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#!/usr/bin/env python

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# -*- coding: utf-8 -*-

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#This file is part of CanFestival, a library implementing CanOpen Stack. 

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#

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#Copyright (C): Edouard TISSERANT and Francis DUPIN

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#

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#See COPYING file for copyrights details.

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#

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#This library is free software; you can redistribute it and/or

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#modify it under the terms of the GNU Lesser General Public

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#License as published by the Free Software Foundation; either

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#version 2.1 of the License, or (at your option) any later version.

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#

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#This library is distributed in the hope that it will be useful,

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#but WITHOUT ANY WARRANTY; without even the implied warranty of

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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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#Lesser General Public License for more details.

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#

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#You should have received a copy of the GNU Lesser General Public

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#License along with this library; if not, write to the Free Software

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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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from node import *

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from types import *

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import re, os

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word_model = re.compile('([a-zA-Z_0-9]*)')

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type_model = re.compile('([\_A-Z]*)([0-9]*)')

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range_model = re.compile('([\_A-Z]*)([0-9]*)\[([\-0-9]*)-([\-0-9]*)\]')

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    33

categories = [("SDO_SVR", 0x1200, 0x127F), ("SDO_CLT", 0x1280, 0x12FF),

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              ("PDO_RCV", 0x1400, 0x15FF), ("PDO_RCV_MAP", 0x1600, 0x17FF),

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              ("PDO_TRS", 0x1800, 0x19FF), ("PDO_TRS_MAP", 0x1A00, 0x1BFF)]

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index_categories = ["firstIndex", "lastIndex"]

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generated_tag = """\n/* File generated by gen_cfile.py. Should not be modified. */\n"""

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internal_types = {}

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    42

# Format a string for making a C++ variable

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def FormatName(name):

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    wordlist = [word for word in word_model.findall(name) if word != '']

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    return "_".join(wordlist)

    46

    47

# Extract the informations from a given type name

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def GetValidTypeInfos(typename):

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    if typename in internal_types:

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        return internal_types[typename]

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    else:

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        result = type_model.match(typename)

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        if result:

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            values = result.groups()

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            if values[0] == "UNSIGNED" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:

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                typeinfos = ("UNS%s"%values[1], "", "uint%s"%values[1])

    57

            elif values[0] == "INTEGER" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:

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                typeinfos = ("INTEGER%s"%values[1], "", "int%s"%values[1])

    59

            elif values[0] == "REAL" and int(values[1]) in (32, 64):

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                typeinfos = ("%s%s"%(values[0], values[1]), "", "real%s"%values[1])

    61

            elif values[0] == "VISIBLE_STRING":

    62

                if values[1] == "":

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                    typeinfos = ("UNS8", "[10]", "visible_string")

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                else:

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                    typeinfos = ("UNS8", "[%s]"%values[1], "visible_string")

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            elif values[0] == "DOMAIN":

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                typeinfos = ("UNS8*", "", "domain")

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            elif values[0] == "BOOLEAN":

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                typeinfos = ("UNS8", "", "boolean")

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            else:

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                raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename

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            internal_types[typename] = typeinfos

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        else:

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            raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename

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    return typeinfos

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    77

def WriteFile(filepath, content):

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    cfile = open(filepath,"w")

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    cfile.write(content)

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    cfile.close()

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    82

def GenerateFileContent(Node, headerfilepath):

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    global type

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    global internal_types

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    texts = {}

    86

    texts["maxPDOtransmit"] = 0

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    texts["NodeName"] = Node.GetNodeName()

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    texts["NodeID"] = Node.GetNodeID()

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    texts["NodeType"] = Node.GetNodeType()

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    texts["Description"] = Node.GetNodeDescription()

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    texts["iam_a_slave"] = 0

    92

    if (texts["NodeType"] == "slave"):

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        texts["iam_a_slave"] = 1

    94

    95

    # Compiling lists of indexes

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    rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]

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    listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]

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    communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]

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    sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]

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    pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]

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    variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]

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   103

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

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#                       Declaration of the value range types

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

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   107

    valueRangeContent = ""

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    strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */"

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    strSwitch = """    case valueRange_EMC:

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      break;\n"""

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    internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC")

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    num = 0

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    for index in rangelist:

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        rangename = Node.GetEntryName(index)

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        result = range_model.match(rangename)

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        if result:

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            num += 1

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            typeindex = Node.GetEntry(index, 1)

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            typename = Node.GetTypeName(typeindex)

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            typeinfos = GetValidTypeInfos(typename)

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            internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)

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            minvalue = str(Node.GetEntry(index, 2))

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            maxvalue = str(Node.GetEntry(index, 3))

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            strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],minvalue,maxvalue)

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            strSwitch += """    case valueRange_%d:

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      if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;

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      if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;

