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<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/objdictgen/gen_cfile.py Source File</title>
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<li><a href="main.html"><span>Main Page</span></a></li>
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<li><a href="namespaces.html"><span>Namespaces</span></a></li>
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<h1>/home/epimerde/documents/tc11/CanFestival-3/objdictgen/gen_cfile.py</h1><a href="gen__cfile_8py.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a><a class="code" href="namespacegen__cfile.html">00001</a> <span class="comment">#!/usr/bin/env python</span>
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<a name="l00002"></a>00002 <span class="comment"># -*- coding: utf-8 -*-</span>
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<a name="l00003"></a>00003
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<a name="l00004"></a>00004 <span class="comment">#This file is part of CanFestival, a library implementing CanOpen Stack. </span>
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<a name="l00005"></a>00005 <span class="comment">#</span>
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<a name="l00006"></a>00006 <span class="comment">#Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00007"></a>00007 <span class="comment">#</span>
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<a name="l00008"></a>00008 <span class="comment">#See COPYING file for copyrights details.</span>
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<a name="l00009"></a>00009 <span class="comment">#</span>
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<a name="l00010"></a>00010 <span class="comment">#This library is free software; you can redistribute it and/or</span>
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<a name="l00011"></a>00011 <span class="comment">#modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00012"></a>00012 <span class="comment">#License as published by the Free Software Foundation; either</span>
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<a name="l00013"></a>00013 <span class="comment">#version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00014"></a>00014 <span class="comment">#</span>
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<a name="l00015"></a>00015 <span class="comment">#This library is distributed in the hope that it will be useful,</span>
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<a name="l00016"></a>00016 <span class="comment">#but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00017"></a>00017 <span class="comment">#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
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<a name="l00018"></a>00018 <span class="comment">#Lesser General Public License for more details.</span>
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<a name="l00019"></a>00019 <span class="comment">#</span>
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<a name="l00020"></a>00020 <span class="comment">#You should have received a copy of the GNU Lesser General Public</span>
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40 |
<a name="l00021"></a>00021 <span class="comment">#License along with this library; if not, write to the Free Software</span>
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<a name="l00022"></a>00022 <span class="comment">#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
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42 |
<a name="l00023"></a>00023
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43 |
<a name="l00024"></a>00024 <span class="keyword">from</span> node <span class="keyword">import</span> *
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<a name="l00025"></a>00025 <span class="keyword">from</span> types <span class="keyword">import</span> *
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45 |
<a name="l00026"></a>00026
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<a name="l00027"></a>00027 <span class="keyword">import</span> re, os
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47 |
<a name="l00028"></a>00028
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<a name="l00029"></a>00029 word_model = re.compile(<span class="stringliteral">'([a-zA-Z_0-9]*)'</span>)
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<a name="l00030"></a>00030 type_model = re.compile(<span class="stringliteral">'([\_A-Z]*)([0-9]*)'</span>)
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<a name="l00031"></a>00031 range_model = re.compile(<span class="stringliteral">'([\_A-Z]*)([0-9]*)\[([\-0-9]*)-([\-0-9]*)\]'</span>)
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<a name="l00032"></a>00032
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<a name="l00033"></a>00033 categories = [(<span class="stringliteral">"SDO_SVR"</span>, 0x1200, 0x127F), (<span class="stringliteral">"SDO_CLT"</span>, 0x1280, 0x12FF),
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<a name="l00034"></a>00034 (<span class="stringliteral">"PDO_RCV"</span>, 0x1400, 0x15FF), (<span class="stringliteral">"PDO_RCV_MAP"</span>, 0x1600, 0x17FF),
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<a name="l00035"></a>00035 (<span class="stringliteral">"PDO_TRS"</span>, 0x1800, 0x19FF), (<span class="stringliteral">"PDO_TRS_MAP"</span>, 0x1A00, 0x1BFF)]
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<a name="l00036"></a>00036 index_categories = [<span class="stringliteral">"firstIndex"</span>, <span class="stringliteral">"lastIndex"</span>]
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<a name="l00037"></a>00037
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<a name="l00038"></a>00038 generated_tag = <span class="stringliteral">"""\n/* File generated by gen_cfile.py. Should not be modified. */\n"""</span>
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<a name="l00039"></a>00039
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<a name="l00040"></a>00040 internal_types = {}
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<a name="l00041"></a>00041
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<a name="l00042"></a>00042 <span class="comment"># Format a string for making a C++ variable</span>
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<a name="l00043"></a>00043 <span class="keyword">def </span>FormatName(name):
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<a name="l00044"></a>00044 wordlist = [word <span class="keywordflow">for</span> word <span class="keywordflow">in</span> word_model.findall(name) <span class="keywordflow">if</span> word != <span class="stringliteral">''</span>]
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<a name="l00045"></a>00045 result = <span class="stringliteral">''</span>
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<a name="l00046"></a>00046 sep = <span class="stringliteral">''</span>
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<a name="l00047"></a>00047 <span class="keywordflow">for</span> word <span class="keywordflow">in</span> wordlist:
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<a name="l00048"></a>00048 result += <span class="stringliteral">"%s%s"</span>%(sep,word)
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<a name="l00049"></a>00049 sep = <span class="stringliteral">'_'</span>
