author | groke6 |
Mon, 11 Feb 2008 11:00:12 +0100 | |
changeset 387 | 6efc85c5493e |
parent 366 | 47763dd15e00 |
child 418 | 64a8c24b61a5 |
permissions | -rw-r--r-- |
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#!/usr/bin/env python |
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# -*- coding: utf-8 -*- |
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#This file is part of CanFestival, a library implementing CanOpen Stack. |
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# |
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#Copyright (C): Edouard TISSERANT and Francis DUPIN |
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# |
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#See COPYING file for copyrights details. |
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# |
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#This library is free software; you can redistribute it and/or |
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#modify it under the terms of the GNU Lesser General Public |
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#License as published by the Free Software Foundation; either |
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#version 2.1 of the License, or (at your option) any later version. |
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# |
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#This library is distributed in the hope that it will be useful, |
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#but WITHOUT ANY WARRANTY; without even the implied warranty of |
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#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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#Lesser General Public License for more details. |
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# |
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#You should have received a copy of the GNU Lesser General Public |
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#License along with this library; if not, write to the Free Software |
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#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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from node import * |
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from types import * |
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import re, os |
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word_model = re.compile('([a-zA-Z_0-9]*)') |
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type_model = re.compile('([\_A-Z]*)([0-9]*)') |
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range_model = re.compile('([\_A-Z]*)([0-9]*)\[([\-0-9]*)-([\-0-9]*)\]') |
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categories = [("SDO_SVR", 0x1200, 0x127F), ("SDO_CLT", 0x1280, 0x12FF), |
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("PDO_RCV", 0x1400, 0x15FF), ("PDO_RCV_MAP", 0x1600, 0x17FF), |
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("PDO_TRS", 0x1800, 0x19FF), ("PDO_TRS_MAP", 0x1A00, 0x1BFF)] |
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index_categories = ["firstIndex", "lastIndex"] |
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generated_tag = """\n/* File generated by gen_cfile.py. Should not be modified. */\n""" |
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internal_types = {} |
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# Format a string for making a C++ variable |
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def FormatName(name): |
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wordlist = [word for word in word_model.findall(name) if word != ''] |
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return "_".join(wordlist) |
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# Extract the informations from a given type name |
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def GetValidTypeInfos(typename): |
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if typename in internal_types: |
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return internal_types[typename] |
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else: |
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result = type_model.match(typename) |
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if result: |
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values = result.groups() |
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if values[0] == "UNSIGNED" and int(values[1]) in [i * 8 for i in xrange(1, 9)]: |
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typeinfos = ("UNS%s"%values[1], "", "uint%s"%values[1], True) |
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elif values[0] == "INTEGER" and int(values[1]) in [i * 8 for i in xrange(1, 9)]: |
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typeinfos = ("INTEGER%s"%values[1], "", "int%s"%values[1], False) |
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elif values[0] == "REAL" and int(values[1]) in (32, 64): |
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typeinfos = ("%s%s"%(values[0], values[1]), "", "real%s"%values[1], False) |
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elif values[0] == "VISIBLE_STRING": |
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if values[1] == "": |
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typeinfos = ("UNS8", "[10]", "visible_string", False) |
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else: |
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typeinfos = ("UNS8", "[%s]"%values[1], "visible_string", False) |
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elif values[0] == "DOMAIN": |