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      break;\n"""%(num,typeinfos[0],typeinfos[0],minvalue,typeinfos[0],typeinfos[0],maxvalue)

   130

   131

    valueRangeContent += strDefine

   132

    valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts

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    valueRangeContent += "\n  switch (typeValue) {\n"

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    valueRangeContent += strSwitch

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    valueRangeContent += "  }\n  return 0;\n}\n"

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   137

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

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#            Creation of the mapped variables and object dictionary

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

   140

   141

    mappedVariableContent = ""

   142

    strDeclareHeader = ""

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    strDeclareCallback = ""

   144

    indexContents = {}

   145

    indexCallbacks = {}

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    for index in listIndex:

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        texts["index"] = index

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        strIndex = ""

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        entry_infos = Node.GetEntryInfos(index)

   150

        texts["EntryName"] = entry_infos["name"].encode('ascii','replace')

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        values = Node.GetEntry(index)

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        callbacks = Node.HasEntryCallbacks(index)

   153

        if index in variablelist:

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            strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts

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        else:

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            strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts

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   158

        # Entry type is VAR

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        if type(values) != ListType:

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            subentry_infos = Node.GetSubentryInfos(index, 0)

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            typename = Node.GetTypeName(subentry_infos["type"])

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            typeinfos = GetValidTypeInfos(typename)

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            texts["subIndexType"] = typeinfos[0]

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            texts["suffixe"] = typeinfos[1]

   165

            if typeinfos[2] == "visible_string":

   166

                texts["value"] = "\"%s\""%values

   167

                texts["comment"] = ""

   168

            elif typeinfos[2] == "domain":

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                texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])

   170

                texts["comment"] = ""

   171

            else:

   172

                texts["value"] = "0x%X"%values

   173

                texts["comment"] = "\t/* %s */"%str(values)

   174

            if index in variablelist:

   175

                texts["name"] = FormatName(subentry_infos["name"])

   176

                strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts

   177

                if callbacks:

   178

                    strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts

   179

                mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts

   180

            else:

   181

                strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts

   182

            values = [values]

   183

        else:

   184

            subentry_infos = Node.GetSubentryInfos(index, 0)

   185

            typename = Node.GetTypeName(subentry_infos["type"])

   186

            typeinfos = GetValidTypeInfos(typename)

   187

            if index == 0x1003:

   188

                texts["value"] = 0

   189

            else:

   190

                texts["value"] = values[0]

   191

            texts["subIndexType"] = typeinfos[0]

   192

            strIndex += "                    %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts

   193

   194

            # Entry type is RECORD

   195

            if entry_infos["struct"] & OD_IdenticalSubindexes:

   196

                subentry_infos = Node.GetSubentryInfos(index, 1)

   197

                typename = Node.GetTypeName(subentry_infos["type"])

   198

                typeinfos = GetValidTypeInfos(typename)

   199

                texts["subIndexType"] = typeinfos[0]

   200

                texts["suffixe"] = typeinfos[1]

   201

                texts["length"] = values[0]

   202

                if index in variablelist:

   203

                    texts["name"] = FormatName(entry_infos["name"])

   204

                    strDeclareHeader += "extern %(subIndexType)s %(name)s[%(length)d]%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n"%texts

   205

                    if callbacks:

   206

                        strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts

   207

                    mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts

   208

                    for subIndex, value in enumerate(values):

   209

                        sep = ","

   210

                        comment = ""

   211

                        if subIndex > 0:

   212

                            if subIndex == len(values)-1:

   213

                                sep = ""

   214

                            if typeinfos[2] == "visible_string":

   215

                                value = "\"%s\""%value

   216

                            elif typeinfos[2] == "domain":

   217

                                value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])

   218

                            else:

   219

                                comment = "\t/* %s */"%str(value)

   220

                                value = "0x%X"%value

   221

                            mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)

   222

                    mappedVariableContent += "  };\n"

   223

                else:

   224

                    strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts

   225

                    for subIndex, value in enumerate(values):

   226

                        sep = ","

   227

                        comment = ""

   228

                        if subIndex > 0:

   229

                            if subIndex == len(values)-1:

   230

                                sep = ""

   231

                            if typeinfos[2] == "visible_string":

   232

                                value = "\"%s\""%value

   233

                            elif typeinfos[2] == "domain":

   234

                                value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])

   235

                            else:

   236

                                comment = "\t/* %s */"%str(value)

   237

                                value = "0x%X"%value

   238

                            strIndex += "                      %s%s%s\n"%(value, sep, comment)

   239

                    strIndex += "                    };\n"

   240

            else:

   241

   242

                texts["parent"] = FormatName(entry_infos["name"])

   243

                # Entry type is ARRAY

   244

                for subIndex, value in enumerate(values):

   245

                    texts["subIndex"] = subIndex

   246

                    if subIndex > 0:

   247

                        subentry_infos = Node.GetSubentryInfos(index, subIndex)

   248

                        typename = Node.GetTypeName(subentry_infos["type"])

   249

                        typeinfos = GetValidTypeInfos(typename)

   250

                        texts["subIndexType"] = typeinfos[0]

   251

                        texts["suffixe"] = typeinfos[1]

   252

                        if typeinfos[2] == "visible_string":

   253

                            texts["value"] = "\"%s\""%value

   254

                            texts["comment"] = ""

   255

                        elif typeinfos[2] == "domain":

   256

                            texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])

   257

                            texts["comment"] = ""			

   258

                        else:

   259

                            texts["value"] = "0x%X"%value

   260

                            texts["comment"] = "\t/* %s */"%str(value)

   261

                        texts["name"] = FormatName(subentry_infos["name"])

   262

                        if index in variablelist:

   263

                            strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts

   264

                            mappedVariableContent += "%(subIndexType)s %(parent)s_%(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts

   265

                        else:

   266

                            strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts

   267

                if callbacks:

   268

                    strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts

   269

   270

        # Generating Dictionary C++ entry

   271

        if callbacks:

   272

            if index in variablelist:

   273

                name = FormatName(entry_infos["name"])

   274

            else:

   275

                name = "%(NodeName)s_Index%(index)04X"%texts

   276

            strIndex += "                    ODCallback_t %s_callbacks[] = \n                     {\n"%name

   277

            for subIndex in xrange(len(values)):

   278

                strIndex += "                       NULL,\n"

   279

            strIndex += "                     };\n"

   280

            indexCallbacks[index] = "*callbacks = %s_callbacks; "%name

   281

        else:

   282

            indexCallbacks[index] = ""

   283

        strIndex += "                    subindex %(NodeName)s_Index%(index)04X[] = \n                     {\n"%texts

   284

        for subIndex in xrange(len(values)):

   285

            subentry_infos = Node.GetSubentryInfos(index, subIndex)

   286

            if subIndex < len(values) - 1:

   287

                sep = ","

   288

            else:

   289

                sep = ""

   290

            typename = Node.GetTypeName(subentry_infos["type"])

   291

            typeinfos = GetValidTypeInfos(typename)

   292

            if subIndex == 0:

   293

                if index == 0x1003:

   294

                    typeinfos = GetValidTypeInfos("valueRange_EMC")

   295

                if entry_infos["struct"] & OD_MultipleSubindexes:

   296

                    name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts

   297

                elif index in variablelist:

   298

                    name = FormatName(subentry_infos["name"])

   299

                else:

   300

                    name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))

   301

            elif entry_infos["struct"] & OD_IdenticalSubindexes:

   302

                if index in variablelist:

   303

                    name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)

   304

                else:

   305

                    name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)

   306

            else:

   307

                if index in variablelist:

   308

                    name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))

   309

                else:

   310

                    name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))

   311

            if typeinfos[2] in ["visible_string", "domain"]:

   312

                sizeof = str(len(values[subIndex]))

   313

            else:

   314

                sizeof = "sizeof (%s)"%typeinfos[0]

   315

            params = Node.GetParamsEntry(index, subIndex)

   316

            if params["save"]:

   317

                save = "|TO_BE_SAVE"

   318

            else:

   319

                save = ""

   320

            strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)

   321

        strIndex += "                     };\n"

   322

        indexContents[index] = strIndex

   323

   324

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

   325

#                     Declaration of Particular Parameters

   326

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

   327

   328

    if 0x1003 not in communicationlist:

   329

        entry_infos = Node.GetEntryInfos(0x1003)

   330

        texts["EntryName"] = entry_infos["name"]

   331

        indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */

   332

                    UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/

   333

                    UNS32 %(NodeName)s_obj1003[] = 

   334

                    {

   335

                      0x0	/* 0 */

   336

                    };

   337

                    ODCallback_t %(NodeName)s_Index1003_callbacks[] = 

   338

                     {

   339

                       NULL,

   340

                       NULL,

   341

                     };

   342

                    subindex %(NodeName)s_Index1003[] = 

   343

                     {

   344

                       { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },

   345

                       { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }

   346

                     };

   347

"""%texts

   348

   349

    if 0x1005 not in communicationlist:

   350

        entry_infos = Node.GetEntryInfos(0x1005)

   351

        texts["EntryName"] = entry_infos["name"]

   352

        indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */

   353

                    UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */

   354

"""%texts

   355

   356

    if 0x1006 not in communicationlist:

   357

        entry_infos = Node.GetEntryInfos(0x1006)

   358

        texts["EntryName"] = entry_infos["name"]

   359

        indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */

   360

                    UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */

   361

"""%texts

   362

   363

    if 0x1016 in communicationlist:

   364

        texts["nombre"] = Node.GetEntry(0x1016, 0)

