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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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copyright_notice="""/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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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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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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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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*/
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"""
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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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# 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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result = ''
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sep = ''
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for word in wordlist:
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result += "%s%s"%(sep,word)
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sep = '_'
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return result
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# Extract the informations from a given type name
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def GetValidTypeInfos(typename):
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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] in ("UNSIGNED", "INTEGER") and eval(values[1]) in [i * 8 for i in xrange(1, 9)]:
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return "UNS%s"%values[1], "", "uint%s"%values[1]
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elif values[0] == "REAL" and eval(values[1]) in (32, 64):
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return "%s%s"%(values[0], values[1]), "", "real%s"%values[1]
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elif values[0] == "VISIBLE_STRING":
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if values[1] == "":
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return "UNS8", "[10]", "visible_string"
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else:
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return "UNS8", "[%s]"%values[1], "visible_string"
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return None
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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(Manager, headerfilepath):
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global type
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texts = {}
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texts["maxPDOtransmit"] = 0
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texts["NodeName"], texts["NodeID"], texts["NodeType"] = Manager.GetCurrentNodeInfos()
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internal_types = {}
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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 name,idx in Manager.GetCurrentValidIndexes(0, 0x260)]
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listIndex = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1000, 0xFFFF)]
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communicationlist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1000, 0x11FF)]
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sdolist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1200, 0x12FF)]
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pdolist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1400, 0x1BFF)]
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variablelist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x2000, 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 = ""
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strSwitch = ""
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num = 0
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for index in rangelist:
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rangename = Manager.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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internal_types[rangename] = "valueRange_%d"%num
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typeindex = Manager.GetCurrentEntry(index, 1)
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typename = Manager.GetTypeName(typeindex)
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typeinfos = GetValidTypeInfos(typename)
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if typeinfos == None:
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raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
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typename = typeinfos[0]
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minvalue = str(Manager.GetCurrentEntry(index, 2))
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maxvalue = str(Manager.GetCurrentEntry(index, 3))
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strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typename,minvalue,maxvalue)
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strSwitch += """ case valueRange_%d:
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if (*(%s*)Value < (%s)%s) return OD_VALUE_TOO_LOW;
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if (*(%s*)Value > (%s)%s) return OD_VALUE_TOO_HIGH;
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break;\n"""%(num,typename,typename,minvalue,typename,typename,maxvalue)
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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 = Manager.GetEntryInfos(index)