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<a name="l00050"></a>00050 <span class="keywordflow">return</span> result
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<a name="l00051"></a>00051
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<a name="l00052"></a>00052 <span class="comment"># Extract the informations from a given type name</span>
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<a name="l00053"></a>00053 <span class="keyword">def </span>GetValidTypeInfos(typename):
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<a name="l00054"></a>00054 <span class="keywordflow">if</span> typename <span class="keywordflow">in</span> internal_types:
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<a name="l00055"></a>00055 <span class="keywordflow">return</span> internal_types[typename]
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75 |
<a name="l00056"></a>00056 <span class="keywordflow">else</span>:
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76 |
<a name="l00057"></a>00057 result = type_model.match(typename)
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77 |
<a name="l00058"></a>00058 <span class="keywordflow">if</span> result:
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<a name="l00059"></a>00059 values = result.groups()
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79 |
<a name="l00060"></a>00060 <span class="keywordflow">if</span> values[0] == <span class="stringliteral">"UNSIGNED"</span> <span class="keywordflow">and</span> int(values[1]) <span class="keywordflow">in</span> [i * 8 <span class="keywordflow">for</span> i <span class="keywordflow">in</span> xrange(1, 9)]:
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80 |
<a name="l00061"></a>00061 typeinfos = (<span class="stringliteral">"UNS%s"</span>%values[1], <span class="stringliteral">""</span>, <span class="stringliteral">"uint%s"</span>%values[1])
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81 |
<a name="l00062"></a>00062 <span class="keywordflow">elif</span> values[0] == <span class="stringliteral">"INTEGER"</span> <span class="keywordflow">and</span> int(values[1]) <span class="keywordflow">in</span> [i * 8 <span class="keywordflow">for</span> i <span class="keywordflow">in</span> xrange(1, 9)]:
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82 |
<a name="l00063"></a>00063 typeinfos = (<span class="stringliteral">"INTEGER%s"</span>%values[1], <span class="stringliteral">""</span>, <span class="stringliteral">"int%s"</span>%values[1])
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83 |
<a name="l00064"></a>00064 <span class="keywordflow">elif</span> values[0] == <span class="stringliteral">"REAL"</span> <span class="keywordflow">and</span> int(values[1]) <span class="keywordflow">in</span> (32, 64):
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<a name="l00065"></a>00065 typeinfos = (<span class="stringliteral">"%s%s"</span>%(values[0], values[1]), <span class="stringliteral">""</span>, <span class="stringliteral">"real%s"</span>%values[1])
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<a name="l00066"></a>00066 <span class="keywordflow">elif</span> values[0] == <span class="stringliteral">"VISIBLE_STRING"</span>:
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86 |
<a name="l00067"></a>00067 <span class="keywordflow">if</span> values[1] == <span class="stringliteral">""</span>:
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87 |
<a name="l00068"></a>00068 typeinfos = (<span class="stringliteral">"UNS8"</span>, <span class="stringliteral">"[10]"</span>, <span class="stringliteral">"visible_string"</span>)
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88 |
<a name="l00069"></a>00069 <span class="keywordflow">else</span>:
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<a name="l00070"></a>00070 typeinfos = (<span class="stringliteral">"UNS8"</span>, <span class="stringliteral">"[%s]"</span>%values[1], <span class="stringliteral">"visible_string"</span>)
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90 |
<a name="l00071"></a>00071 <span class="keywordflow">elif</span> values[0] == <span class="stringliteral">"DOMAIN"</span>:
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91 |
<a name="l00072"></a>00072 typeinfos = (<span class="stringliteral">"UNS8*"</span>, <span class="stringliteral">""</span>, <span class="stringliteral">"domain"</span>)
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92 |
<a name="l00073"></a>00073 <span class="keywordflow">elif</span> values[0] == <span class="stringliteral">"BOOLEAN"</span>:
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93 |
<a name="l00074"></a>00074 typeinfos = (<span class="stringliteral">"UNS8"</span>, <span class="stringliteral">""</span>, <span class="stringliteral">"boolean"</span>)
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94 |
<a name="l00075"></a>00075 <span class="keywordflow">else</span>:
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95 |
<a name="l00076"></a>00076 <span class="keywordflow">raise</span> ValueError, <span class="stringliteral">"""!!! %s isn't a valid type for CanFestival."""</span>%typename
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96 |
<a name="l00077"></a>00077 internal_types[typename] = typeinfos
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97 |
<a name="l00078"></a>00078 <span class="keywordflow">else</span>:
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98 |
<a name="l00079"></a>00079 <span class="keywordflow">raise</span> ValueError, <span class="stringliteral">"""!!! %s isn't a valid type for CanFestival."""</span>%typename
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99 |
<a name="l00080"></a>00080 <span class="keywordflow">return</span> typeinfos
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100 |
<a name="l00081"></a>00081
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101 |
<a name="l00082"></a>00082 <span class="keyword">def </span><a class="code" href="namespaceeds__utils.html#d9540832adbe476f1ba6a0cafcbbafbc">WriteFile</a>(filepath, content):
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102 |
<a name="l00083"></a>00083 cfile = open(filepath,<span class="stringliteral">"w"</span>)
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103 |
<a name="l00084"></a>00084 cfile.write(content)
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104 |
<a name="l00085"></a>00085 cfile.close()
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105 |
<a name="l00086"></a>00086
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106 |
<a name="l00087"></a>00087 <span class="keyword">def </span><a class="code" href="namespaceeds__utils.html#535cc0359a4d2f59718b381b40915ebe">GenerateFileContent</a>(Manager, headerfilepath):
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107 |
<a name="l00088"></a>00088 <span class="keyword">global</span> type
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108 |
<a name="l00089"></a>00089 <span class="keyword">global</span> internal_types
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109 |
<a name="l00090"></a>00090 texts = {}
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110 |
<a name="l00091"></a>00091 texts[<span class="stringliteral">"maxPDOtransmit"</span>] = 0
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111 |
