Fixed timer problem on late Heartbeat. Thanks to Jorge.
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#This file is part of CanFestival, a library implementing CanOpen Stack.
#
#Copyright (C): Edouard TISSERANT and Francis DUPIN
#
#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 node import *
from types import *
import re, os
word_model = re.compile('([a-zA-Z_0-9]*)')
type_model = re.compile('([\_A-Z]*)([0-9]*)')
range_model = re.compile('([\_A-Z]*)([0-9]*)\[([\-0-9]*)-([\-0-9]*)\]')
categories = [("SDO_SVR", 0x1200, 0x127F), ("SDO_CLT", 0x1280, 0x12FF),
("PDO_RCV", 0x1400, 0x15FF), ("PDO_RCV_MAP", 0x1600, 0x17FF),
("PDO_TRS", 0x1800, 0x19FF), ("PDO_TRS_MAP", 0x1A00, 0x1BFF)]
index_categories = ["firstIndex", "lastIndex"]
generated_tag = """\n/* File generated by gen_cfile.py. Should not be modified. */\n"""
internal_types = {}
# Format a string for making a C++ variable
def FormatName(name):
wordlist = [word for word in word_model.findall(name) if word != '']
return "_".join(wordlist)
# Extract the informations from a given type name
def GetValidTypeInfos(typename):
if typename in internal_types:
return internal_types[typename]
else:
result = type_model.match(typename)
if result:
values = result.groups()
if values[0] == "UNSIGNED" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
typeinfos = ("UNS%s"%values[1], "", "uint%s"%values[1], True)
elif values[0] == "INTEGER" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
typeinfos = ("INTEGER%s"%values[1], "", "int%s"%values[1], False)
elif values[0] == "REAL" and int(values[1]) in (32, 64):
typeinfos = ("%s%s"%(values[0], values[1]), "", "real%s"%values[1], False)
elif values[0] == "VISIBLE_STRING":
if values[1] == "":
typeinfos = ("UNS8", "[10]", "visible_string", False)
else:
typeinfos = ("UNS8", "[%s]"%values[1], "visible_string", False)
elif values[0] == "DOMAIN":
typeinfos = ("UNS8*", "", "domain", True)
elif values[0] == "BOOLEAN":
typeinfos = ("UNS8", "", "boolean", True)
else:
raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
internal_types[typename] = typeinfos
else:
raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
return typeinfos
def WriteFile(filepath, content):
cfile = open(filepath,"w")
cfile.write(content)
cfile.close()
def GenerateFileContent(Node, headerfilepath):
global type
global internal_types
texts = {}
texts["maxPDOtransmit"] = 0
texts["NodeName"] = Node.GetNodeName()
texts["NodeID"] = Node.GetNodeID()
texts["NodeType"] = Node.GetNodeType()
texts["Description"] = Node.GetNodeDescription()
texts["iam_a_slave"] = 0
if (texts["NodeType"] == "slave"):
texts["iam_a_slave"] = 1
# Compiling lists of indexes
rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]
listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]
communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]
sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]
pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]
variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]
#-------------------------------------------------------------------------------
# Declaration of the value range types
#-------------------------------------------------------------------------------
valueRangeContent = ""
strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */"
strSwitch = """ case valueRange_EMC:
if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED;
break;\n"""
internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True)
num = 0
for index in rangelist:
rangename = Node.GetEntryName(index)
result = range_model.match(rangename)
if result:
num += 1
typeindex = Node.GetEntry(index, 1)
typename = Node.GetTypeName(typeindex)
typeinfos = GetValidTypeInfos(typename)
internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
minvalue = Node.GetEntry(index, 2)
maxvalue = Node.GetEntry(index, 3)
strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],str(minvalue),str(maxvalue))
strSwitch += " case valueRange_%d:\n"%(num)
if typeinfos[3] and minvalue <= 0:
strSwitch += " /* Negative or null low limit ignored because of unsigned type */;\n"
else:
strSwitch += " if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;\n"%(typeinfos[0],typeinfos[0],str(minvalue))
strSwitch += " if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;\n"%(typeinfos[0],typeinfos[0],str(maxvalue))
strSwitch += " break;\n"
valueRangeContent += strDefine
valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