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texts["EntryName"] = entry_infos["name"]
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values = Manager.GetCurrentEntry(index)
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callbacks = Manager.HasCurrentEntryCallbacks(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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if type(values) == ListType:
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texts["value"] = values[0]
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strIndex += " UNS8 %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; // number of subindex - 1\n"%texts
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# Entry type is VAR
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if type(values) != ListType:
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subentry_infos = Manager.GetSubentryInfos(index, 0)
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typename = Manager.GetTypeName(subentry_infos["type"])
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typeinfos = GetValidTypeInfos(typename)
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if typeinfos == None:
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raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
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if typename not in internal_types:
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internal_types[typename] = typeinfos[2]
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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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else:
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texts["value"] = "0x%X"%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
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else:
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strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;\n"%texts
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values = [values]
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else:
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# Entry type is RECORD
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if entry_infos["struct"] & OD_IdenticalSubindexes:
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subentry_infos = Manager.GetSubentryInfos(index, 1)
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typename = Manager.GetTypeName(subentry_infos["type"])
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typeinfos = GetValidTypeInfos(typename)
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if typeinfos == None:
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raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
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if typename not in internal_types:
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internal_types[typename] = typeinfos[2]
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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 += "%(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
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for subIndex, value in enumerate(values):
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sep = ","
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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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else:
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value = "0x%X"%value
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mappedVariableContent += " %s%s\n"%(value, sep)
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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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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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else:
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value = str(value)
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strIndex += " %s%s\n"%(value, sep)
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strIndex += " };\n"
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else:
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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 = Manager.GetSubentryInfos(index, subIndex)
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typename = Manager.GetTypeName(subentry_infos["type"])
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typeinfos = GetValidTypeInfos(typename)
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if typeinfos == None:
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raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
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if typename not in internal_types:
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internal_types[typename] = typeinfos[2]
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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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else:
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texts["value"] = "0x%X"%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 %(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 %(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;\n"%texts
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if callbacks:
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texts["name"] = FormatName(entry_infos["name"])
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strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t// Callbacks of index0x%(index)04X\n"%texts
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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 = Manager.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 = Manager.GetTypeName(subentry_infos["type"])
