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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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import node
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from node import nosub, var, array, rec, plurivar, pluriarray, plurirec
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from sets import *
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from types import *
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from time import *
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import os,re
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# Regular expression for finding index section names
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index_model = re.compile('([0-9A-F]{1,4})')
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# Regular expression for finding subindex section names
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subindex_model = re.compile('([0-9A-F]{1,4})SUB([0-9A-F]{1,2})')
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# Regular expression for finding NodeXPresent keynames
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nodepresent_model = re.compile('NODE([0-9]{1,3})PRESENT')
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# Regular expression for finding NodeXName keynames
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nodename_model = re.compile('NODE([0-9]{1,3})NAME')
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# Regular expression for finding NodeXDCFName keynames
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nodedcfname_model = re.compile('NODE([0-9]{1,3})DCFNAME')
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# Dictionary for quickly translate boolean into integer value
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BOOL_TRANSLATE = {True : "1", False : "0"}
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# Dictionary for quickly translate eds access value into canfestival access value
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ACCESS_TRANSLATE = {"ro" : "ro", "wo" : "wo", "rw" : "rw", "rwr" : "rw", "rww" : "rw", "const" : "ro"}
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# Function for verifying data values
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is_integer = lambda x: type(x) in (IntType, LongType)
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is_string = lambda x: type(x) in (StringType, UnicodeType)
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is_boolean = lambda x: x in (0, 1)
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# Define checking of value for each attribute
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ENTRY_ATTRIBUTES = {"SUBNUMBER" : is_integer, "PARAMETERNAME" : is_string,
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"OBJECTTYPE" : lambda x: x in (7, 8, 9), "DATATYPE" : is_integer,
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"LOWLIMIT" : is_integer, "HIGHLIMIT" : is_integer,
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"ACCESSTYPE" : lambda x: x in ["ro","wo", "rw", "rwr", "rww", "const"],
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"DEFAULTVALUE" : lambda x: True, "PDOMAPPING" : is_boolean,
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"OBJFLAGS" : is_integer}
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# Define entry parameters by entry ObjectType number
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ENTRY_TYPES = {7 : {"name" : " VAR",
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"require" : ["PARAMETERNAME", "DATATYPE", "ACCESSTYPE"],
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"optional" : ["OBJECTTYPE", "DEFAULTVALUE", "PDOMAPPING", "LOWLIMIT", "HIGHLIMIT", "OBJFLAGS"]},
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8 : {"name" : "n ARRAY",
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"require" : ["PARAMETERNAME", "OBJECTTYPE", "SUBNUMBER"],
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"optional" : ["OBJFLAGS"]},
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9 : {"name" : " RECORD",
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"require" : ["PARAMETERNAME", "OBJECTTYPE", "SUBNUMBER"],
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"optional" : ["OBJFLAGS"]}}
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# Function that search into Node Mappings the informations about an index or a subindex
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# and return the default value
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def GetDefaultValue(index, subIndex = None):
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infos = Node.GetEntryInfos(index)
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if infos["struct"] & node.OD_MultipleSubindexes:
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# First case entry is a record
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if infos["struct"] & node.OD_IdenticalSubindexes:
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subentry_infos = Node.GetSubentryInfos(index, 1)
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# Second case entry is an array
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else:
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subentry_infos = Node.GetSubentryInfos(index, subIndex)
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# If a default value is defined for this subindex, returns it
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if "default" in subentry_infos:
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return subentry_infos["default"]