valueRangeContent += "\n switch (typeValue) {\n"
valueRangeContent += strSwitch
valueRangeContent += " }\n return 0;\n}\n"
#-------------------------------------------------------------------------------
# Creation of the mapped variables and object dictionary
#-------------------------------------------------------------------------------
mappedVariableContent = ""
strDeclareHeader = ""
strDeclareCallback = ""
indexContents = {}
indexCallbacks = {}
for index in listIndex:
texts["index"] = index
strIndex = ""
entry_infos = Node.GetEntryInfos(index)
texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
values = Node.GetEntry(index)
callbacks = Node.HasEntryCallbacks(index)
if index in variablelist:
strIndex += "\n/* index 0x%(index)04X : Mapped variable %(EntryName)s */\n"%texts
else:
strIndex += "\n/* index 0x%(index)04X : %(EntryName)s. */\n"%texts
# Entry type is VAR
if type(values) != ListType:
subentry_infos = Node.GetSubentryInfos(index, 0)
typename = Node.GetTypeName(subentry_infos["type"])
typeinfos = GetValidTypeInfos(typename)
texts["subIndexType"] = typeinfos[0]
texts["suffixe"] = typeinfos[1]
if typeinfos[2] == "visible_string":
texts["value"] = "\"%s\""%values
texts["comment"] = ""
elif typeinfos[2] == "domain":
texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
texts["comment"] = ""
else:
texts["value"] = "0x%X"%values
texts["comment"] = "\t/* %s */"%str(values)
if index in variablelist:
texts["name"] = FormatName(subentry_infos["name"])
strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
if callbacks:
strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
else:
strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
values = [values]
else:
subentry_infos = Node.GetSubentryInfos(index, 0)
typename = Node.GetTypeName(subentry_infos["type"])
typeinfos = GetValidTypeInfos(typename)
if index == 0x1003:
texts["value"] = 0
else:
texts["value"] = values[0]
texts["subIndexType"] = typeinfos[0]
strIndex += " %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
# Entry type is RECORD
if entry_infos["struct"] & OD_IdenticalSubindexes:
subentry_infos = Node.GetSubentryInfos(index, 1)
typename = Node.GetTypeName(subentry_infos["type"])
typeinfos = GetValidTypeInfos(typename)
texts["subIndexType"] = typeinfos[0]
texts["suffixe"] = typeinfos[1]
texts["length"] = values[0]
if index in variablelist:
texts["name"] = FormatName(entry_infos["name"])
strDeclareHeader += "extern %(subIndexType)s %(name)s[%(length)d]%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n"%texts
if callbacks:
strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n {\n"%texts
for subIndex, value in enumerate(values):
sep = ","
comment = ""
if subIndex > 0:
if subIndex == len(values)-1:
sep = ""
if typeinfos[2] == "visible_string":
value = "\"%s\""%value
elif typeinfos[2] == "domain":
value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
else:
comment = "\t/* %s */"%str(value)
value = "0x%X"%value
mappedVariableContent += " %s%s%s\n"%(value, sep, comment)
mappedVariableContent += " };\n"
else:
strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n {\n"%texts
for subIndex, value in enumerate(values):
sep = ","
comment = ""
if subIndex > 0:
if subIndex == len(values)-1:
sep = ""
if typeinfos[2] == "visible_string":
value = "\"%s\""%value
elif typeinfos[2] == "domain":
value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
else:
comment = "\t/* %s */"%str(value)
value = "0x%X"%value
strIndex += " %s%s%s\n"%(value, sep, comment)
strIndex += " };\n"
else:
texts["parent"] = FormatName(entry_infos["name"])
# Entry type is ARRAY
for subIndex, value in enumerate(values):
texts["subIndex"] = subIndex
if subIndex > 0:
subentry_infos = Node.GetSubentryInfos(index, subIndex)
typename = Node.GetTypeName(subentry_infos["type"])
typeinfos = GetValidTypeInfos(typename)
texts["subIndexType"] = typeinfos[0]
texts["suffixe"] = typeinfos[1]
if typeinfos[2] == "visible_string":
texts["value"] = "\"%s\""%value
texts["comment"] = ""
elif typeinfos[2] == "domain":
texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
texts["comment"] = ""
else:
texts["value"] = "0x%X"%value
texts["comment"] = "\t/* %s */"%str(value)
texts["name"] = FormatName(subentry_infos["name"])
if index in variablelist:
strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
mappedVariableContent += "%(subIndexType)s %(parent)s_%(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
