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1 #!/usr/bin/env python |
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2 # -*- coding: utf-8 -*- |
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3 copyright_notice="""/* |
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4 This file is part of CanFestival, a library implementing CanOpen Stack. |
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5 |
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6 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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7 |
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8 See COPYING file for copyrights details. |
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9 |
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10 This library is free software; you can redistribute it and/or |
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11 modify it under the terms of the GNU Lesser General Public |
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12 License as published by the Free Software Foundation; either |
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13 version 2.1 of the License, or (at your option) any later version. |
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14 |
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15 This library is distributed in the hope that it will be useful, |
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16 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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17 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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18 Lesser General Public License for more details. |
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19 |
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20 You should have received a copy of the GNU Lesser General Public |
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21 License along with this library; if not, write to the Free Software |
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22 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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23 */ |
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24 """ |
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25 |
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26 from node import * |
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27 from types import * |
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28 |
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29 import re, os |
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30 |
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31 word_model = re.compile('([a-zA-Z_0-9]*)') |
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32 type_model = re.compile('([\_A-Z]*)([0-9]*)') |
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33 range_model = re.compile('([\_A-Z]*)([0-9]*)\[([\-0-9]*)-([\-0-9]*)\]') |
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34 |
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35 categories = [("SDO_SVR", 0x1200, 0x127F), ("SDO_CLT", 0x1280, 0x12FF), |
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36 ("PDO_RCV", 0x1400, 0x15FF), ("PDO_RCV_MAP", 0x1600, 0x17FF), |
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37 ("PDO_TRS", 0x1800, 0x19FF), ("PDO_TRS_MAP", 0x1A00, 0x1BFF)] |
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38 index_categories = ["firstIndex", "lastIndex"] |
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39 |
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40 generated_tag = """\n/* File generated by gen_cfile.py. Should not be modified. */\n""" |
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41 |
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42 # Format a string for making a C++ variable |
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43 def FormatName(name): |
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44 wordlist = [word for word in word_model.findall(name) if word != ''] |
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45 result = '' |
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46 sep = '' |
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47 for word in wordlist: |
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48 result += "%s%s"%(sep,word) |
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49 sep = '_' |
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50 return result |
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51 |
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52 # Extract the informations from a given type name |
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53 def GetValidTypeInfos(typename): |
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54 result = type_model.match(typename) |
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55 if result: |
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56 values = result.groups() |
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57 if values[0] in ("UNSIGNED", "INTEGER") and eval(values[1]) in [i * 8 for i in xrange(1, 9)]: |
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58 return "UNS%s"%values[1], "", "uint%s"%values[1] |
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59 elif values[0] == "REAL" and eval(values[1]) in (32, 64): |
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60 return "%s%s"%(values[0], values[1]), "", "real%s"%values[1] |
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61 elif values[0] == "VISIBLE_STRING": |
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62 if values[1] == "": |
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63 return "UNS8", "[10]", "visible_string" |
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64 else: |
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65 return "UNS8", "[%s]"%values[1], "visible_string" |
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66 return None |
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67 |
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68 def WriteFile(filepath, content): |
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69 cfile = open(filepath,"w") |
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70 cfile.write(content) |
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71 cfile.close() |
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72 |
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73 def GenerateFileContent(Manager, headerfilepath): |
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74 global type |
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75 texts = {} |
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76 texts["maxPDOtransmit"] = 0 |
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77 texts["NodeName"], texts["NodeID"], texts["NodeType"] = Manager.GetCurrentNodeInfos() |
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78 internal_types = {} |
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79 texts["iam_a_slave"] = 0 |
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80 if (texts["NodeType"] == "slave"): |
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81 texts["iam_a_slave"] = 1 |
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82 |
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83 # Compiling lists of indexes |
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84 rangelist = [idx for name,idx in Manager.GetCurrentValidIndexes(0, 0x260)] |
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85 listIndex = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1000, 0xFFFF)] |
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86 communicationlist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1000, 0x11FF)] |
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87 sdolist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1200, 0x12FF)] |
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88 pdolist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1400, 0x1BFF)] |
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89 variablelist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x2000, 0xBFFF)] |
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90 |
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91 #------------------------------------------------------------------------------- |
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92 # Declaration of the value range types |
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93 #------------------------------------------------------------------------------- |
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94 |
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95 valueRangeContent = "" |
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96 strDefine = "" |
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97 strSwitch = "" |
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98 num = 0 |
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99 for index in rangelist: |
