1

#!/usr/bin/env python

     2

# -*- coding: utf-8 -*-

     3

     4

#This file is part of CanFestival, a library implementing CanOpen Stack. 

     5

#

     6

#Copyright (C): Edouard TISSERANT and Francis DUPIN

     7

#

     8

#See COPYING file for copyrights details.

     9

#

    10

#This library is free software; you can redistribute it and/or

    11

#modify it under the terms of the GNU Lesser General Public

    12

#License as published by the Free Software Foundation; either

    13

#version 2.1 of the License, or (at your option) any later version.

    14

#

    15

#This library is distributed in the hope that it will be useful,

    16

#but WITHOUT ANY WARRANTY; without even the implied warranty of

    17

#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    18

#Lesser General Public License for more details.

    19

#

    20

#You should have received a copy of the GNU Lesser General Public

    21

#License along with this library; if not, write to the Free Software

    22

#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    23

    24

from node import *

    25

from types import *

    26

    27

import re, os

    28

    29

word_model = re.compile('([a-zA-Z_0-9]*)')

    30

type_model = re.compile('([\_A-Z]*)([0-9]*)')

    31

range_model = re.compile('([\_A-Z]*)([0-9]*)\[([\-0-9]*)-([\-0-9]*)\]')

    32

    33

categories = [("SDO_SVR", 0x1200, 0x127F), ("SDO_CLT", 0x1280, 0x12FF),

    34

              ("PDO_RCV", 0x1400, 0x15FF), ("PDO_RCV_MAP", 0x1600, 0x17FF),

    35

              ("PDO_TRS", 0x1800, 0x19FF), ("PDO_TRS_MAP", 0x1A00, 0x1BFF)]

    36

index_categories = ["firstIndex", "lastIndex"]

    37

    38

generated_tag = """\n/* File generated by gen_cfile.py. Should not be modified. */\n"""

    39

    40

internal_types = {}

    41

default_string_size = 10

    42

    43

#Verify that the name does not start with a digit

    44

def UnDigitName(name):

    45

    start_with_digit = re.compile(r'^(\d.*)')

    46

    if start_with_digit.match(name):

    47

        return start_with_digit.sub(r'_\1', name)

    48

    return name

    49

    50

    51

# Format a string for making a C++ variable

    52

def FormatName(name):

    53

    wordlist = [word for word in word_model.findall(name) if word != '']

    54

    return "_".join(wordlist)

    55

    56

# Extract the informations from a given type name

    57

def GetValidTypeInfos(typename, items=[]):

    58

    if typename in internal_types:

    59

        return internal_types[typename]

    60

    else:

    61

        result = type_model.match(typename)

    62

        if result:

    63

            values = result.groups()

    64

            if values[0] == "UNSIGNED" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:

    65

                typeinfos = ("UNS%s"%values[1], None, "uint%s"%values[1], True)

    66

            elif values[0] == "INTEGER" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:

    67

                typeinfos = ("INTEGER%s"%values[1], None, "int%s"%values[1], False)

    68

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

    69

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

    70

            elif values[0] in ["VISIBLE_STRING", "OCTET_STRING"]:

    71

                size = default_string_size

    72

                for item in items:

    73

                    size = max(size, len(item))

    74

                if values[1] != "":

    75

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

    76

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

    77

            elif values[0] == "DOMAIN":

    78

                size = 0

    79

                for item in items:

    80

                    size = max(size, len(item))

    81

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

    82

            elif values[0] == "BOOLEAN":

    83

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

    84

            else:

    85

                raise ValueError, _("""!!! %s isn't a valid type for CanFestival.""")%typename

    86

            if typeinfos[2] not in ["visible_string", "domain"]:

    87

                internal_types[typename] = typeinfos

    88

        else:

    89

            raise ValueError, _("""!!! %s isn't a valid type for CanFestival.""")%typename

    90

    return typeinfos

    91

    92

def ComputeValue(type, value):

    93

    if type == "visible_string":

    94

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

    95

    elif type == "domain":

    96

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

    97

    elif type.startswith("real"):

    98

        return "%f"%value, ""

    99

    else:

   100

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

   101

   102

def WriteFile(filepath, content):

   103

    cfile = open(filepath,"w")

   104

    cfile.write(content)

   105

    cfile.close()

   106

   107

def GetTypeName(Node, typenumber):

   108

    typename = Node.GetTypeName(typenumber)

   109

    if typename is None:

   110

        raise ValueError, _("""!!! Datatype with value "0x%4.4X" isn't defined in CanFestival.""")%typenumber

   111

    return typename

   112

   113

def GenerateFileContent(Node, headerfilepath, pointers_dict = {}):

   114

    """

   115

    pointers_dict = {(Idx,Sidx):"VariableName",...}

   116

    """

   117

    global type

   118

    global internal_types

   119

    global default_string_size

   120

   121

    texts = {}

   122

    texts["maxPDOtransmit"] = 0

   123

    texts["NodeName"] = Node.GetNodeName()

   124

    texts["NodeID"] = Node.GetNodeID()

   125

    texts["NodeType"] = Node.GetNodeType()

   126

    texts["Description"] = Node.GetNodeDescription()

   127

    texts["iam_a_slave"] = 0

   128

    if (texts["NodeType"] == "slave"):

   129

        texts["iam_a_slave"] = 1

   130

   131

    default_string_size = Node.GetDefaultStringSize()

   132

   133

    # Compiling lists of indexes

   134

    rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]

   135

    listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]

   136

    communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]

   137

    sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]

   138

    pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]

   139

    variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]

   140

   141

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

   142

#                       Declaration of the value range types

   143

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

   144

   145

    valueRangeContent = ""

   146

    strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */"

   147

    strSwitch = """    case valueRange_EMC:

   148

      if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED;

   149

      break;\n"""

   150

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

   151

    num = 0

   152

    for index in rangelist:

   153

        rangename = Node.GetEntryName(index)

   154

        result = range_model.match(rangename)

   155

        if result:

   156

            num += 1

   157

            typeindex = Node.GetEntry(index, 1)

   158

            typename = Node.GetTypeName(typeindex)

   159

            typeinfos = GetValidTypeInfos(typename)

   160

            internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)

   161

            minvalue = Node.GetEntry(index, 2)

   162

            maxvalue = Node.GetEntry(index, 3)

   163

            strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],str(minvalue),str(maxvalue))

   164

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

   165

            if typeinfos[3] and minvalue <= 0:

   166

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

   167

            else:

   168

                strSwitch += "      if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;\n"%(typeinfos[0],typeinfos[0],str(minvalue))

   169

            strSwitch += "      if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;\n"%(typeinfos[0],typeinfos[0],str(maxvalue))

   170

            strSwitch += "    break;\n"

   171

   172

    valueRangeContent += strDefine

   173

    valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts

   174

    valueRangeContent += "\n  switch (typeValue) {\n"

   175

    valueRangeContent += strSwitch

   176

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

   177

   178

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

   179

#            Creation of the mapped variables and object dictionary

   180

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

   181

   182

    mappedVariableContent = ""

   183

    pointedVariableContent = ""

   184

    strDeclareHeader = ""

   185

    strDeclareCallback = ""

   186

    indexContents = {}

   187

    indexCallbacks = {}

   188

    for index in listIndex:

   189

        texts["index"] = index

   190

        strIndex = ""

   191

        entry_infos = Node.GetEntryInfos(index)

   192

        texts["EntryName"] = entry_infos["name"].encode('ascii','replace')

   193

        values = Node.GetEntry(index)

   194

        callbacks = Node.HasEntryCallbacks(index)

   195

        if index in variablelist:

   196

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

   197

        else:

   198

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

   199

   200

        # Entry type is VAR

   201

        if not isinstance(values, ListType):

   202

            subentry_infos = Node.GetSubentryInfos(index, 0)

   203

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

   204

            typeinfos = GetValidTypeInfos(typename, [values])

   205

            if typename is "DOMAIN" and index in variablelist:

   206

                if not typeinfos[1]:

   207

                    raise ValueError, _("\nDomain variable not initialized\nindex : 0x%04X\nsubindex : 0x00")%index

   208

            texts["subIndexType"] = typeinfos[0]

   209

            if typeinfos[1] is not None:

   210

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

   211

            else:

   212

                texts["suffixe"] = ""

   213

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

   214

            if index in variablelist:

   215

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

   216

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

   217

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

   218

            else:

   219

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

   220

            values = [values]

   221

        else:

   222

            subentry_infos = Node.GetSubentryInfos(index, 0)

   223

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

   224

            typeinfos = GetValidTypeInfos(typename)

   225

            if index == 0x1003:

   226

                texts["value"] = 0

   227

            else:

   228

                texts["value"] = values[0]

