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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, Francis DUPIN and Laurent BESSARD

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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 xml.parsers import expat

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import node

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from node import *

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maxObjects = 8

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currentPDOIndex = 0

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currentBitsMapped = 0

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currentMaxObjects = 0

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currentNbMappedObjects = 0

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nextPdoIndex = {"rx":0x1400,"tx":0x1800}

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valid_elements = ["node","heartbeat_consumers","sdo_clients","pdo","mapped_object",

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    "pdo_param","pdo_receive","pdo_transmit","mapped_variable","mapped_table",

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    "mapped_string_variable","mapped_string_table"]

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

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#                       Callback method of parse

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

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def StartElement(name, attrs):

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    if name in valid_elements:

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        if name == "node":

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            startNode(attrs)

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        elif name == "heartbeat_consumers":

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            startHeartBeatConsumers(attrs)

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        elif name == "sdo_clients":

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            startSdoClients(attrs)

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        elif name in ["pdo_param","pdo_receive","pdo_transmit"]:

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            raise ValueError, """!!! The XML grammar has changed.

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Please, open your xml file, delete the tags pdo_param, pdo_receive and pdo_transmit.

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Use instead the tag pdo for each pdo to create, and (optional) use the tag mapped_object (menu pdo/map and object ...)."""

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        elif name == "pdo":

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            startPdo(attrs)

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        elif name == "mapped_object":

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            startMappedObject(attrs)

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        elif name == "mapped_variable":

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            startMappedVariable(attrs)

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        elif name == "mapped_table":

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            startMappedTable(attrs)

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        elif name == "mapped_string_variable":

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            startMappedVariable(attrs)

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        elif name == "mapped_string_table":

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            startMappedTable(attrs)

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def EndElement(name):

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    if name in valid_elements:

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       if name == "node":

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           stopNode()

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def CharacterData(data):

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    pass

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

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#                          Creation of Node

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

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def startNode(attrs):

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    name = attrs["name"]

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    Node.SetNodeName(name)

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    if "node_id" in attrs and len(attrs["node_id"]) > 0:

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        node_id = eval(attrs["node_id"])

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    else:

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        node_id = 0x01  # We define here a default node_id. 

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    Node.SetNodeID(node_id)

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    typeNode = attrs["type_node"]

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    Node.SetNodeType(typeNode)

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    if "device_type_1000" in attrs:

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        device_type = eval(attrs["device_type_1000"])

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    else:

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        device_type = 0

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    Node.AddEntry(0x1000, 0, device_type)

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    Node.AddEntry(0x1001, 0, 0)

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    Node.AddEntry(0x1005, 0, 0x00000080)

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    Node.AddEntry(0x1006, 0, 0)

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    Node.AddEntry(0x1007, 0, 0)

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    if "manufacturer_device_name_1008" in attrs:

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        manufacturer_device_name = attrs["manufacturer_device_name_1008"]

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    else:

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        manufacturer_device_name = ""

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    Node.AddEntry(0x1008, 0, manufacturer_device_name)

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    if "manufacturer_hardware_version_1009" in attrs:

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        manufacturer_hardware_version = attrs["manufacturer_hardware_version_1009"]

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    else:

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        manufacturer_hardware_version = "__DATE__"

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    Node.AddEntry(0x1009, 0, manufacturer_hardware_version)

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    if "manufacturer_software_version_100A" in attrs:

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        manufacturer_software_version = attrs["manufacturer_software_version_100A"]

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    else:

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        manufacturer_software_version = 0

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    Node.AddEntry(0x100A, 0,  manufacturer_software_version)

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    if "vendor_id_1018" in attrs:

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        vendor_id = eval(attrs["vendor_id_1018"])

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    else:

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        vendor_id = 0

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    if "product_code_1018" in attrs:

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        product_code = eval(attrs["product_code_1018"])

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    else:

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        product_code = 0

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    if "revision_number_1018" in attrs:

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        revision_number = eval(attrs["revision_number_1018"])

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    else:

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        revision_number = 0

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    if "serial_number_1018" in attrs:

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        serial_number = eval(attrs["serial_number_1018"])

