--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/objdictgen/xml_in.py Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,453 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+#This file is part of CanFestival, a library implementing CanOpen Stack.
+#
+#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
+#
+#See COPYING file for copyrights details.
+#
+#This library is free software; you can redistribute it and/or
+#modify it under the terms of the GNU Lesser General Public
+#License as published by the Free Software Foundation; either
+#version 2.1 of the License, or (at your option) any later version.
+#
+#This library is distributed in the hope that it will be useful,
+#but WITHOUT ANY WARRANTY; without even the implied warranty of
+#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+#Lesser General Public License for more details.
+#
+#You should have received a copy of the GNU Lesser General Public
+#License along with this library; if not, write to the Free Software
+#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+
+from xml.parsers import expat
+
+import node
+from node import *
+
+maxObjects = 8
+
+currentPDOIndex = 0
+currentBitsMapped = 0
+currentMaxObjects = 0
+currentNbMappedObjects = 0
+
+nextPdoIndex = {"rx":0x1400,"tx":0x1800}
+
+valid_elements = ["node","heartbeat_consumers","sdo_clients","pdo","mapped_object",
+ "pdo_param","pdo_receive","pdo_transmit","mapped_variable","mapped_table",
+ "mapped_string_variable","mapped_string_table"]
+
+#-------------------------------------------------------------------------------
+# Callback method of parse
+#-------------------------------------------------------------------------------
+
+def StartElement(name, attrs):
+ if name in valid_elements:
+ if name == "node":
+ startNode(attrs)
+ elif name == "heartbeat_consumers":
+ startHeartBeatConsumers(attrs)
+ elif name == "sdo_clients":
+ startSdoClients(attrs)
+ elif name in ["pdo_param","pdo_receive","pdo_transmit"]:
+ raise ValueError, """!!! The XML grammar has changed.
+Please, open your xml file, delete the tags pdo_param, pdo_receive and pdo_transmit.
+Use instead the tag pdo for each pdo to create, and (optional) use the tag mapped_object (menu pdo/map and object ...)."""
+ elif name == "pdo":
+ startPdo(attrs)
+ elif name == "mapped_object":
+ startMappedObject(attrs)
+ elif name == "mapped_variable":
+ startMappedVariable(attrs)
+ elif name == "mapped_table":
+ startMappedTable(attrs)
+ elif name == "mapped_string_variable":
+ startMappedVariable(attrs)
+ elif name == "mapped_string_table":
+ startMappedTable(attrs)
+
+def EndElement(name):
+ if name in valid_elements:
+ if name == "node":
+ stopNode()
+
+def CharacterData(data):
+ pass
+
+#-------------------------------------------------------------------------------
+# Creation of Node
+#-------------------------------------------------------------------------------
+
+def startNode(attrs):
+ name = attrs["name"]
+ Node.SetNodeName(name)
+
+ if "node_id" in attrs and len(attrs["node_id"]) > 0:
+ node_id = eval(attrs["node_id"])
+ else:
+ node_id = 0x01 # We define here a default node_id.
+ Node.SetNodeID(node_id)
+
+ typeNode = attrs["type_node"]
+ Node.SetNodeType(typeNode)
+
+ if "device_type_1000" in attrs:
+ device_type = eval(attrs["device_type_1000"])
+ else:
+ device_type = 0
+ Node.AddEntry(0x1000, 0, device_type)
+ Node.AddEntry(0x1001, 0, 0)
+ Node.AddEntry(0x1005, 0, 0x00000080)
+ Node.AddEntry(0x1006, 0, 0)
+ Node.AddEntry(0x1007, 0, 0)
+
+ if "manufacturer_device_name_1008" in attrs:
+ manufacturer_device_name = attrs["manufacturer_device_name_1008"]
+ else:
+ manufacturer_device_name = ""
+ Node.AddEntry(0x1008, 0, manufacturer_device_name)
+
+ if "manufacturer_hardware_version_1009" in attrs:
+ manufacturer_hardware_version = attrs["manufacturer_hardware_version_1009"]
+ else:
+ manufacturer_hardware_version = "__DATE__"
+ Node.AddEntry(0x1009, 0, manufacturer_hardware_version)
+
+ if "manufacturer_software_version_100A" in attrs:
+ manufacturer_software_version = attrs["manufacturer_software_version_100A"]
+ else:
+ manufacturer_software_version = 0
+ Node.AddEntry(0x100A, 0, manufacturer_software_version)
+
+ if "vendor_id_1018" in attrs:
+ vendor_id = eval(attrs["vendor_id_1018"])
+ else:
+ vendor_id = 0
+ if "product_code_1018" in attrs:
+ product_code = eval(attrs["product_code_1018"])
+ else:
+ product_code = 0
+ if "revision_number_1018" in attrs:
+ revision_number = eval(attrs["revision_number_1018"])
+ else:
+ revision_number = 0
+ if "serial_number_1018" in attrs:
+ serial_number = eval(attrs["serial_number_1018"])
+ else:
+ serial_number = 0
+ Node.AddEntry(0x1018, 1, vendor_id)
+ Node.AddEntry(0x1018, 2, product_code)
+ Node.AddEntry(0x1018, 3, revision_number)
+ Node.AddEntry(0x1018, 4, serial_number)
+
+def stopNode():
+ heartBeatProducer()
+ sdoServer()
+
+#-------------------------------------------------------------------------------
+# Creation of PDO in Object Dictionary
+#-------------------------------------------------------------------------------
+
+def startPdo(attrs):
+ global currentPdoIndex
+ global currentMaxObjects
+ global currentNbMappedObjects
+ global currentBitsMapped
+ global maxObjects
+
+ cobId = 0
+ transmissionType = 253 # Default is on request. Why not ?
+
+ # Find the type of the PDO and search the index of the last added
+ type = attrs["type_rx_tx"]
+ index = nextPdoIndex[type]
+
+ # If the index of the PDO is define, verify that it has a good index
+ if "index_communication_parameter" in attrs:
+ index = eval(attrs["index_communication_parameter"])
+ if type == "rx" and not 0x1400 <= index <= 0x15FF:
+ raise ValueError, """!!! Abort because Index PDO receive : 0x%04X not valid.
+Valid index is 0x1400 ... 0x15FF"""%index
+ if type == "tx" and not 0x1800 <= index <= 0x19FF:
+ raise ValueError, """!!! Abort because Index PDO transmit : 0x%04X not valid.
+Valid index is 0x1800 ... 0x19FF"""%index
+
+ # Extract the PDO communication parameters
+ if "cob_id" == attrs:
+ cobId = eval(attrs["cob_id"])
+ if "max_objects_in_pdo" == attrs:
+ maxObjects = eval(attrs["max_objects_in_pdo"])
+ if "transmission_type" in attrs:
+ transmissionType = eval(attrs["transmission_type"])
+
+ if Node.IsEntry(index):
+ raise ValueError, """!!! Abort because the PDO at index : 0x%04X have been already defined."""%index
+
+ # Communication parameters
+ Node.AddEntry(index, 1, cobId)
+ Node.AddEntry(index, 2, transmissionType)
+
+ # Mapping parameters
+ mapping_index = index + 0x200
+ for i in xrange(1, maxObjects + 1):
+ Node.AddEntry(mapping_index, i, 0x0)
+
+ currentPdoIndex = index
+ currentMaxObjects = maxObjects
+ currentBitsMapped = 0
+ currentNbMappedObjects = 0
+
+ nextPdoIndex[type] = index + 1
+
+def startMappedObject(attrs):
+ global currentPdoIndex
+ global currentMaxObjects
+ global currentNbMappedObjects
+ global currentBitsMapped
+
+ index = currentPdoIndex
+ mapping_index = index + 0x200
+
+ indexObject = eval(attrs["index"])
+ subIndexObject = eval(attrs["sub_index"])
+ sizeInBitsObject = eval(attrs["size_in_bits"])
+
+ if currentMaxObjects == 0:
+ raise ValueError, """!!! Abort because of a bogue for mapped object (defined at index 0x%04X, subIndex 0x%025X)
+in PDO. index : 0x%04X is undefined."""%(indexObject,subindexObject,mapping_index)
+ if currentNbMappedObjects >= currentMaxObjects:
+ raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X)
+in PDO index 0x%04X. max objects (%d) reached."""%(IndexObject,subIndexObject,mapping_index,pdo[mapping_index]["maxObjects"])
+ if currentBitsMapped + sizeInBitsObject > 64:
+ raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X)
+in PDO index 0x%04X. No room to put %d bits in the PDO."""%(IndexObject,subIndexObject,mapping_index,sizeInBitsObject)
+
+ value = eval("0x%04X%02X%02X"%(indexObject,subIndexObject,sizeInBitsObject))
+ Node.SetEntry(mapping_index, currentNbMappedObjects + 1, value)
+
+ currentNbMappedObjects += 1
+ currentBitsMapped += sizeInBitsObject
+
+#-------------------------------------------------------------------------------
+# Creation of mapped variable and table
+#-------------------------------------------------------------------------------
+
+def startMappedVariable(attrs):
+ name = attrs["name"]
+ index = eval(attrs["index"])
+ subIndex = eval(attrs["sub_index"])
+
+ if "size_in_bits" in attrs:
+ size = eval(attrs["size_in_bits"]) # Numeric variable
+ if "type" in attrs:
+ type = attrs["type"]
+ if (type == "UNS"):
+ type = "UNSIGNED"
+ else: # Default type
+ type = "UNSIGNED"
+ typename = "%s%d"%(type,size)
+
+ type_index = Manager.GetTypeIndex(typename, False)
+ if type_index == None:
+ raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unrecognized type : %s"""%(name,index,subIndex,typename)
+
+ # Begin ValueRange support
+ if "min_value" in attrs or "max_value" in attrs:
+ if "min_value" in attrs and "max_value" in attrs:
+ minValue = eval(attrs["min_value"])
+ maxValue = eval(attrs["max_value"])
+ if (minValue > maxValue):
+ raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : error in value-range : min > max"""%(name,index,subIndex)
+ else:
+ 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)
+
+ type_index = findRangeType(type_index, minValue, maxValue)
+ if type_index == None:
+ raise ValueError, """!!! Sorry, too many different value range have been defined"""
+ # End ValueRange support
+
+ if "size_in_byte" in attrs:
+ size = eval(attrs["size_in_byte"]) # String variable
+ type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size)
+ if type_index == None:
+ raise ValueError, """!!! Sorry, too many different string length have been defined"""
+
+ if "access" in attrs:
+ access = attrs["access"].lower()
+ else:
+ access = "rw" # default value
+
+ if index < 0x2000 or index > 0xBFFF:
+ 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)
+
+ if subIndex == 0:
+ Node.AddMappingEntry(index, name = name, struct = 1)
+ elif subIndex == 1:
+ Node.AddMappingEntry(index, struct = 3)
+ Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})
+ result = Node.AddMappingEntry(index, subIndex, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True})
+
+ if result:
+ Node.AddEntry(index, subIndex, 0)
+ else:
+ raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unable to map"""%(name,index,subIndex)
+
+def startMappedTable(attrs):
+ name = attrs["name"]
+ number_elements = eval(attrs["number_elements"])
+ index = eval(attrs["index"])
+
+ if "size_in_bits" in attrs:
+ size = eval(attrs["size_in_bits"]) # Numeric variable
+ if "type" in attrs:
+ type = attrs["type"]
+ if (type == "UNS"):
+ type = "UNSIGNED"
+ else: # Default type
+ type = "UNSIGNED"
+ typename = "%s%d"%(type,size)
+
+ type_index = Manager.GetTypeIndex(typename, False)
+ if type_index == None:
+ raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Unrecognized type : %s"""%(name,index,typename)
+
+ # Begin ValueRange support
+ if "min_value" in attrs or "max_value" in attrs:
+ if "min_value" in attrs and "max_value" in attrs:
+ minValue = eval(attrs["min_value"])
+ maxValue = eval(attrs["max_value"])
+ if (minValue > maxValue):
+ raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : error in value-range : min > max"""%(name,index)
+ else:
+ 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)
+
+ type_index = findRangeType(type_index, minValue, maxValue)
+ if type_index == None:
+ raise ValueError, """!!! Sorry, too many different value range have been defined"""
+ # End ValueRange support
+
+ if "size_in_byte" in attrs:
+ size = eval(attrs["size_in_byte"]) # String variable
+ type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size)
+ if type_index == None:
+ raise ValueError, """!!! Sorry, too many different string length have been defined"""
+
+ if "access" in attrs:
+ access = attrs["access"].lower()
+ else:
+ access = "rw" # default value
+
+ if index < 0x2000 or index > 0xBFFF:
+ raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Variable can't be defined using this index-subindex."""%(name,index)
+
+ result = Node.AddMappingEntry(index, name = name, struct = 7)
+ if not result:
+ 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)
+ Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})
+ Node.AddMappingEntry(index, 1, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True, "nbmax" : number_elements})
+
+ for subIndex in xrange(1,number_elements+1):
+ Node.AddEntry(index, subIndex, 0)
+
+def findRangeType(type, minValue, maxValue):
+ index = 0xA0
+ while index < 0x100 and Node.IsEntry(index):
+ current_type = Node.GetEntry(index, 1)
+ if current_type == type:
+ current_minValue = Node.GetEntry(index, 2)
+ current_maxValue = Node.GetEntry(index, 3)
+ if current_minValue == minValue and current_maxValue == maxValue:
+ return index
+ index += 1
+ if index < 0x100:
+ infos = Manager.GetEntryInfos(type, False)
+ name = "%s[%d-%d]"%(infos["name"], minValue, maxValue)
+ Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"])
+ Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})
+ Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False})
+ Node.AddMappingEntry(index, 2, values = {"name" : "Minimum Value", "type" : type, "access" : "ro", "pdo" : False})
+ Node.AddMappingEntry(index, 3, values = {"name" : "Maximum Value", "type" : type, "access" : "ro", "pdo" : False})
+ Node.AddEntry(index, 1, type)
+ Node.AddEntry(index, 2, minValue)
+ Node.AddEntry(index, 3, maxValue)
+ return index
+ return None
+
+def findStringType(type, length):
+ index = 0xA0
+ while index < 0x100 and Node.IsEntry(index):
+ current_type = Node.GetEntry(index, 1)
+ if current_type == type:
+ current_length = Node.GetEntry(index, 2)
+ if current_length == length:
+ return index
+ index += 1
+ if index < 0x100:
+ infos = Manager.GetEntryInfos(type, False)
+ name = "%s%d"%(Manager.GetTypeName(type), length)
+ Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"])
+ Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})
+ Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False})
+ Node.AddMappingEntry(index, 2, values = {"name" : "Length", "type" : 0x02, "access" : "ro", "pdo" : False})
+ Node.AddEntry(index, 1, type)
+ Node.AddEntry(index, 2, length)
+ return index
+ return None
+
+#-------------------------------------------------------------------------------
+# Creation HeartBeat Producer & Consumers
+#-------------------------------------------------------------------------------
+
+def heartBeatProducer():
+ Node.AddEntry(0x1017, 0, 0)
+
+def startHeartBeatConsumers(attrs):
+ nombre = eval(attrs["nombre"])
+ for i in xrange(nombre):
+ Node.AddEntry(0x1016, i + 1, 0)
+
+#-------------------------------------------------------------------------------
+# Creation of SDO Server & Clients
+#-------------------------------------------------------------------------------
+
+def sdoServer():
+ Node.AddEntry(0x1200, 1, 0x600 + Node.GetNodeID())
+ Node.AddEntry(0x1200, 2, 0x580 + Node.GetNodeID())
+
+def startSdoClients(attrs):
+ nombre = eval(attrs["nombre"])
+ for i in xrange(nombre):
+ Node.AddEntry(0x1280 + i, 1, 0x600)
+ Node.AddEntry(0x1280 + i, 2, 0x580)
+ Node.AddEntry(0x1280 + i, 3, 0)
+
+#-------------------------------------------------------------------------------
+# Parse file with Saxe
+#-------------------------------------------------------------------------------
+
+def ParseFile(filepath):
+ xmlfile = open(filepath,"r")
+ Parser = expat.ParserCreate()
+ Parser.StartElementHandler = StartElement
+ Parser.EndElementHandler = EndElement
+ Parser.CharacterDataHandler = CharacterData
+ ParserStatus = Parser.ParseFile(xmlfile)
+ xmlfile.close()
+
+def GenerateNode(filepath, manager):
+ global Node
+ global Manager
+ Manager = manager
+ Node = node.Node()
+ ParseFile(filepath)
+ return Node
+
+#-------------------------------------------------------------------------------
+# Main Function
+#-------------------------------------------------------------------------------
+
+if __name__ == '__main__':
+ ParseFile("test.xml")
+