<a name="l00092"></a>00092 texts[<span class="stringliteral">"NodeName"</span>], texts[<span class="stringliteral">"NodeID"</span>], texts[<span class="stringliteral">"NodeType"</span>], texts[<span class="stringliteral">"Description"</span>] = Manager.GetCurrentNodeInfos()
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112 |
<a name="l00093"></a>00093 texts[<span class="stringliteral">"iam_a_slave"</span>] = 0
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113 |
<a name="l00094"></a>00094 <span class="keywordflow">if</span> (texts[<span class="stringliteral">"NodeType"</span>] == <span class="stringliteral">"slave"</span>):
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|
114 |
<a name="l00095"></a>00095 texts[<span class="stringliteral">"iam_a_slave"</span>] = 1
|
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|
115 |
<a name="l00096"></a>00096
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116 |
<a name="l00097"></a>00097 <span class="comment"># Compiling lists of indexes</span>
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117 |
<a name="l00098"></a>00098 rangelist = [idx <span class="keywordflow">for</span> name,idx <span class="keywordflow">in</span> Manager.GetCurrentValidIndexes(0, 0x260)]
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118 |
<a name="l00099"></a>00099 listIndex = [idx <span class="keywordflow">for</span> name,idx <span class="keywordflow">in</span> Manager.GetCurrentValidIndexes(0x1000, 0xFFFF)]
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|
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119 |
<a name="l00100"></a>00100 communicationlist = [idx <span class="keywordflow">for</span> name,idx <span class="keywordflow">in</span> Manager.GetCurrentValidIndexes(0x1000, 0x11FF)]
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120 |
<a name="l00101"></a>00101 sdolist = [idx <span class="keywordflow">for</span> name,idx <span class="keywordflow">in</span> Manager.GetCurrentValidIndexes(0x1200, 0x12FF)]
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121 |
<a name="l00102"></a>00102 pdolist = [idx <span class="keywordflow">for</span> name,idx <span class="keywordflow">in</span> Manager.GetCurrentValidIndexes(0x1400, 0x1BFF)]
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122 |
<a name="l00103"></a>00103 variablelist = [idx <span class="keywordflow">for</span> name,idx <span class="keywordflow">in</span> Manager.GetCurrentValidIndexes(0x2000, 0xBFFF)]
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123 |
<a name="l00104"></a>00104
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124 |
<a name="l00105"></a>00105 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
125 |
<a name="l00106"></a>00106 <span class="comment"># Declaration of the value range types</span>
|
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|
126 |
<a name="l00107"></a>00107 <span class="comment">#------------------------------------------------------------------------------- </span>
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127 |
<a name="l00108"></a>00108
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128 |
<a name="l00109"></a>00109 valueRangeContent = <span class="stringliteral">""</span>
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129 |
<a name="l00110"></a>00110 strDefine = <span class="stringliteral">""</span>
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130 |
<a name="l00111"></a>00111 strSwitch = <span class="stringliteral">""</span>
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|
131 |
<a name="l00112"></a>00112 num = 0
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132 |
<a name="l00113"></a>00113 <span class="keywordflow">for</span> index <span class="keywordflow">in</span> rangelist:
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|
133 |
<a name="l00114"></a>00114 rangename = Manager.GetEntryName(index)
|
|
|
134 |
<a name="l00115"></a>00115 result = range_model.match(rangename)
|
|
|
135 |
<a name="l00116"></a>00116 <span class="keywordflow">if</span> result:
|
|
|
136 |
<a name="l00117"></a>00117 num += 1
|
|
|
137 |
<a name="l00118"></a>00118 typeindex = Manager.GetCurrentEntry(index, 1)
|
|
|
138 |
<a name="l00119"></a>00119 typename = Manager.GetTypeName(typeindex)
|
|
|
139 |
<a name="l00120"></a>00120 typeinfos = GetValidTypeInfos(typename)
|
|
|
140 |
<a name="l00121"></a>00121 internal_types[rangename] = (typeinfos[0], typeinfos[1], <span class="stringliteral">"valueRange_%d"</span>%num)
|
|
|
141 |
<a name="l00122"></a>00122 minvalue = str(Manager.GetCurrentEntry(index, 2))
|
|
|
142 |
<a name="l00123"></a>00123 maxvalue = str(Manager.GetCurrentEntry(index, 3))
|
|
|
143 |
<a name="l00124"></a>00124 strDefine += <span class="stringliteral">"\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"</span>%(num,index,typeinfos[0],minvalue,maxvalue)
|
|
|
144 |
<a name="l00125"></a>00125 strSwitch += <span class="stringliteral">""" case valueRange_%d:</span>
|
|
|
145 |
<a name="l00126"></a>00126 <span class="stringliteral"> if (*(%s*)Value < (%s)%s) return OD_VALUE_TOO_LOW;</span>
|
|
|
146 |
<a name="l00127"></a>00127 <span class="stringliteral"> if (*(%s*)Value > (%s)%s) return OD_VALUE_TOO_HIGH;</span>
|
|
|
147 |
<a name="l00128"></a>00128 <span class="stringliteral"> break;\n"""</span>%(num,typeinfos[0],typeinfos[0],minvalue,typeinfos[0],typeinfos[0],maxvalue)
|
|
|
148 |
<a name="l00129"></a>00129
|
|
|
149 |
<a name="l00130"></a>00130 valueRangeContent += strDefine
|
|
|
150 |
<a name="l00131"></a>00131 valueRangeContent += <span class="stringliteral">"\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"</span>%texts
|
|
|
151 |
<a name="l00132"></a>00132 valueRangeContent += <span class="stringliteral">"\n switch (typeValue) {\n"</span>
|
|
|
152 |
<a name="l00133"></a>00133 valueRangeContent += strSwitch
|
|
|
153 |
<a name="l00134"></a>00134 valueRangeContent += <span class="stringliteral">" }\n return 0;\n}\n"</span>
|
|
|
154 |
<a name="l00135"></a>00135
|
|
|
155 |
<a name="l00136"></a>00136 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
156 |
<a name="l00137"></a>00137 <span class="comment"># Creation of the mapped variables and object dictionary</span>
|
|
|
157 |
<a name="l00138"></a>00138 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
158 |
<a name="l00139"></a>00139
|
|
|
159 |
<a name="l00140"></a>00140 mappedVariableContent = <span class="stringliteral">""</span>
|
|
|
160 |
<a name="l00141"></a>00141 strDeclareHeader = <span class="stringliteral">""</span>
|
|
|
161 |
<a name="l00142"></a>00142 strDeclareCallback = <span class="stringliteral">""</span>
|
|
|
162 |
<a name="l00143"></a>00143 indexContents = {}
|
|
|
163 |
<a name="l00144"></a>00144 indexCallbacks = {}
|
|
|
164 |
<a name="l00145"></a>00145 <span class="keywordflow">for</span> index <span class="keywordflow">in</span> listIndex:
|
|
|
165 |
<a name="l00146"></a>00146 texts[<span class="stringliteral">"index"</span>] = index
|
|
|
166 |
<a name="l00147"></a>00147 strIndex = <span class="stringliteral">""</span>
|
|
|
167 |
<a name="l00148"></a>00148 entry_infos = Manager.GetEntryInfos(index)
|
|
|
168 |
<a name="l00149"></a>00149 texts[<span class="stringliteral">"EntryName"</span>] = entry_infos[<span class="stringliteral">"name"</span>]
|
|
|
169 |
<a name="l00150"></a>00150 values = Manager.GetCurrentEntry(index)
|
|
|
170 |
<a name="l00151"></a>00151 callbacks = Manager.HasCurrentEntryCallbacks(index)
|
|
|
171 |