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# If not, returns the default value for the subindex type
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else:
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return Node.GetTypeDefaultValue(subentry_infos["type"])
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# Third case entry is a var
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else:
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subentry_infos = Node.GetSubentryInfos(index, 0)
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# If a default value is defined for this subindex, returns it
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if "default" in subentry_infos:
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return subentry_infos["default"]
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# If not, returns the default value for the subindex type
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else:
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return Node.GetTypeDefaultValue(subentry_infos["type"])
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return None
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#-------------------------------------------------------------------------------
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# Parse file
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#-------------------------------------------------------------------------------
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# List of section names that are not index and subindex and that we can meet in
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# an EDS file
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SECTION_KEYNAMES = ["FILEINFO", "DEVICEINFO", "DUMMYUSAGE", "COMMENTS",
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"MANDATORYOBJECTS", "OPTIONALOBJECTS", "MANUFACTUREROBJECTS"]
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# Function that extract sections from a file and returns a dictionary of the informations
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def ExtractSections(file):
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return [(blocktuple[0], # EntryName : Assignements dict
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blocktuple[-1].splitlines()) # all the lines
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for blocktuple in [ # Split the eds files into
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block.split("]", 1) # (EntryName,Assignements) tuple
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for block in # for each blocks staring with '['
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("\n"+file).split("\n[")]
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if blocktuple[0].isalnum()] # if EntryName exists
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# Function that parse an CPJ file and returns a dictionary of the informations
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def ParseCPJFile(filepath):
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networks = []
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# Read file text
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cpj_file = open(filepath,'r').read()
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sections = ExtractSections(cpj_file)
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# Parse assignments for each section
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for section_name, assignments in sections:
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# Verify that section name is TOPOLOGY
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if section_name.upper() in "TOPOLOGY":
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# Reset values for topology
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topology = {"Name" : "", "Nodes" : {}}
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for assignment in assignments:
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# Escape any comment
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if assignment.startswith(";"):
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pass
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# Verify that line is a valid assignment
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elif assignment.find('=') > 0:
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# Split assignment into the two values keyname and value
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keyname, value = assignment.split("=", 1)
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# keyname must be immediately followed by the "=" sign, so we
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# verify that there is no whitespace into keyname
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if keyname.isalnum():
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# value can be preceded and followed by whitespaces, so we escape them
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value = value.strip()
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# First case, value starts with "0x", then it's an hexadecimal value
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if value.startswith("0x"):
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try:
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computed_value = int(value, 16)
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except:
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raise SyntaxError, "\"%s\" is not a valid value for attribute \"%s\" of section \"[%s]\""%(value, keyname, section_name)
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elif value.isdigit():
