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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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    10

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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    26

from node import *

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from types import *

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    29

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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    52

# 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":

    62

            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

    67

    68

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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    73

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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   125

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

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#            Creation of the mapped variables and object dictionary

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

   128

   129

    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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   149

        # 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:

   157

                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

   172

            else:

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            values = [values]

   175

        else:

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   177

            # Entry type is RECORD

   178

            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]

   187

                texts["suffixe"] = typeinfos[1]

   188

                texts["length"] = values[0]

   189

                if index in variablelist:

   190

                    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

   192

                    if callbacks:

   193

                        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

   195

                    for subIndex, value in enumerate(values):

   196

                        sep = ","

   198

                        if subIndex > 0:

   199

                            if subIndex == len(values)-1:

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                                sep = ""

   201

                            if typeinfos[2] == "visible_string":

   202

                                value = "\"%s\""%value

   203

                            else:

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                                value = "0x%X"%value

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                    mappedVariableContent += "  }\n"

   208

                else:

   209

                    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 = ","

   213

                        if subIndex > 0:

   214

                            if subIndex == len(values)-1:

   215

                                sep = ""

   216

                            if typeinfos[2] == "visible_string":

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                                value = "\"%s\""%value

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                            else:

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                    strIndex += "                    };\n"

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            else:

   224

   225

                # Entry type is ARRAY

   226

                for subIndex, value in enumerate(values):

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                    texts["subIndex"] = subIndex

   228

                    if subIndex > 0:

   229

                        subentry_infos = Manager.GetSubentryInfos(index, subIndex)

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

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                        typeinfos = GetValidTypeInfos(typename)

   232

                        if typeinfos == None:

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

   234

                        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]

   238

                        if typeinfos[2] == "visible_string":

   239

                            texts["value"] = "\"%s\""%value

   241

                        else:

   242

                            texts["value"] = "0x%X"%value

   244

                        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

   247

                            mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t// Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X\n"%texts

   248

                        else:

   250

                if callbacks:

   251

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

   252

                    strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t// Callbacks of index0x%(index)04X\n"%texts

   253

   254

        # Generating Dictionary C++ entry

   255

        if callbacks:

   256

            if index in variablelist:

   257

                name = FormatName(entry_infos["name"])

   258

            else:

   259

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

   260

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

   261

            for subIndex in xrange(len(values)):

   262

                strIndex += "                       NULL,\n"

   263

            strIndex += "                     };\n"

   264

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

   265

        else:

   266

            indexCallbacks[index] = ""

   267

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

   268

        for subIndex in xrange(len(values)):

   269

            subentry_infos = Manager.GetSubentryInfos(index, subIndex)

   270

            if subIndex < len(values) - 1:

   271

                sep = ","

   272

            else:

   273

                sep = ""

   274

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

   275

            typeinfos = GetValidTypeInfos(typename)

   276

            if typename.startswith("VISIBLE_STRING"):

   277

                subIndexType = "visible_string"

   278

            elif typename in internal_types:

   279

                subIndexType = internal_types[typename]

   280

            else:

   281

                subIndexType = typename

   282

            if subIndex == 0:

   283

                if entry_infos["struct"] & OD_MultipleSubindexes:

   284

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

   285

                elif index in variablelist:

   286

                    name = FormatName(subentry_infos["name"])

   287

                else:

   288

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

   289

            elif entry_infos["struct"] & OD_IdenticalSubindexes:

   290

                if index in variablelist:

   291

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

   292

                else:

   293

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

   294

            else:

   295

                if index in variablelist:

   296

                    name = FormatName(subentry_infos["name"])

   297

                else:

   298

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

   299

            if subIndexType == "visible_string":

   300

                sizeof = name

   301

            else:

   302

                sizeof = typeinfos[0]

   303

            params = Manager.GetCurrentParamsEntry(index, subIndex)

   304

            if params["save"]:

   305

                save = "|TO_BE_SAVE"

   306

            else:

   307

                save = ""

   308

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

   309

        strIndex += "                     };\n"

   310

        indexContents[index] = strIndex

   311

   312

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

   313

#                     Declaration of Particular Parameters

   314

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

   315

   316

    if 0x1006 not in communicationlist:

   317

        entry_infos = Manager.GetEntryInfos(0x1006)

   318

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

   319

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

   321

"""%texts

   322

   323

    if 0x1016 in communicationlist:

   324

        texts["nombre"] = Manager.GetCurrentEntry(0x1016, 0)

   325

    else:

   326

        texts["nombre"] = 0

   327

        entry_infos = Manager.GetEntryInfos(0x1016)

   328

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

   329

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

   330

                    UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;

   331

                    UNS32 %(NodeName)s_obj1016[0];

   332

                    subindex %(NodeName)s_Index1016[0];

   333

"""%texts

   334

    if texts["nombre"] > 0:

   335

        strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts

   336

    else:

   337

        strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[0];\n"%texts

   338

   339

    if 0x1017 not in communicationlist:

   340

        entry_infos = Manager.GetEntryInfos(0x1017)

   341

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

   342

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

   344

"""%texts

   345

   346

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

   347

#               Declaration of navigation in the Object Dictionary

   348

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

   349

   350

    strDeclareIndex = ""

   351

    strDeclareSwitch = ""

   352

    strQuickIndex = ""

   353

    quick_index = {}

   354

    for index_cat in index_categories:

   355

        quick_index[index_cat] = {}

   356

        for cat, idx_min, idx_max in categories:

   357

            quick_index[index_cat][cat] = 0

   358

    maxPDOtransmit = 0

   359

    for i, index in enumerate(listIndex):

   360

        texts["index"] = index

   361

        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

   362

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

   363

        for cat, idx_min, idx_max in categories:

   364

            if idx_min <= index <= idx_max:

   365

                quick_index["lastIndex"][cat] = i

   366

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

   367

                    quick_index["firstIndex"][cat] = i

   368

                if cat == "PDO_TRS":

   369

                    maxPDOtransmit += 1

   370

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

   371

    for index_cat in index_categories:

   372

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

   373

        sep = ","

   374

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

   375

            if i == len(categories) - 1:

   376

                sep = ""

   377

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

   378

        strQuickIndex += "};\n"

   379

   380

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

   381

#                            Write File Content

   382

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

   383

   384

    fileContent = copyright_notice + generated_tag + """

   385

#include "%s"

   386

"""%(headerfilepath)

   387

   388

    fileContent += """

   389

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

   390

/* Declaration of the mapped variables                                    */

   391

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

   392

""" + mappedVariableContent

   393

   394

    fileContent += """

   395

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

   396

/* Declaration of the value range types                                   */

   397

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

   398

""" + valueRangeContent

   399

   400

    fileContent += """

   401

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

   402

/* The node id                                                            */

   403

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

   404

/* node_id default value.*/

   405

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

   406

   407

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

   408

/* Array of message processing information */

   409

   410

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

   411

   412

"""%texts

   413

    fileContent += strTimers

   414

   415

    fileContent += """

   416

//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$

   417

//

   418

//                       OBJECT DICTIONARY

   419

//                   

   420

//$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$

   421

"""%texts

   422

    contentlist = indexContents.keys()

   423

    contentlist.sort()

   424

    for index in contentlist:

   425

        fileContent += indexContents[index]

   426

   427

    fileContent += """

   428

const indextable %(NodeName)s_objdict[] = 

   429

{

   430

"""%texts

   431

    fileContent += strDeclareIndex

   432

    fileContent += """};

   433

   434

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

   435

{

   436

	int i;

   437

	*callbacks = NULL;

   438

	switch(wIndex){

   439

"""%texts

   440

    fileContent += strDeclareSwitch

   441

    fileContent += """		default:

   442

			*errorCode = OD_NO_SUCH_OBJECT;

   443

			return NULL;

   444

	}

   445

	*errorCode = OD_SUCCESSFUL;

   446

	return &%(NodeName)s_objdict[i];

   447

}

   448

   449

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

   450

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

   451

// for compilations issues.

   452

UNS8 %(NodeName)s_count_sync[%(maxPDOtransmit)d] = {0,};

   453

"""%texts

   454

    fileContent += strQuickIndex

   455

    fileContent += """

   456

UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]); 

   457

   458

CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);

   459

   460

"""%texts

   461

   462

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

   463

#                          Write Header File Content

   464

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

   465

   466

    HeaderFileContent = copyright_notice + generated_tag + """

   467

#include "data.h"

   468

   469

// prototypes of function to be filled by app

   470

void %(NodeName)s_SDOtimeoutError(UNS8 line);

   471

void %(NodeName)s_heartbeatError(UNS8);

   472

   473

UNS8 %(NodeName)s_canSend(Message *);

   474

   475

void %(NodeName)s_initialisation();

   476

void %(NodeName)s_preOperational();

   477

void %(NodeName)s_operational();

   478

void %(NodeName)s_stopped();

   479

   480

void %(NodeName)s_post_sync();

   481

void %(NodeName)s_post_TPDO();

   482

   483

// Master node data struct

   484

extern CO_Data %(NodeName)s_Data;

   485

   486

"""%texts

   487

    HeaderFileContent += strDeclareHeader

   488

   489

    return fileContent,HeaderFileContent

   490

   491

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

   492

#                             Main Function

   493

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

   494

   495

def GenerateFile(filepath, manager):

   496

    headerfilepath = os.path.splitext(filepath)[0]+".h"

   497

    content, header = GenerateFileContent(manager, os.path.split(headerfilepath)[1])

   498

    WriteFile(filepath, content)

   499

    WriteFile(headerfilepath, header)

   500

    return True