<a name="l00152"></a>00152 <span class="keywordflow">if</span> index <span class="keywordflow">in</span> variablelist:
|
|
|
172 |
<a name="l00153"></a>00153 strIndex += <span class="stringliteral">"\n/* index 0x%(index)04X : Mapped variable %(EntryName)s */\n"</span>%texts
|
|
|
173 |
<a name="l00154"></a>00154 <span class="keywordflow">else</span>:
|
|
|
174 |
<a name="l00155"></a>00155 strIndex += <span class="stringliteral">"\n/* index 0x%(index)04X : %(EntryName)s. */\n"</span>%texts
|
|
|
175 |
<a name="l00156"></a>00156
|
|
|
176 |
<a name="l00157"></a>00157 <span class="comment"># Entry type is VAR</span>
|
|
|
177 |
<a name="l00158"></a>00158 <span class="keywordflow">if</span> type(values) != ListType:
|
|
|
178 |
<a name="l00159"></a>00159 subentry_infos = Manager.GetSubentryInfos(index, 0)
|
|
|
179 |
<a name="l00160"></a>00160 typename = Manager.GetTypeName(subentry_infos[<span class="stringliteral">"type"</span>])
|
|
|
180 |
<a name="l00161"></a>00161 typeinfos = GetValidTypeInfos(typename)
|
|
|
181 |
<a name="l00162"></a>00162 texts[<span class="stringliteral">"subIndexType"</span>] = typeinfos[0]
|
|
|
182 |
<a name="l00163"></a>00163 texts[<span class="stringliteral">"suffixe"</span>] = typeinfos[1]
|
|
|
183 |
<a name="l00164"></a>00164 <span class="keywordflow">if</span> typeinfos[2] == <span class="stringliteral">"visible_string"</span>:
|
|
|
184 |
<a name="l00165"></a>00165 texts[<span class="stringliteral">"value"</span>] = <span class="stringliteral">"\"%s\""</span>%values
|
|
|
185 |
<a name="l00166"></a>00166 texts[<span class="stringliteral">"comment"</span>] = <span class="stringliteral">""</span>
|
|
|
186 |
<a name="l00167"></a>00167 <span class="keywordflow">else</span>:
|
|
|
187 |
<a name="l00168"></a>00168 texts[<span class="stringliteral">"value"</span>] = <span class="stringliteral">"0x%X"</span>%values
|
|
|
188 |
<a name="l00169"></a>00169 texts[<span class="stringliteral">"comment"</span>] = <span class="stringliteral">"\t/* %s */"</span>%str(values)
|
|
|
189 |
<a name="l00170"></a>00170 <span class="keywordflow">if</span> index <span class="keywordflow">in</span> variablelist:
|
|
|
190 |
<a name="l00171"></a>00171 texts[<span class="stringliteral">"name"</span>] = FormatName(subentry_infos[<span class="stringliteral">"name"</span>])
|
|
|
191 |
<a name="l00172"></a>00172 strDeclareHeader += <span class="stringliteral">"extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"</span>%texts
|
|
|
192 |
<a name="l00173"></a>00173 <span class="keywordflow">if</span> callbacks:
|
|
|
193 |
<a name="l00174"></a>00174 strDeclareHeader += <span class="stringliteral">"extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"</span>%texts
|
|
|
194 |
<a name="l00175"></a>00175 mappedVariableContent += <span class="stringliteral">"%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"</span>%texts
|
|
|
195 |
<a name="l00176"></a>00176 <span class="keywordflow">else</span>:
|
|
|
196 |
<a name="l00177"></a>00177 strIndex += <span class="stringliteral">" %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"</span>%texts
|
|
|
197 |
<a name="l00178"></a>00178 values = [values]
|
|
|
198 |
<a name="l00179"></a>00179 <span class="keywordflow">else</span>:
|
|
|
199 |
<a name="l00180"></a>00180 subentry_infos = Manager.GetSubentryInfos(index, 0)
|
|
|
200 |
<a name="l00181"></a>00181 typename = Manager.GetTypeName(subentry_infos[<span class="stringliteral">"type"</span>])
|
|
|
201 |
<a name="l00182"></a>00182 typeinfos = GetValidTypeInfos(typename)
|
|
|
202 |
<a name="l00183"></a>00183 texts[<span class="stringliteral">"value"</span>] = values[0]
|
|
|
203 |
<a name="l00184"></a>00184 texts[<span class="stringliteral">"subIndexType"</span>] = typeinfos[0]
|
|
|
204 |
<a name="l00185"></a>00185 strIndex += <span class="stringliteral">" %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"</span>%texts
|
|
|
205 |
<a name="l00186"></a>00186
|
|
|
206 |
<a name="l00187"></a>00187 <span class="comment"># Entry type is RECORD</span>
|
|
|
207 |
<a name="l00188"></a>00188 <span class="keywordflow">if</span> entry_infos[<span class="stringliteral">"struct"</span>] & OD_IdenticalSubindexes:
|
|
|
208 |
<a name="l00189"></a>00189 subentry_infos = Manager.GetSubentryInfos(index, 1)
|
|
|
209 |
<a name="l00190"></a>00190 typename = Manager.GetTypeName(subentry_infos[<span class="stringliteral">"type"</span>])
|
|
|
210 |
<a name="l00191"></a>00191 typeinfos = GetValidTypeInfos(typename)
|
|
|
211 |
<a name="l00192"></a>00192 texts[<span class="stringliteral">"subIndexType"</span>] = typeinfos[0]
|
|
|
212 |
<a name="l00193"></a>00193 texts[<span class="stringliteral">"suffixe"</span>] = typeinfos[1]
|
|
|
213 |
<a name="l00194"></a>00194 texts[<span class="stringliteral">"length"</span>] = values[0]
|
|
|
214 |
<a name="l00195"></a>00195 <span class="keywordflow">if</span> index <span class="keywordflow">in</span> variablelist:
|
|
|
215 |
<a name="l00196"></a>00196 texts[<span class="stringliteral">"name"</span>] = FormatName(entry_infos[<span class="stringliteral">"name"</span>])
|
|
|
216 |
<a name="l00197"></a>00197 strDeclareHeader += <span class="stringliteral">"extern %(subIndexType)s %(name)s[%(length)d]%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n"</span>%texts
|
|
|
217 |
<a name="l00198"></a>00198 <span class="keywordflow">if</span> callbacks:
|
|
|
218 |
<a name="l00199"></a>00199 strDeclareHeader += <span class="stringliteral">"extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"</span>%texts
|
|
|
219 |
<a name="l00200"></a>00200 mappedVariableContent += <span class="stringliteral">"%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n {\n"</span>%texts
|
|
|
220 |
<a name="l00201"></a>00201 <span class="keywordflow">for</span> subIndex, value <span class="keywordflow">in</span> enumerate(values):
|
|
|
221 |
<a name="l00202"></a>00202 sep = <span class="stringliteral">","</span>
|
|
|
222 |
<a name="l00203"></a>00203 comment = <span class="stringliteral">""</span>
|
|
|
223 |
<a name="l00204"></a>00204 <span class="keywordflow">if</span> subIndex > 0:
|
|
|
224 |
<a name="l00205"></a>00205 <span class="keywordflow">if</span> subIndex == len(values)-1:
|
|
|
225 |
<a name="l00206"></a>00206 sep = <span class="stringliteral">""</span>
|
|
|
226 |
<a name="l00207"></a>00207 <span class="keywordflow">if</span> typeinfos[2] == <span class="stringliteral">"visible_string"</span>:
|
|
|
227 |
<a name="l00208"></a>00208 value = <span class="stringliteral">"\"%s\""</span>%value
|
|
|
228 |
<a name="l00209"></a>00209 <span class="keywordflow">else</span>:
|
|
|
229 |
<a name="l00210"></a>00210 comment = <span class="stringliteral">"\t/* %s */"</span>%str(value)
|
|
|
230 |
<a name="l00211"></a>00211 value = <span class="stringliteral">"0x%X"</span>%value
|
|
|
231 |
<a name="l00212"></a>00212 mappedVariableContent += <span class="stringliteral">" %s%s%s\n"</span>%(value, sep, comment)
|
|
|
232 |
<a name="l00213"></a>00213 mappedVariableContent += <span class="stringliteral">" };\n"</span>
|
|
|
233 |
<a name="l00214"></a>00214 <span class="keywordflow">else</span>:
|
|
|
234 |
<a name="l00215"></a>00215 strIndex += <span class="stringliteral">" %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n {\n"</span>%texts
|
|
|
235 |
<a name="l00216"></a>00216 <span class="keywordflow">for</span> subIndex, value <span class="keywordflow">in</span> enumerate(values):
|
|
|
236 |
<a name="l00217"></a>00217 sep = <span class="stringliteral">","</span>