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typeinfos = ("UNS8*", "", "domain", True) |
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elif values[0] == "BOOLEAN": |
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typeinfos = ("UNS8", "", "boolean", True) |
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else: |
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raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename |
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internal_types[typename] = typeinfos |
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else: |
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raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename |
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return typeinfos |
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def WriteFile(filepath, content): |
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cfile = open(filepath,"w") |
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cfile.write(content) |
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cfile.close() |
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def GenerateFileContent(Node, headerfilepath): |
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global type |
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global internal_types |
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texts = {} |
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texts["maxPDOtransmit"] = 0 |
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texts["NodeName"] = Node.GetNodeName() |
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texts["NodeID"] = Node.GetNodeID() |
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texts["NodeType"] = Node.GetNodeType() |
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texts["Description"] = Node.GetNodeDescription() |
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texts["iam_a_slave"] = 0 |
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if (texts["NodeType"] == "slave"): |
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texts["iam_a_slave"] = 1 |
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# Compiling lists of indexes |
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rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260] |
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listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF] |
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communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF] |
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sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF] |
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pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF] |
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variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF] |
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#------------------------------------------------------------------------------- |
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# Declaration of the value range types |
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#------------------------------------------------------------------------------- |
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valueRangeContent = "" |
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strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */" |
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strSwitch = """ case valueRange_EMC: |
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if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED; |
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break;\n""" |
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internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True) |
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num = 0 |
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for index in rangelist: |
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rangename = Node.GetEntryName(index) |
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result = range_model.match(rangename) |
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if result: |
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num += 1 |
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typeindex = Node.GetEntry(index, 1) |
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typename = Node.GetTypeName(typeindex) |
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typeinfos = GetValidTypeInfos(typename) |
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internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num) |
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minvalue = Node.GetEntry(index, 2) |
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maxvalue = Node.GetEntry(index, 3) |
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strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],str(minvalue),str(maxvalue)) |
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strSwitch += " case valueRange_%d:\n"%(num) |
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if typeinfos[3] and minvalue <= 0: |
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strSwitch += " /* Negative or null low limit ignored because of unsigned type */;\n" |
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else: |
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strSwitch += " if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;\n"%(typeinfos[0],typeinfos[0],str(minvalue)) |
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strSwitch += " if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;\n"%(typeinfos[0],typeinfos[0],str(maxvalue)) |
