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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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#

    20

#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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    27

import re, os

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    29

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]*)\[([\-0-9]*)-([\-0-9]*)\]')

    32

    33

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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default_string_size = 10

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    43

# 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)

    47

    48

# Extract the informations from a given type name

    49

def GetValidTypeInfos(typename, items=[]):

    50

    if typename in internal_types:

    51

        return internal_types[typename]

    52

    else:

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        result = type_model.match(typename)

    54

        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], None, "uint%s"%values[1], True)

    58

            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], None, "int%s"%values[1], False)

    60

            elif values[0] == "REAL" and int(values[1]) in (32, 64):

    61

                typeinfos = ("%s%s"%(values[0], values[1]), None, "real%s"%values[1], False)

    62

            elif values[0] == "VISIBLE_STRING":

    63

                size = default_string_size

    64

                for item in items:

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                    size = max(size, len(item))

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                if values[1] != "":

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                    size = max(size, int(values[1]))

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                typeinfos = ("UNS8", size, "visible_string", False)

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            elif values[0] == "DOMAIN":

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                size = 0

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                for item in items:

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                    size = max(size, len(item))

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                typeinfos = ("UNS8*", size, "domain", False)

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            elif values[0] == "BOOLEAN":

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                typeinfos = ("UNS8", None, "boolean", False)

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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

    79

        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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    83

def ComputeValue(type, value):

    84

    if type == "visible_string":

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        return "\"%s\""%value, ""

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    elif type == "domain":

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        return "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value]), ""

    88

    elif type.startswith("real"):

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        return "%f"%value, ""

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    else:

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        return "0x%X"%value, "\t/* %s */"%str(value)

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    93

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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    global default_string_size

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   103

    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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   113

    default_string_size = Node.GetDefaultStringSize()

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   115

    # 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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   123

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

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#                       Declaration of the value range types

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

   126

   127

    valueRangeContent = ""

   128

    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"""

   132

    internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True)

   133

    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)

   137

        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))

   146

            strSwitch += "    case valueRange_%d:\n"%(num)

   147

            if typeinfos[3] and minvalue <= 0:

   148

                strSwitch += "      /* Negative or null low limit ignored because of unsigned type */;\n"

   149

            else:

   150

                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"

   153

   154

    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"

   157

    valueRangeContent += strSwitch

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    valueRangeContent += "  }\n  return 0;\n}\n"

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   160

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

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#            Creation of the mapped variables and object dictionary

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

   163

   164

    mappedVariableContent = ""

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    strDeclareHeader = ""

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    strDeclareCallback = ""

   167

    indexContents = {}

   168

    indexCallbacks = {}

   169

    for index in listIndex:

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        texts["index"] = index

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        strIndex = ""

   172

        entry_infos = Node.GetEntryInfos(index)

   173

        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:

   177

            strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts

   178

        else:

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            strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts

   180

   181

        # Entry type is VAR

   182

        if type(values) != ListType:

   183

            subentry_infos = Node.GetSubentryInfos(index, 0)

   184

            typename = Node.GetTypeName(subentry_infos["type"])

   185

            typeinfos = GetValidTypeInfos(typename, [values])

   186

            texts["subIndexType"] = typeinfos[0]

   187

            if typeinfos[1] is not None:

   188

                texts["suffixe"] = "[%d]"%typeinfos[1]

   189

            else:

   190

                texts["suffixe"] = ""

   191

            texts["value"], texts["comment"] = ComputeValue(typeinfos[2], values)

   192

            if index in variablelist:

   193

                texts["name"] = FormatName(subentry_infos["name"])

   194

                strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts

   195

                mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts

   196

            else:

   197

                strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts

   198

            values = [values]

   199

        else:

   200

            subentry_infos = Node.GetSubentryInfos(index, 0)

   201

            typename = Node.GetTypeName(subentry_infos["type"])

   202

            typeinfos = GetValidTypeInfos(typename)