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    else:

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        serial_number = 0

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    Node.AddEntry(0x1018, 1, vendor_id)

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    Node.AddEntry(0x1018, 2, product_code)

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    Node.AddEntry(0x1018, 3, revision_number)

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    Node.AddEntry(0x1018, 4, serial_number)

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def stopNode():

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    heartBeatProducer()

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    sdoServer()

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

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#                      Creation of PDO in Object Dictionary

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

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def startPdo(attrs):

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    global currentPdoIndex

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    global currentMaxObjects

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    global currentNbMappedObjects

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    global currentBitsMapped

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    global maxObjects

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    cobId = 0

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    transmissionType = 253 # Default is on request. Why not ?

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    # Find the type of the PDO and search the index of the last added

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    type = attrs["type_rx_tx"]

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    index = nextPdoIndex[type]

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    # If the index of the PDO is define, verify that it has a good index

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    if "index_communication_parameter" in attrs:

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        index = eval(attrs["index_communication_parameter"])

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    if type == "rx" and not 0x1400 <= index <= 0x15FF:

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        raise ValueError, """!!! Abort because Index PDO receive : 0x%04X not valid.

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Valid index is 0x1400 ... 0x15FF"""%index

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    if type == "tx" and not 0x1800 <= index <= 0x19FF:

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        raise ValueError, """!!! Abort because Index PDO transmit : 0x%04X not valid.

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Valid index is 0x1800 ... 0x19FF"""%index

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    # Extract the PDO communication parameters

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    if "cob_id" == attrs:

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        cobId = eval(attrs["cob_id"])

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    if "max_objects_in_pdo" == attrs:

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        maxObjects = eval(attrs["max_objects_in_pdo"])

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    if "transmission_type" in attrs:

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        transmissionType = eval(attrs["transmission_type"])

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    if Node.IsEntry(index):

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        raise ValueError, """!!! Abort because the PDO at index : 0x%04X have been already defined."""%index

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    # Communication parameters

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    Node.AddEntry(index, 1, cobId)

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    Node.AddEntry(index, 2, transmissionType)

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    # Mapping parameters

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    mapping_index = index + 0x200

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    for i in xrange(1, maxObjects + 1):

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        Node.AddEntry(mapping_index, i, 0x0)

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    currentPdoIndex = index

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    currentMaxObjects = maxObjects

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    currentBitsMapped = 0

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    currentNbMappedObjects = 0

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    nextPdoIndex[type] = index + 1

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def startMappedObject(attrs):

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    global currentPdoIndex

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    global currentMaxObjects

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    global currentNbMappedObjects

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    global currentBitsMapped

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    index = currentPdoIndex

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    mapping_index = index + 0x200

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    indexObject = eval(attrs["index"])

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    subIndexObject = eval(attrs["sub_index"])

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    sizeInBitsObject = eval(attrs["size_in_bits"])

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    if currentMaxObjects == 0:

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        raise ValueError, """!!! Abort because of a bogue for mapped object (defined at index 0x%04X, subIndex 0x%025X)

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in PDO. index : 0x%04X is undefined."""%(indexObject,subindexObject,mapping_index)

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    if currentNbMappedObjects >= currentMaxObjects:

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        raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X)

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in PDO index 0x%04X. max objects (%d) reached."""%(IndexObject,subIndexObject,mapping_index,pdo[mapping_index]["maxObjects"])

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    if currentBitsMapped + sizeInBitsObject > 64:

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        raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X)

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in PDO index 0x%04X. No room to put %d bits in the PDO."""%(IndexObject,subIndexObject,mapping_index,sizeInBitsObject)

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    value = eval("0x%04X%02X%02X"%(indexObject,subIndexObject,sizeInBitsObject))

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    Node.SetEntry(mapping_index, currentNbMappedObjects + 1, value)

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    currentNbMappedObjects += 1

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    currentBitsMapped += sizeInBitsObject

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

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#                    Creation of mapped variable and table 

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

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def startMappedVariable(attrs):

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    name = attrs["name"]

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    index = eval(attrs["index"])

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    subIndex = eval(attrs["sub_index"])