|
|
|
237 |
<a name="l00218"></a>00218 comment = <span class="stringliteral">""</span>
|
|
|
238 |
<a name="l00219"></a>00219 <span class="keywordflow">if</span> subIndex > 0:
|
|
|
239 |
<a name="l00220"></a>00220 <span class="keywordflow">if</span> subIndex == len(values)-1:
|
|
|
240 |
<a name="l00221"></a>00221 sep = <span class="stringliteral">""</span>
|
|
|
241 |
<a name="l00222"></a>00222 <span class="keywordflow">if</span> typeinfos[2] == <span class="stringliteral">"visible_string"</span>:
|
|
|
242 |
<a name="l00223"></a>00223 value = <span class="stringliteral">"\"%s\""</span>%value
|
|
|
243 |
<a name="l00224"></a>00224 <span class="keywordflow">elif</span> typeinfos[2] == <span class="stringliteral">"domain"</span>:
|
|
|
244 |
<a name="l00225"></a>00225 value = <span class="stringliteral">"\"%s\""</span>%<span class="stringliteral">''</span>.join([<span class="stringliteral">"\\x%2.2x"</span>%ord(char) <span class="keywordflow">for</span> char <span class="keywordflow">in</span> value])
|
|
|
245 |
<a name="l00226"></a>00226 <span class="keywordflow">else</span>:
|
|
|
246 |
<a name="l00227"></a>00227 comment = <span class="stringliteral">"\t/* %s */"</span>%str(value)
|
|
|
247 |
<a name="l00228"></a>00228 value = <span class="stringliteral">"0x%X"</span>%value
|
|
|
248 |
<a name="l00229"></a>00229 strIndex += <span class="stringliteral">" %s%s%s\n"</span>%(value, sep, comment)
|
|
|
249 |
<a name="l00230"></a>00230 strIndex += <span class="stringliteral">" };\n"</span>
|
|
|
250 |
<a name="l00231"></a>00231 <span class="keywordflow">else</span>:
|
|
|
251 |
<a name="l00232"></a>00232
|
|
|
252 |
<a name="l00233"></a>00233 texts[<span class="stringliteral">"parent"</span>] = FormatName(entry_infos[<span class="stringliteral">"name"</span>])
|
|
|
253 |
<a name="l00234"></a>00234 <span class="comment"># Entry type is ARRAY</span>
|
|
|
254 |
<a name="l00235"></a>00235 <span class="keywordflow">for</span> subIndex, value <span class="keywordflow">in</span> enumerate(values):
|
|
|
255 |
<a name="l00236"></a>00236 texts[<span class="stringliteral">"subIndex"</span>] = subIndex
|
|
|
256 |
<a name="l00237"></a>00237 <span class="keywordflow">if</span> subIndex > 0:
|
|
|
257 |
<a name="l00238"></a>00238 subentry_infos = Manager.GetSubentryInfos(index, subIndex)
|
|
|
258 |
<a name="l00239"></a>00239 typename = Manager.GetTypeName(subentry_infos[<span class="stringliteral">"type"</span>])
|
|
|
259 |
<a name="l00240"></a>00240 typeinfos = GetValidTypeInfos(typename)
|
|
|
260 |
<a name="l00241"></a>00241 texts[<span class="stringliteral">"subIndexType"</span>] = typeinfos[0]
|
|
|
261 |
<a name="l00242"></a>00242 texts[<span class="stringliteral">"suffixe"</span>] = typeinfos[1]
|
|
|
262 |
<a name="l00243"></a>00243 <span class="keywordflow">if</span> typeinfos[2] == <span class="stringliteral">"visible_string"</span>:
|
|
|
263 |
<a name="l00244"></a>00244 texts[<span class="stringliteral">"value"</span>] = <span class="stringliteral">"\"%s\""</span>%value
|
|
|
264 |
<a name="l00245"></a>00245 texts[<span class="stringliteral">"comment"</span>] = <span class="stringliteral">""</span>
|
|
|
265 |
<a name="l00246"></a>00246 <span class="keywordflow">else</span>:
|
|
|
266 |
<a name="l00247"></a>00247 texts[<span class="stringliteral">"value"</span>] = <span class="stringliteral">"0x%X"</span>%value
|
|
|
267 |
<a name="l00248"></a>00248 texts[<span class="stringliteral">"comment"</span>] = <span class="stringliteral">"\t/* %s */"</span>%str(value)
|
|
|
268 |
<a name="l00249"></a>00249 texts[<span class="stringliteral">"name"</span>] = FormatName(subentry_infos[<span class="stringliteral">"name"</span>])
|
|
|
269 |
<a name="l00250"></a>00250 <span class="keywordflow">if</span> index <span class="keywordflow">in</span> variablelist:
|
|
|
270 |
<a name="l00251"></a>00251 strDeclareHeader += <span class="stringliteral">"extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"</span>%texts
|
|
|
271 |
<a name="l00252"></a>00252 mappedVariableContent += <span class="stringliteral">"%(subIndexType)s %(parent)s_%(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"</span>%texts
|
|
|
272 |
<a name="l00253"></a>00253 <span class="keywordflow">else</span>:
|
|
|
273 |
<a name="l00254"></a>00254 strIndex += <span class="stringliteral">" %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"</span>%texts
|
|
|
274 |
<a name="l00255"></a>00255 <span class="keywordflow">if</span> callbacks:
|
|
|
275 |
<a name="l00256"></a>00256 strDeclareHeader += <span class="stringliteral">"extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"</span>%texts
|
|
|
276 |
<a name="l00257"></a>00257
|
|
|
277 |
<a name="l00258"></a>00258 <span class="comment"># Generating Dictionary C++ entry</span>
|
|
|
278 |
<a name="l00259"></a>00259 <span class="keywordflow">if</span> callbacks:
|
|
|
279 |
<a name="l00260"></a>00260 <span class="keywordflow">if</span> index <span class="keywordflow">in</span> variablelist:
|
|
|
280 |
<a name="l00261"></a>00261 name = FormatName(entry_infos[<span class="stringliteral">"name"</span>])
|
|
|
281 |
<a name="l00262"></a>00262 <span class="keywordflow">else</span>:
|
|
|
282 |
<a name="l00263"></a>00263 name = <span class="stringliteral">"%(NodeName)s_Index%(index)04X"</span>%texts
|
|
|
283 |
<a name="l00264"></a>00264 strIndex += <span class="stringliteral">" ODCallback_t %s_callbacks[] = \n {\n"</span>%name
|
|
|
284 |
<a name="l00265"></a>00265 <span class="keywordflow">for</span> subIndex <span class="keywordflow">in</span> xrange(len(values)):
|
|
|
285 |
<a name="l00266"></a>00266 strIndex += <span class="stringliteral">" NULL,\n"</span>
|
|
|
286 |
<a name="l00267"></a>00267 strIndex += <span class="stringliteral">" };\n"</span>
|
|
|
287 |
<a name="l00268"></a>00268 indexCallbacks[index] = <span class="stringliteral">"*callbacks = %s_callbacks; "</span>%name
|
|
|
288 |
<a name="l00269"></a>00269 <span class="keywordflow">else</span>:
|
|
|
289 |
<a name="l00270"></a>00270 indexCallbacks[index] = <span class="stringliteral">""</span>
|
|
|
290 |
<a name="l00271"></a>00271 strIndex += <span class="stringliteral">" subindex %(NodeName)s_Index%(index)04X[] = \n {\n"</span>%texts
|
|
|
291 |
<a name="l00272"></a>00272 <span class="keywordflow">for</span> subIndex <span class="keywordflow">in</span> xrange(len(values)):
|
|
|
292 |
<a name="l00273"></a>00273 subentry_infos = Manager.GetSubentryInfos(index, subIndex)
|
|
|
293 |
<a name="l00274"></a>00274 <span class="keywordflow">if</span> subIndex < len(values) - 1:
|
|
|
294 |
<a name="l00275"></a>00275 sep = <span class="stringliteral">","</span>
|
|
|
295 |
<a name="l00276"></a>00276 <span class="keywordflow">else</span>:
|
|
|
296 |
<a name="l00277"></a>00277 sep = <span class="stringliteral">""</span>
|
|
|
297 |
<a name="l00278"></a>00278 typename = Manager.GetTypeName(subentry_infos[<span class="stringliteral">"type"</span>])
|
|
|
298 |
<a name="l00279"></a>00279 typeinfos = GetValidTypeInfos(typename)
|
|
|
299 |
<a name="l00280"></a>00280 <span class="keywordflow">if</span> subIndex == 0:
|
|
|
300 |
<a name="l00281"></a>00281 <span class="keywordflow">if</span> entry_infos[<span class="stringliteral">"struct"</span>] & OD_MultipleSubindexes:
|
|
|
301 |
<a name="l00282"></a>00282 name = <span class="stringliteral">"%(NodeName)s_highestSubIndex_obj%(index)04X"</span>%texts
|
|
|
302 |