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100 rangename = Manager.GetEntryName(index) |
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101 result = range_model.match(rangename) |
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102 if result: |
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103 num += 1 |
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104 internal_types[rangename] = "valueRange_%d"%num |
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105 typeindex = Manager.GetCurrentEntry(index, 1) |
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106 typename = Manager.GetTypeName(typeindex) |
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107 typeinfos = GetValidTypeInfos(typename) |
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108 if typeinfos == None: |
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109 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename |
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110 typename = typeinfos[0] |
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111 minvalue = str(Manager.GetCurrentEntry(index, 2)) |
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112 maxvalue = str(Manager.GetCurrentEntry(index, 3)) |
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113 strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typename,minvalue,maxvalue) |
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114 strSwitch += """ case valueRange_%d: |
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115 if (*(%s*)Value < (%s)%s) return OD_VALUE_TOO_LOW; |
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116 if (*(%s*)Value > (%s)%s) return OD_VALUE_TOO_HIGH; |
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117 break;\n"""%(num,typename,typename,minvalue,typename,typename,maxvalue) |
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118 |
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119 valueRangeContent += strDefine |
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120 valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts |
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121 valueRangeContent += "\n switch (typeValue) {\n" |
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122 valueRangeContent += strSwitch |
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123 valueRangeContent += " }\n return 0;\n}\n" |
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124 |
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125 #------------------------------------------------------------------------------- |
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126 # Creation of the mapped variables and object dictionary |
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127 #------------------------------------------------------------------------------- |
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128 |
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129 mappedVariableContent = "" |
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130 strDeclareHeader = "" |
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131 strDeclareCallback = "" |
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132 indexContents = {} |
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133 indexCallbacks = {} |
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134 for index in listIndex: |
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135 texts["index"] = index |
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136 strIndex = "" |
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137 entry_infos = Manager.GetEntryInfos(index) |
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138 texts["EntryName"] = entry_infos["name"] |
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139 values = Manager.GetCurrentEntry(index) |
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140 callbacks = Manager.HasCurrentEntryCallbacks(index) |
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141 if index in variablelist: |
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142 strIndex += "\n/* index 0x%(index)04X : Mapped variable %(EntryName)s */\n"%texts |
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143 else: |
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144 strIndex += "\n/* index 0x%(index)04X : %(EntryName)s. */\n"%texts |
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145 if type(values) == ListType: |
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146 texts["value"] = values[0] |
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147 strIndex += " UNS8 %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; // number of subindex - 1\n"%texts |
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148 |
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149 # Entry type is VAR |
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150 if type(values) != ListType: |
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151 subentry_infos = Manager.GetSubentryInfos(index, 0) |
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152 typename = Manager.GetTypeName(subentry_infos["type"]) |
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153 typeinfos = GetValidTypeInfos(typename) |
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154 if typeinfos == None: |
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155 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename |
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156 if typename not in internal_types: |
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157 internal_types[typename] = typeinfos[2] |
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158 texts["subIndexType"] = typeinfos[0] |
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159 texts["suffixe"] = typeinfos[1] |
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160 if typeinfos[2] == "visible_string": |
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161 texts["value"] = "\"%s\""%values |
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162 else: |
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163 texts["value"] = "0x%X"%values |
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164 if index in variablelist: |
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165 texts["name"] = FormatName(subentry_infos["name"]) |
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166 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t// Mapped at index 0x%(index)04X, subindex 0x00\n"%texts |
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167 if callbacks: |
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168 strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t// Callbacks of index0x%(index)04X\n"%texts |
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169 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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170 else: |
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171 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;\n"%texts |
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172 values = [values] |
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173 else: |
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174 |
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175 # Entry type is RECORD |
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176 if entry_infos["struct"] & OD_IdenticalSubindexes: |
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177 subentry_infos = Manager.GetSubentryInfos(index, 1) |
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178 typename = Manager.GetTypeName(subentry_infos["type"]) |
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179 typeinfos = GetValidTypeInfos(typename) |
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180 if typeinfos == None: |
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181 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename |
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182 if typename not in internal_types: |
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183 internal_types[typename] = typeinfos[2] |
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184 texts["subIndexType"] = typeinfos[0] |
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185 texts["suffixe"] = typeinfos[1] |
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186 texts["length"] = values[0] |
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187 if index in variablelist: |
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188 texts["name"] = FormatName(entry_infos["name"]) |
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189 strDeclareHeader += "%(subIndexType)s %(name)s[%(length)d]%(suffixe)s;\t\t// Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X\n"%texts |
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190 if callbacks: |
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191 strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t// Callbacks of index0x%(index)04X\n"%texts |