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    if "size_in_bits" in attrs:

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        size = eval(attrs["size_in_bits"]) # Numeric variable

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        if "type" in attrs:

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            type = attrs["type"]

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            if (type == "UNS"):

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                type = "UNSIGNED"

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        else: # Default type

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            type = "UNSIGNED"

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        typename = "%s%d"%(type,size)

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        type_index = Manager.GetTypeIndex(typename, False)

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        if type_index == None:

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            raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unrecognized type : %s"""%(name,index,subIndex,typename)

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        # Begin ValueRange support

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        if "min_value" in attrs or "max_value" in attrs:

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            if "min_value" in attrs and "max_value" in attrs:

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                minValue = eval(attrs["min_value"])

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                maxValue = eval(attrs["max_value"])

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                if (minValue > maxValue):

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                    raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : error in value-range : min > max"""%(name,index,subIndex)

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            else:

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                raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : You have defined only a min or a max value. \nIf you define one, you must define both."""%(name,index,subIndex)

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            type_index = findRangeType(type_index, minValue, maxValue)

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            if type_index == None:

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                raise ValueError, """!!! Sorry, too many different value range have been defined"""

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        # End ValueRange support    

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    if "size_in_byte" in attrs:

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        size = eval(attrs["size_in_byte"]) # String variable

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        type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size)

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        if type_index == None:

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            raise ValueError, """!!! Sorry, too many different string length have been defined"""

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    if "access" in attrs:

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        access = attrs["access"].lower()

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    else: 

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        access = "rw" # default value

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    if index < 0x2000 or index > 0xBFFF:

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        raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Variable can't be defined using this index-subindex."""%(name,index,subIndex)

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    if subIndex == 0:

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        Node.AddMappingEntry(index, name = name, struct = 1)

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    elif subIndex == 1:

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        Node.AddMappingEntry(index, struct = 3)

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        Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})    

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    result = Node.AddMappingEntry(index, subIndex, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True})

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    if result:

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        Node.AddEntry(index, subIndex, 0)

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    else:

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        raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unable to map"""%(name,index,subIndex)

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def startMappedTable(attrs):

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    name = attrs["name"]

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    number_elements = eval(attrs["number_elements"])

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    index = eval(attrs["index"])

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    if "size_in_bits" in attrs:

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        size = eval(attrs["size_in_bits"]) # Numeric variable

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        if "type" in attrs:

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            type = attrs["type"]

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            if (type == "UNS"):

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                type = "UNSIGNED"

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        else: # Default type

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            type = "UNSIGNED"

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        typename = "%s%d"%(type,size)

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        type_index = Manager.GetTypeIndex(typename, False)

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        if type_index == None:

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            raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Unrecognized type : %s"""%(name,index,typename)

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        # Begin ValueRange support

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        if "min_value" in attrs or "max_value" in attrs:

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            if "min_value" in attrs and "max_value" in attrs:

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                minValue = eval(attrs["min_value"])

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                maxValue = eval(attrs["max_value"])

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                if (minValue > maxValue):

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                    raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : error in value-range : min > max"""%(name,index)

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            else:

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                raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : You have defined only a min or a max value. \nIf you define one, you must define both."""%(name,index)

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            type_index = findRangeType(type_index, minValue, maxValue)

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            if type_index == None:

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                raise ValueError, """!!! Sorry, too many different value range have been defined"""

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        # End ValueRange support

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    if "size_in_byte" in attrs:

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        size = eval(attrs["size_in_byte"]) # String variable

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        type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size)

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        if type_index == None:

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            raise ValueError, """!!! Sorry, too many different string length have been defined"""

   336

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    if "access" in attrs:

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        access = attrs["access"].lower()

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    else:

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        access = "rw" # default value    

   341

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    if index < 0x2000 or index > 0xBFFF:

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        raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Variable can't be defined using this index-subindex."""%(name,index)

   344

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    result = Node.AddMappingEntry(index, name = name, struct = 7)

   346

    if not result:

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        raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Unable to map because a variable or a table is using this index"""%(name,index)

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    Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})

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    Node.AddMappingEntry(index, 1, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True, "nbmax" : number_elements})