else:
strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
if callbacks:
strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
# Generating Dictionary C++ entry
if callbacks:
if index in variablelist:
name = FormatName(entry_infos["name"])
else:
name = "%(NodeName)s_Index%(index)04X"%texts
strIndex += " ODCallback_t %s_callbacks[] = \n {\n"%name
for subIndex in xrange(len(values)):
strIndex += " NULL,\n"
strIndex += " };\n"
indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
else:
indexCallbacks[index] = ""
strIndex += " subindex %(NodeName)s_Index%(index)04X[] = \n {\n"%texts
for subIndex in xrange(len(values)):
subentry_infos = Node.GetSubentryInfos(index, subIndex)
if subIndex < len(values) - 1:
sep = ","
else:
sep = ""
typename = Node.GetTypeName(subentry_infos["type"])
typeinfos = GetValidTypeInfos(typename)
if subIndex == 0:
if index == 0x1003:
typeinfos = GetValidTypeInfos("valueRange_EMC")
if entry_infos["struct"] & OD_MultipleSubindexes:
name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
elif index in variablelist:
name = FormatName(subentry_infos["name"])
else:
name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
elif entry_infos["struct"] & OD_IdenticalSubindexes:
if index in variablelist:
name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
else:
name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
else:
if index in variablelist:
name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
else:
name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
if typeinfos[2] in ["visible_string", "domain"]:
sizeof = str(len(values[subIndex]))
else:
sizeof = "sizeof (%s)"%typeinfos[0]
params = Node.GetParamsEntry(index, subIndex)
if params["save"]:
save = "|TO_BE_SAVE"
else:
save = ""
strIndex += " { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
strIndex += " };\n"
indexContents[index] = strIndex
#-------------------------------------------------------------------------------
# Declaration of Particular Parameters
#-------------------------------------------------------------------------------
if 0x1003 not in communicationlist:
entry_infos = Node.GetEntryInfos(0x1003)
texts["EntryName"] = entry_infos["name"]
indexContents[0x1003] = """\n/* index 0x1003 : %(EntryName)s */
UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
UNS32 %(NodeName)s_obj1003[] =
{
0x0 /* 0 */
};
ODCallback_t %(NodeName)s_Index1003_callbacks[] =
{
NULL,
NULL,
};
subindex %(NodeName)s_Index1003[] =
{
{ RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
{ RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
};
"""%texts
if 0x1005 not in communicationlist:
entry_infos = Node.GetEntryInfos(0x1005)
texts["EntryName"] = entry_infos["name"]
indexContents[0x1005] = """\n/* index 0x1005 : %(EntryName)s */
UNS32 %(NodeName)s_obj1005 = 0x0; /* 0 */
"""%texts
if 0x1006 not in communicationlist:
entry_infos = Node.GetEntryInfos(0x1006)
texts["EntryName"] = entry_infos["name"]
indexContents[0x1006] = """\n/* index 0x1006 : %(EntryName)s */
UNS32 %(NodeName)s_obj1006 = 0x0; /* 0 */
"""%texts
if 0x1014 not in communicationlist:
entry_infos = Node.GetEntryInfos(0x1014)
texts["EntryName"] = entry_infos["name"]
indexContents[0x1014] = """\n/* index 0x1014 : %(EntryName)s */
UNS32 %(NodeName)s_obj1014 = 0x0; /* 0 */
"""%texts
if 0x1016 in communicationlist:
texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0)
else:
texts["heartBeatTimers_number"] = 0
entry_infos = Node.GetEntryInfos(0x1016)
texts["EntryName"] = entry_infos["name"]
indexContents[0x1016] = """\n/* index 0x1016 : %(EntryName)s */
UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
UNS32 %(NodeName)s_obj1016[]={0};
"""%texts
if 0x1017 not in communicationlist:
entry_infos = Node.GetEntryInfos(0x1017)
texts["EntryName"] = entry_infos["name"]
indexContents[0x1017] = """\n/* index 0x1017 : %(EntryName)s */
UNS16 %(NodeName)s_obj1017 = 0x0; /* 0 */
"""%texts
#-------------------------------------------------------------------------------
# Declaration of navigation in the Object Dictionary
#-------------------------------------------------------------------------------
strDeclareIndex = ""
strDeclareSwitch = ""
strQuickIndex = ""
quick_index = {}
for index_cat in index_categories:
quick_index[index_cat] = {}
for cat, idx_min, idx_max in categories:
quick_index[index_cat][cat] = 0
maxPDOtransmit = 0
for i, index in enumerate(listIndex):
