1

import os, sys

     2

base_folder = os.path.split(sys.path[0])[0]

     3

CanFestivalPath = os.path.join(base_folder, "CanFestival-3")

     4

sys.path.append(os.path.join(CanFestivalPath, "objdictgen"))

     5

     6

from nodelist import NodeList

     7

from nodemanager import NodeManager

     9

from networkedit import networkedit

    10

from objdictedit import objdictedit

    11

import canfestival_config

    12

from plugger import PlugTemplate

    13

from commondialogs import CreateNodeDialog

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import wx

    15

    16

from gnosis.xml.pickle import *

    17

from gnosis.xml.pickle.util import setParanoia

    18

setParanoia(0)

    19

    20

#--------------------------------------------------

    21

#                    SLAVE

    22

#--------------------------------------------------

    23

    24

class _SlavePlug(NodeManager):

    25

    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

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    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

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      <xsd:element name="CanFestivalSlaveNode">

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        <xsd:complexType>

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          <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>

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          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>

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          <xsd:attribute name="NodeId" type="xsd:string" use="required"/>

    33

        </xsd:complexType>

    34

      </xsd:element>

    35

    </xsd:schema>

    36

    """

    37

    38

    def GetSlaveODPath(self):

    39

        return os.path.join(self.PlugPath(), 'slave.od')

    40

    41

    def __init__(self):

    42

        # TODO change netname when name change

    43

        NodeManager.__init__(self)

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        odfilepath = self.GetSlaveODPath()

    45

        if(os.path.isfile(odfilepath)):

    46

            self.OpenFileInCurrent(odfilepath)

    47

        else:

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            self.FilePath = ""

    49

            dialog = CreateNodeDialog(None, wx.OK)

    50

            dialog.Type.Enable(False)

    51

            dialog.GenSYNC.Enable(False)

    52

            if dialog.ShowModal() == wx.ID_OK:

    53

                name, id, nodetype, description = dialog.GetValues()

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                profile, filepath = dialog.GetProfile()

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                NMT = dialog.GetNMTManagement()

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                options = dialog.GetOptions()

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                self.CreateNewNode(name,       # Name - will be changed at build time

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                                   id,         # NodeID - will be changed at build time

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                                   "slave",    # Type

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                                   description,# description 

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                                   profile,    # profile

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                                   filepath,   # prfile filepath

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                                   NMT,        # NMT

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                                   options)     # options

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            else:

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                self.CreateNewNode("SlaveNode",  # Name - will be changed at build time

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                                   0x00,         # NodeID - will be changed at build time

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                                   "slave",      # Type

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                                   "",           # description 

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                                   "None",       # profile

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                                   "", # prfile filepath

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                                   "heartbeat",  # NMT

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                                   [])           # options

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            dialog.Destroy()

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    _View = None

    76

    def _OpenView(self, logger):

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        if not self._View:

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            def _onclose():

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                self._View = None

    80

            def _onsave():

    81

                self.GetPlugRoot().SaveProject()

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            self._View = objdictedit(self.GetPlugRoot().AppFrame, self)

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            # TODO redefine BusId when IEC channel change

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            self._View.SetBusId(self.GetCurrentLocation())

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            self._View._onclose = _onclose

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            self._View._onsave = _onsave

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            self._View.Show()

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    89

    PluginMethods = [

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        {"bitmap" : os.path.join("images", "NetworkEdit"),

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         "name" : "Edit slave", 

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         "tooltip" : "Edit CanOpen slave with ObjdictEdit",

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         "method" : "_OpenView"},

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    ]

    95

    96

    def OnPlugClose(self):

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        if self._View:

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            self._View.Close()

    99

   100

    def PlugTestModified(self):

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        return self.ChangesToSave or self.OneFileHasChanged()

   102

   103

    def OnPlugSave(self):

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        return self.SaveCurrentInFile(self.GetSlaveODPath())

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   106

    def PlugGenerate_C(self, buildpath, locations, logger):

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        """

   108

        Generate C code

   109

        @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)

   110

        @param locations: List of complete variables locations \

   111

            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)

   112

            "NAME" : name of the variable (generally "__IW0_1_2" style)

   113

            "DIR" : direction "Q","I" or "M"

   114

            "SIZE" : size "X", "B", "W", "D", "L"

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            "LOC" : tuple of interger for IEC location (0,1,2,...)

   116

            }, ...]