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typeinfos = GetValidTypeInfos(typename)
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if typename.startswith("VISIBLE_STRING"):
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subIndexType = "visible_string"
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elif typename in internal_types:
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subIndexType = internal_types[typename]
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else:
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subIndexType = typename
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if subIndex == 0:
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if entry_infos["struct"] & OD_MultipleSubindexes:
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name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
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elif index in variablelist:
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name = FormatName(subentry_infos["name"])
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else:
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name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
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elif entry_infos["struct"] & OD_IdenticalSubindexes:
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if index in variablelist:
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name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
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else:
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name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
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else:
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if index in variablelist:
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name = FormatName(subentry_infos["name"])
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else:
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name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
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if subIndexType == "visible_string":
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sizeof = name
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else:
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sizeof = typeinfos[0]
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params = Manager.GetCurrentParamsEntry(index, subIndex)
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if params["save"]:
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save = "|TO_BE_SAVE"
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else:
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save = ""
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strIndex += " { %s%s, %s, sizeof (%s), (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,subIndexType,sizeof,name,sep)
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strIndex += " };\n"
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indexContents[index] = strIndex
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|
304 |
#-------------------------------------------------------------------------------
|
|
|
305 |
# Declaration of Particular Parameters
|
|
|
306 |
#-------------------------------------------------------------------------------
|
|
|
307 |
|
|
|
308 |
if 0x1006 not in communicationlist:
|
|
|
309 |
entry_infos = Manager.GetEntryInfos(0x1006)
|
|
|
310 |
texts["EntryName"] = entry_infos["name"]
|
|
|
311 |
indexContents[0x1006] = """\n/* index 0x1006 : %(EntryName)s */
|
|
|
312 |
UNS32 %(NodeName)s_obj1006 = 0;
|
|
|
313 |
"""%texts
|
|
|
314 |
|
|
|
315 |
if 0x1016 in communicationlist:
|
|
|
316 |
texts["nombre"] = Manager.GetCurrentEntry(0x1016, 0)
|
|
|
317 |
else:
|
|
|
318 |
texts["nombre"] = 0
|
|
|
319 |
entry_infos = Manager.GetEntryInfos(0x1016)
|
|
|
320 |
texts["EntryName"] = entry_infos["name"]
|
|
|
321 |
indexContents[0x1016] = """\n/* index 0x1016 : %(EntryName)s */
|
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|
322 |
UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
|
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|
323 |
UNS32 %(NodeName)s_obj1016[0];
|
|
|
324 |
subindex %(NodeName)s_Index1016[0];
|
|
|
325 |
"""%texts
|
|
|
326 |
if texts["nombre"] > 0:
|
|
|
327 |
strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts
|
|
|
328 |
else:
|
|
|
329 |
strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[0];\n"%texts
|
|
|
330 |
|
|
|
331 |
if 0x1017 not in communicationlist:
|
|
|
332 |
entry_infos = Manager.GetEntryInfos(0x1017)
|
|
|
333 |
texts["EntryName"] = entry_infos["name"]
|
|
|
334 |
indexContents[0x1017] = """\n/* index 0x1017 : %(EntryName)s */
|
|
|
335 |
UNS16 %(NodeName)s_obj1017 = 0;
|
|
|
336 |
"""%texts
|
|
|
337 |
|
|
|
338 |
#-------------------------------------------------------------------------------
|
|
|
339 |
# Declaration of navigation in the Object Dictionary
|
|
|
340 |
#-------------------------------------------------------------------------------
|
|
|
341 |
|
|
|
342 |
strDeclareIndex = ""
|
|
|
343 |
strDeclareSwitch = ""
|
|
|
344 |
strQuickIndex = ""
|
|
|
345 |
quick_index = {}
|
|
|
346 |
for index_cat in index_categories:
|
|
|
347 |
quick_index[index_cat] = {}
|
|
|
348 |
for cat, idx_min, idx_max in categories:
|
|
|
349 |
quick_index[index_cat][cat] = 0
|
|
|
350 |
maxPDOtransmit = 0
|
|
|
351 |
for i, index in enumerate(listIndex):
|
|
|
352 |
texts["index"] = index
|
|
|
353 |
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
|
|
|
354 |
strDeclareSwitch += " case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
