--- a/objdictgen/eds_in.py Fri May 04 12:46:09 2007 +0200
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,466 +0,0 @@
-#!/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):
- return dict([( # Dict containing whole Eds
- blocktuple[0], # EntryName : Assignements dict
- dict([assignment.split('=') # Name : Value
- for assignment in # Assignements are
- blocktuple[-1].splitlines() # all the lines
- if assignment.find('=') > 0 ] # that contains '='
- )) for blocktuple in [ # Split the eds files into
- block.split("]") # (EntryName,Assignements) tuple
- for block in # for each blocks staring with '['
- open(filepath,'r').read().split("[")]
- if blocktuple[0].isalnum()]) # if EntryName exists
-
-def GenerateNode(filepath, manager):
- global Node
- global Manager
- Manager = manager
- Node = node.Node()
- eds_dict = ParseFile(filepath)
- ProfileNb=int(eds_dict["1000"]["DefaultValue"],16) & 0x0000ffff
- if ProfileNb not in [301, 302]:
- execfile("config/DS-%d.prf"%ProfileNb)
- Node.SetProfileName("DS-%d"%ProfileNb)
- Node.SetProfile(Mapping)
- Node.SetSpecificMenu(AddMenuEntries)
- for Entry in ParseFile(filepath):
- pass
-
- return Node
-
-#-------------------------------------------------------------------------------
-# Main Function
-#-------------------------------------------------------------------------------
-
-if __name__ == '__main__':
- ParseFile("test.xml")
-