   365

    else:

   366

        texts["nombre"] = 0

   367

        entry_infos = Node.GetEntryInfos(0x1016)

   368

        texts["EntryName"] = entry_infos["name"]

   369

        indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */

   370

                    UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;

   371

                    UNS32 %(NodeName)s_obj1016[]={0};

   372

"""%texts

   373

    if texts["nombre"] > 0:

   374

        strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts

   375

    else:

   376

        strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts

   377

   378

    if 0x1017 not in communicationlist:

   379

        entry_infos = Node.GetEntryInfos(0x1017)

   380

        texts["EntryName"] = entry_infos["name"]

   381

        indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */ 

   382

                    UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */

   383

"""%texts

   384

   385

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

   386

#               Declaration of navigation in the Object Dictionary

   387

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

   388

   389

    strDeclareIndex = ""

   390

    strDeclareSwitch = ""

   391

    strQuickIndex = ""

   392

    quick_index = {}

   393

    for index_cat in index_categories:

   394

        quick_index[index_cat] = {}

   395

        for cat, idx_min, idx_max in categories:

   396

            quick_index[index_cat][cat] = 0

   397

    maxPDOtransmit = 0

   398

    for i, index in enumerate(listIndex):

   399

        texts["index"] = index

   400

        strDeclareIndex += "  { (subindex*)%(NodeName)s_Index%(index)04X,sizeof(%(NodeName)s_Index%(index)04X)/sizeof(%(NodeName)s_Index%(index)04X[0]), 0x%(index)04X},\n"%texts

   401

        strDeclareSwitch += "		case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])

   402

        for cat, idx_min, idx_max in categories:

   403

            if idx_min <= index <= idx_max:

   404

                quick_index["lastIndex"][cat] = i

   405

                if quick_index["firstIndex"][cat] == 0:

   406

                    quick_index["firstIndex"][cat] = i

   407

                if cat == "PDO_TRS":

   408

                    maxPDOtransmit += 1

   409

    texts["maxPDOtransmit"] = max(1, maxPDOtransmit)

   410

    for index_cat in index_categories:

   411

        strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)

   412

        sep = ","

   413

        for i, (cat, idx_min, idx_max) in enumerate(categories):

   414

            if i == len(categories) - 1:

   415

                sep = ""

   416

            strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)

   417

        strQuickIndex += "};\n"

   418

   419

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

   420

#                            Write File Content

   421

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

   422

   423

    fileContent = generated_tag + """

   424

#include "%s"

   425

"""%(headerfilepath)

   426

   427

    fileContent += """

   428

/**************************************************************************/

   429

/* Declaration of the mapped variables                                    */

   430

/**************************************************************************/

   431

""" + mappedVariableContent

   432

   433

    fileContent += """

   434

/**************************************************************************/

   435

/* Declaration of the value range types                                   */

   436

/**************************************************************************/

   437

""" + valueRangeContent

   438

   439

    fileContent += """

   440

/**************************************************************************/

   441

/* The node id                                                            */

   442

/**************************************************************************/

   443

/* node_id default value.*/

   444

UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;

   445

   446

/**************************************************************************/

   447

/* Array of message processing information */

   448

   449

const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;

   450

   451

"""%texts

   452

    fileContent += strTimers

   453

   454

    fileContent += """

   455

/*

   456

$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$

   457

   458

                               OBJECT DICTIONARY

   459

   460

$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$

   461

*/

   462

"""%texts

   463

    contentlist = indexContents.keys()

   464

    contentlist.sort()

   465

    for index in contentlist:

   466

        fileContent += indexContents[index]

   467

   468

    fileContent += """

   469

const indextable %(NodeName)s_objdict[] = 

   470

{

   471

"""%texts

   472

    fileContent += strDeclareIndex

   473

    fileContent += """};

   474

   475

const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)

   476

{

   477

	int i;

   478

	*callbacks = NULL;

   479

	switch(wIndex){

   480

"""%texts

   481

    fileContent += strDeclareSwitch

   482

    fileContent += """		default:

   483

			*errorCode = OD_NO_SUCH_OBJECT;

   484

			return NULL;

   485

	}

   486

	*errorCode = OD_SUCCESSFUL;

   487

	return &%(NodeName)s_objdict[i];

   488

}

   489

   490

/* 

   491

 * To count at which received SYNC a PDO must be sent.

   492

 * Even if no pdoTransmit are defined, at least one entry is computed

   493

 * for compilations issues.

   494

 */

   495

s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts

   496

   497

    fileContent += ",".join(["s_PDO_staus_Initializer"]*texts["maxPDOtransmit"]) + """};

   498

"""

   499

   500

    fileContent += strQuickIndex

   501

    fileContent += """

   502

UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]); 

   503

   504

CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);

   505

   506

"""%texts

   507