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# Second case, value is a number and starts with "0", then it's an octal value
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if value.startswith("0"):
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computed_value = int(value, 8)
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# Third case, value is a number and don't start with "0", then it's a decimal value
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else:
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computed_value = int(value)
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# In any other case, we keep string value
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else:
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computed_value = value
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# Search if the section name match any cpj expression
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nodepresent_result = nodepresent_model.match(keyname.upper())
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nodename_result = nodename_model.match(keyname.upper())
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nodedcfname_result = nodedcfname_model.match(keyname.upper())
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if keyname.upper() == "NETNAME":
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if not is_string(computed_value):
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raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)
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topology["Name"] = computed_value
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elif keyname.upper() == "NODES":
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if not is_integer(computed_value):
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raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)
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topology["Number"] = computed_value
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elif keyname.upper() == "EDSBASENAME":
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if not is_string(computed_value):
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raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)
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topology["Path"] = computed_value
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elif nodepresent_result:
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if not is_boolean(computed_value):
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raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)
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nodeid = int(nodepresent_result.groups()[0])
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if nodeid not in topology["Nodes"].keys():
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topology["Nodes"][nodeid] = {}
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topology["Nodes"][nodeid]["Present"] = computed_value
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elif nodename_result:
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if not is_string(value):
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raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)
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nodeid = int(nodename_result.groups()[0])
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if nodeid not in topology["Nodes"].keys():
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topology["Nodes"][nodeid] = {}
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topology["Nodes"][nodeid]["Name"] = computed_value
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elif nodedcfname_result:
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if not is_string(computed_value):
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raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)
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nodeid = int(nodedcfname_result.groups()[0])
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if nodeid not in topology["Nodes"].keys():
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topology["Nodes"][nodeid] = {}
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topology["Nodes"][nodeid]["DCFName"] = computed_value
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else:
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raise SyntaxError, "Keyname \"%s\" not recognised for section \"[%s]\""%(keyname, section_name)
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# All lines that are not empty and are neither a comment neither not a valid assignment
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elif assignment.strip() != "":
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raise SyntaxError, "\"%s\" is not a valid CPJ line"%assignment.strip()
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if "Number" not in topology.keys():
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raise SyntaxError, "\"Nodes\" keyname in \"[%s]\" section is missing"%section_name
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if topology["Number"] != len(topology["Nodes"]):
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raise SyntaxError, "\"Nodes\" value not corresponding to number of nodes defined"
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for nodeid, node in topology["Nodes"].items():
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if "Present" not in node.keys():
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raise SyntaxError, "\"Node%dPresent\" keyname in \"[%s]\" section is missing"%(nodeid, section_name)