<a name="l00283"></a>00283 <span class="keywordflow">elif</span> index <span class="keywordflow">in</span> variablelist:
|
|
|
303 |
<a name="l00284"></a>00284 name = FormatName(subentry_infos[<span class="stringliteral">"name"</span>])
|
|
|
304 |
<a name="l00285"></a>00285 <span class="keywordflow">else</span>:
|
|
|
305 |
<a name="l00286"></a>00286 name = FormatName(<span class="stringliteral">"%s_obj%04X"</span>%(texts[<span class="stringliteral">"NodeName"</span>], texts[<span class="stringliteral">"index"</span>]))
|
|
|
306 |
<a name="l00287"></a>00287 <span class="keywordflow">elif</span> entry_infos[<span class="stringliteral">"struct"</span>] & OD_IdenticalSubindexes:
|
|
|
307 |
<a name="l00288"></a>00288 <span class="keywordflow">if</span> index <span class="keywordflow">in</span> variablelist:
|
|
|
308 |
<a name="l00289"></a>00289 name = <span class="stringliteral">"%s[%d]"</span>%(FormatName(entry_infos[<span class="stringliteral">"name"</span>]), subIndex - 1)
|
|
|
309 |
<a name="l00290"></a>00290 <span class="keywordflow">else</span>:
|
|
|
310 |
<a name="l00291"></a>00291 name = <span class="stringliteral">"%s_obj%04X[%d]"</span>%(texts[<span class="stringliteral">"NodeName"</span>], texts[<span class="stringliteral">"index"</span>], subIndex - 1)
|
|
|
311 |
<a name="l00292"></a>00292 <span class="keywordflow">else</span>:
|
|
|
312 |
<a name="l00293"></a>00293 <span class="keywordflow">if</span> index <span class="keywordflow">in</span> variablelist:
|
|
|
313 |
<a name="l00294"></a>00294 name = FormatName(<span class="stringliteral">"%s_%s"</span>%(entry_infos[<span class="stringliteral">"name"</span>],subentry_infos[<span class="stringliteral">"name"</span>]))
|
|
|
314 |
<a name="l00295"></a>00295 <span class="keywordflow">else</span>:
|
|
|
315 |
<a name="l00296"></a>00296 name = <span class="stringliteral">"%s_obj%04X_%s"</span>%(texts[<span class="stringliteral">"NodeName"</span>], texts[<span class="stringliteral">"index"</span>], FormatName(subentry_infos[<span class="stringliteral">"name"</span>]))
|
|
|
316 |
<a name="l00297"></a>00297 <span class="keywordflow">if</span> typeinfos[2] <span class="keywordflow">in</span> [<span class="stringliteral">"visible_string"</span>, <span class="stringliteral">"domain"</span>]:
|
|
|
317 |
<a name="l00298"></a>00298 sizeof = str(len(values[subIndex]))
|
|
|
318 |
<a name="l00299"></a>00299 <span class="keywordflow">else</span>:
|
|
|
319 |
<a name="l00300"></a>00300 sizeof = <span class="stringliteral">"sizeof (%s)"</span>%typeinfos[0]
|
|
|
320 |
<a name="l00301"></a>00301 params = Manager.GetCurrentParamsEntry(index, subIndex)
|
|
|
321 |
<a name="l00302"></a>00302 <span class="keywordflow">if</span> params[<span class="stringliteral">"save"</span>]:
|
|
|
322 |
<a name="l00303"></a>00303 save = <span class="stringliteral">"|TO_BE_SAVE"</span>
|
|
|
323 |
<a name="l00304"></a>00304 <span class="keywordflow">else</span>:
|
|
|
324 |
<a name="l00305"></a>00305 save = <span class="stringliteral">""</span>
|
|
|
325 |
<a name="l00306"></a>00306 strIndex += <span class="stringliteral">" { %s%s, %s, %s, (void*)&%s }%s\n"</span>%(subentry_infos[<span class="stringliteral">"access"</span>].upper(),save,typeinfos[2],sizeof,name,sep)
|
|
|
326 |
<a name="l00307"></a>00307 strIndex += <span class="stringliteral">" };\n"</span>
|
|
|
327 |
<a name="l00308"></a>00308 indexContents[index] = strIndex
|
|
|
328 |
<a name="l00309"></a>00309
|
|
|
329 |
<a name="l00310"></a>00310 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
330 |
<a name="l00311"></a>00311 <span class="comment"># Declaration of Particular Parameters</span>
|
|
|
331 |
<a name="l00312"></a>00312 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
332 |
<a name="l00313"></a>00313
|
|
|
333 |
<a name="l00314"></a>00314 <span class="keywordflow">if</span> 0x1006 <span class="keywordflow">not</span> <span class="keywordflow">in</span> communicationlist:
|
|
|
334 |
<a name="l00315"></a>00315 entry_infos = Manager.GetEntryInfos(0x1006)
|
|
|
335 |
<a name="l00316"></a>00316 texts[<span class="stringliteral">"EntryName"</span>] = entry_infos[<span class="stringliteral">"name"</span>]
|
|
|
336 |
<a name="l00317"></a>00317 indexContents[0x1006] = <span class="stringliteral">"""\n/* index 0x1006 : %(EntryName)s */</span>
|
|
|
337 |
<a name="l00318"></a>00318 <span class="stringliteral"> UNS32 %(NodeName)s_obj1006 = 0x0; /* 0 */</span>
|
|
|
338 |
<a name="l00319"></a>00319 <span class="stringliteral">"""</span>%texts
|
|
|
339 |
<a name="l00320"></a>00320
|
|
|
340 |
<a name="l00321"></a>00321 <span class="keywordflow">if</span> 0x1016 <span class="keywordflow">in</span> communicationlist:
|
|
|
341 |
<a name="l00322"></a>00322 texts[<span class="stringliteral">"nombre"</span>] = Manager.GetCurrentEntry(0x1016, 0)
|
|
|
342 |
<a name="l00323"></a>00323 <span class="keywordflow">else</span>:
|
|
|
343 |
<a name="l00324"></a>00324 texts[<span class="stringliteral">"nombre"</span>] = 0
|
|
|
344 |
<a name="l00325"></a>00325 entry_infos = Manager.GetEntryInfos(0x1016)
|
|
|
345 |
<a name="l00326"></a>00326 texts[<span class="stringliteral">"EntryName"</span>] = entry_infos[<span class="stringliteral">"name"</span>]
|
|
|
346 |
<a name="l00327"></a>00327 indexContents[0x1016] = <span class="stringliteral">"""\n/* index 0x1016 : %(EntryName)s */</span>
|
|
|
347 |
<a name="l00328"></a>00328 <span class="stringliteral"> UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;</span>
|
|
|
348 |
<a name="l00329"></a>00329 <span class="stringliteral"> UNS32 %(NodeName)s_obj1016[]={0};</span>
|
|
|
349 |
<a name="l00330"></a>00330 <span class="stringliteral">"""</span>%texts
|
|
|
350 |
<a name="l00331"></a>00331 <span class="keywordflow">if</span> texts[<span class="stringliteral">"nombre"</span>] > 0:
|
|
|
351 |
<a name="l00332"></a>00332 strTimers = <span class="stringliteral">"TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"</span>%texts
|
|
|
352 |
<a name="l00333"></a>00333 <span class="keywordflow">else</span>:
|
|
|
353 |
<a name="l00334"></a>00334 strTimers = <span class="stringliteral">"TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"</span>%texts
|
|
|
354 |
<a name="l00335"></a>00335
|
|
|
355 |
<a name="l00336"></a>00336 <span class="keywordflow">if</span> 0x1017 <span class="keywordflow">not</span> <span class="keywordflow">in</span> communicationlist:
|
|
|
356 |
<a name="l00337"></a>00337 entry_infos = Manager.GetEntryInfos(0x1017)
|
|
|
357 |
<a name="l00338"></a>00338 texts[<span class="stringliteral">"EntryName"</span>] = entry_infos[<span class="stringliteral">"name"</span>]
|
|
|
358 |
<a name="l00339"></a>00339 indexContents[0x1017] = <span class="stringliteral">"""\n/* index 0x1017 : %(EntryName)s */ </span>
|
|
|
359 |
<a name="l00340"></a>00340 <span class="stringliteral"> UNS16 %(NodeName)s_obj1017 = 0x0; /* 0 */</span>
|
|
|
360 |
<a name="l00341"></a>00341 <span class="stringliteral">"""</span>%texts
|
|
|
361 |
<a name="l00342"></a>00342
|
|
|
362 |
<a name="l00343"></a>00343 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
363 |
<a name="l00344"></a>00344 <span class="comment"># Declaration of navigation in the Object Dictionary</span>
|
|
|
364 |
<a name="l00345"></a>00345 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
365 |
<a name="l00346"></a>00346
|
|
|
366 |
<a name="l00347"></a>00347 strDeclareIndex = <span class="stringliteral">""</span>
|
|
|
367 |
