objdictgen/gen_cfile.py
author etisserant
Mon, 18 Feb 2008 17:14:22 +0100
changeset 400 7d845f5d730c
parent 366 47763dd15e00
child 418 64a8c24b61a5
permissions -rw-r--r--
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
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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:
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            strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts
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        else:
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            strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
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        # Entry type is VAR
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        if type(values) != ListType:
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            subentry_infos = Node.GetSubentryInfos(index, 0)
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            typename = Node.GetTypeName(subentry_infos["type"])
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            typeinfos = GetValidTypeInfos(typename)
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            texts["subIndexType"] = typeinfos[0]
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            texts["suffixe"] = typeinfos[1]
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            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":
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                texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
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                texts["comment"] = ""
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            else:
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                texts["value"] = "0x%X"%values
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                texts["comment"] = "\t/* %s */"%str(values)
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            if index in variablelist:
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                texts["name"] = FormatName(subentry_infos["name"])
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                strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
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                if callbacks:
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                    strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
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                mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
0
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            else:
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                strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
0
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            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"])
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            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]
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            texts["subIndexType"] = typeinfos[0]
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            strIndex += "                    %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
0
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            # Entry type is RECORD
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            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"])
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                typeinfos = GetValidTypeInfos(typename)
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                texts["subIndexType"] = typeinfos[0]
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                texts["suffixe"] = typeinfos[1]
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                texts["length"] = values[0]
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                if index in variablelist:
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                    texts["name"] = FormatName(entry_infos["name"])
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                    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
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                    if callbacks:
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                        strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
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                    mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts
0
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                    for subIndex, value in enumerate(values):
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                        sep = ","
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                        comment = ""
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                        if subIndex > 0:
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                            if subIndex == len(values)-1:
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                                sep = ""
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                            if typeinfos[2] == "visible_string":
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                                value = "\"%s\""%value
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                            elif typeinfos[2] == "domain":
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                                value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
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                            else:
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                                comment = "\t/* %s */"%str(value)
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                                value = "0x%X"%value
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                            mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
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                    mappedVariableContent += "  };\n"
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                else:
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                    strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
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                    for subIndex, value in enumerate(values):
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                        sep = ","
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                        comment = ""
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                        if subIndex > 0:
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                            if subIndex == len(values)-1:
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                                sep = ""
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                            if typeinfos[2] == "visible_string":
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                                value = "\"%s\""%value
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                            elif typeinfos[2] == "domain":
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                                value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
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                            else:
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                                comment = "\t/* %s */"%str(value)
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                                value = "0x%X"%value
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                            strIndex += "                      %s%s%s\n"%(value, sep, comment)
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                    strIndex += "                    };\n"
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            else:
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                texts["parent"] = FormatName(entry_infos["name"])
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                # Entry type is ARRAY
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                for subIndex, value in enumerate(values):
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                    texts["subIndex"] = subIndex
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                    if subIndex > 0:
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                        subentry_infos = Node.GetSubentryInfos(index, subIndex)
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                        typename = Node.GetTypeName(subentry_infos["type"])
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                        typeinfos = GetValidTypeInfos(typename)
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                        texts["subIndexType"] = typeinfos[0]
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                        texts["suffixe"] = typeinfos[1]
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                        if typeinfos[2] == "visible_string":
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                            texts["value"] = "\"%s\""%value
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                            texts["comment"] = ""
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                        elif typeinfos[2] == "domain":
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                            texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
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                            texts["comment"] = ""			
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                        else:
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                            texts["value"] = "0x%X"%value
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                            texts["comment"] = "\t/* %s */"%str(value)
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                        texts["name"] = FormatName(subentry_infos["name"])
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                        if index in variablelist:
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                            strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
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                            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
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                        else:
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                            strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
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                if callbacks:
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                    strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
0
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        # Generating Dictionary C++ entry
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        if callbacks:
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            if index in variablelist:
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                name = FormatName(entry_infos["name"])
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            else:
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                name = "%(NodeName)s_Index%(index)04X"%texts
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            strIndex += "                    ODCallback_t %s_callbacks[] = \n                     {\n"%name
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            for subIndex in xrange(len(values)):
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                strIndex += "                       NULL,\n"
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            strIndex += "                     };\n"
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            indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
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        else:
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            indexCallbacks[index] = ""
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        strIndex += "                    subindex %(NodeName)s_Index%(index)04X[] = \n                     {\n"%texts
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        for subIndex in xrange(len(values)):
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            subentry_infos = Node.GetSubentryInfos(index, subIndex)
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            if subIndex < len(values) - 1:
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                sep = ","
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            else:
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                sep = ""
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            typename = Node.GetTypeName(subentry_infos["type"])
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            typeinfos = GetValidTypeInfos(typename)
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parents:
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   295
            if subIndex == 0:
286
85d5361179f3 Adding support for restricting user to only dynamically set 0 to index 0x1003 subindex 0x00 in gen_cfile.py
lbessard
parents: 284
diff changeset
   296
                if index == 0x1003:
85d5361179f3 Adding support for restricting user to only dynamically set 0 to index 0x1003 subindex 0x00 in gen_cfile.py
lbessard
parents: 284
diff changeset
   297
                    typeinfos = GetValidTypeInfos("valueRange_EMC")
0
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parents:
diff changeset
   298
                if entry_infos["struct"] & OD_MultipleSubindexes:
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etisserant
parents:
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   299
                    name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
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etisserant
parents:
diff changeset
   300
                elif index in variablelist:
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parents:
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   301
                    name = FormatName(subentry_infos["name"])
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parents:
diff changeset
   302
                else:
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parents:
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   303
                    name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
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parents:
diff changeset
   304
            elif entry_infos["struct"] & OD_IdenticalSubindexes:
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parents:
diff changeset
   305
                if index in variablelist:
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parents:
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   306
                    name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
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parents:
diff changeset
   307
                else:
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parents:
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   308
                    name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
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parents:
diff changeset
   309
            else:
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parents:
diff changeset
   310
                if index in variablelist:
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f36f09f08b62 Bug corrected on gen_cfile
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parents: 66
diff changeset
   311
                    name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
0
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parents:
diff changeset
   312
                else:
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parents:
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   313
                    name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
188
00245bc2e6fe Bugs on C File generating corrected
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parents: 182
diff changeset
   314
            if typeinfos[2] in ["visible_string", "domain"]:
176
5d57fe1e3a5b Support for DCF (DS-302)
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parents: 160
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   315
                sizeof = str(len(values[subIndex]))
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parents: 160
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   316
            else:
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parents: 160
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   317
                sizeof = "sizeof (%s)"%typeinfos[0]
245
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parents: 235
diff changeset
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            params = Node.GetParamsEntry(index, subIndex)
0
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parents:
diff changeset
   319
            if params["save"]:
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parents:
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   320
                save = "|TO_BE_SAVE"
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parents:
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   321
            else:
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   322
                save = ""
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00245bc2e6fe Bugs on C File generating corrected
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            strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
0
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parents:
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        strIndex += "                     };\n"
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parents:
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   325
        indexContents[index] = strIndex
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parents:
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   326
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#-------------------------------------------------------------------------------
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#                     Declaration of Particular Parameters
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   329
#-------------------------------------------------------------------------------
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parents:
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   330
284
24bf3d692993 Implemented EMCY objects.
luis
parents: 261
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   331
    if 0x1003 not in communicationlist:
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parents: 261
diff changeset
   332
        entry_infos = Node.GetEntryInfos(0x1003)
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luis
parents: 261
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   333
        texts["EntryName"] = entry_infos["name"]
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luis
parents: 261
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   334
        indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */
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luis
parents: 261
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   335
                    UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
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parents: 261
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                    UNS32 %(NodeName)s_obj1003[] = 
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luis
parents: 261
diff changeset
   337
                    {
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   338
                      0x0	/* 0 */
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luis
parents: 261
diff changeset
   339
                    };
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luis
parents: 261
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   340
                    ODCallback_t %(NodeName)s_Index1003_callbacks[] = 
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luis
parents: 261
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   341
                     {
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luis
parents: 261
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   342
                       NULL,
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luis
parents: 261
diff changeset
   343
                       NULL,
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luis
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   344
                     };
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luis
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   345
                    subindex %(NodeName)s_Index1003[] = 
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luis
parents: 261
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   346
                     {
286
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   347
                       { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
284
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parents: 261
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   348
                       { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
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luis
parents: 261
diff changeset
   349
                     };
24bf3d692993 Implemented EMCY objects.