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strSwitch += " break;\n" |
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valueRangeContent += strDefine |
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valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts |
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valueRangeContent += "\n switch (typeValue) {\n" |
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valueRangeContent += strSwitch |
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valueRangeContent += " }\n return 0;\n}\n" |
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#------------------------------------------------------------------------------- |
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# Creation of the mapped variables and object dictionary |
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#------------------------------------------------------------------------------- |
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mappedVariableContent = "" |
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strDeclareHeader = "" |
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strDeclareCallback = "" |
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indexContents = {} |
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indexCallbacks = {} |
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for index in listIndex: |
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texts["index"] = index |
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strIndex = "" |
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entry_infos = Node.GetEntryInfos(index) |
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texts["EntryName"] = entry_infos["name"].encode('ascii','replace') |
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values = Node.GetEntry(index) |
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callbacks = Node.HasEntryCallbacks(index) |
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if index in variablelist: |
157 |
strIndex += "\n/* index 0x%(index)04X : Mapped variable %(EntryName)s */\n"%texts |
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158 |
else: |
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159 |
strIndex += "\n/* index 0x%(index)04X : %(EntryName)s. */\n"%texts |
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160 |
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161 |
# Entry type is VAR |
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if type(values) != ListType: |
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subentry_infos = Node.GetSubentryInfos(index, 0) |
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typename = Node.GetTypeName(subentry_infos["type"]) |
0 | 165 |
typeinfos = GetValidTypeInfos(typename) |
166 |
texts["subIndexType"] = typeinfos[0] |
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167 |
texts["suffixe"] = typeinfos[1] |
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168 |
if typeinfos[2] == "visible_string": |
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texts["value"] = "\"%s\""%values |
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texts["comment"] = "" |
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elif typeinfos[2] == "domain": |
172 |
texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value]) |
|
173 |
texts["comment"] = "" |
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0 | 174 |
else: |
175 |
texts["value"] = "0x%X"%values |
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76 | 176 |
texts["comment"] = "\t/* %s */"%str(values) |
0 | 177 |
if index in variablelist: |
178 |
texts["name"] = FormatName(subentry_infos["name"]) |
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76 | 179 |
strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts |
0 | 180 |
if callbacks: |
76 | 181 |
strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts |
182 |
mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts |
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0 | 183 |
else: |
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strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts |
0 | 185 |
values = [values] |
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else: |
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subentry_infos = Node.GetSubentryInfos(index, 0) |
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typename = Node.GetTypeName(subentry_infos["type"]) |
188 | 189 |
typeinfos = GetValidTypeInfos(typename) |
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if index == 0x1003: |
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texts["value"] = 0 |
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else: |
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texts["value"] = values[0] |
188 | 194 |
texts["subIndexType"] = typeinfos[0] |
195 |
strIndex += " %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts |
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0 | 196 |
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197 |
# Entry type is RECORD |
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198 |
if entry_infos["struct"] & OD_IdenticalSubindexes: |
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subentry_infos = Node.GetSubentryInfos(index, 1) |
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typename = Node.GetTypeName(subentry_infos["type"]) |
0 | 201 |
typeinfos = GetValidTypeInfos(typename) |
202 |
texts["subIndexType"] = typeinfos[0] |
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203 |
texts["suffixe"] = typeinfos[1] |
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204 |
texts["length"] = values[0] |
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205 |
if index in variablelist: |