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192 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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193 for subIndex, value in enumerate(values): |
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194 sep = "," |
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195 if subIndex > 0: |
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196 if subIndex == len(values)-1: |
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197 sep = "" |
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198 if typeinfos[2] == "visible_string": |
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199 value = "\"%s\""%value |
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200 else: |
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201 value = "0x%X"%value |
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202 mappedVariableContent += " %s%s\n"%(value, sep) |
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203 mappedVariableContent += " }\n" |
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204 else: |
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205 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n {\n"%texts |
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206 for subIndex, value in enumerate(values): |
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207 sep = "," |
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208 if subIndex > 0: |
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209 if subIndex == len(values)-1: |
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210 sep = "" |
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211 if typeinfos[2] == "visible_string": |
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212 value = "\"%s\""%value |
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213 else: |
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214 value = str(value) |
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215 strIndex += " %s%s\n"%(value, sep) |
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216 strIndex += " };\n" |
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217 else: |
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218 |
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219 # Entry type is ARRAY |
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220 for subIndex, value in enumerate(values): |
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221 texts["subIndex"] = subIndex |
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222 if subIndex > 0: |
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223 subentry_infos = Manager.GetSubentryInfos(index, subIndex) |
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224 typename = Manager.GetTypeName(subentry_infos["type"]) |
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225 typeinfos = GetValidTypeInfos(typename) |
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226 if typeinfos == None: |
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227 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename |
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228 if typename not in internal_types: |
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229 internal_types[typename] = typeinfos[2] |
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230 texts["subIndexType"] = typeinfos[0] |
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231 texts["suffixe"] = typeinfos[1] |
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232 if typeinfos[2] == "visible_string": |
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233 texts["value"] = "\"%s\""%value |
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234 else: |
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235 texts["value"] = "0x%X"%value |
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236 texts["name"] = FormatName(subentry_infos["name"]) |
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237 if index in variablelist: |
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238 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t// Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X\n"%texts |
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239 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t// Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X\n"%texts |
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240 else: |
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241 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;\n"%texts |
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242 if callbacks: |
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243 texts["name"] = FormatName(entry_infos["name"]) |
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244 strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t// Callbacks of index0x%(index)04X\n"%texts |
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245 |
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246 # Generating Dictionary C++ entry |
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247 if callbacks: |
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248 if index in variablelist: |
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249 name = FormatName(entry_infos["name"]) |
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250 else: |
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251 name = "%(NodeName)s_Index%(index)04X"%texts |
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252 strIndex += " ODCallback_t %s_callbacks[] = \n {\n"%name |
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253 for subIndex in xrange(len(values)): |
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254 strIndex += " NULL,\n" |
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255 strIndex += " };\n" |
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256 indexCallbacks[index] = "*callbacks = %s_callbacks; "%name |
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257 else: |
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258 indexCallbacks[index] = "" |
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259 strIndex += " subindex %(NodeName)s_Index%(index)04X[] = \n {\n"%texts |
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260 for subIndex in xrange(len(values)): |
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261 subentry_infos = Manager.GetSubentryInfos(index, subIndex) |
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262 if subIndex < len(values) - 1: |
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263 sep = "," |
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264 else: |
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265 sep = "" |
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266 typename = Manager.GetTypeName(subentry_infos["type"]) |
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267 typeinfos = GetValidTypeInfos(typename) |
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268 if typename.startswith("VISIBLE_STRING"): |
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269 subIndexType = "visible_string" |
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270 elif typename in internal_types: |
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271 subIndexType = internal_types[typename] |
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272 else: |
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273 subIndexType = typename |
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274 if subIndex == 0: |
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275 if entry_infos["struct"] & OD_MultipleSubindexes: |
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276 name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts |
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277 elif index in variablelist: |
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278 name = FormatName(subentry_infos["name"]) |
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279 else: |
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280 name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"])) |
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281 elif entry_infos["struct"] & OD_IdenticalSubindexes: |
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282 if index in variablelist: |
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283 name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1) |
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284 else: |
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285 name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1) |
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286 else: |
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287 if index in variablelist: |
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288 name = FormatName(subentry_infos["name"]) |
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289 else: |
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290 name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"])) |
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291 if subIndexType == "visible_string": |