   350

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    for subIndex in xrange(1,number_elements+1):

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        Node.AddEntry(index, subIndex, 0)

   353

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def findRangeType(type, minValue, maxValue):

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    index = 0xA0

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    while index < 0x100 and Node.IsEntry(index):

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        current_type = Node.GetEntry(index, 1)

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        if current_type == type:

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            current_minValue = Node.GetEntry(index, 2)

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            current_maxValue = Node.GetEntry(index, 3)

   361

            if current_minValue == minValue and current_maxValue == maxValue:

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                return index

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        index += 1

   364

    if index < 0x100:

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        infos = Manager.GetEntryInfos(type, False)

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        name = "%s[%d-%d]"%(infos["name"], minValue, maxValue)

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        Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"])

   368

        Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})

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        Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False})

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        Node.AddMappingEntry(index, 2, values = {"name" : "Minimum Value", "type" : type, "access" : "ro", "pdo" : False})

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        Node.AddMappingEntry(index, 3, values = {"name" : "Maximum Value", "type" : type, "access" : "ro", "pdo" : False})

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        Node.AddEntry(index, 1, type)

   373

        Node.AddEntry(index, 2, minValue)

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        Node.AddEntry(index, 3, maxValue)

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        return index

   376

    return None

   377

   378

def findStringType(type, length):

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    index = 0xA0

   380

    while index < 0x100 and Node.IsEntry(index):

   381

        current_type = Node.GetEntry(index, 1)

   382

        if current_type == type:

   383

            current_length = Node.GetEntry(index, 2)

   384

            if current_length == length:

   385

                return index

   386

        index += 1

   387

    if index < 0x100:

   388

        infos = Manager.GetEntryInfos(type, False)

   389

        name = "%s%d"%(Manager.GetTypeName(type), length)

   390

        Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"])

   391

        Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})

   392

        Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False})

   393

        Node.AddMappingEntry(index, 2, values = {"name" : "Length", "type" : 0x02, "access" : "ro", "pdo" : False})

   394

        Node.AddEntry(index, 1, type)

   395

        Node.AddEntry(index, 2, length)

   396

        return index

   397

    return None

   398

   399

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

   400

#                   Creation HeartBeat Producer & Consumers

   401

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

   402

   403

def heartBeatProducer():

   404

    Node.AddEntry(0x1017, 0, 0)

   405

   406

def startHeartBeatConsumers(attrs):

   407

    nombre = eval(attrs["nombre"])

   408

    for i in xrange(nombre):

   409

        Node.AddEntry(0x1016, i + 1, 0)		    

   410

   411

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

   412

#                       Creation of SDO Server & Clients

   413

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

   414

   415

def sdoServer():

   416

    Node.AddEntry(0x1200, 1, 0x600 + Node.GetNodeID())

   417

    Node.AddEntry(0x1200, 2, 0x580 + Node.GetNodeID())

   418

   419

def startSdoClients(attrs):

   420

    nombre = eval(attrs["nombre"])

   421

    for i in xrange(nombre):

   422

        Node.AddEntry(0x1280 + i, 1, 0x600)

   423

        Node.AddEntry(0x1280 + i, 2, 0x580)

   424

        Node.AddEntry(0x1280 + i, 3, 0)

   425

   426

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

   427

#                           Parse file with Saxe

   428

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

   429

   430

def ParseFile(filepath):

   431

    xmlfile = open(filepath,"r")

   432

    Parser = expat.ParserCreate()

   433

    Parser.StartElementHandler = StartElement

   434

    Parser.EndElementHandler = EndElement

   435

    Parser.CharacterDataHandler = CharacterData

   436

    ParserStatus = Parser.ParseFile(xmlfile)

   437

    xmlfile.close()    

   438

   439

def GenerateNode(filepath, manager):

   440

    global Node

   441

    global Manager

   442

    Manager = manager

   443

    Node = node.Node()

   444

    ParseFile(filepath)

   445

    return Node

   446

   447

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

   448

#                             Main Function

   449

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

   450

   451

if __name__ == '__main__':

   452

    ParseFile("test.xml")

   453