<a name="l00348"></a>00348 strDeclareSwitch = <span class="stringliteral">""</span>
|
|
|
368 |
<a name="l00349"></a>00349 strQuickIndex = <span class="stringliteral">""</span>
|
|
|
369 |
<a name="l00350"></a>00350 quick_index = {}
|
|
|
370 |
<a name="l00351"></a>00351 <span class="keywordflow">for</span> index_cat <span class="keywordflow">in</span> index_categories:
|
|
|
371 |
<a name="l00352"></a>00352 quick_index[index_cat] = {}
|
|
|
372 |
<a name="l00353"></a>00353 <span class="keywordflow">for</span> cat, idx_min, idx_max <span class="keywordflow">in</span> categories:
|
|
|
373 |
<a name="l00354"></a>00354 quick_index[index_cat][cat] = 0
|
|
|
374 |
<a name="l00355"></a>00355 maxPDOtransmit = 0
|
|
|
375 |
<a name="l00356"></a>00356 <span class="keywordflow">for</span> i, index <span class="keywordflow">in</span> enumerate(listIndex):
|
|
|
376 |
<a name="l00357"></a>00357 texts[<span class="stringliteral">"index"</span>] = index
|
|
|
377 |
<a name="l00358"></a>00358 strDeclareIndex += <span class="stringliteral">" { (subindex*)%(NodeName)s_Index%(index)04X,sizeof(%(NodeName)s_Index%(index)04X)/sizeof(%(NodeName)s_Index%(index)04X[0]), 0x%(index)04X},\n"</span>%texts
|
|
|
378 |
<a name="l00359"></a>00359 strDeclareSwitch += <span class="stringliteral">" case 0x%04X: i = %d;%sbreak;\n"</span>%(index, i, indexCallbacks[index])
|
|
|
379 |
<a name="l00360"></a>00360 <span class="keywordflow">for</span> cat, idx_min, idx_max <span class="keywordflow">in</span> categories:
|
|
|
380 |
<a name="l00361"></a>00361 <span class="keywordflow">if</span> idx_min <= index <= idx_max:
|
|
|
381 |
<a name="l00362"></a>00362 quick_index[<span class="stringliteral">"lastIndex"</span>][cat] = i
|
|
|
382 |
<a name="l00363"></a>00363 <span class="keywordflow">if</span> quick_index[<span class="stringliteral">"firstIndex"</span>][cat] == 0:
|
|
|
383 |
<a name="l00364"></a>00364 quick_index[<span class="stringliteral">"firstIndex"</span>][cat] = i
|
|
|
384 |
<a name="l00365"></a>00365 <span class="keywordflow">if</span> cat == <span class="stringliteral">"PDO_TRS"</span>:
|
|
|
385 |
<a name="l00366"></a>00366 maxPDOtransmit += 1
|
|
|
386 |
<a name="l00367"></a>00367 texts[<span class="stringliteral">"maxPDOtransmit"</span>] = max(1, maxPDOtransmit)
|
|
|
387 |
<a name="l00368"></a>00368 <span class="keywordflow">for</span> index_cat <span class="keywordflow">in</span> index_categories:
|
|
|
388 |
<a name="l00369"></a>00369 strQuickIndex += <span class="stringliteral">"\nquick_index %s_%s = {\n"</span>%(texts[<span class="stringliteral">"NodeName"</span>], index_cat)
|
|
|
389 |
<a name="l00370"></a>00370 sep = <span class="stringliteral">","</span>
|
|
|
390 |
<a name="l00371"></a>00371 <span class="keywordflow">for</span> i, (cat, idx_min, idx_max) <span class="keywordflow">in</span> enumerate(categories):
|
|
|
391 |
<a name="l00372"></a>00372 <span class="keywordflow">if</span> i == len(categories) - 1:
|
|
|
392 |
<a name="l00373"></a>00373 sep = <span class="stringliteral">""</span>
|
|
|
393 |
<a name="l00374"></a>00374 strQuickIndex += <span class="stringliteral">" %d%s /* %s */\n"</span>%(quick_index[index_cat][cat],sep,cat)
|
|
|
394 |
<a name="l00375"></a>00375 strQuickIndex += <span class="stringliteral">"};\n"</span>
|
|
|
395 |
<a name="l00376"></a>00376
|
|
|
396 |
<a name="l00377"></a>00377 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
397 |
<a name="l00378"></a>00378 <span class="comment"># Write File Content</span>
|
|
|
398 |
<a name="l00379"></a>00379 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
399 |
<a name="l00380"></a>00380
|
|
|
400 |
<a name="l00381"></a>00381 fileContent = generated_tag + <span class="stringliteral">"""</span>
|
|
|
401 |
<a name="l00382"></a>00382 <span class="stringliteral">#include "%s"</span>
|
|
|
402 |
<a name="l00383"></a>00383 <span class="stringliteral">"""</span>%(headerfilepath)
|
|
|
403 |
<a name="l00384"></a>00384
|
|
|
404 |
<a name="l00385"></a>00385 fileContent += <span class="stringliteral">"""</span>
|
|
|
405 |
<a name="l00386"></a>00386 <span class="stringliteral">/**************************************************************************/</span>
|
|
|
406 |
<a name="l00387"></a>00387 <span class="stringliteral">/* Declaration of the mapped variables */</span>
|
|
|
407 |
<a name="l00388"></a>00388 <span class="stringliteral">/**************************************************************************/</span>
|
|
|
408 |
<a name="l00389"></a>00389 <span class="stringliteral">"""</span> + mappedVariableContent
|
|
|
409 |
<a name="l00390"></a>00390
|
|
|
410 |
<a name="l00391"></a>00391 fileContent += <span class="stringliteral">"""</span>
|
|
|
411 |
<a name="l00392"></a>00392 <span class="stringliteral">/**************************************************************************/</span>
|
|
|
412 |
<a name="l00393"></a>00393 <span class="stringliteral">/* Declaration of the value range types */</span>
|
|
|
413 |
<a name="l00394"></a>00394 <span class="stringliteral">/**************************************************************************/</span>
|
|
|
414 |
<a name="l00395"></a>00395 <span class="stringliteral">"""</span> + valueRangeContent
|
|
|
415 |
<a name="l00396"></a>00396
|
|
|
416 |
<a name="l00397"></a>00397 fileContent += <span class="stringliteral">"""</span>
|
|
|
417 |
<a name="l00398"></a>00398 <span class="stringliteral">/**************************************************************************/</span>
|
|
|
418 |
<a name="l00399"></a>00399 <span class="stringliteral">/* The node id */</span>
|
|
|
419 |
<a name="l00400"></a>00400 <span class="stringliteral">/**************************************************************************/</span>
|
|
|
420 |
<a name="l00401"></a>00401 <span class="stringliteral">/* node_id default value.*/</span>
|
|
|
421 |
<a name="l00402"></a>00402 <span class="stringliteral">UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;</span>
|
|
|
422 |
<a name="l00403"></a>00403 <span class="stringliteral"></span>
|
|
|
423 |
<a name="l00404"></a>00404 <span class="stringliteral">/**************************************************************************/</span>
|
|
|
424 |
<a name="l00405"></a>00405 <span class="stringliteral">/* Array of message processing information */</span>
|
|
|
425 |
<a name="l00406"></a>00406 <span class="stringliteral"></span>
|
|
|
426 |
<a name="l00407"></a>00407 <span class="stringliteral">const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;</span>
|
|
|
427 |
<a name="l00408"></a>00408 <span class="stringliteral"></span>
|
|
|
428 |
<a name="l00409"></a>00409 <span class="stringliteral">"""</span>%texts
|
|
|
429 |
<a name="l00410"></a>00410 fileContent += strTimers
|
|
|
430 |
<a name="l00411"></a>00411
|
|
|
431 |
<a name="l00412"></a>00412 fileContent += <span class="stringliteral">"""</span>
|
|
|
432 |
<a name="l00413"></a>00413 <span class="stringliteral">/*</span>
|
|
|
433 |
<a name="l00414"></a>00414 <span class="stringliteral">$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$</span>
|
|
|
434 |
<a name="l00415"></a>00415 <span class="stringliteral"></span>
|
|
|
435 |
<a name="l00416"></a>00416 <span class="stringliteral"> OBJECT DICTIONARY</span>
|
|
|
436 |
<a name="l00417"></a>00417 <span class="stringliteral"></span>
|
|
|
437 |
<a name="l00418"></a>00418 <span class="stringliteral">$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$</span>
|
|
|