|
|
|
355 |
for cat, idx_min, idx_max in categories:
|
|
|
356 |
if idx_min <= index <= idx_max:
|
|
|
357 |
quick_index["lastIndex"][cat] = i
|
|
|
358 |
if quick_index["firstIndex"][cat] == 0:
|
|
|
359 |
quick_index["firstIndex"][cat] = i
|
|
|
360 |
if cat == "PDO_TRS":
|
|
|
361 |
maxPDOtransmit += 1
|
|
|
362 |
texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
|
|
|
363 |
for index_cat in index_categories:
|
|
|
364 |
strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
|
|
|
365 |
sep = ","
|
|
|
366 |
for i, (cat, idx_min, idx_max) in enumerate(categories):
|
|
|
367 |
if i == len(categories) - 1:
|
|
|
368 |
sep = ""
|
|
|
369 |
strQuickIndex += " %s : %d%s\n"%(cat, quick_index[index_cat][cat], sep)
|
|
|
370 |
strQuickIndex += "};\n"
|
|
|
371 |
|
|
|
372 |
#-------------------------------------------------------------------------------
|
|
|
373 |
# Write File Content
|
|
|
374 |
#-------------------------------------------------------------------------------
|
|
|
375 |
|
|
|
376 |
fileContent = copyright_notice + generated_tag + """
|
|
|
377 |
#include "%s"
|
|
|
378 |
"""%(headerfilepath)
|
|
|
379 |
|
|
|
380 |
fileContent += """
|
|
|
381 |
/**************************************************************************/
|
|
|
382 |
/* Declaration of the mapped variables */
|
|
|
383 |
/**************************************************************************/
|
|
|
384 |
""" + mappedVariableContent
|
|
|
385 |
|
|
|
386 |
fileContent += """
|
|
|
387 |
/**************************************************************************/
|
|
|
388 |
/* Declaration of the value range types */
|
|
|
389 |
/**************************************************************************/
|
|
|
390 |
""" + valueRangeContent
|
|
|
391 |
|
|
|
392 |
fileContent += """
|
|
|
393 |
/**************************************************************************/
|
|
|
394 |
/* The node id */
|
|
|
395 |
/**************************************************************************/
|
|
|
396 |
/* node_id default value.*/
|
|
|
397 |
UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
|
|
|
398 |
|
|
|
399 |
//*****************************************************************************/
|
|
|
400 |
/* Array of message processing information */
|
|
|
401 |
|
|
|
402 |
const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
|
|
|
403 |
|
|
|
404 |
"""%texts
|
|
|
405 |
fileContent += strTimers
|
|
|
406 |
|
|
|
407 |
fileContent += """
|
|
|
408 |
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
|
|
|
409 |
//
|
|
|
410 |
// OBJECT DICTIONARY
|
|
|
411 |
//
|
|
|
412 |
//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
|
|
|
413 |
"""%texts
|
|
|
414 |
contentlist = indexContents.keys()
|
|
|
415 |
contentlist.sort()
|
|
|
416 |
for index in contentlist:
|
|
|
417 |
fileContent += indexContents[index]
|
|
|
418 |
|
|
|
419 |
fileContent += """
|
|
|
420 |
const indextable %(NodeName)s_objdict[] =
|
|
|
421 |
{
|
|
|
422 |
"""%texts
|
|
|
423 |
fileContent += strDeclareIndex
|
|
|
424 |
fileContent += """};
|
|
|
425 |
|
|
|
426 |
const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
|
|
|
427 |
{
|
|
|
428 |
int i;
|
|
|
429 |
*callbacks = NULL;
|
|
|
430 |
switch(wIndex){
|
|
|
431 |
"""%texts
|
|
|
432 |
fileContent += strDeclareSwitch
|
|
|
433 |
fileContent += """ default:
|
|
|
434 |
*errorCode = OD_NO_SUCH_OBJECT;
|
|
|
435 |
return NULL;
|
|
|
436 |
}
|
|
|
437 |
*errorCode = OD_SUCCESSFUL;
|
|
|
438 |
return &%(NodeName)s_objdict[i];
|
|
|
439 |
}
|
|
|
440 |
|
|
|
441 |
// To count at which received SYNC a PDO must be sent.
|
|
|
442 |
// Even if no pdoTransmit are defined, at least one entry is computed
|
|
|
443 |
// for compilations issues.
|
|
|
444 |
UNS8 %(NodeName)s_count_sync[%(maxPDOtransmit)d] = {0,};
|
|
|
445 |
"""%texts
|
|
|
446 |
fileContent += strQuickIndex
|
|
|
447 |
fileContent += """
|
|
|
448 |
UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
|
|
|
449 |
|
|
|
450 |
CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
|
|
|
451 |
|
|
|
452 |
"""%texts
|
|
|
453 |
|
|
|
454 |
#-------------------------------------------------------------------------------
|
|
|
455 |
# Write Header File Content
|
|
|
456 |
#-------------------------------------------------------------------------------
|
|
|
457 |
|
|
|
458 |
HeaderFileContent = copyright_notice + generated_tag + """
|
|
|
459 |
#include "data.h"
|
|
|
460 |
|
|
|
461 |
// prototypes of function to be filled by app
|
|
|
462 |
void %(NodeName)s_SDOtimeoutError(UNS8 line);
|
|
|
463 |
void %(NodeName)s_heartbeatError(UNS8);
|
|
|
464 |
|
|
|
465 |
UNS8 %(NodeName)s_canSend(Message *);
|
|
|
466 |
|
|
|
467 |
void %(NodeName)s_initialisation();
|
|
|
468 |
void %(NodeName)s_preOperational();
|
|
|
469 |
void %(NodeName)s_operational();
|
|
|
470 |
void %(NodeName)s_stopped();
|
|
|
471 |
|
|
|
472 |
void %(NodeName)s_post_sync();
|
|
|
473 |
void %(NodeName)s_post_TPDO();
|
|
|
474 |
|
|
|
475 |
// Master node data struct
|
|
|
476 |
extern CO_Data %(NodeName)s_Data;
|
|
|
477 |
|
|
|
478 |
"""%texts
|
|
|
479 |
HeaderFileContent += strDeclareHeader
|
|
|
480 |
|
|
|
481 |
return fileContent,HeaderFileContent
|
|
|
482 |
|
|
|
483 |
#-------------------------------------------------------------------------------
|
|
|
484 |
# Main Function
|
|
|
485 |
#-------------------------------------------------------------------------------
|
|
|
486 |
|
|
|
487 |
def GenerateFile(filepath, manager):
|
|
|
488 |
headerfilepath = os.path.splitext(filepath)[0]+".h"
|
|
|
489 |
content, header = GenerateFileContent(manager, os.path.split(headerfilepath)[1])
|
|
|
490 |
WriteFile(filepath, content)
|
|
|
491 |
WriteFile(headerfilepath, header)
|
|
|
492 |
return True
|