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206 |
texts["name"] = FormatName(entry_infos["name"]) |
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76 | 207 |
strDeclareHeader += "extern %(subIndexType)s %(name)s[%(length)d]%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n"%texts |
0 | 208 |
if callbacks: |
76 | 209 |
strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts |
210 |
mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n {\n"%texts |
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0 | 211 |
for subIndex, value in enumerate(values): |
212 |
sep = "," |
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comment = "" |
0 | 214 |
if subIndex > 0: |
215 |
if subIndex == len(values)-1: |
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216 |
sep = "" |
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217 |
if typeinfos[2] == "visible_string": |
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218 |
value = "\"%s\""%value |
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223 | 219 |
elif typeinfos[2] == "domain": |
220 |
value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value]) |
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227 | 221 |
else: |
76 | 222 |
comment = "\t/* %s */"%str(value) |
0 | 223 |
value = "0x%X"%value |
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mappedVariableContent += " %s%s%s\n"%(value, sep, comment) |
28 | 225 |
mappedVariableContent += " };\n" |
0 | 226 |
else: |
227 |
strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n {\n"%texts |
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228 |
for subIndex, value in enumerate(values): |
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sep = "," |
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comment = "" |
0 | 231 |
if subIndex > 0: |
232 |
if subIndex == len(values)-1: |
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233 |
sep = "" |
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234 |
if typeinfos[2] == "visible_string": |
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235 |
value = "\"%s\""%value |
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elif typeinfos[2] == "domain": |
176 | 237 |
value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value]) |
0 | 238 |
else: |
76 | 239 |
comment = "\t/* %s */"%str(value) |
5
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|
240 |
value = "0x%X"%value |
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diff
changeset
|
241 |
strIndex += " %s%s%s\n"%(value, sep, comment) |
0 | 242 |
strIndex += " };\n" |
243 |
else: |
|
244 |
||
66
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gen_cfile.py modified for avoiding possible conflict in mapped variable names
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parents:
64
diff
changeset
|
245 |
texts["parent"] = FormatName(entry_infos["name"]) |
0 | 246 |
# Entry type is ARRAY |
247 |
for subIndex, value in enumerate(values): |
|
248 |
texts["subIndex"] = subIndex |
|
249 |
if subIndex > 0: |
|
245
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lbessard
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diff
changeset
|
250 |
subentry_infos = Node.GetSubentryInfos(index, subIndex) |
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diff
changeset
|
251 |
typename = Node.GetTypeName(subentry_infos["type"]) |
0 | 252 |
typeinfos = GetValidTypeInfos(typename) |
253 |
texts["subIndexType"] = typeinfos[0] |
|
254 |
texts["suffixe"] = typeinfos[1] |
|
255 |
if typeinfos[2] == "visible_string": |
|
256 |
texts["value"] = "\"%s\""%value |
|
5
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diff
changeset
|
257 |
texts["comment"] = "" |
223 | 258 |
elif typeinfos[2] == "domain": |
259 |
texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value]) |
|
260 |
texts["comment"] = "" |
|
227 | 261 |
else: |
0 | 262 |
texts["value"] = "0x%X"%value |
76 | 263 |
texts["comment"] = "\t/* %s */"%str(value) |
0 | 264 |
texts["name"] = FormatName(subentry_infos["name"]) |
265 |
if index in variablelist: |
|
76 | 266 |
strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts |
267 |
mappedVariableContent += "%(subIndexType)s %(parent)s_%(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts |
|
0 | 268 |
else: |
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diff
changeset
|
269 |
strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts |
0 | 270 |
if callbacks: |
76 | 271 |
strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts |
0 | 272 |
|
273 |
# Generating Dictionary C++ entry |
|
274 |
if callbacks: |
|
275 |
if index in variablelist: |
|
276 |
name = FormatName(entry_infos["name"]) |
|
277 |
else: |
|
278 |
name = "%(NodeName)s_Index%(index)04X"%texts |
|
279 |
strIndex += " ODCallback_t %s_callbacks[] = \n {\n"%name |
|
280 |
for subIndex in xrange(len(values)): |
|
281 |
strIndex += " NULL,\n" |
|
282 |
strIndex += " };\n" |
|
283 |
indexCallbacks[index] = "*callbacks = %s_callbacks; "%name |
|
284 |
else: |
|
285 |
indexCallbacks[index] = "" |
|
286 |
strIndex += " subindex %(NodeName)s_Index%(index)04X[] = \n {\n"%texts |
|
287 |
for subIndex in xrange(len(values)): |
|
245
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diff
changeset
|
288 |
subentry_infos = Node.GetSubentryInfos(index, subIndex) |
0 | 289 |
if subIndex < len(values) - 1: |
290 |
sep = "," |
|
291 |
else: |
|
292 |
sep = "" |
|
245
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diff
changeset
|
293 |
typename = Node.GetTypeName(subentry_infos["type"]) |
0 | 294 |
typeinfos = GetValidTypeInfos(typename) |
295 |
if subIndex == 0: |
|
286
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diff
changeset
|
296 |
if index == 0x1003: |
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diff
