | for rsname in relatedSpaceNames: |
253 | for rsname in relatedSpaceNames: |
| 238 | relatedSpaces[rsname] = self.stateSpaceCfg.spaceModules[rsname] |
254 | relatedSpaces[rsname] = self.stateSpaceCfg.spaceModules[rsname] |
| 239 | setattr(sm, '__RELATED_SPACES__', relatedSpaces) |
255 | setattr(sm, '__RELATED_SPACES__', relatedSpaces) |
| 240 | 256 | ||
| 241 | 257 | ||