   117

        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND

   118

        """

   119

        current_location = self.GetCurrentLocation()

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        # define a unique name for the generated C file

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        prefix = "_".join(map(str, current_location))

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        Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )

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        # Create a new copy of the model

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        slave = self.GetCurrentNodeCopy()

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        slave.SetNodeName("OD_%s"%prefix)

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        # allow access to local OD from Slave PLC

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        pointers = config_utils.LocalODPointers(locations, current_location, slave)

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        res = gen_cfile.GenerateFile(Gen_OD_path, slave, pointers)

   129

        if res :

   130

            raise Exception, res

   131

        res = eds_utils.GenerateEDSFile(os.path.join(buildpath, "Slave_%s.eds"%prefix), slave)

   132

        if res :

   133

            raise Exception, res

   134

        return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False

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   136

#--------------------------------------------------

   137

#                    MASTER

   138

#--------------------------------------------------

   139

   140

class _NodeListPlug(NodeList):

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    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

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    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

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      <xsd:element name="CanFestivalNode">

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        <xsd:complexType>

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          <xsd:attribute name="CAN_Device" type="xsd:string" use="required"/>

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          <xsd:attribute name="CAN_Baudrate" type="xsd:string" use="required"/>

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          <xsd:attribute name="NodeId" type="xsd:string" use="required"/>

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          <xsd:attribute name="Sync_TPDOs" type="xsd:boolean" use="optional" default="true"/>

   149

        </xsd:complexType>

   150

      </xsd:element>

   151

    </xsd:schema>

   152

    """

   153

   154

    def __init__(self):

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        manager = NodeManager()

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        # TODO change netname when name change

   157

        NodeList.__init__(self, manager, self.BaseParams.getName())

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        self.LoadProject(self.PlugPath())

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   160

    _View = None

   161

    def _OpenView(self, logger):

   162

        if not self._View:

   163

            def _onclose():

   164

                self._View = None

   165

            def _onsave():

   166

                self.GetPlugRoot().SaveProject()

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            self._View = networkedit(self.GetPlugRoot().AppFrame, self)

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            # TODO redefine BusId when IEC channel change

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            self._View.SetBusId(self.GetCurrentLocation())

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            self._View._onclose = _onclose

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            self._View._onsave = _onsave

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            self._View.Show()

   173

   174

    def _ShowMasterGenerated(self, logger):

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        buildpath = self._getBuildPath()

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        # Eventually create build dir

   177

        if not os.path.exists(buildpath):

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            logger.write_error("Error: No PLC built\n")

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            return

   180

   181

        masterpath = os.path.join(buildpath, "MasterGenerated.od")

   182

        if not os.path.exists(masterpath):

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            logger.write_error("Error: No Master generated\n")

   184

            return

   185

   186

        new_dialog = objdictedit(None, filesOpen=[masterpath])

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        new_dialog.Show()

   188

   189

    PluginMethods = [

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        {"bitmap" : os.path.join("images", "NetworkEdit"),

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         "name" : "Edit network", 

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         "tooltip" : "Edit CanOpen Network with NetworkEdit",

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         "method" : "_OpenView"},

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        {"name" : "Show Master", 

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         "tooltip" : "Show Master generated by config_utils",

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         "method" : "_ShowMasterGenerated"}

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    ]

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   199

    def OnPlugClose(self):

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        if self._View:

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            self._View.Close()

   202

   203

    def PlugTestModified(self):

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        return self.ChangesToSave or self.HasChanged()

   205

   206

    def OnPlugSave(self):

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        self.SetRoot(self.PlugPath())

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        return self.SaveProject() is not None

   209

   210

    def PlugGenerate_C(self, buildpath, locations, logger):

   211

        """

   212

        Generate C code

   213

        @param current_location: Tupple containing plugin IEC location : %I0.0.4.5 => (0,0,4,5)

   214

        @param locations: List of complete variables locations \

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            [{"IEC_TYPE" : the IEC type (i.e. "INT", "STRING", ...)

   216

            "NAME" : name of the variable (generally "__IW0_1_2" style)

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            "DIR" : direction "Q","I" or "M"

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            "SIZE" : size "X", "B", "W", "D", "L"

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            "LOC" : tuple of interger for IEC location (0,1,2,...)

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            }, ...]