texts["index"] = index
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
strDeclareSwitch += " case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
for cat, idx_min, idx_max in categories:
if idx_min <= index <= idx_max:
quick_index["lastIndex"][cat] = i
if quick_index["firstIndex"][cat] == 0:
quick_index["firstIndex"][cat] = i
if cat == "PDO_TRS":
maxPDOtransmit += 1
texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
for index_cat in index_categories:
strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
sep = ","
for i, (cat, idx_min, idx_max) in enumerate(categories):
if i == len(categories) - 1:
sep = ""
strQuickIndex += " %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
strQuickIndex += "};\n"
#-------------------------------------------------------------------------------
# Write File Content
#-------------------------------------------------------------------------------
fileContent = generated_tag + """
#include "%s"
"""%(headerfilepath)
fileContent += """
/**************************************************************************/
/* Declaration of the mapped variables */
/**************************************************************************/
""" + mappedVariableContent
fileContent += """
/**************************************************************************/
/* Declaration of the value range types */
/**************************************************************************/
""" + valueRangeContent
fileContent += """
/**************************************************************************/
/* The node id */
/**************************************************************************/
/* node_id default value.*/
UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
/**************************************************************************/
/* Array of message processing information */
const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
"""%texts
if texts["heartBeatTimers_number"] > 0:
fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(heartBeatTimers_number)d] = {TIMER_NONE,};\n"%texts
else:
fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
fileContent += """
/*
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
OBJECT DICTIONARY
$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
*/
"""%texts
contentlist = indexContents.keys()
contentlist.sort()
for index in contentlist:
fileContent += indexContents[index]
fileContent += """
const indextable %(NodeName)s_objdict[] =
{
"""%texts
fileContent += strDeclareIndex
fileContent += """};
const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
{
int i;
*callbacks = NULL;
switch(wIndex){
"""%texts
fileContent += strDeclareSwitch
fileContent += """ default:
*errorCode = OD_NO_SUCH_OBJECT;
return NULL;
}
*errorCode = OD_SUCCESSFUL;
return &%(NodeName)s_objdict[i];
}
/*
* To count at which received SYNC a PDO must be sent.
* Even if no pdoTransmit are defined, at least one entry is computed
* for compilations issues.
*/
s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
fileContent += ",".join(["s_PDO_staus_Initializer"]*texts["maxPDOtransmit"]) + """};
"""
fileContent += strQuickIndex
fileContent += """
UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
"""%texts
#-------------------------------------------------------------------------------
# Write Header File Content
#-------------------------------------------------------------------------------
texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
HeaderFileContent = generated_tag + """
#ifndef %(file_include_name)s
#define %(file_include_name)s
#include "data.h"
/* Prototypes of function provided by object dictionnary */
UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
/* Master node data struct */
extern CO_Data %(NodeName)s_Data;
"""%texts
HeaderFileContent += strDeclareHeader
HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
return fileContent,HeaderFileContent
#-------------------------------------------------------------------------------
# Main Function
#-------------------------------------------------------------------------------
def GenerateFile(filepath, node):
try:
headerfilepath = os.path.splitext(filepath)[0]+".h"
content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1])
WriteFile(filepath, content)
WriteFile(headerfilepath, header)
return None
except ValueError, message:
return "Unable to Generate C File\n%s"%message