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292 sizeof = name |
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293 else: |
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294 sizeof = typeinfos[0] |
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295 params = Manager.GetCurrentParamsEntry(index, subIndex) |
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296 if params["save"]: |
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297 save = "|TO_BE_SAVE" |
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298 else: |
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299 save = "" |
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300 strIndex += " { %s%s, %s, sizeof (%s), (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,subIndexType,sizeof,name,sep) |
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301 strIndex += " };\n" |
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302 indexContents[index] = strIndex |
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303 |
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304 #------------------------------------------------------------------------------- |
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305 # Declaration of Particular Parameters |
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306 #------------------------------------------------------------------------------- |
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307 |
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308 if 0x1006 not in communicationlist: |
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309 entry_infos = Manager.GetEntryInfos(0x1006) |
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310 texts["EntryName"] = entry_infos["name"] |
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311 indexContents[0x1006] = """\n/* index 0x1006 : %(EntryName)s */ |
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312 UNS32 %(NodeName)s_obj1006 = 0; |
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313 """%texts |
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314 |
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315 if 0x1016 in communicationlist: |
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316 texts["nombre"] = Manager.GetCurrentEntry(0x1016, 0) |
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317 else: |
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318 texts["nombre"] = 0 |
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319 entry_infos = Manager.GetEntryInfos(0x1016) |
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320 texts["EntryName"] = entry_infos["name"] |
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321 indexContents[0x1016] = """\n/* index 0x1016 : %(EntryName)s */ |
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322 UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0; |
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323 UNS32 %(NodeName)s_obj1016[0]; |
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324 subindex %(NodeName)s_Index1016[0]; |
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325 """%texts |
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326 if texts["nombre"] > 0: |
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327 strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts |
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328 else: |
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329 strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[0];\n"%texts |
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330 |
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331 if 0x1017 not in communicationlist: |
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332 entry_infos = Manager.GetEntryInfos(0x1017) |
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333 texts["EntryName"] = entry_infos["name"] |
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334 indexContents[0x1017] = """\n/* index 0x1017 : %(EntryName)s */ |
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335 UNS16 %(NodeName)s_obj1017 = 0; |
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336 """%texts |
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337 |
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338 #------------------------------------------------------------------------------- |
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339 # Declaration of navigation in the Object Dictionary |
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340 #------------------------------------------------------------------------------- |
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341 |
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342 strDeclareIndex = "" |
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343 strDeclareSwitch = "" |
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344 strQuickIndex = "" |
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345 quick_index = {} |
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346 for index_cat in index_categories: |
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347 quick_index[index_cat] = {} |
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348 for cat, idx_min, idx_max in categories: |
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349 quick_index[index_cat][cat] = 0 |
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350 maxPDOtransmit = 0 |
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351 for i, index in enumerate(listIndex): |
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352 texts["index"] = index |
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353 strDeclareIndex += " { (subindex*)%(NodeName)s_Index%(index)04X,sizeof(%(NodeName)s_Index%(index)04X)/sizeof(%(NodeName)s_Index%(index)04X[0]), 0x%(index)04X},\n"%texts |
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354 strDeclareSwitch += " case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index]) |
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355 for cat, idx_min, idx_max in categories: |
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356 if idx_min <= index <= idx_max: |
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357 quick_index["lastIndex"][cat] = i |
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358 if quick_index["firstIndex"][cat] == 0: |
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359 quick_index["firstIndex"][cat] = i |
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360 if cat == "PDO_TRS": |
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361 maxPDOtransmit += 1 |
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362 texts["maxPDOtransmit"] = max(1, maxPDOtransmit) |
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363 for index_cat in index_categories: |
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364 strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat) |
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365 sep = "," |
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366 for i, (cat, idx_min, idx_max) in enumerate(categories): |
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367 if i == len(categories) - 1: |
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368 sep = "" |
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369 strQuickIndex += " %s : %d%s\n"%(cat, quick_index[index_cat][cat], sep) |
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370 strQuickIndex += "};\n" |
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371 |
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372 #------------------------------------------------------------------------------- |
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373 # Write File Content |
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374 #------------------------------------------------------------------------------- |
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375 |
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376 fileContent = copyright_notice + generated_tag + """ |
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377 #include "%s" |
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378 """%(headerfilepath) |
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379 |
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380 fileContent += """ |
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381 /**************************************************************************/ |
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382 /* Declaration of the mapped variables */ |
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383 /**************************************************************************/ |
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384 """ + mappedVariableContent |
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385 |
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386 fileContent += """ |
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387 /**************************************************************************/ |