changeset
|
297 |
typeinfos = GetValidTypeInfos("valueRange_EMC") |
0 | 298 |
if entry_infos["struct"] & OD_MultipleSubindexes: |
299 |
name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts |
|
300 |
elif index in variablelist: |
|
301 |
name = FormatName(subentry_infos["name"]) |
|
302 |
else: |
|
303 |
name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"])) |
|
304 |
elif entry_infos["struct"] & OD_IdenticalSubindexes: |
|
305 |
if index in variablelist: |
|
306 |
name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1) |
|
307 |
else: |
|
308 |
name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1) |
|
309 |
else: |
|
310 |
if index in variablelist: |
|
70 | 311 |
name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"])) |
0 | 312 |
else: |
313 |
name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"])) |
|
188 | 314 |
if typeinfos[2] in ["visible_string", "domain"]: |
176 | 315 |
sizeof = str(len(values[subIndex])) |
316 |
else: |
|
317 |
sizeof = "sizeof (%s)"%typeinfos[0] |
|
245
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235
diff
changeset
|
318 |
params = Node.GetParamsEntry(index, subIndex) |
0 | 319 |
if params["save"]: |
320 |
save = "|TO_BE_SAVE" |
|
321 |
else: |
|
322 |
save = "" |
|
188 | 323 |
strIndex += " { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep) |
0 | 324 |
strIndex += " };\n" |
325 |
indexContents[index] = strIndex |
|
326 |
||
327 |
#------------------------------------------------------------------------------- |
|
328 |
# Declaration of Particular Parameters |
|
329 |
#------------------------------------------------------------------------------- |
|
330 |
||
284 | 331 |
if 0x1003 not in communicationlist: |
332 |
entry_infos = Node.GetEntryInfos(0x1003) |
|
333 |
texts["EntryName"] = entry_infos["name"] |
|
334 |
indexContents[0x1003] = """\n/* index 0x1003 : %(EntryName)s */ |
|
335 |
UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/ |
|
336 |
UNS32 %(NodeName)s_obj1003[] = |
|
337 |
{ |
|
338 |
0x0 /* 0 */ |
|
339 |
}; |
|
340 |
ODCallback_t %(NodeName)s_Index1003_callbacks[] = |
|
341 |
{ |
|
342 |
NULL, |
|
343 |
NULL, |
|
344 |
}; |
|
345 |
subindex %(NodeName)s_Index1003[] = |
|
346 |
{ |
|
286
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Adding support for restricting user to only dynamically set 0 to index 0x1003 subindex 0x00 in gen_cfile.py
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284
diff
changeset
|
347 |
{ RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 }, |
284 | 348 |
{ RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] } |
349 |
}; |
|
350 |
"""%texts |
|
351 |
||
261
dbcd80bcab82
Prevent potential problem with missing 0x1005 OD entry
etisserant
parents:
245
diff
changeset
|
352 |
if 0x1005 not in communicationlist: |
dbcd80bcab82
Prevent potential problem with missing 0x1005 OD entry
etisserant
parents:
245
diff
changeset
|
353 |
entry_infos = Node.GetEntryInfos(0x1005) |
dbcd80bcab82
Prevent potential problem with missing 0x1005 OD entry
etisserant
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245
diff
changeset
|
354 |
texts["EntryName"] = entry_infos["name"] |
dbcd80bcab82
Prevent potential problem with missing 0x1005 OD entry
etisserant
parents:
245
diff
changeset
|
355 |
indexContents[0x1005] = """\n/* index 0x1005 : %(EntryName)s */ |
dbcd80bcab82
Prevent potential problem with missing 0x1005 OD entry
etisserant
parents:
245
diff
changeset
|
356 |
UNS32 %(NodeName)s_obj1005 = 0x0; /* 0 */ |
dbcd80bcab82
Prevent potential problem with missing 0x1005 OD entry
etisserant
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245
diff
changeset
|
357 |
"""%texts |
dbcd80bcab82
Prevent potential problem with missing 0x1005 OD entry
etisserant
parents:
245
diff
changeset
|
358 |
|
0 | 359 |
if 0x1006 not in communicationlist: |
245
d43ebbed895f
Modifying gen_cfile.py for generating C file from a node as data rather than a manager
lbessard
parents:
235
diff
changeset
|
360 |
entry_infos = Node.GetEntryInfos(0x1006) |
0 | 361 |
texts["EntryName"] = entry_infos["name"] |
362 |
indexContents[0x1006] = """\n/* index 0x1006 : %(EntryName)s */ |
|
76 | 363 |
UNS32 %(NodeName)s_obj1006 = 0x0; /* 0 */ |
0 | 364 |
"""%texts |
365 |
||
314
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
313
diff
changeset
|
366 |
if 0x1014 not in communicationlist: |
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
313
diff
changeset
|
367 |
entry_infos = Node.GetEntryInfos(0x1014) |
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
313
diff
changeset
|
368 |
texts["EntryName"] = entry_infos["name"] |
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
313
diff
changeset
|
369 |
indexContents[0x1014] = """\n/* index 0x1014 : %(EntryName)s */ |
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
313
diff
changeset
|
370 |
UNS32 %(NodeName)s_obj1014 = 0x0; /* 0 */ |
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
313
diff
changeset
|
371 |
"""%texts |
68e83c3ffbb5
Better EMCY support. Now EMCY COB-ID depend on OD 1014h entry, as told in DS-301.
etisserant
parents:
313
diff
changeset
|
372 |
|
0 | 373 |
if 0x1016 in communicationlist: |
325 | 374 |
texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0) |
0 | 375 |
else: |
325 | 376 |
texts["heartBeatTimers_number"] = 0 |
245
d43ebbed895f
Modifying gen_cfile.py for generating C file from a node as data rather than a manager
lbessard
parents:
235
diff
changeset
|
377 |
entry_infos = Node.GetEntryInfos(0x1016) |
0 | 378 |
texts["EntryName"] = entry_infos["name"] |
379 |
indexContents[0x1016] = """\n/* index 0x1016 : %(EntryName)s */ |
|
380 |
UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0; |
|
91
ed2612282988
- Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer.