luis
parents: 261
diff changeset
   350
"""%texts
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luis
parents: 261
diff changeset
   351
261
dbcd80bcab82 Prevent potential problem with missing 0x1005 OD entry
etisserant
parents: 245
diff changeset
   352
    if 0x1005 not in communicationlist:
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etisserant
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diff changeset
   353
        entry_infos = Node.GetEntryInfos(0x1005)
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etisserant
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diff changeset
   354
        texts["EntryName"] = entry_infos["name"]
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etisserant
parents: 245
diff changeset
   355
        indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
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   356
                    UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
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etisserant
parents: 245
diff changeset
   357
"""%texts
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parents: 245
diff changeset
   358
0
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etisserant
parents:
diff changeset
   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
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etisserant
parents:
diff changeset
   361
        texts["EntryName"] = entry_infos["name"]
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etisserant
parents:
diff changeset
   362
        indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
76
68e1c52d603d compilers compatibility
frdupin
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diff changeset
   363
                    UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
0
4472ee7c6c3e Commit a new cvs repo.
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parents:
diff changeset
   364
"""%texts
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   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
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   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
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   373
    if 0x1016 in communicationlist:
325
65b1b2d9e20b Modification of 0x1016 index c code generation
lbessard
parents: 314
diff changeset
   374
        texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   375
    else:
325
65b1b2d9e20b Modification of 0x1016 index c code generation
lbessard
parents: 314
diff changeset
   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
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   378
        texts["EntryName"] = entry_infos["name"]
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etisserant
parents:
diff changeset
   379
        indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   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
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   382
"""%texts
325
65b1b2d9e20b Modification of 0x1016 index c code generation
lbessard
parents: 314
diff changeset
   383
    
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   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
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   386
        texts["EntryName"] = entry_infos["name"]
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   387
        indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */ 
76
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   388
                    UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   389
"""%texts
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   390
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   391
#-------------------------------------------------------------------------------
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   392
#               Declaration of navigation in the Object Dictionary
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   393
#-------------------------------------------------------------------------------
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   394
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   395
    strDeclareIndex = ""
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   396
    strDeclareSwitch = ""
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   397
    strQuickIndex = ""
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   398
    quick_index = {}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   399
    for index_cat in index_categories:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   400
        quick_index[index_cat] = {}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   401
        for cat, idx_min, idx_max in categories:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   402
            quick_index[index_cat][cat] = 0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   403
    maxPDOtransmit = 0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   404
    for i, index in enumerate(listIndex):
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   405
        texts["index"] = index
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   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
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   407
        strDeclareSwitch += "		case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   408
        for cat, idx_min, idx_max in categories:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   409
            if idx_min <= index <= idx_max:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   410
                quick_index["lastIndex"][cat] = i
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   411
                if quick_index["firstIndex"][cat] == 0:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   412
                    quick_index["firstIndex"][cat] = i
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   413
                if cat == "PDO_TRS":
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   414
                    maxPDOtransmit += 1
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   415
    texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   416
    for index_cat in index_categories:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   417
        strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   418
        sep = ","
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   419
        for i, (cat, idx_min, idx_max) in enumerate(categories):
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   420
            if i == len(categories) - 1:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   421
                sep = ""
76
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   422
            strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   423
        strQuickIndex += "};\n"
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   424
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   425
#-------------------------------------------------------------------------------
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   426
#                            Write File Content
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   427
#-------------------------------------------------------------------------------
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   428
73
60441122e121 LGPL copyright on generated files removed
lbessard
parents: 70
diff changeset
   429
    fileContent = generated_tag + """
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   430
#include "%s"
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   431
"""%(headerfilepath)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   432
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   433
    fileContent += """
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   434
/**************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   435
/* Declaration of the mapped variables                                    */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   436
/**************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   437
""" + mappedVariableContent
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   438
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   439
    fileContent += """
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   440
/**************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   441
/* Declaration of the value range types                                   */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   442
/**************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   443
""" + valueRangeContent
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   444
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   445
    fileContent += """
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   446
/**************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   447
/* The node id                                                            */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   448
/**************************************************************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   449
/* node_id default value.*/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   450
UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   451
76
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   452
/**************************************************************************/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   453
/* Array of message processing information */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   454
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
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   455
const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   456
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   457
"""%texts
325
65b1b2d9e20b Modification of 0x1016 index c code generation
lbessard
parents: 314
diff changeset
   458
    if texts["heartBeatTimers_number"] > 0:
65b1b2d9e20b Modification of 0x1016 index c code generation
lbessard
parents: 314
diff changeset
   459
        fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(heartBeatTimers_number)d] = {TIMER_NONE,};\n"%texts
65b1b2d9e20b Modification of 0x1016 index c code generation
lbessard
parents: 314
diff changeset
   460
    else:
65b1b2d9e20b Modification of 0x1016 index c code generation
lbessard
parents: 314
diff changeset
   461
        fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   462
    
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   463
    fileContent += """
76
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   464
/*
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   465
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   466
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   467
                               OBJECT DICTIONARY
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   468
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   469
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   470
*/
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   471
"""%texts
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   472
    contentlist = indexContents.keys()
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   473
    contentlist.sort()
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   474
    for index in contentlist:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   475
        fileContent += indexContents[index]
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   476
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   477
    fileContent += """
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   478
const indextable %(NodeName)s_objdict[] = 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   479
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   480
"""%texts
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   481
    fileContent += strDeclareIndex
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   482
    fileContent += """};
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   483
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   484
const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   485
{
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   486
	int i;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   487
	*callbacks = NULL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   488
	switch(wIndex){
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   489
"""%texts
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   490
    fileContent += strDeclareSwitch
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   491
    fileContent += """		default:
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
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   492
			*errorCode = OD_NO_SUCH_OBJECT;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   493
			return NULL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   494
	}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   495
	*errorCode = OD_SUCCESSFUL;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   496
	return &%(NodeName)s_objdict[i];
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   497
}
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   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
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   501
 * Even if no pdoTransmit are defined, at least one entry is computed
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   502
 * for compilations issues.
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   503
 */
235
f812bf6b7237 Preliminary implementation of Event Timer and Inhibit Timer driven TPDO
etisserant
parents: 229
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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
47763dd15e00 Fixed Peter Christen remarks as regards typo
etisserant
parents: 325
diff changeset
   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
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   509
    fileContent += strQuickIndex
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   510
    fileContent += """
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   511
UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]); 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   512
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   513
CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   514
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   515
"""%texts
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   516
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   517
#-------------------------------------------------------------------------------
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   518
#                          Write Header File Content
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   519
#-------------------------------------------------------------------------------
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   520
223
461f5516176b Bug on Domain data writing in gen_cfile fixed
lbessard
parents: 188
diff changeset
   521
    texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
73
60441122e121 LGPL copyright on generated files removed
lbessard
parents: 70
diff changeset
   522
    HeaderFileContent = generated_tag + """
224
ae7edca3b7c4 Bug on header file writing in gen_cfile fixed
lbessard
parents: 223
diff changeset
   523
#ifndef %(file_include_name)s
223
461f5516176b Bug on Domain data writing in gen_cfile fixed
lbessard
parents: 188
diff changeset
   524
#define %(file_include_name)s
461f5516176b Bug on Domain data writing in gen_cfile fixed
lbessard
parents: 188
diff changeset
   525
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   526
#include "data.h"
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   527
76
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   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
68e1c52d603d compilers compatibility
frdupin
parents: 73
diff changeset
   532
/* Master node data struct */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   533
extern CO_Data %(NodeName)s_Data;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   534
"""%texts
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   535
    HeaderFileContent += strDeclareHeader
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   536
    
223
461f5516176b Bug on Domain data writing in gen_cfile fixed
lbessard
parents: 188
diff changeset
   537
    HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
461f5516176b Bug on Domain data writing in gen_cfile fixed
lbessard
parents: 188
diff changeset
   538
    
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   539
    return fileContent,HeaderFileContent
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   540
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   541
#-------------------------------------------------------------------------------
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   542
#                             Main Function
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   543
#-------------------------------------------------------------------------------
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   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
00245bc2e6fe Bugs on C File generating corrected
lbessard
parents: 182
diff changeset
   546
    try:
00245bc2e6fe Bugs on C File generating corrected
lbessard
parents: 182
diff changeset
   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
00245bc2e6fe Bugs on C File generating corrected
lbessard
parents: 182
diff changeset
   549
        WriteFile(filepath, content)
00245bc2e6fe Bugs on C File generating corrected
lbessard
parents: 182
diff changeset
   550
        WriteFile(headerfilepath, header)
00245bc2e6fe Bugs on C File generating corrected
lbessard
parents: 182
diff changeset
   551
        return None
00245bc2e6fe Bugs on C File generating corrected
lbessard
parents: 182
diff changeset
   552
    except ValueError, message:
00245bc2e6fe Bugs on C File generating corrected
lbessard
parents: 182
diff changeset
   553
        return "Unable to Generate C File\n%s"%message
00245bc2e6fe Bugs on C File generating corrected
lbessard
parents: 182
diff changeset
   554