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#!/usr/bin/env python

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

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

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#

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#Copyright (C): Edouard TISSERANT and Francis DUPIN

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#

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#See COPYING file for copyrights details.

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#

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

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

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#License as published by the Free Software Foundation; either

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

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#

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

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

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

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#Lesser General Public License for more details.

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#

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

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

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

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from node import *

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from types import *

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import re, os

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

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

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

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

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

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

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index_categories = ["firstIndex", "lastIndex"]

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

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# 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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    66

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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                texts["comment"] = ""

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            else:

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

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                texts["comment"] = "\t/* %s */"%str(values)

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            if index in variablelist:

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

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

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                if callbacks:

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

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

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            else:

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

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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)

   178

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

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                typeinfos = GetValidTypeInfos(typename)

   180

                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]

   186

                texts["length"] = values[0]

   187

                if index in variablelist:

   188

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

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

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                    if callbacks:

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

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

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                    for subIndex, value in enumerate(values):

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                        sep = ","

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                        comment = ""

   196

                        if subIndex > 0:

   197

                            if subIndex == len(values)-1:

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                                sep = ""

   199

                            if typeinfos[2] == "visible_string":

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

   201

                            else:

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                                comment = "\t/* %s */"%str(value)

   203

                                value = "0x%X"%value

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

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                    mappedVariableContent += "  };\n"

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                else:

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

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                    for subIndex, value in enumerate(values):

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                        sep = ","

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                        comment = ""

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                        if subIndex > 0:

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                            if subIndex == len(values)-1:

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                                sep = ""

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                            if typeinfos[2] == "visible_string":

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

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                            else:

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                                comment = "\t/* %s */"%str(value)

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                                value = "0x%X"%value

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

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                    strIndex += "                    };\n"

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            else:

   222

   223

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

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                # Entry type is ARRAY

   225

                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"])

   230

                        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]

   237

                        if typeinfos[2] == "visible_string":

   238

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

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                            texts["comment"] = ""

   240

                        else:

   241

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

   242

                            texts["comment"] = "\t/* %s */"%str(value)

   243

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

   244

                        if index in variablelist:

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

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

   247

                        else:

   248

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

   249

                if callbacks:

   250

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

   251

   252

        # Generating Dictionary C++ entry

   253

        if callbacks:

   254

            if index in variablelist:

   255

                name = FormatName(entry_infos["name"])

   256

            else:

   257

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

   258

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

   259

            for subIndex in xrange(len(values)):

   260

                strIndex += "                       NULL,\n"

   261

            strIndex += "                     };\n"

   262

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

   263

        else:

   264

            indexCallbacks[index] = ""

   265

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

   266

        for subIndex in xrange(len(values)):

   267

            subentry_infos = Manager.GetSubentryInfos(index, subIndex)

   268

            if subIndex < len(values) - 1:

   269

                sep = ","

   270

            else:

   271

                sep = ""

   272

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

   273

            typeinfos = GetValidTypeInfos(typename)

   274

            if typename.startswith("VISIBLE_STRING"):

   275

                subIndexType = "visible_string"

   276

            elif typename in internal_types:

   277

                subIndexType = internal_types[typename]

   278

            else:

   279

                subIndexType = typename

   280

            if subIndex == 0:

   281

                if entry_infos["struct"] & OD_MultipleSubindexes:

   282

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

   283

                elif index in variablelist:

   284

                    name = FormatName(subentry_infos["name"])

   285

                else:

   286

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

   287

            elif entry_infos["struct"] & OD_IdenticalSubindexes:

   288

                if index in variablelist:

   289

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

   290

                else:

   291

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

   292

            else:

   293

                if index in variablelist:

   294

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

   295

                else:

   296

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

   297

            if subIndexType == "visible_string":

   298

                sizeof = name

   299

            else:

   300

                sizeof = typeinfos[0]

   301

            params = Manager.GetCurrentParamsEntry(index, subIndex)

   302

            if params["save"]:

   303

                save = "|TO_BE_SAVE"

   304

            else:

   305

                save = ""

   306

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

   307

        strIndex += "                     };\n"

   308

        indexContents[index] = strIndex

   309

   310

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

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#                     Declaration of Particular Parameters

   312

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

   313

   314

    if 0x1006 not in communicationlist:

   315

        entry_infos = Manager.GetEntryInfos(0x1006)

   316

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

   317

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

   318

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

   319

"""%texts

   320

   321

    if 0x1016 in communicationlist:

   322

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

   323

    else:

   324

        texts["nombre"] = 0

   325

        entry_infos = Manager.GetEntryInfos(0x1016)

   326

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

   327

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

   328

                    UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;

   330

"""%texts

   331

    if texts["nombre"] > 0:

   332

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

   333

    else:

   334

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

   335

   336

    if 0x1017 not in communicationlist:

   337

        entry_infos = Manager.GetEntryInfos(0x1017)

   338

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

   339

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

   340

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

   341

"""%texts

   342

   343

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

   344

#               Declaration of navigation in the Object Dictionary

   345

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

   346

   347

    strDeclareIndex = ""

   348

    strDeclareSwitch = ""

   349

    strQuickIndex = ""

   350

    quick_index = {}

   351

    for index_cat in index_categories:

   352

        quick_index[index_cat] = {}

   353

        for cat, idx_min, idx_max in categories:

   354

            quick_index[index_cat][cat] = 0

   355

    maxPDOtransmit = 0

   356

    for i, index in enumerate(listIndex):

   357

        texts["index"] = index

   358

        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

   359

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

   360

        for cat, idx_min, idx_max in categories:

   361

            if idx_min <= index <= idx_max:

   362

                quick_index["lastIndex"][cat] = i

   363

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

   364

                    quick_index["firstIndex"][cat] = i

   365

                if cat == "PDO_TRS":

   366

                    maxPDOtransmit += 1

   367

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

   368

    for index_cat in index_categories:

   369

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

   370

        sep = ","

   371

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

   372

            if i == len(categories) - 1:

   373

                sep = ""

   374

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

   375

        strQuickIndex += "};\n"

   376

   377

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

   378

#                            Write File Content

   379

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

   380

   381

    fileContent = generated_tag + """

   382

#include "%s"

   383

"""%(headerfilepath)

   384

   385

    fileContent += """

   386

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

   387

/* Declaration of the mapped variables                                    */

   388

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

   389

""" + mappedVariableContent

   390

   391

    fileContent += """

   392

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

   393

/* Declaration of the value range types                                   */

   394

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

   395

""" + valueRangeContent

   396

   397

    fileContent += """

   398

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

   399

/* The node id                                                            */

   400

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

   401

/* node_id default value.*/

   402

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

   403

   404

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

   405

/* Array of message processing information */

   406

   407

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

   408

   409

"""%texts

   410

    fileContent += strTimers

   411

   412

    fileContent += """

   413

/*

   414

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

   415

   416

                               OBJECT DICTIONARY

   417

   418

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

   419

*/

   420

"""%texts

   421

    contentlist = indexContents.keys()

   422

    contentlist.sort()

   423

    for index in contentlist:

   424

        fileContent += indexContents[index]

   425

   426

    fileContent += """

   427

const indextable %(NodeName)s_objdict[] = 

   428

{

   429

"""%texts

   430

    fileContent += strDeclareIndex

   431

    fileContent += """};

   432

   433

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

   434

{

   435

	int i;

   436

	*callbacks = NULL;

   437

	switch(wIndex){

   438

"""%texts

   439

    fileContent += strDeclareSwitch

   440

    fileContent += """		default:

   441

			*errorCode = OD_NO_SUCH_OBJECT;

   442

			return NULL;

   443

	}

   444

	*errorCode = OD_SUCCESSFUL;

   445

	return &%(NodeName)s_objdict[i];

   446

}

   447

   448

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

   449

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

   450

 * for compilations issues.

   451

 */

   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 = generated_tag + """

   467

#include "data.h"

   468

   469

/* Prototypes of function provided by object dictionnary */

   470

UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);

   471

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

   472

   473

/* prototypes of function to be filled by app. */

   474

void %(NodeName)s_SDOtimeoutError(UNS8 line);

   475

void %(NodeName)s_heartbeatError(UNS8);

   476

   477

UNS8 %(NodeName)s_canSend(Message *);

   478

   479

void %(NodeName)s_initialisation(void);

   480

void %(NodeName)s_preOperational(void);

   481

void %(NodeName)s_operational(void);

   482

void %(NodeName)s_stopped(void);

   483

   484

void %(NodeName)s_post_sync(void);

   485

void %(NodeName)s_post_TPDO(void);

   486

   487

/* Master node data struct */

   488

extern CO_Data %(NodeName)s_Data;

   489

   490

"""%texts

   491

    HeaderFileContent += strDeclareHeader

   492

   493

    return fileContent,HeaderFileContent

   494

   495

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

   496

#                             Main Function

   497

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

   498

   499

def GenerateFile(filepath, manager):

   500

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

   501

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

   502

    WriteFile(filepath, content)

   503

    WriteFile(headerfilepath, header)

   504

    return True