438 |
<a name="l00419"></a>00419 <span class="stringliteral">*/</span>
|
|
|
439 |
<a name="l00420"></a>00420 <span class="stringliteral">"""</span>%texts
|
|
|
440 |
<a name="l00421"></a>00421 contentlist = indexContents.keys()
|
|
|
441 |
<a name="l00422"></a>00422 contentlist.sort()
|
|
|
442 |
<a name="l00423"></a>00423 <span class="keywordflow">for</span> index <span class="keywordflow">in</span> contentlist:
|
|
|
443 |
<a name="l00424"></a>00424 fileContent += indexContents[index]
|
|
|
444 |
<a name="l00425"></a>00425
|
|
|
445 |
<a name="l00426"></a>00426 fileContent += <span class="stringliteral">"""</span>
|
|
|
446 |
<a name="l00427"></a>00427 <span class="stringliteral">const indextable %(NodeName)s_objdict[] = </span>
|
|
|
447 |
<a name="l00428"></a>00428 <span class="stringliteral">{</span>
|
|
|
448 |
<a name="l00429"></a>00429 <span class="stringliteral">"""</span>%texts
|
|
|
449 |
<a name="l00430"></a>00430 fileContent += strDeclareIndex
|
|
|
450 |
<a name="l00431"></a>00431 fileContent += <span class="stringliteral">"""};</span>
|
|
|
451 |
<a name="l00432"></a>00432 <span class="stringliteral"></span>
|
|
|
452 |
<a name="l00433"></a>00433 <span class="stringliteral">const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)</span>
|
|
|
453 |
<a name="l00434"></a>00434 <span class="stringliteral">{</span>
|
|
|
454 |
<a name="l00435"></a>00435 <span class="stringliteral"> int i;</span>
|
|
|
455 |
<a name="l00436"></a>00436 <span class="stringliteral"> *callbacks = NULL;</span>
|
|
|
456 |
<a name="l00437"></a>00437 <span class="stringliteral"> switch(wIndex){</span>
|
|
|
457 |
<a name="l00438"></a>00438 <span class="stringliteral">"""</span>%texts
|
|
|
458 |
<a name="l00439"></a>00439 fileContent += strDeclareSwitch
|
|
|
459 |
<a name="l00440"></a>00440 fileContent += <span class="stringliteral">""" default:</span>
|
|
|
460 |
<a name="l00441"></a>00441 <span class="stringliteral"> *errorCode = OD_NO_SUCH_OBJECT;</span>
|
|
|
461 |
<a name="l00442"></a>00442 <span class="stringliteral"> return NULL;</span>
|
|
|
462 |
<a name="l00443"></a>00443 <span class="stringliteral"> }</span>
|
|
|
463 |
<a name="l00444"></a>00444 <span class="stringliteral"> *errorCode = OD_SUCCESSFUL;</span>
|
|
|
464 |
<a name="l00445"></a>00445 <span class="stringliteral"> return &%(NodeName)s_objdict[i];</span>
|
|
|
465 |
<a name="l00446"></a>00446 <span class="stringliteral">}</span>
|
|
|
466 |
<a name="l00447"></a>00447 <span class="stringliteral"></span>
|
|
|
467 |
<a name="l00448"></a>00448 <span class="stringliteral">/* To count at which received SYNC a PDO must be sent.</span>
|
|
|
468 |
<a name="l00449"></a>00449 <span class="stringliteral"> * Even if no pdoTransmit are defined, at least one entry is computed</span>
|
|
|
469 |
<a name="l00450"></a>00450 <span class="stringliteral"> * for compilations issues.</span>
|
|
|
470 |
<a name="l00451"></a>00451 <span class="stringliteral"> */</span>
|
|
|
471 |
<a name="l00452"></a>00452 <span class="stringliteral">UNS8 %(NodeName)s_count_sync[%(maxPDOtransmit)d] = {0,};</span>
|
|
|
472 |
<a name="l00453"></a>00453 <span class="stringliteral">"""</span>%texts
|
|
|
473 |
<a name="l00454"></a>00454 fileContent += strQuickIndex
|
|
|
474 |
<a name="l00455"></a>00455 fileContent += <span class="stringliteral">"""</span>
|
|
|
475 |
<a name="l00456"></a>00456 <span class="stringliteral">UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]); </span>
|
|
|
476 |
<a name="l00457"></a>00457 <span class="stringliteral"></span>
|
|
|
477 |
<a name="l00458"></a>00458 <span class="stringliteral">CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);</span>
|
|
|
478 |
<a name="l00459"></a>00459 <span class="stringliteral"></span>
|
|
|
479 |
<a name="l00460"></a>00460 <span class="stringliteral">"""</span>%texts
|
|
|
480 |
<a name="l00461"></a>00461
|
|
|
481 |
<a name="l00462"></a>00462 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
482 |
<a name="l00463"></a>00463 <span class="comment"># Write Header File Content</span>
|
|
|
483 |
<a name="l00464"></a>00464 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
484 |
<a name="l00465"></a>00465
|
|
|
485 |
<a name="l00466"></a>00466 HeaderFileContent = generated_tag + <span class="stringliteral">"""</span>
|
|
|
486 |
<a name="l00467"></a>00467 <span class="stringliteral">#include "data.h"</span>
|
|
|
487 |
<a name="l00468"></a>00468 <span class="stringliteral"></span>
|
|
|
488 |
<a name="l00469"></a>00469 <span class="stringliteral">/* Prototypes of function provided by object dictionnary */</span>
|
|
|
489 |
<a name="l00470"></a>00470 <span class="stringliteral">UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);</span>
|
|
|
490 |
<a name="l00471"></a>00471 <span class="stringliteral">const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);</span>
|
|
|
491 |
<a name="l00472"></a>00472 <span class="stringliteral"></span>
|
|
|
492 |
<a name="l00473"></a>00473 <span class="stringliteral">/* Master node data struct */</span>
|
|
|
493 |
<a name="l00474"></a>00474 <span class="stringliteral">extern CO_Data %(NodeName)s_Data;</span>
|
|
|
494 |
<a name="l00475"></a>00475 <span class="stringliteral"></span>
|
|
|
495 |
<a name="l00476"></a>00476 <span class="stringliteral">"""</span>%texts
|
|
|
496 |
<a name="l00477"></a>00477 HeaderFileContent += strDeclareHeader
|
|
|
497 |
<a name="l00478"></a>00478
|
|
|
498 |
<a name="l00479"></a>00479 <span class="keywordflow">return</span> fileContent,HeaderFileContent
|
|
|
499 |
<a name="l00480"></a>00480
|
|
|
500 |
<a name="l00481"></a>00481 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
501 |
<a name="l00482"></a>00482 <span class="comment"># Main Function</span>
|
|
|
502 |
<a name="l00483"></a>00483 <span class="comment">#-------------------------------------------------------------------------------</span>
|
|
|
503 |
<a name="l00484"></a>00484
|
|
|
504 |
<a name="l00485"></a>00485 <span class="keyword">def </span>GenerateFile(filepath, manager):
|
|
|
505 |
<a name="l00486"></a>00486 <span class="keywordflow">try</span>:
|
|
|
506 |
<a name="l00487"></a>00487 headerfilepath = os.path.splitext(filepath)[0]+<span class="stringliteral">".h"</span>
|
|
|
507 |
<a name="l00488"></a>00488 content, header = GenerateFileContent(manager, os.path.split(headerfilepath)[1])
|
|
|
508 |
<a name="l00489"></a>00489 WriteFile(filepath, content)
|
|
|
509 |
<a name="l00490"></a>00490 WriteFile(headerfilepath, header)
|
|
|
510 |
<a name="l00491"></a>00491 <span class="keywordflow">return</span> <span class="keywordtype">None</span>
|
|
|
511 |
<a name="l00492"></a>00492 <span class="keywordflow">except</span> ValueError, message:
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<a name="l00493"></a>00493 <span class="keywordflow">return</span> <span class="stringliteral">"Unable to Generate C File\n%s"</span>%message
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<a name="l00494"></a>00494
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</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 16:29:06 2007 for CanFestival by
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<a href="http://www.doxygen.org/index.html">
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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</body>
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</html>
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