etisserant
parents:
76
diff
changeset
|
381 |
UNS32 %(NodeName)s_obj1016[]={0}; |
0 | 382 |
"""%texts |
325 | 383 |
|
0 | 384 |
if 0x1017 not in communicationlist: |
245
d43ebbed895f
Modifying gen_cfile.py for generating C file from a node as data rather than a manager
lbessard
parents:
235
diff
changeset
|
385 |
entry_infos = Node.GetEntryInfos(0x1017) |
0 | 386 |
texts["EntryName"] = entry_infos["name"] |
387 |
indexContents[0x1017] = """\n/* index 0x1017 : %(EntryName)s */ |
|
76 | 388 |
UNS16 %(NodeName)s_obj1017 = 0x0; /* 0 */ |
0 | 389 |
"""%texts |
390 |
||
391 |
#------------------------------------------------------------------------------- |
|
392 |
# Declaration of navigation in the Object Dictionary |
|
393 |
#------------------------------------------------------------------------------- |
|
394 |
||
395 |
strDeclareIndex = "" |
|
396 |
strDeclareSwitch = "" |
|
397 |
strQuickIndex = "" |
|
398 |
quick_index = {} |
|
399 |
for index_cat in index_categories: |
|
400 |
quick_index[index_cat] = {} |
|
401 |
for cat, idx_min, idx_max in categories: |
|
402 |
quick_index[index_cat][cat] = 0 |
|
403 |
maxPDOtransmit = 0 |
|
404 |
for i, index in enumerate(listIndex): |
|
405 |
texts["index"] = index |
|
406 |
strDeclareIndex += " { (subindex*)%(NodeName)s_Index%(index)04X,sizeof(%(NodeName)s_Index%(index)04X)/sizeof(%(NodeName)s_Index%(index)04X[0]), 0x%(index)04X},\n"%texts |
|
407 |
strDeclareSwitch += " case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index]) |
|
408 |
for cat, idx_min, idx_max in categories: |
|
409 |
if idx_min <= index <= idx_max: |
|
410 |
quick_index["lastIndex"][cat] = i |
|
411 |
if quick_index["firstIndex"][cat] == 0: |
|
412 |
quick_index["firstIndex"][cat] = i |
|
413 |
if cat == "PDO_TRS": |
|
414 |
maxPDOtransmit += 1 |
|
415 |
texts["maxPDOtransmit"] = max(1, maxPDOtransmit) |
|
416 |
for index_cat in index_categories: |
|
417 |
strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat) |
|
418 |
sep = "," |
|
419 |
for i, (cat, idx_min, idx_max) in enumerate(categories): |
|
420 |
if i == len(categories) - 1: |
|
421 |
sep = "" |
|
76 | 422 |
strQuickIndex += " %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat) |
0 | 423 |
strQuickIndex += "};\n" |
424 |
||
425 |
#------------------------------------------------------------------------------- |
|
426 |
# Write File Content |
|
427 |
#------------------------------------------------------------------------------- |
|
428 |
||
73 | 429 |
fileContent = generated_tag + """ |
0 | 430 |
#include "%s" |
431 |
"""%(headerfilepath) |
|
432 |
||
433 |
fileContent += """ |
|
434 |
/**************************************************************************/ |
|
435 |
/* Declaration of the mapped variables */ |
|
436 |
/**************************************************************************/ |
|
437 |
""" + mappedVariableContent |
|
438 |
||
439 |
fileContent += """ |
|
440 |
/**************************************************************************/ |
|
441 |
/* Declaration of the value range types */ |
|
442 |
/**************************************************************************/ |
|
443 |
""" + valueRangeContent |
|
444 |
||
445 |
fileContent += """ |
|
446 |
/**************************************************************************/ |
|
447 |
/* The node id */ |
|
448 |
/**************************************************************************/ |
|
449 |
/* node_id default value.*/ |
|
450 |
UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X; |
|
451 |
||
76 | 452 |
/**************************************************************************/ |
0 | 453 |
/* Array of message processing information */ |
454 |
||
455 |
const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d; |
|
456 |
||
457 |
"""%texts |
|
325 | 458 |
if texts["heartBeatTimers_number"] > 0: |
459 |
fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(heartBeatTimers_number)d] = {TIMER_NONE,};\n"%texts |
|
460 |
else: |
|
461 |
fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts |
|
0 | 462 |
|
463 |
fileContent += """ |
|
76 | 464 |
/* |
465 |
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
|
466 |
||
467 |
OBJECT DICTIONARY |
|
468 |
||
469 |
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
|
470 |
*/ |
|
0 | 471 |
"""%texts |
472 |
contentlist = indexContents.keys() |
