1 #!/usr/bin/env python

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

     3 

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

     5 #

     6 #Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD

     7 #

     8 #See COPYING file for copyrights details.

     9 #

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

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

    12 #License as published by the Free Software Foundation; either

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

    14 #

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

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

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

    18 #Lesser General Public License for more details.

    19 #

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

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

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

    23 

    24 from xml.parsers import expat

    25 

    26 import node

    27 from node import *

    28 

    29 maxObjects = 8

    30 

    31 currentPDOIndex = 0

    32 currentBitsMapped = 0

    33 currentMaxObjects = 0

    34 currentNbMappedObjects = 0

    35 

    36 nextPdoIndex = {"rx":0x1400,"tx":0x1800}

    37 

    38 valid_elements = ["node","heartbeat_consumers","sdo_clients","pdo","mapped_object",

    39     "pdo_param","pdo_receive","pdo_transmit","mapped_variable","mapped_table",

    40     "mapped_string_variable","mapped_string_table"]

    41 

    42 #-------------------------------------------------------------------------------

    43 #                       Callback method of parse

    44 #-------------------------------------------------------------------------------

    45 

    46 def StartElement(name, attrs):

    47     if name in valid_elements:

    48         if name == "node":

    49             startNode(attrs)

    50         elif name == "heartbeat_consumers":

    51             startHeartBeatConsumers(attrs)

    52         elif name == "sdo_clients":

    53             startSdoClients(attrs)

    54         elif name in ["pdo_param","pdo_receive","pdo_transmit"]:

    55             raise ValueError, """!!! The XML grammar has changed.

    56 Please, open your xml file, delete the tags pdo_param, pdo_receive and pdo_transmit.

    57 Use instead the tag pdo for each pdo to create, and (optional) use the tag mapped_object (menu pdo/map and object ...)."""

    58         elif name == "pdo":

    59             startPdo(attrs)

    60         elif name == "mapped_object":

    61             startMappedObject(attrs)

    62         elif name == "mapped_variable":

    63             startMappedVariable(attrs)

    64         elif name == "mapped_table":

    65             startMappedTable(attrs)

    66         elif name == "mapped_string_variable":

    67             startMappedVariable(attrs)

    68         elif name == "mapped_string_table":

    69             startMappedTable(attrs)

    70 

    71 def EndElement(name):

    72     if name in valid_elements:

    73        if name == "node":

    74            stopNode()

    75 

    76 def CharacterData(data):

    77     pass

    78 

    79 #-------------------------------------------------------------------------------

    80 #                          Creation of Node

    81 #-------------------------------------------------------------------------------

    82 

    83 def startNode(attrs):

    84     name = attrs["name"]

    85     Node.SetNodeName(name)

    86     

    87     if "node_id" in attrs and len(attrs["node_id"]) > 0:

    88         node_id = eval(attrs["node_id"])

    89     else:

    90         node_id = 0x01  # We define here a default node_id. 

    91     Node.SetNodeID(node_id)

    92     

    93     typeNode = attrs["type_node"]

    94     Node.SetNodeType(typeNode)

    95     

    96     if "device_type_1000" in attrs:

    97         device_type = eval(attrs["device_type_1000"])

    98     else:

    99         device_type = 0

   100     Node.AddEntry(0x1000, 0, device_type)

   101     Node.AddEntry(0x1001, 0, 0)

   102     Node.AddEntry(0x1005, 0, 0x00000080)

   103     Node.AddEntry(0x1006, 0, 0)

   104     Node.AddEntry(0x1007, 0, 0)

   105 

   106     if "manufacturer_device_name_1008" in attrs:

   107         manufacturer_device_name = attrs["manufacturer_device_name_1008"]

   108     else:

   109         manufacturer_device_name = ""

   110     Node.AddEntry(0x1008, 0, manufacturer_device_name)

   111     

   112     if "manufacturer_hardware_version_1009" in attrs:

   113         manufacturer_hardware_version = attrs["manufacturer_hardware_version_1009"]

   114     else:

   115         manufacturer_hardware_version = "__DATE__"

   116     Node.AddEntry(0x1009, 0, manufacturer_hardware_version)

   117 

   118     if "manufacturer_software_version_100A" in attrs:

   119         manufacturer_software_version = attrs["manufacturer_software_version_100A"]

   120     else:

   121         manufacturer_software_version = 0

   122     Node.AddEntry(0x100A, 0,  manufacturer_software_version)

   123 

   124     if "vendor_id_1018" in attrs:

   125         vendor_id = eval(attrs["vendor_id_1018"])

   126     else:

   127         vendor_id = 0

   128     if "product_code_1018" in attrs:

   129         product_code = eval(attrs["product_code_1018"])

   130     else:

   131         product_code = 0

   132     if "revision_number_1018" in attrs:

   133         revision_number = eval(attrs["revision_number_1018"])

   134     else:

   135         revision_number = 0

   136     if "serial_number_1018" in attrs:

   137         serial_number = eval(attrs["serial_number_1018"])

   138     else:

   139         serial_number = 0

   140     Node.AddEntry(0x1018, 1, vendor_id)

   141     Node.AddEntry(0x1018, 2, product_code)

   142     Node.AddEntry(0x1018, 3, revision_number)

   143     Node.AddEntry(0x1018, 4, serial_number)

   144 

   145 def stopNode():

   146     heartBeatProducer()

   147     sdoServer()

   148 

   149 #-------------------------------------------------------------------------------

   150 #                      Creation of PDO in Object Dictionary

   151 #-------------------------------------------------------------------------------

   152 

   153 def startPdo(attrs):

   154     global currentPdoIndex

   155     global currentMaxObjects

   156     global currentNbMappedObjects

   157     global currentBitsMapped

   158     global maxObjects

   159     

   160     cobId = 0

   161     transmissionType = 253 # Default is on request. Why not ?

   162 

   163     # Find the type of the PDO and search the index of the last added

   164     type = attrs["type_rx_tx"]

   165     index = nextPdoIndex[type]

   166     

   167     # If the index of the PDO is define, verify that it has a good index

   168     if "index_communication_parameter" in attrs:

   169         index = eval(attrs["index_communication_parameter"])

   170     if type == "rx" and not 0x1400 <= index <= 0x15FF:

   171         raise ValueError, """!!! Abort because Index PDO receive : 0x%04X not valid.

   172 Valid index is 0x1400 ... 0x15FF"""%index

   173     if type == "tx" and not 0x1800 <= index <= 0x19FF:

   174         raise ValueError, """!!! Abort because Index PDO transmit : 0x%04X not valid.

   175 Valid index is 0x1800 ... 0x19FF"""%index

   176     

   177     # Extract the PDO communication parameters

   178     if "cob_id" == attrs:

   179         cobId = eval(attrs["cob_id"])

   180     if "max_objects_in_pdo" == attrs:

   181         maxObjects = eval(attrs["max_objects_in_pdo"])

   182     if "transmission_type" in attrs:

   183         transmissionType = eval(attrs["transmission_type"])

   184 

   185     if Node.IsEntry(index):

   186         raise ValueError, """!!! Abort because the PDO at index : 0x%04X have been already defined."""%index

   187 

   188     # Communication parameters

   189     Node.AddEntry(index, 1, cobId)

   190     Node.AddEntry(index, 2, transmissionType)

   191     

   192     # Mapping parameters

   193     mapping_index = index + 0x200

   194     for i in xrange(1, maxObjects + 1):

   195         Node.AddEntry(mapping_index, i, 0x0)

   196 

   197     currentPdoIndex = index

   198     currentMaxObjects = maxObjects

   199     currentBitsMapped = 0

   200     currentNbMappedObjects = 0

   201     

   202     nextPdoIndex[type] = index + 1

   203 

   204 def startMappedObject(attrs):

   205     global currentPdoIndex

   206     global currentMaxObjects

   207     global currentNbMappedObjects

   208     global currentBitsMapped

   209     

   210     index = currentPdoIndex

   211     mapping_index = index + 0x200

   212     

   213     indexObject = eval(attrs["index"])

   214     subIndexObject = eval(attrs["sub_index"])

   215     sizeInBitsObject = eval(attrs["size_in_bits"])

   216 

   217     if currentMaxObjects == 0:

   218         raise ValueError, """!!! Abort because of a bogue for mapped object (defined at index 0x%04X, subIndex 0x%025X)

   219 in PDO. index : 0x%04X is undefined."""%(indexObject,subindexObject,mapping_index)

   220     if currentNbMappedObjects >= currentMaxObjects:

   221         raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X)

   222 in PDO index 0x%04X. max objects (%d) reached."""%(IndexObject,subIndexObject,mapping_index,pdo[mapping_index]["maxObjects"])

   223     if currentBitsMapped + sizeInBitsObject > 64:

   224         raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X)

   225 in PDO index 0x%04X. No room to put %d bits in the PDO."""%(IndexObject,subIndexObject,mapping_index,sizeInBitsObject)

   226 

   227     value = eval("0x%04X%02X%02X"%(indexObject,subIndexObject,sizeInBitsObject))

   228     Node.SetEntry(mapping_index, currentNbMappedObjects + 1, value)

   229     

   230     currentNbMappedObjects += 1

   231     currentBitsMapped += sizeInBitsObject

   232 

   233 #-------------------------------------------------------------------------------

   234 #                    Creation of mapped variable and table 

   235 #-------------------------------------------------------------------------------

   236 

   237 def startMappedVariable(attrs):

   238     name = attrs["name"]

   239     index = eval(attrs["index"])

   240     subIndex = eval(attrs["sub_index"])

   241     

   242     if "size_in_bits" in attrs:

   243         size = eval(attrs["size_in_bits"]) # Numeric variable

   244         if "type" in attrs:

   245             type = attrs["type"]

   246             if (type == "UNS"):

   247                 type = "UNSIGNED"

   248         else: # Default type

   249             type = "UNSIGNED"

   250         typename = "%s%d"%(type,size)

   251 

   252         type_index = Manager.GetTypeIndex(typename, False)

   253         if type_index == None:

   254             raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unrecognized type : %s"""%(name,index,subIndex,typename)

   255         

   256         # Begin ValueRange support

   257         if "min_value" in attrs or "max_value" in attrs:

   258             if "min_value" in attrs and "max_value" in attrs:

   259                 minValue = eval(attrs["min_value"])

   260                 maxValue = eval(attrs["max_value"])

   261                 if (minValue > maxValue):

   262                     raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : error in value-range : min > max"""%(name,index,subIndex)

   263             else:

   264                 raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : You have defined only a min or a max value. \nIf you define one, you must define both."""%(name,index,subIndex)

   265         

   266             type_index = findRangeType(type_index, minValue, maxValue)

   267             if type_index == None:

   268                 raise ValueError, """!!! Sorry, too many different value range have been defined"""

   269         # End ValueRange support    

   270 

   271     if "size_in_byte" in attrs:

   272         size = eval(attrs["size_in_byte"]) # String variable

   273         type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size)

   274         if type_index == None:

   275             raise ValueError, """!!! Sorry, too many different string length have been defined"""

   276           

   277     if "access" in attrs:

   278         access = attrs["access"].lower()

   279     else: 

   280         access = "rw" # default value

   281  

   282     if index < 0x2000 or index > 0xBFFF:

   283         raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Variable can't be defined using this index-subindex."""%(name,index,subIndex)

   284 

   285     if subIndex == 0:

   286         Node.AddMappingEntry(index, name = name, struct = 1)

   287     elif subIndex == 1:

   288         Node.AddMappingEntry(index, struct = 3)

   289         Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})    

   290     result = Node.AddMappingEntry(index, subIndex, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True})

   291     

   292     if result:

   293         Node.AddEntry(index, subIndex, 0)

   294     else:

   295         raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unable to map"""%(name,index,subIndex)

   296 

   297 def startMappedTable(attrs):

   298     name = attrs["name"]

   299     number_elements = eval(attrs["number_elements"])

   300     index = eval(attrs["index"])

   301 

   302     if "size_in_bits" in attrs:

   303         size = eval(attrs["size_in_bits"]) # Numeric variable

   304         if "type" in attrs:

   305             type = attrs["type"]

   306             if (type == "UNS"):

   307                 type = "UNSIGNED"

   308         else: # Default type

   309             type = "UNSIGNED"

   310         typename = "%s%d"%(type,size)

   311 

   312         type_index = Manager.GetTypeIndex(typename, False)

   313         if type_index == None:

   314             raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Unrecognized type : %s"""%(name,index,typename)

   315         

   316         # Begin ValueRange support

   317         if "min_value" in attrs or "max_value" in attrs:

   318             if "min_value" in attrs and "max_value" in attrs:

   319                 minValue = eval(attrs["min_value"])

   320                 maxValue = eval(attrs["max_value"])

   321                 if (minValue > maxValue):

   322                     raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : error in value-range : min > max"""%(name,index)

   323             else:

   324                 raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : You have defined only a min or a max value. \nIf you define one, you must define both."""%(name,index)

   325         

   326             type_index = findRangeType(type_index, minValue, maxValue)

   327             if type_index == None:

   328                 raise ValueError, """!!! Sorry, too many different value range have been defined"""

   329         # End ValueRange support

   330 

   331     if "size_in_byte" in attrs:

   332         size = eval(attrs["size_in_byte"]) # String variable

   333         type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size)

   334         if type_index == None:

   335             raise ValueError, """!!! Sorry, too many different string length have been defined"""

   336 	      

   337     if "access" in attrs:

   338         access = attrs["access"].lower()

   339     else:

   340         access = "rw" # default value    

   341 

   342     if index < 0x2000 or index > 0xBFFF:

   343         raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Variable can't be defined using this index-subindex."""%(name,index)

   344 

   345     result = Node.AddMappingEntry(index, name = name, struct = 7)

   346     if not result:

   347         raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Unable to map because a variable or a table is using this index"""%(name,index)

   348     Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})

   349     Node.AddMappingEntry(index, 1, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True, "nbmax" : number_elements})

   350     

   351     for subIndex in xrange(1,number_elements+1):

   352         Node.AddEntry(index, subIndex, 0)

   353 

   354 def findRangeType(type, minValue, maxValue):

   355     index = 0xA0

   356     while index < 0x100 and Node.IsEntry(index):

   357         current_type = Node.GetEntry(index, 1)

   358         if current_type == type:

   359             current_minValue = Node.GetEntry(index, 2)

   360             current_maxValue = Node.GetEntry(index, 3)

   361             if current_minValue == minValue and current_maxValue == maxValue:

   362                 return index

   363         index += 1

   364     if index < 0x100:

   365         infos = Manager.GetEntryInfos(type, False)

   366         name = "%s[%d-%d]"%(infos["name"], minValue, maxValue)

   367         Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"])

   368         Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})

   369         Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False})

   370         Node.AddMappingEntry(index, 2, values = {"name" : "Minimum Value", "type" : type, "access" : "ro", "pdo" : False})

   371         Node.AddMappingEntry(index, 3, values = {"name" : "Maximum Value", "type" : type, "access" : "ro", "pdo" : False})

   372         Node.AddEntry(index, 1, type)

   373         Node.AddEntry(index, 2, minValue)

   374         Node.AddEntry(index, 3, maxValue)

   375         return index

   376     return None

   377 

   378 def findStringType(type, length):

   379     index = 0xA0

   380     while index < 0x100 and Node.IsEntry(index):

   381         current_type = Node.GetEntry(index, 1)

   382         if current_type == type:

   383             current_length = Node.GetEntry(index, 2)

   384             if current_length == length:

   385                 return index

   386         index += 1

   387     if index < 0x100:

   388         infos = Manager.GetEntryInfos(type, False)

   389         name = "%s%d"%(Manager.GetTypeName(type), length)

   390         Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"])

   391         Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})

   392         Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False})

   393         Node.AddMappingEntry(index, 2, values = {"name" : "Length", "type" : 0x02, "access" : "ro", "pdo" : False})

   394         Node.AddEntry(index, 1, type)

   395         Node.AddEntry(index, 2, length)

   396         return index

   397     return None

   398 

   399 #-------------------------------------------------------------------------------

   400 #                   Creation HeartBeat Producer & Consumers

   401 #-------------------------------------------------------------------------------

   402 

   403 def heartBeatProducer():

   404     Node.AddEntry(0x1017, 0, 0)

   405     

   406 def startHeartBeatConsumers(attrs):

   407     nombre = eval(attrs["nombre"])

   408     for i in xrange(nombre):

   409         Node.AddEntry(0x1016, i + 1, 0)		    

   410 

   411 #-------------------------------------------------------------------------------

   412 #                       Creation of SDO Server & Clients

   413 #-------------------------------------------------------------------------------

   414 

   415 def sdoServer():

   416     Node.AddEntry(0x1200, 1, 0x600 + Node.GetNodeID())

   417     Node.AddEntry(0x1200, 2, 0x580 + Node.GetNodeID())

   418     

   419 def startSdoClients(attrs):

   420     nombre = eval(attrs["nombre"])

   421     for i in xrange(nombre):

   422         Node.AddEntry(0x1280 + i, 1, 0x600)

   423         Node.AddEntry(0x1280 + i, 2, 0x580)

   424         Node.AddEntry(0x1280 + i, 3, 0)

   425     

   426 #-------------------------------------------------------------------------------

   427 #                           Parse file with Saxe

   428 #-------------------------------------------------------------------------------

   429 

   430 def ParseFile(filepath):

   431     xmlfile = open(filepath,"r")

   432     Parser = expat.ParserCreate()

   433     Parser.StartElementHandler = StartElement

   434     Parser.EndElementHandler = EndElement

   435     Parser.CharacterDataHandler = CharacterData

   436     ParserStatus = Parser.ParseFile(xmlfile)

   437     xmlfile.close()    

   438 

   439 def GenerateNode(filepath, manager):

   440     global Node

   441     global Manager

   442     Manager = manager

   443     Node = node.Node()

   444     ParseFile(filepath)

   445     return Node

   446 

   447 #-------------------------------------------------------------------------------

   448 #                             Main Function

   449 #-------------------------------------------------------------------------------

   450 

   451 if __name__ == '__main__':

   452     ParseFile("test.xml")

   453