   203

            if index == 0x1003:

   204

                texts["value"] = 0

   205

            else:

   206

                texts["value"] = values[0]

   207

            texts["subIndexType"] = typeinfos[0]

   208

            strIndex += "                    %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts

   209

   210

            # Entry type is RECORD

   211

            if entry_infos["struct"] & OD_IdenticalSubindexes:

   212

                subentry_infos = Node.GetSubentryInfos(index, 1)

   213

                typename = Node.GetTypeName(subentry_infos["type"])

   214

                typeinfos = GetValidTypeInfos(typename, values[1:])

   215

                texts["subIndexType"] = typeinfos[0]

   216

                if typeinfos[1] is not None:

   217

                    texts["suffixe"] = "[%d]"%typeinfos[1]

   218

                else:

   219

                    texts["suffixe"] = ""

   220

                texts["length"] = values[0]

   221

                if index in variablelist:

   222

                    texts["name"] = FormatName(entry_infos["name"])

   223

                    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

   224

                    mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts

   225

                    for subIndex, value in enumerate(values):

   226

                        sep = ","

   227

                        if subIndex > 0:

   228

                            if subIndex == len(values)-1:

   229

                                sep = ""

   230

                            value, comment = ComputeValue(typeinfos[2], value)

   231

                            mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)

   232

                    mappedVariableContent += "  };\n"

   233

                else:

   234

                    strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts

   235

                    for subIndex, value in enumerate(values):

   236

                        sep = ","

   237

                        if subIndex > 0:

   238

                            if subIndex == len(values)-1:

   239

                                sep = ""

   240

                            value, comment = ComputeValue(typeinfos[2], value)

   241

                            strIndex += "                      %s%s%s\n"%(value, sep, comment)

   242

                    strIndex += "                    };\n"

   243

            else:

   244

   245

                texts["parent"] = FormatName(entry_infos["name"])

   246

                # Entry type is ARRAY

   247

                for subIndex, value in enumerate(values):

   248

                    texts["subIndex"] = subIndex

   249

                    if subIndex > 0:

   250

                        subentry_infos = Node.GetSubentryInfos(index, subIndex)

   251

                        typename = Node.GetTypeName(subentry_infos["type"])

   252

                        typeinfos = GetValidTypeInfos(typename, [values[subIndex]])

   253

                        texts["subIndexType"] = typeinfos[0]

   254

                        if typeinfos[1] is not None:

   255

                            texts["suffixe"] = "[%d]"%typeinfos[1]

   256

                        else:

   257

                            texts["suffixe"] = ""

   258

                        texts["value"], texts["comment"] = ComputeValue(typeinfos[2], value)

   259

                        texts["name"] = FormatName(subentry_infos["name"])

   260

                        if index in variablelist:

   261

                            strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts

   262

                            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

   263

                        else:

   264

                            strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts

   265

   266

        # Generating Dictionary C++ entry

   267

        if callbacks:

   268

            if index in variablelist:

   269

                name = FormatName(entry_infos["name"])

   270

            else:

   271

                name = "%(NodeName)s_Index%(index)04X"%texts

   272

            strIndex += "                    ODCallback_t %s_callbacks[] = \n                     {\n"%name

   273

            for subIndex in xrange(len(values)):

   274

                strIndex += "                       NULL,\n"

   275

            strIndex += "                     };\n"

   276

            indexCallbacks[index] = "*callbacks = %s_callbacks; "%name

   277

        else:

   278

            indexCallbacks[index] = ""

   279

        strIndex += "                    subindex %(NodeName)s_Index%(index)04X[] = \n                     {\n"%texts

   280

        for subIndex in xrange(len(values)):

   281

            subentry_infos = Node.GetSubentryInfos(index, subIndex)

   282

            if subIndex < len(values) - 1:

   283

                sep = ","

   284

            else:

   285

                sep = ""

   286

            typename = Node.GetTypeName(subentry_infos["type"])

