#!/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")