   229

            texts["subIndexType"] = typeinfos[0]

   230

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

   231

   232

            # Entry type is RECORD

   233

            if entry_infos["struct"] & OD_IdenticalSubindexes:

   234

                subentry_infos = Node.GetSubentryInfos(index, 1)

   235

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

   236

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

   237

                texts["subIndexType"] = typeinfos[0]

   238

                if typeinfos[1] is not None:

   239

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

   240

                    texts["type_suffixe"] = "*"

   241

                else:

   242

                    texts["suffixe"] = ""

   243

                    texts["type_suffixe"] = ""

   244

                texts["length"] = values[0]

   245

                if index in variablelist:

   246

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

   247

                    texts["values_count"] =  str(len(values)-1)

   248

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

   249

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

   250

                    for subIndex, value in enumerate(values):

   251

                        sep = ","

   252

                        if subIndex > 0:

   253

                            if subIndex == len(values)-1:

   254

                                sep = ""

   255

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

   256

                            if len(value) is 2 and typename is "DOMAIN":

   257

                                raise ValueError("\nDomain variable not initialized\nindex : 0x%04X\nsubindex : 0x%02X"%(index, subIndex))

   258

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

   259

                    mappedVariableContent += "  };\n"

   260

                else:

   261

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

   262

                    for subIndex, value in enumerate(values):

   263

                        sep = ","

   264

                        if subIndex > 0:

   265

                            if subIndex == len(values)-1:

   266

                                sep = ""

   267

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

   268

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

   269

                    strIndex += "                    };\n"

   270

            else:

   271

   272

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

   273

                # Entry type is ARRAY

   274

                for subIndex, value in enumerate(values):

   275

                    texts["subIndex"] = subIndex

   276

                    if subIndex > 0:

   277

                        subentry_infos = Node.GetSubentryInfos(index, subIndex)

   278

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

   279

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

   280

                        texts["subIndexType"] = typeinfos[0]

   281

                        if typeinfos[1] is not None:

   282

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

   283

                        else:

   284

                            texts["suffixe"] = ""

   285

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

   286

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

   287

                        if index in variablelist:

   288

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

   289

                            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

   290

                        else:

   291

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

   292

   293

        # Generating Dictionary C++ entry

   294

        if callbacks:

   295

            if index in variablelist:

   296

                name = FormatName(entry_infos["name"])

   297

            else:

   298

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

   299

            name=UnDigitName(name);

   300

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

   301

            for subIndex in xrange(len(values)):

   302

                strIndex += "                       NULL,\n"

   303

            strIndex += "                     };\n"

   304

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

   305

        else:

   306

            indexCallbacks[index] = ""

   307

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

   308

        for subIndex in xrange(len(values)):

   309

            subentry_infos = Node.GetSubentryInfos(index, subIndex)

   310

            if subIndex < len(values) - 1:

   311

                sep = ","

   312

            else:

   313

                sep = ""

   314

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

   315

            if entry_infos["struct"] & OD_IdenticalSubindexes:

   316

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

   317

            else:

   318

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

   319

            if subIndex == 0:

   320

                if index == 0x1003:

   321

                    typeinfos = GetValidTypeInfos("valueRange_EMC")

   322

                if entry_infos["struct"] & OD_MultipleSubindexes:

   323

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

   324

                elif index in variablelist:

   325

                    name = FormatName(subentry_infos["name"])

   326

                else:

   327

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

   328

            elif entry_infos["struct"] & OD_IdenticalSubindexes:

   329

                if index in variablelist:

   330

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

   331

                else:

   332

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

   333

            else:

   334

                if index in variablelist:

   335

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

   336

                else:

   337

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

   338

            if typeinfos[2] == "visible_string":

   339

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

   340

            elif typeinfos[2] == "domain":

   341

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

   342

            else:

   343

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

   344

            params = Node.GetParamsEntry(index, subIndex)

   345

            if params["save"]:

   346

                save = "|TO_BE_SAVE"

   347

            else:

   348

                save = ""

   349

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

   350

            pointer_name = pointers_dict.get((index, subIndex), None)

   351

            if pointer_name is not None:

   352

                pointedVariableContent += "%s* %s = &%s;\n"%(typeinfos[0], pointer_name, name)

   353

        strIndex += "                     };\n"

   354

        indexContents[index] = strIndex

   355

   356

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

   357

#                     Declaration of Particular Parameters

   358

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

   359

   360

    if 0x1003 not in communicationlist:

   361

        entry_infos = Node.GetEntryInfos(0x1003)

   362

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

   363

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

   364

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

   365

                    UNS32 %(NodeName)s_obj1003[] = 

   366

                    {

   367

                      0x0	/* 0 */

   368

                    };

   369

                    ODCallback_t %(NodeName)s_Index1003_callbacks[] = 

   370

                     {

   371

                       NULL,

   372

                       NULL,

   373

                     };

   374

                    subindex %(NodeName)s_Index1003[] = 

   375

                     {

   376

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

   377

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

   378

                     };

   379

"""%texts

   380

   381

    if 0x1005 not in communicationlist:

   382

        entry_infos = Node.GetEntryInfos(0x1005)

   383

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

   384

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

   385

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

   386

"""%texts

   387

   388

    if 0x1006 not in communicationlist:

   389

        entry_infos = Node.GetEntryInfos(0x1006)

   390

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

   391

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

   392

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

   393

"""%texts

   394

   395

    if 0x1014 not in communicationlist:

   396

        entry_infos = Node.GetEntryInfos(0x1014)

   397

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

   398

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

   399

                    UNS32 %(NodeName)s_obj1014 = 0x80 + 0x%(NodeID)02X;   /* 128 + NodeID */

   400

"""%texts

   401

   402

    if 0x1016 in communicationlist:

   403

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

   404

    else:

   405

        texts["heartBeatTimers_number"] = 0

   406

        entry_infos = Node.GetEntryInfos(0x1016)

   407

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

   408

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

   409

                    UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;

   410

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

   411

"""%texts

   412

   413

    if 0x1017 not in communicationlist:

   414

        entry_infos = Node.GetEntryInfos(0x1017)

   415

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

   416

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

   417

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

   418

"""%texts

   419

   420

    if 0x100C not in communicationlist:

   421

        entry_infos = Node.GetEntryInfos(0x100C)

   422

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

   423

        indexContents[0x100C] = """\n/* index 0x100C :   %(EntryName)s */ 

   424

                    UNS16 %(NodeName)s_obj100C = 0x0;   /* 0 */

   425

"""%texts

   426

   427

    if 0x100D not in communicationlist:

   428

        entry_infos = Node.GetEntryInfos(0x100D)

   429

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

   430

        indexContents[0x100D] = """\n/* index 0x100D :   %(EntryName)s */ 

   431

                    UNS8 %(NodeName)s_obj100D = 0x0;   /* 0 */

   432

"""%texts

   433

   434

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

   435

#               Declaration of navigation in the Object Dictionary

   436

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

   437

   438

    strDeclareIndex = ""

   439

    strDeclareSwitch = ""

   440

    strQuickIndex = ""

   441

    quick_index = {}

   442

    for index_cat in index_categories:

   443

        quick_index[index_cat] = {}

   444

        for cat, idx_min, idx_max in categories:

   445

            quick_index[index_cat][cat] = 0

   446

    maxPDOtransmit = 0

   447

    for i, index in enumerate(listIndex):

   448

        texts["index"] = index

   449

        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

   450

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

   451

        for cat, idx_min, idx_max in categories:

   452

            if idx_min <= index <= idx_max:

   453

                quick_index["lastIndex"][cat] = i

   454

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

   455

                    quick_index["firstIndex"][cat] = i

   456

                if cat == "PDO_TRS":

   457

                    maxPDOtransmit += 1

   458

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

   459

    for index_cat in index_categories:

   460

        strQuickIndex += "\nconst quick_index %s_%s = {\n"%(texts["NodeName"], index_cat)

   461

        sep = ","

   462

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

   463

            if i == len(categories) - 1:

   464

                sep = ""

   465

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

   466

        strQuickIndex += "};\n"

   467

   468

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

   469

#                            Write File Content

   470

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

   471

   472

    fileContent = generated_tag + """

   473

#include "%s"

   474

"""%(headerfilepath)

   475

   476

    fileContent += """

   477

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

   478

/* Declaration of mapped variables                                        */

   479

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

   480

""" + mappedVariableContent

   481

   482

    fileContent += """

   483

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

   484

/* Declaration of value range types                                       */

   485

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

   486

""" + valueRangeContent

   487

   488

    fileContent += """

   489

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

   490

/* The node id                                                            */

   491

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

   492

/* node_id default value.*/

   493

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

   494

   495

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

   496

/* Array of message processing information */

   497

   498

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

   499