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networks.append(topology)
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# In other case, there is a syntax problem into CPJ file
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else:
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raise SyntaxError, "Section \"[%s]\" is unrecognized"%section_name
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return networks
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# Function that parse an EDS file and returns a dictionary of the informations
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def ParseEDSFile(filepath):
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eds_dict = {}
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# Read file text
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eds_file = open(filepath,'r').read()
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sections = ExtractSections(eds_file)
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# Parse assignments for each section
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for section_name, assignments in sections:
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# Reset values of entry
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values = {}
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# Search if the section name match an index or subindex expression
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index_result = index_model.match(section_name.upper())
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subindex_result = subindex_model.match(section_name.upper())
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# Compilation of the EDS information dictionary
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is_entry = False
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# First case, section name is in SECTION_KEYNAMES
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if section_name.upper() in SECTION_KEYNAMES:
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# Verify that entry is not already defined
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if section_name.upper() not in eds_dict:
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eds_dict[section_name.upper()] = values
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else:
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raise SyntaxError, "\"[%s]\" section is defined two times"%section_name
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# Second case, section name is a subindex name
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elif subindex_result:
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# Extract index and subindex number
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index, subindex = [int(value, 16) for value in subindex_result.groups()]
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# If index hasn't been referenced before, we add an entry into the dictionary
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# that will be updated later
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if index not in eds_dict:
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eds_dict[index] = {"subindexes" : {}}
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if subindex not in eds_dict[index]["subindexes"]:
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eds_dict[index]["subindexes"][subindex] = values
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else:
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raise SyntaxError, "\"[%s]\" section is defined two times"%section_name
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is_entry = True
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# Third case, section name is an index name
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elif index_result:
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# Extract index number
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index = int(index_result.groups()[0], 16)
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# If index hasn't been referenced before, we add an entry into the dictionary
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if index not in eds_dict:
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eds_dict[index] = values
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eds_dict[index]["subindexes"] = {}
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elif eds_dict[index].keys() == ["subindexes"]:
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values["subindexes"] = eds_dict[index]["subindexes"]
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eds_dict[index] = values
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else:
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raise SyntaxError, "\"[%s]\" section is defined two times"%section_name
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is_entry = True
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# In any other case, there is a syntax problem into EDS file
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else:
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raise SyntaxError, "Section \"[%s]\" is unrecognized"%section_name
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for assignment in assignments:
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# Escape any comment
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if assignment.startswith(";"):
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pass
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# Verify that line is a valid assignment
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elif assignment.find('=') > 0:
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# Split assignment into the two values keyname and value
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keyname, value = assignment.split("=", 1)
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# keyname must be immediately followed by the "=" sign, so we
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# verify that there is no whitespace into keyname
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if keyname.isalnum():
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# value can be preceded and followed by whitespaces, so we escape them
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value = value.strip()
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# First case, value starts with "$NODEID", then it's a formula
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if value.startswith("$NODEID"):
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try:
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test = int(value.replace("$NODEID+", ""), 16)
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computed_value = value.replace("$NODEID", "self.ID")
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except:
|
|
|
313 |
raise SyntaxError, "\"%s\" is not a valid formula for attribute \"%s\" of section \"[%s]\""%(value, keyname, section_name)
|
|
|
314 |
# Second case, value starts with "0x", then it's an hexadecimal value
|
|
|
315 |
elif value.startswith("0x"):
|
|
|
316 |
try:
|
|
|
317 |
computed_value = int(value, 16)
|
|
|
318 |
except:
|
|
|
319 |
raise SyntaxError, "\"%s\" is not a valid value for attribute \"%s\" of section \"[%s]\""%(value, keyname, section_name)
|
|
|
320 |
elif value.isdigit():
|
|
|
321 |
# Third case, value is a number and starts with "0", then it's an octal value
|
|
|
322 |
if value.startswith("0"):
|
|
|
323 |
computed_value = int(value, 8)
|
|
|
324 |
# Forth case, value is a number and don't start with "0", then it's a decimal value
|
|
|
325 |
else:
|
|
|
326 |
computed_value = int(value)
|
|
|
327 |
# In any other case, we keep string value
|
|
|
328 |
else:
|
|
|
329 |
computed_value = value
|
|
|
330 |
|
|
|
331 |
# Add value to values dictionary
|
|
|
332 |
if computed_value != "":
|
|
|
333 |
# If entry is an index or a subindex
|
|
|
334 |
if is_entry:
|
|
|
335 |
# Verify that keyname is a possible attribute
|
|
|
336 |
if keyname.upper() not in ENTRY_ATTRIBUTES:
|
|
|
337 |
raise SyntaxError, "Keyname \"%s\" not recognised for section \"[%s]\""%(keyname, section_name)
|
|
|
338 |
# Verify that value is valid
|
|
|
339 |
elif not ENTRY_ATTRIBUTES[keyname.upper()](computed_value):
|
|
|
340 |
raise SyntaxError, "Invalid value \"%s\" for keyname \"%s\" of section \"[%s]\""%(value, keyname, section_name)
|
|
|
341 |
else:
|
|
|
342 |
values[keyname.upper()] = computed_value
|
|
|
343 |
else:
|
|
|
344 |
values[keyname.upper()] = computed_value
|
|
|
345 |
# All lines that are not empty and are neither a comment neither not a valid assignment
|
|
|
346 |
elif assignment.strip() != "":
|
|
|
347 |
raise SyntaxError, "\"%s\" is not a valid EDS line"%assignment.strip()
|
|
|
348 |
|
|
|
349 |
# If entry is an index or a subindex
|
|
|
350 |
if is_entry:
|
|
|
351 |
# Verify that entry has an ObjectType
|
|
|
352 |
if "OBJECTTYPE" in values.keys():
|
|
|
353 |
# Extract entry ObjectType
|
|
|
354 |
objecttype = values["OBJECTTYPE"]
|
|
|
355 |
else:
|
|
226
|
356 |
# Set ObjectType to VAR by default
|
|
|
357 |
objecttype = 7
|
|
|
358 |
# Extract parameters defined
|
|
|
359 |
keys = Set(values.keys())
|
|
|
360 |
keys.discard("subindexes")
|
|
|
361 |
# Extract possible parameters and parameters required
|
|
|
362 |
possible = Set(ENTRY_TYPES[objecttype]["require"] + ENTRY_TYPES[objecttype]["optional"])
|
|
|
363 |
required = Set(ENTRY_TYPES[objecttype]["require"])
|
|
|
364 |
# Verify that parameters defined contains all the parameters required
|
|
|
365 |
if not keys.issuperset(required):
|
|
|
366 |
missing = required.difference(keys)._data.keys()
|
|
|
367 |
if len(missing) > 1:
|
|
|
368 |
attributes = "Attributes %s are"%", ".join(["\"%s\""%attribute for attribute in missing])
|
|
|
369 |
else:
|
|
|
370 |
attributes = "Attribute \"%s\" is"%missing[0]
|
|
|
371 |
raise SyntaxError, "Error on section \"[%s]\":\n%s required for a%s entry"%(section_name, attributes, ENTRY_TYPES[objecttype]["name"])
|
|
|
372 |
# Verify that parameters defined are all in the possible parameters
|
|
|
373 |
if not keys.issubset(possible):
|
|
|
374 |
unsupported = keys.difference(possible)._data.keys()
|
|
|
375 |
if len(unsupported) > 1:
|
|
|
376 |
attributes = "Attributes %s are"%", ".join(["\"%s\""%attribute for attribute in unsupported])
|
|
|
377 |
else:
|
|
|
378 |
attributes = "Attribute \"%s\" is"%unsupported[0]
|
|
|
379 |
raise SyntaxError, "Error on section \"[%s]\":\n%s unsupported for a%s entry"%(section_name, attributes, ENTRY_TYPES[objecttype]["name"])
|
|
227
|
380 |
|
|
|
381 |
if "DEFAULTVALUE" in values:
|
|
|
382 |
try:
|
|
|
383 |
if values["DATATYPE"] in (0x09, 0x0A, 0x0B, 0x0F):
|
|
|
384 |
values["DEFAULTVALUE"] = str(values["DEFAULTVALUE"])
|
|
|
385 |
elif values["DATATYPE"] in (0x08, 0x11):
|
|
|
386 |
values["DEFAULTVALUE"] = float(values["DEFAULTVALUE"])
|
|
|
387 |
elif values["DATATYPE"] == 0x01:
|
|
|
388 |
values["DEFAULTVALUE"] = {0 : True, 1 : False}[values["DEFAULTVALUE"]]
|
|
|
389 |
else:
|
|
|
390 |
if type(values["DEFAULTVALUE"]) != IntType and values["DEFAULTVALUE"].find("self.ID") == -1:
|
|
|
391 |
raise
|
|
|
392 |
except:
|
|
|
393 |
raise SyntaxError, "Error on section \"[%s]\":\nDefaultValue incompatible with DataType"%section_name