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388 /* Declaration of the value range types */ |
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389 /**************************************************************************/ |
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390 """ + valueRangeContent |
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391 |
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392 fileContent += """ |
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393 /**************************************************************************/ |
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394 /* The node id */ |
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395 /**************************************************************************/ |
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396 /* node_id default value.*/ |
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397 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X; |
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398 |
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399 //*****************************************************************************/ |
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400 /* Array of message processing information */ |
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401 |
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402 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d; |
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403 |
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404 """%texts |
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405 fileContent += strTimers |
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406 |
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407 fileContent += """ |
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408 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
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409 // |
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410 // OBJECT DICTIONARY |
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411 // |
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412 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
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413 """%texts |
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414 contentlist = indexContents.keys() |
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415 contentlist.sort() |
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416 for index in contentlist: |
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417 fileContent += indexContents[index] |
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418 |
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419 fileContent += """ |
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420 const indextable %(NodeName)s_objdict[] = |
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421 { |
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422 """%texts |
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423 fileContent += strDeclareIndex |
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424 fileContent += """}; |
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425 |
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426 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks) |
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427 { |
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428 int i; |
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429 *callbacks = NULL; |
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430 switch(wIndex){ |
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431 """%texts |
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432 fileContent += strDeclareSwitch |
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433 fileContent += """ default: |
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434 *errorCode = OD_NO_SUCH_OBJECT; |
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435 return NULL; |
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436 } |
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437 *errorCode = OD_SUCCESSFUL; |
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438 return &%(NodeName)s_objdict[i]; |
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439 } |
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440 |
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441 // To count at which received SYNC a PDO must be sent. |
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442 // Even if no pdoTransmit are defined, at least one entry is computed |
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443 // for compilations issues. |
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444 UNS8 %(NodeName)s_count_sync[%(maxPDOtransmit)d] = {0,}; |
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445 """%texts |
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446 fileContent += strQuickIndex |
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447 fileContent += """ |
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448 UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]); |
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449 |
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450 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s); |
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451 |
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452 """%texts |
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453 |
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454 #------------------------------------------------------------------------------- |
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455 # Write Header File Content |
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456 #------------------------------------------------------------------------------- |
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457 |
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458 HeaderFileContent = copyright_notice + generated_tag + """ |
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459 #include "data.h" |
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460 |
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461 // prototypes of function to be filled by app |
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462 void %(NodeName)s_SDOtimeoutError(UNS8 line); |
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463 void %(NodeName)s_heartbeatError(UNS8); |
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464 |
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465 UNS8 %(NodeName)s_canSend(Message *); |
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466 |
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467 void %(NodeName)s_initialisation(); |
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468 void %(NodeName)s_preOperational(); |
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469 void %(NodeName)s_operational(); |
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470 void %(NodeName)s_stopped(); |
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471 |
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472 void %(NodeName)s_post_sync(); |
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473 void %(NodeName)s_post_TPDO(); |
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474 |
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475 // Master node data struct |
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476 extern CO_Data %(NodeName)s_Data; |
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477 |
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478 """%texts |
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479 HeaderFileContent += strDeclareHeader |
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480 |
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481 return fileContent,HeaderFileContent |
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482 |
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483 #------------------------------------------------------------------------------- |
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484 # Main Function |
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485 #------------------------------------------------------------------------------- |
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486 |
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487 def GenerateFile(filepath, manager): |
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488 headerfilepath = os.path.splitext(filepath)[0]+".h" |
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489 content, header = GenerateFileContent(manager, os.path.split(headerfilepath)[1]) |
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490 WriteFile(filepath, content) |
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491 WriteFile(headerfilepath, header) |
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492 return True |