|
473 |
contentlist.sort() |
|
474 |
for index in contentlist: |
|
475 |
fileContent += indexContents[index] |
|
476 |
||
477 |
fileContent += """ |
|
478 |
const indextable %(NodeName)s_objdict[] = |
|
479 |
{ |
|
480 |
"""%texts |
|
481 |
fileContent += strDeclareIndex |
|
482 |
fileContent += """}; |
|
483 |
||
484 |
const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks) |
|
485 |
{ |
|
486 |
int i; |
|
487 |
*callbacks = NULL; |
|
488 |
switch(wIndex){ |
|
489 |
"""%texts |
|
490 |
fileContent += strDeclareSwitch |
|
491 |
fileContent += """ default: |
|
492 |
*errorCode = OD_NO_SUCH_OBJECT; |
|
493 |
return NULL; |
|
494 |
} |
|
495 |
*errorCode = OD_SUCCESSFUL; |
|
496 |
return &%(NodeName)s_objdict[i]; |
|
497 |
} |
|
498 |
||
235
f812bf6b7237
Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents:
229
diff
changeset
|
499 |
/* |
f812bf6b7237
Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents:
229
diff
changeset
|
500 |
* To count at which received SYNC a PDO must be sent. |
76 | 501 |
* Even if no pdoTransmit are defined, at least one entry is computed |
502 |
* for compilations issues. |
|
503 |
*/ |
|
235
f812bf6b7237
Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents:
229
diff
changeset
|
504 |
s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts |
f812bf6b7237
Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents:
229
diff
changeset
|
505 |
|
366 | 506 |
fileContent += ",".join(["s_PDO_status_Initializer"]*texts["maxPDOtransmit"]) + """}; |
235
f812bf6b7237
Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents:
229
diff
changeset
|
507 |
""" |
f812bf6b7237
Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents:
229
diff
changeset
|
508 |
|
0 | 509 |
fileContent += strQuickIndex |
510 |
fileContent += """ |
|
511 |
UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]); |
|
512 |
||
513 |
CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s); |
|
514 |
||
515 |
"""%texts |
|
516 |
||
517 |
#------------------------------------------------------------------------------- |
|
518 |
# Write Header File Content |
|
519 |
#------------------------------------------------------------------------------- |
|
520 |
||
223 | 521 |
texts["file_include_name"] = headerfilepath.replace(".", "_").upper() |
73 | 522 |
HeaderFileContent = generated_tag + """ |
224 | 523 |
#ifndef %(file_include_name)s |
223 | 524 |
#define %(file_include_name)s |
525 |
||
0 | 526 |
#include "data.h" |
527 |
||
76 | 528 |
/* Prototypes of function provided by object dictionnary */ |
63
2be18e405e40
Bug on map variable type changing and on comments with special characters corrected
lbessard
parents:
60
diff
changeset
|
529 |
UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value); |
2be18e405e40
Bug on map variable type changing and on comments with special characters corrected
lbessard
parents:
60
diff
changeset
|
530 |
const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks); |
2be18e405e40
Bug on map variable type changing and on comments with special characters corrected
lbessard
parents:
60
diff
changeset
|
531 |
|
76 | 532 |
/* Master node data struct */ |
0 | 533 |
extern CO_Data %(NodeName)s_Data; |
534 |
"""%texts |
|
535 |
HeaderFileContent += strDeclareHeader |
|
536 |
||
223 | 537 |
HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts |
538 |
||
0 | 539 |
return fileContent,HeaderFileContent |
540 |
||
541 |
#------------------------------------------------------------------------------- |
|
542 |
# Main Function |
|
543 |
#------------------------------------------------------------------------------- |
|
544 |
||
245
d43ebbed895f
Modifying gen_cfile.py for generating C file from a node as data rather than a manager
lbessard
parents:
235
diff
changeset
|
545 |
def GenerateFile(filepath, node): |
188 | 546 |
try: |
547 |
headerfilepath = os.path.splitext(filepath)[0]+".h" |
|
245
d43ebbed895f
Modifying gen_cfile.py for generating C file from a node as data rather than a manager
lbessard
parents:
235
diff
changeset
|
548 |
content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1]) |
188 | 549 |
WriteFile(filepath, content) |
550 |
WriteFile(headerfilepath, header) |
|
551 |
return None |
|
552 |
except ValueError, message: |
|
553 |
return "Unable to Generate C File\n%s"%message |
|
554 |