|
|
|
394 |
|
|
182
|
395 |
return eds_dict
|
|
|
396 |
|
|
|
397 |
|
|
|
398 |
# Function that write an EDS file after generate it's content
|
|
|
399 |
def WriteFile(filepath, content):
|
|
|
400 |
# Open file in write mode
|
|
|
401 |
cfile = open(filepath,"w")
|
|
|
402 |
# Write content
|
|
|
403 |
cfile.write(content)
|
|
|
404 |
# Close file
|
|
|
405 |
cfile.close()
|
|
|
406 |
|
|
|
407 |
|
|
|
408 |
# Function that generate the EDS file content for the current node in the manager
|
|
|
409 |
def GenerateFileContent(filepath):
|
|
|
410 |
# Dictionary of each index contents
|
|
|
411 |
indexContents = {}
|
|
|
412 |
|
|
|
413 |
# Extract local time
|
|
|
414 |
current_time = localtime()
|
|
|
415 |
# Extract node informations
|
|
|
416 |
nodename, nodeid, nodetype, description = Manager.GetCurrentNodeInfos()
|
|
|
417 |
|
|
|
418 |
# Compiling lists of indexes defined
|
|
|
419 |
entries = [idx for name, idx in Manager.GetCurrentValidIndexes(0, 0xFFFF)]
|
|
|
420 |
|
|
|
421 |
# Generate FileInfo section
|
|
|
422 |
fileContent = "[FileInfo]\n"
|
|
|
423 |
fileContent += "CreatedBy=CANFestival\n"
|
|
|
424 |
fileContent += "Description=%s\n"%description
|
|
|
425 |
fileContent += "CreationTime=%s"%strftime("%I:%M", current_time)
|
|
|
426 |
# %p option of strftime seems not working, then generate AM/PM by hands
|
|
|
427 |
if strftime("%I", current_time) == strftime("%H", current_time):
|
|
|
428 |
fileContent += "AM\n"
|
|
|
429 |
else:
|
|
|
430 |
fileContent += "PM\n"
|
|
|
431 |
fileContent += "CreationDate=%s\n"%strftime("%m-%d-%Y", current_time)
|
|
|
432 |
fileContent += "FileName=%s\n"%os.path.split(filepath)[-1]
|
|
|
433 |
fileContent += "FileVersion=1\n"
|
|
|
434 |
fileContent += "FileRevision=1\n"
|
|
|
435 |
fileContent += "EDSVersion=3.0\n"
|
|
|
436 |
|
|
|
437 |
# Generate DeviceInfo section
|
|
|
438 |
fileContent += "\n[DeviceInfo]\n"
|
|
|
439 |
fileContent += "VendorName=CANFestival\n"
|
|
|
440 |
# Use information typed by user in Identity entry
|
|
|
441 |
fileContent += "VendorNumber=0x%8.8X\n"%Manager.GetCurrentEntry(0x1018, 1)
|
|
|
442 |
fileContent += "ProductName=%s\n"%nodename
|
|
|
443 |
fileContent += "ProductNumber=0x%8.8X\n"%Manager.GetCurrentEntry(0x1018, 2)
|
|
|
444 |
fileContent += "RevisionNumber=0x%8.8X\n"%Manager.GetCurrentEntry(0x1018, 3)
|
|
|
445 |
# CANFestival support all baudrates as soon as driver choosen support them
|
|
|
446 |
fileContent += "BaudRate_10=1\n"
|
|
|
447 |
fileContent += "BaudRate_20=1\n"
|
|
|
448 |
fileContent += "BaudRate_50=1\n"
|
|
|
449 |
fileContent += "BaudRate_125=1\n"
|
|
|
450 |
fileContent += "BaudRate_250=1\n"
|
|
|
451 |
fileContent += "BaudRate_500=1\n"
|
|
|
452 |
fileContent += "BaudRate_800=1\n"
|
|
|
453 |
fileContent += "BaudRate_1000=1\n"
|
|
|
454 |
# Select BootUp type from the informations given by user
|
|
|
455 |
fileContent += "SimpleBootUpMaster=%s\n"%BOOL_TRANSLATE[nodetype == "master"]
|
|
|
456 |
fileContent += "SimpleBootUpSlave=%s\n"%BOOL_TRANSLATE[nodetype == "slave"]
|
|
|
457 |
# CANFestival characteristics
|
|
|
458 |
fileContent += "Granularity=8\n"
|
|
|
459 |
fileContent += "DynamicChannelsSupported=0\n"
|
|
|
460 |
fileContent += "CompactPDO=0\n"
|
|
|
461 |
fileContent += "GroupMessaging=0\n"
|
|
|
462 |
# Calculate receive and tranmit PDO numbers with the entry available
|
|
|
463 |
fileContent += "NrOfRXPDO=%d\n"%len([idx for idx in entries if 0x1400 <= idx <= 0x15FF])
|
|
205
|
464 |
fileContent += "NrOfTXPDO=%d\n"%len([idx for idx in entries if 0x1800 <= idx <= 0x19FF])
|
|
182
|
465 |
# LSS not supported as soon as DS-302 was not fully implemented
|
|
|
466 |
fileContent += "LSS_Supported=0\n"
|
|
|
467 |
|
|
|
468 |
# Generate Dummy Usage section
|
|
|
469 |
fileContent += "\n[DummyUsage]\n"
|
|
|
470 |
fileContent += "Dummy0001=0\n"
|
|
|
471 |
fileContent += "Dummy0002=1\n"
|
|
|
472 |
fileContent += "Dummy0003=1\n"
|
|
|
473 |
fileContent += "Dummy0004=1\n"
|
|
|
474 |
fileContent += "Dummy0005=1\n"
|
|
|
475 |
fileContent += "Dummy0006=1\n"
|
|
|
476 |
fileContent += "Dummy0007=1\n"
|
|
|
477 |
|
|
|
478 |
# Generate Comments section
|
|
|
479 |
fileContent += "\n[Comments]\n"
|
|
|
480 |
fileContent += "Lines=0\n"
|
|
|
481 |
|
|
|
482 |
# List of entry by type (Mandatory, Optional or Manufacturer
|
|
|
483 |
mandatories = []
|
|
|
484 |
optionals = []
|
|
|
485 |
manufacturers = []
|
|
|
486 |
|
|
|
487 |
# For each entry, we generate the entry section or sections if there is subindexes
|
|
|
488 |
for entry in entries:
|
|
|
489 |
# Extract infos and values for the entry
|
|
|
490 |
entry_infos = Manager.GetEntryInfos(entry)
|
|
|
491 |
values = Manager.GetCurrentEntry(entry)
|
|
|
492 |
# Define section name
|
|
|
493 |
text = "\n[%X]\n"%entry
|
|
|
494 |
# If there is only one value, it's a VAR entry
|
|
|
495 |
if type(values) != ListType:
|
|
|
496 |
# Extract the informations of the first subindex
|
|
|
497 |
subentry_infos = Manager.GetSubentryInfos(entry, 0)
|
|
|
498 |
# Generate EDS informations for the entry
|
|
|
499 |
text += "ParameterName=%s\n"%subentry_infos["name"]
|
|
|
500 |
text += "ObjectType=0x7\n"
|
|
|
501 |
text += "DataType=0x%4.4X\n"%subentry_infos["type"]
|
|
|
502 |
text += "AccessType=%s\n"%subentry_infos["access"]
|
|
|
503 |
text += "DefaultValue=%s\n"%values
|
|
|
504 |
text += "PDOMapping=%s\n"%BOOL_TRANSLATE[subentry_infos["pdo"]]
|
|
|
505 |
else:
|
|
|
506 |
# Generate EDS informations for the entry
|
|
|
507 |
text += "ParameterName=%s\n"%entry_infos["name"]
|
|
|
508 |
if entry_infos["struct"] & node.OD_IdenticalSubindexes:
|
|
|
509 |
text += "ObjectType=0x9\n"
|
|
|
510 |
else:
|
|
|
511 |
text += "ObjectType=0x8\n"