   221

        @return: [(C_file_name, CFLAGS),...] , LDFLAGS_TO_APPEND

   222

        """

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        current_location = self.GetCurrentLocation()

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        # define a unique name for the generated C file

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        prefix = "_".join(map(str, current_location))

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        Gen_OD_path = os.path.join(buildpath, "OD_%s.c"%prefix )

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        # Create a new copy of the model with DCF loaded with PDO mappings for desired location

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        master, pointers = config_utils.GenerateConciseDCF(locations, current_location, self, self.CanFestivalNode.getSync_TPDOs(),"OD_%s"%prefix)

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        # allow access to local OD from Master PLC

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        pointers.update(config_utils.LocalODPointers(locations, current_location, master))

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        # Do generate C file.

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        res = gen_cfile.GenerateFile(Gen_OD_path, master, pointers)

   233

        if res :

   234

            raise Exception, res

   235

   236

        file = open(os.path.join(buildpath, "MasterGenerated.od"), "w")

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        dump(master, file)

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        file.close()

   239

   240

        return [(Gen_OD_path,canfestival_config.getCFLAGS(CanFestivalPath))],"",False

   241

   242

class RootClass:

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    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>

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    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">

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      <xsd:element name="CanFestivalInstance">

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        <xsd:complexType>

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          <xsd:attribute name="CAN_Driver" type="xsd:string" use="required"/>

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          <xsd:attribute name="Debug_mode" type="xsd:boolean" use="optional" default="false"/>

   249

        </xsd:complexType>

   250

      </xsd:element>

   251

    </xsd:schema>

   252

    """

   253

    PlugChildsTypes = [("CanOpenNode",_NodeListPlug, "CanOpen Master"),

   254

                       ("CanOpenSlave",_SlavePlug, "CanOpen Slave")]

   255

    def GetParamsAttributes(self, path = None):

   256

        infos = PlugTemplate.GetParamsAttributes(self, path = None)

   257

        for element in infos:

   258

            if element["name"] == "CanFestivalInstance":

   259

                for child in element["children"]:

   260

                    if child["name"] == "CAN_Driver":

   261

                        DLL_LIST= getattr(canfestival_config,"DLL_LIST",None)

   262

                        if DLL_LIST is not None:

   263

                            child["type"] = DLL_LIST

   264

                        return infos    

   265

        return infos

   266

   267

    def PlugGenerate_C(self, buildpath, locations, logger):

   268

   269

        format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())),

   270

                       "candriver" : self.CanFestivalInstance.getCAN_Driver(),

   271

                       "nodes_includes" : "",

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                       "board_decls" : "",

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                       "nodes_init" : "",

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                       "nodes_open" : "",

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                       "nodes_close" : "",

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                       "nodes_send_sync" : "",

   277

                       "nodes_proceed_sync" : "",

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                       "slavebootups" : "",

   283

        for child in self.IECSortedChilds():

   284

            childlocstr = "_".join(map(str,child.GetCurrentLocation()))

   285

            nodename = "OD_%s" % childlocstr

   286

   287

            # Try to get Slave Node

   288

            child_data = getattr(child, "CanFestivalSlaveNode", None)

   289

            if child_data is None:

   290

                # Not a slave -> master

   291

                child_data = getattr(child, "CanFestivalNode")

   292

                # Apply sync setting

   296

                if child_data.getSync_TPDOs():

   297

                    format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n    '%(nodename)

   298

                    format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n    '%(nodename)

   301

                SlaveIDs = child.GetSlaveIDs()

   302

                for id in SlaveIDs:

   310

                for id in SlaveIDs:

   321

                format_dict["slavebootups"] += " && ".join(["%s_slave_%d_booted"%(nodename, id) for id in SlaveIDs])

   349

            format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)

   351

            format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(

   352

                   nodename,

   353

                   child_data.getCAN_Device(),

   354

                   child_data.getCAN_Baudrate())

   355

            format_dict["nodes_open"] += 'NODE_OPEN(%s)\n    '%(nodename)

   356

            format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n    '%(nodename)

   357

   358

        if sys.platform == 'win32':

   359

            if self.CanFestivalInstance.getDebug_mode() and os.path.isfile(os.path.join("%s"%(format_dict["candriver"] + '_DEBUG.dll'))):

   360

                    format_dict["candriver"] += '_DEBUG.dll'

   361

            else:

   362

                format_dict["candriver"] += '.dll'

   363

   364

        filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")

   365

        cf_main = open(filename).read() % format_dict

   366

        cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)

   367

        f = open(cf_main_path,'w')

   368

        f.write(cf_main)

   369

        f.close()

   370

   371

        return [(cf_main_path, canfestival_config.getCFLAGS(CanFestivalPath))],canfestival_config.getLDFLAGS(CanFestivalPath), True

   372

   373