   287

            if entry_infos["struct"] & OD_IdenticalSubindexes:

   288

                typeinfos = GetValidTypeInfos(typename, values)

   289

            else:

   290

                typeinfos = GetValidTypeInfos(typename, [values[subIndex]])

   291

            if subIndex == 0:

   292

                if index == 0x1003:

   293

                    typeinfos = GetValidTypeInfos("valueRange_EMC")

   294

                if entry_infos["struct"] & OD_MultipleSubindexes:

   295

                    name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts

   296

                elif index in variablelist:

   297

                    name = FormatName(subentry_infos["name"])

   298

                else:

   299

                    name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))

   300

            elif entry_infos["struct"] & OD_IdenticalSubindexes:

   301

                if index in variablelist:

   302

                    name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)

   303

                else:

   304

                    name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)

   305

            else:

   306

                if index in variablelist:

   307

                    name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))

   308

                else:

   309

                    name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))

   310

            if typeinfos[2] == "visible_string":

   311

                sizeof = str(max(len(values[subIndex]), default_string_size))

   312

            elif typeinfos[2] == "domain":

   313

                sizeof = str(len(values[subIndex]))

   314

            else:

   315

                sizeof = "sizeof (%s)"%typeinfos[0]

   316

            params = Node.GetParamsEntry(index, subIndex)

   317

            if params["save"]:

   318

                save = "|TO_BE_SAVE"

   319

            else:

   320

                save = ""

   321

            strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)

   322

        strIndex += "                     };\n"

   323

        indexContents[index] = strIndex

   324

   325

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

   326

#                     Declaration of Particular Parameters

   327

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

   328

   329

    if 0x1003 not in communicationlist:

   330

        entry_infos = Node.GetEntryInfos(0x1003)

   331

        texts["EntryName"] = entry_infos["name"]

   332

        indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */

   333

                    UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/

   334

                    UNS32 %(NodeName)s_obj1003[] = 

   335

                    {

   336

                      0x0	/* 0 */

   337

                    };

   338

                    ODCallback_t %(NodeName)s_Index1003_callbacks[] = 

   339

                     {

   340

                       NULL,

   341

                       NULL,

   342

                     };

   343

                    subindex %(NodeName)s_Index1003[] = 

   344

                     {

   345

                       { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },

   346

                       { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }

   347

                     };

   348

"""%texts

   349

   350

    if 0x1005 not in communicationlist:

   351

        entry_infos = Node.GetEntryInfos(0x1005)

   352

        texts["EntryName"] = entry_infos["name"]

   353

        indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */

   354

                    UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */

   355

"""%texts

   356

   357

    if 0x1006 not in communicationlist:

   358

        entry_infos = Node.GetEntryInfos(0x1006)

   359

        texts["EntryName"] = entry_infos["name"]

   360

        indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */

   361

                    UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */

   362

"""%texts

   363

   364

    if 0x1014 not in communicationlist:

   365

        entry_infos = Node.GetEntryInfos(0x1014)

   366

        texts["EntryName"] = entry_infos["name"]

   367

        indexContents[0x1014] = """\n/* index 0x1014 :   %(EntryName)s */

   368

                    UNS32 %(NodeName)s_obj1014 = 0x0;   /* 0 */

   369

"""%texts

   370

   371

    if 0x1016 in communicationlist:

   372

        texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0)

   373

    else:

   374

        texts["heartBeatTimers_number"] = 0

   375

        entry_infos = Node.GetEntryInfos(0x1016)

   376

        texts["EntryName"] = entry_infos["name"]

   377

        indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */

   378

                    UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;

   379

                    UNS32 %(NodeName)s_obj1016[]={0};

   380

"""%texts

   381

   382

    if 0x1017 not in communicationlist:

   383

        entry_infos = Node.GetEntryInfos(0x1017)

   384

        texts["EntryName"] = entry_infos["name"]