|
|
|
512 |
|
|
|
513 |
# Generate EDS informations for subindexes of the entry in a separate text
|
|
|
514 |
subtext = ""
|
|
|
515 |
# Reset number of subindex defined
|
|
|
516 |
nb_subentry = 0
|
|
|
517 |
for subentry, value in enumerate(values):
|
|
|
518 |
# Extract the informations of each subindex
|
|
|
519 |
subentry_infos = Manager.GetSubentryInfos(entry, subentry)
|
|
|
520 |
# If entry is not for the compatibility, generate informations for subindex
|
|
|
521 |
if subentry_infos["name"] != "Compatibility Entry":
|
|
|
522 |
subtext += "\n[%Xsub%X]\n"%(entry, subentry)
|
|
|
523 |
subtext += "ParameterName=%s\n"%subentry_infos["name"]
|
|
|
524 |
subtext += "ObjectType=0x7\n"
|
|
|
525 |
subtext += "DataType=0x%4.4X\n"%subentry_infos["type"]
|
|
|
526 |
subtext += "AccessType=%s\n"%subentry_infos["access"]
|
|
|
527 |
subtext += "DefaultValue=%s\n"%value
|
|
|
528 |
subtext += "PDOMapping=%s\n"%BOOL_TRANSLATE[subentry_infos["pdo"]]
|
|
|
529 |
# Increment number of subindex defined
|
|
|
530 |
nb_subentry += 1
|
|
|
531 |
# Write number of subindex defined for the entry
|
|
|
532 |
text += "SubNumber=%d\n"%nb_subentry
|
|
|
533 |
# Write subindex definitions
|
|
|
534 |
text += subtext
|
|
|
535 |
|
|
|
536 |
# Then we add the entry in the right list
|
|
|
537 |
|
|
|
538 |
# First case, entry is between 0x2000 and 0x5FFF, then it's a manufacturer entry
|
|
|
539 |
if 0x2000 <= entry <= 0x5FFF:
|
|
|
540 |
manufacturers.append(entry)
|
|
|
541 |
# Second case, entry is required, then it's a mandatory entry
|
|
|
542 |
elif entry_infos["need"]:
|
|
|
543 |
mandatories.append(entry)
|
|
|
544 |
# In any other case, it's an optional entry
|
|
|
545 |
else:
|
|
|
546 |
optionals.append(entry)
|
|
|
547 |
# Save text of the entry in the dictiionary of contents
|
|
|
548 |
indexContents[entry] = text
|
|
|
549 |
|
|
|
550 |
# Before generate File Content we sort the entry list
|
|
|
551 |
manufacturers.sort()
|
|
|
552 |
mandatories.sort()
|
|
|
553 |
optionals.sort()
|
|
|
554 |
|
|
|
555 |
# Generate Definition of mandatory objects
|
|
|
556 |
fileContent += "\n[MandatoryObjects]\n"
|
|
|
557 |
fileContent += "SupportedObjects=%d\n"%len(mandatories)
|
|
|
558 |
for idx, entry in enumerate(mandatories):
|
|
|
559 |
fileContent += "%d=0x%4.4X\n"%(idx, entry)
|
|
|
560 |
# Write mandatory entries
|
|
|
561 |
for entry in mandatories:
|
|
|
562 |
fileContent += indexContents[entry]
|
|
|
563 |
|
|
|
564 |
# Generate Definition of optional objects
|
|
|
565 |
fileContent += "\n[OptionalObjects]\n"
|
|
|
566 |
fileContent += "SupportedObjects=%d\n"%len(optionals)
|
|
|
567 |
for idx, entry in enumerate(optionals):
|
|
|
568 |
fileContent += "%d=0x%4.4X\n"%(idx, entry)
|
|
|
569 |
# Write optional entries
|
|
|
570 |
for entry in optionals:
|
|
|
571 |
fileContent += indexContents[entry]
|
|
|
572 |
|
|
|
573 |
# Generate Definition of manufacturer objects
|
|
|
574 |
fileContent += "\n[ManufacturerObjects]\n"
|
|
|
575 |
fileContent += "SupportedObjects=%d\n"%len(manufacturers)
|
|
|
576 |
for idx, entry in enumerate(manufacturers):
|
|
|
577 |
fileContent += "%d=0x%4.4X\n"%(idx, entry)
|
|
|
578 |
# Write manufacturer entries
|
|
|
579 |
for entry in manufacturers:
|
|
|
580 |
fileContent += indexContents[entry]
|
|
|
581 |
|
|
|
582 |
# Return File Content
|
|
|
583 |
return fileContent
|
|
|
584 |
|
|
|
585 |
|
|
|
586 |
# Function that generates EDS file from current node edited
|
|
|
587 |
def GenerateEDSFile(filepath, manager):
|
|
|
588 |
global Manager
|
|
|
589 |
Manager = manager
|
|
|
590 |
try:
|
|
|
591 |
# Generate file content
|
|
|
592 |
content = GenerateFileContent(filepath)
|
|
|
593 |
# Write file
|
|
|
594 |
WriteFile(filepath, content)
|
|
|
595 |
return None
|
|
|
596 |
except ValueError, message:
|
|
|
597 |
return "Unable to generate EDS file\n%s"%message
|
|
|
598 |
|
|
205
|
599 |
# Function that generate the CPJ file content for the nodelist
|
|
|
600 |
def GenerateCPJContent(nodelist):
|
|
|
601 |
nodes = nodelist.SlaveNodes.keys()
|
|
|
602 |
nodes.sort()
|
|
|
603 |
|
|
|
604 |
fileContent = "[TOPOLOGY]\n"
|
|
|
605 |
fileContent += "NetName=%s\n"%nodelist.GetNetworkName()
|
|
|
606 |
fileContent += "Nodes=0x%2.2X\n"%len(nodes)
|
|
|
607 |
|
|
|
608 |
for nodeid in nodes:
|
|
|
609 |
fileContent += "Node%dPresent=0x01\n"%nodeid
|
|
|
610 |
fileContent += "Node%dName=%s\n"%(nodeid, nodelist.SlaveNodes[nodeid]["Name"])
|
|
|
611 |
fileContent += "Node%dDCFName=%s\n"%(nodeid, nodelist.SlaveNodes[nodeid]["EDS"])
|
|
|
612 |
|
|
|
613 |
fileContent += "EDSBaseName=eds\n"
|
|
|
614 |
return fileContent
|
|
182
|
615 |
|
|
|
616 |
# Function that generates Node from an EDS file
|
|
205
|
617 |
def GenerateNode(filepath, cwd, nodeID = 0):
|
|
182
|
618 |
global Node
|
|
|
619 |
# Create a new node
|
|
205
|
620 |
Node = node.Node(id = nodeID)
|
|
182
|
621 |
try:
|
|
|
622 |
# Parse file and extract dictionary of EDS entry
|
|
205
|
623 |
eds_dict = ParseEDSFile(filepath)
|
|
182
|
624 |
# Extract Profile Number from Device Type entry
|
|
|
625 |
ProfileNb = eds_dict[0x1000]["DEFAULTVALUE"] & 0x0000ffff
|
|
|
626 |
# If profile is not DS-301 or DS-302
|
|
|
627 |
if ProfileNb not in [301, 302]:
|
|
|
628 |
# Compile Profile name and path to .prf file
|
|
|
629 |
ProfileName = "DS-%d"%ProfileNb
|
|
|
630 |
ProfilePath = os.path.join(cwd, "config/%s.prf"%ProfileName)
|
|
|
631 |
# Verify that profile is available
|
|
|
632 |
if os.path.isfile(ProfilePath):
|
|
|
633 |
try:
|
|
|
634 |
# Load Profile
|
|
|
635 |
execfile(ProfilePath)
|
|
|
636 |
Node.SetProfileName(ProfileName)
|
|
|
637 |
Node.SetProfile(Mapping)
|
|
|
638 |
Node.SetSpecificMenu(AddMenuEntries)
|
|
|
639 |
except:
|
|
|
640 |
pass
|
|
|
641 |
# Read all entries in the EDS dictionary
|
|
|
642 |
for entry, values in eds_dict.items():
|
|
|
643 |
# All sections with a name in keynames are escaped
|
|
|
644 |
if entry in SECTION_KEYNAMES:
|
|
|
645 |
pass
|
|
|
646 |
else:
|
|
|
647 |
# Extract informations for the entry
|
|
205
|
648 |
entry_infos = Node.GetEntryInfos(entry)
|
|
182
|
649 |
|
|
|
650 |
# If no informations are available, then we write them
|
|
|
651 |
if not entry_infos:
|
|
|
652 |
# First case, entry is a VAR
|
|
|
653 |
if values["OBJECTTYPE"] == 7:
|
|
|
654 |
# Add mapping for entry
|
|
|
655 |
Node.AddMappingEntry(entry, name = values["PARAMETERNAME"], struct = 1)
|
|
|
656 |
# Add mapping for first subindex
|
|
|
657 |
Node.AddMappingEntry(entry, 0, values = {"name" : values["PARAMETERNAME"],
|
|
|
658 |
"type" : values["DATATYPE"],
|
|
205
|
659 |
"access" : ACCESS_TRANSLATE[values["ACCESSTYPE"]],
|
|
226
|
660 |
"pdo" : values.get("PDOMAPPING", 0) == 1})
|
|
182
|
661 |
# Second case, entry is an ARRAY
|
|
|
662 |
elif values["OBJECTTYPE"] == 8:
|
|
|
663 |
# Extract maximum subindex number defined
|
|
|
664 |
try:
|
|
|
665 |
max_subindex = values["subindexes"][0]["DEFAULTVALUE"]
|
|
|
666 |
except:
|
|
|
667 |
raise SyntaxError, "Error on entry 0x%4.4X:\nSubindex 0 must be defined for an ARRAY entry"%entry
|
|
|
668 |
# Add mapping for entry
|
|
|
669 |
Node.AddMappingEntry(entry, name = values["PARAMETERNAME"], struct = 3)
|
|
|
670 |
# Add mapping for first subindex
|
|
|
671 |
Node.AddMappingEntry(entry, 0, values = {"name" : "Number of Entries", "type" : 0x05, "access" : "ro", "pdo" : False})
|
|
|
672 |
# Add mapping for other subindexes
|
|
|
673 |
for subindex in xrange(1, int(max_subindex) + 1):
|
|
|
674 |
# if subindex is defined
|
|
|
675 |
if subindex in values["subindexes"]:
|
|
|
676 |
Node.AddMappingEntry(entry, subindex, values = {"name" : values["subindexes"][subindex]["PARAMETERNAME"],
|
|
|
677 |
"type" : values["subindexes"][subindex]["DATATYPE"],
|
|
205
|
678 |
"access" : ACCESS_TRANSLATE[values["subindexes"][subindex]["ACCESSTYPE"]],
|
|
226
|
679 |
"pdo" : values["subindexes"][subindex].get("PDOMAPPING", 0) == 1})
|
|
182
|
680 |
# if not, we add a mapping for compatibility
|
|
|
681 |
else:
|
|
|
682 |
Node.AddMappingEntry(entry, subindex, values = {"name" : "Compatibility Entry", "type" : 0x05, "access" : "rw", "pdo" : False})
|
|
|
683 |
# Third case, entry is an RECORD
|
|
|
684 |
elif values["OBJECTTYPE"] == 9:
|
|
|
685 |
# Verify that the first subindex is defined
|
|
|
686 |
if 0 not in values["subindexes"]:
|
|
|
687 |
raise SyntaxError, "Error on entry 0x%4.4X:\nSubindex 0 must be defined for a RECORD entry"%entry
|
|
|
688 |
# Add mapping for entry
|
|
|
689 |
Node.AddMappingEntry(entry, name = values["PARAMETERNAME"], struct = 7)
|
|
|
690 |
# Add mapping for first subindex
|
|
|
691 |
Node.AddMappingEntry(entry, 0, values = {"name" : "Number of Entries", "type" : 0x05, "access" : "ro", "pdo" : False})
|
|
|
692 |
# Verify that second subindex is defined
|
|
|
693 |
if 1 in values:
|
|
|
694 |
Node.AddMappingEntry(entry, 1, values = {"name" : values["PARAMETERNAME"] + " %d[(sub)]",
|
|
|
695 |
"type" : values["subindexes"][1]["DATATYPE"],
|
|
205
|
696 |
"access" : ACCESS_TRANSLATE[values["subindexes"][1]["ACCESSTYPE"]],
|
|
226
|
697 |
"pdo" : values["subindexes"][1].get("PDOMAPPING", 0) == 1})
|
|
182
|
698 |
else:
|
|
|
699 |
raise SyntaxError, "Error on entry 0x%4.4X:\nA RECORD entry must have at least 2 subindexes"%entry
|
|
|
700 |
|
|
|
701 |
# Define entry for the new node
|
|
|
702 |
|
|
|
703 |
# First case, entry is a VAR
|
|
|
704 |
if values["OBJECTTYPE"] == 7:
|
|
|
705 |
# Take default value if it is defined
|
|
|
706 |
if "DEFAULTVALUE" in values:
|
|
|
707 |
value = values["DEFAULTVALUE"]
|
|
|
708 |
# Find default value for value type of the entry
|
|
|
709 |
else:
|
|
|
710 |
value = GetDefaultValue(entry)
|
|
|
711 |
Node.AddEntry(entry, 0, value)
|
|
|
712 |
# Second case, entry is an ARRAY or a RECORD
|
|
|
713 |
elif values["OBJECTTYPE"] in (8, 9):
|
|
|
714 |
# Verify that "Subnumber" attribute is defined and has a valid value
|
|
|
715 |
if "SUBNUMBER" in values and values["SUBNUMBER"] > 0:
|
|
|
716 |
# Extract maximum subindex number defined
|
|
|
717 |
try:
|
|
|
718 |
max_subindex = values["subindexes"][0]["DEFAULTVALUE"]
|
|
|
719 |
except:
|
|
|
720 |
raise SyntaxError, "Error on entry 0x%4.4X:\nSubindex 0 must be defined for an ARRAY or a RECORD entry"%entry
|
|
|
721 |
# Define value for all subindexes except the first
|
|
|
722 |
for subindex in xrange(1, int(max_subindex) + 1):
|
|
|
723 |
# Take default value if it is defined and entry is defined
|
|
|
724 |
if subindex in values["subindexes"] and "DEFAULTVALUE" in values["subindexes"][subindex]:
|
|
|
725 |
value = values["subindexes"][subindex]["DEFAULTVALUE"]
|
|
|
726 |
# Find default value for value type of the subindex
|
|
|
727 |
else:
|
|
|
728 |
value = GetDefaultValue(entry, subindex)
|
|
|
729 |
Node.AddEntry(entry, subindex, value)
|
|
|
730 |
else:
|
|
|
731 |
raise SyntaxError, "Array or Record entry 0x%4.4X must have a \"SubNumber\" attribute"%entry
|
|
|
732 |
return Node
|
|
|
733 |
except SyntaxError, message:
|
|
205
|
734 |
return "Unable to import EDS file\n%s"%message
|
|
182
|
735 |
|
|
|
736 |
#-------------------------------------------------------------------------------
|
|
|
737 |
# Main Function
|
|
|
738 |
#-------------------------------------------------------------------------------
|
|
|
739 |
|
|
|
740 |
if __name__ == '__main__':
|
|
205
|
741 |
print ParseEDSFile("examples/PEAK MicroMod.eds")
|
|
|
742 |
|