   385

        indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */ 

   386

                    UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */

   387

"""%texts

   388

   389

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

   390

#               Declaration of navigation in the Object Dictionary

   391

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

   392

   393

    strDeclareIndex = ""

   394

    strDeclareSwitch = ""

   395

    strQuickIndex = ""

   396

    quick_index = {}

   397

    for index_cat in index_categories:

   398

        quick_index[index_cat] = {}

   399

        for cat, idx_min, idx_max in categories:

   400

            quick_index[index_cat][cat] = 0

   401

    maxPDOtransmit = 0

   402

    for i, index in enumerate(listIndex):

   403

        texts["index"] = index

   404

        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

   405

        strDeclareSwitch += "		case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])

   406

        for cat, idx_min, idx_max in categories:

   407

            if idx_min <= index <= idx_max:

   408

                quick_index["lastIndex"][cat] = i

   409

                if quick_index["firstIndex"][cat] == 0:

   410

                    quick_index["firstIndex"][cat] = i

   411

                if cat == "PDO_TRS":

   412

                    maxPDOtransmit += 1

   413

    texts["maxPDOtransmit"] = max(1, maxPDOtransmit)

   414

    for index_cat in index_categories:

   416

        sep = ","

   417

        for i, (cat, idx_min, idx_max) in enumerate(categories):

   418

            if i == len(categories) - 1:

   419

                sep = ""

   420

            strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)

   421

        strQuickIndex += "};\n"

   422

   423

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

   424

#                            Write File Content

   425

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

   426

   427

    fileContent = generated_tag + """

   428

#include "%s"

   429

"""%(headerfilepath)

   430

   431

    fileContent += """

   432

/**************************************************************************/

   433

/* Declaration of the mapped variables                                    */

   434

/**************************************************************************/

   435

""" + mappedVariableContent

   436

   437

    fileContent += """

   438

/**************************************************************************/

   439

/* Declaration of the value range types                                   */

   440

/**************************************************************************/

   441

""" + valueRangeContent

   442

   443

    fileContent += """

   444

/**************************************************************************/

   445

/* The node id                                                            */

   446

/**************************************************************************/

   447

/* node_id default value.*/

   448

UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;

   449

   450

/**************************************************************************/

   451

/* Array of message processing information */

   452

   453

const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;

   454

   455

"""%texts

   456

    if texts["heartBeatTimers_number"] > 0:

   457

        declaration = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(heartBeatTimers_number)d]"%texts

   458

        initializer = "{TIMER_NONE" + ",TIMER_NONE" * (texts["heartBeatTimers_number"] - 1) + "}"

   459

        fileContent += declaration + " = " + initializer + ";\n"

   460

    else:

   461

        fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts

   462

   463

    fileContent += """

   464

/*

   465

$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$

   466

   467

                               OBJECT DICTIONARY

   468

   469

$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$

   470

*/

   471

"""%texts

   472

    contentlist = indexContents.keys()

   473

    contentlist.sort()

   474

    for index in contentlist:

   475

        fileContent += indexContents[index]

   476

   477

    fileContent += """

   478

const indextable %(NodeName)s_objdict[] = 

   479

{

   480

"""%texts

   481

    fileContent += strDeclareIndex

   482

    fileContent += """};

   483

   484

const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)

   485

{

   486

	int i;

   487

	*callbacks = NULL;

   488

	switch(wIndex){

   489

"""%texts

   490

    fileContent += strDeclareSwitch

   491

    fileContent += """		default:

   492

			*errorCode = OD_NO_SUCH_OBJECT;

   493

			return NULL;

   494

	}

   495

	*errorCode = OD_SUCCESSFUL;

   496

	return &%(NodeName)s_objdict[i];

   497

}

   498

   499

/* 

   500

 * To count at which received SYNC a PDO must be sent.

   501

 * Even if no pdoTransmit are defined, at least one entry is computed

   502

 * for compilations issues.

   503

 */

   504

s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts