- Better array initialization in data.h CANOPEN_NODE_DATA_INITIALIZER macro. Use a little hack with configure and config.h to create the "pure Ansi C" initializer.
- Workaround for the compiler compatibility with empty arrays (i.e. Index 1016).
- Some fixes in Makefile.in
#!/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"""
# Format a string for making a C++ variable
def FormatName(name):
wordlist = [word for word in word_model.findall(name) if word != '']
result = ''
sep = ''
for word in wordlist:
result += "%s%s"%(sep,word)
sep = '_'
return result
# Extract the informations from a given type name
def GetValidTypeInfos(typename):
result = type_model.match(typename)
if result:
values = result.groups()
if values[0] in ("UNSIGNED", "INTEGER") and eval(values[1]) in [i * 8 for i in xrange(1, 9)]:
return "UNS%s"%values[1], "", "uint%s"%values[1]
elif values[0] == "REAL" and eval(values[1]) in (32, 64):
return "%s%s"%(values[0], values[1]), "", "real%s"%values[1]
elif values[0] == "VISIBLE_STRING":
if values[1] == "":
return "UNS8", "[10]", "visible_string"
else:
return "UNS8", "[%s]"%values[1], "visible_string"
return None
def WriteFile(filepath, content):
cfile = open(filepath,"w")
cfile.write(content)
cfile.close()
def GenerateFileContent(Manager, headerfilepath):
global type
texts = {}
texts["maxPDOtransmit"] = 0
texts["NodeName"], texts["NodeID"], texts["NodeType"] = Manager.GetCurrentNodeInfos()
internal_types = {}
texts["iam_a_slave"] = 0
if (texts["NodeType"] == "slave"):
texts["iam_a_slave"] = 1
# Compiling lists of indexes
rangelist = [idx for name,idx in Manager.GetCurrentValidIndexes(0, 0x260)]
listIndex = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1000, 0xFFFF)]
communicationlist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1000, 0x11FF)]
sdolist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1200, 0x12FF)]
pdolist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1400, 0x1BFF)]
variablelist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x2000, 0xBFFF)]
#-------------------------------------------------------------------------------
# Declaration of the value range types
#-------------------------------------------------------------------------------
valueRangeContent = ""
strDefine = ""
strSwitch = ""
num = 0
for index in rangelist:
rangename = Manager.GetEntryName(index)
result = range_model.match(rangename)
if result:
num += 1
internal_types[rangename] = "valueRange_%d"%num
typeindex = Manager.GetCurrentEntry(index, 1)
typename = Manager.GetTypeName(typeindex)
typeinfos = GetValidTypeInfos(typename)
if typeinfos == None:
raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
typename = typeinfos[0]
minvalue = str(Manager.GetCurrentEntry(index, 2))
maxvalue = str(Manager.GetCurrentEntry(index, 3))
strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typename,minvalue,maxvalue)
strSwitch += """ case valueRange_%d:
if (*(%s*)Value < (%s)%s) return OD_VALUE_TOO_LOW;
if (*(%s*)Value > (%s)%s) return OD_VALUE_TOO_HIGH;
break;\n"""%(num,typename,typename,minvalue,typename,typename,maxvalue)
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 = Manager.GetEntryInfos(index)
texts["EntryName"] = entry_infos["name"]
values = Manager.GetCurrentEntry(index)
callbacks = Manager.HasCurrentEntryCallbacks(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
if type(values) == ListType:
texts["value"] = values[0]
strIndex += " UNS8 %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
# Entry type is VAR
if type(values) != ListType:
subentry_infos = Manager.GetSubentryInfos(index, 0)
typename = Manager.GetTypeName(subentry_infos["type"])
typeinfos = GetValidTypeInfos(typename)
if typeinfos == None:
raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
if typename not in internal_types:
internal_types[typename] = typeinfos[2]
texts["subIndexType"] = typeinfos[0]
texts["suffixe"] = typeinfos[1]
if typeinfos[2] == "visible_string":
texts["value"] = "\"%s\""%values
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:
# Entry type is RECORD
if entry_infos["struct"] & OD_IdenticalSubindexes:
subentry_infos = Manager.GetSubentryInfos(index, 1)
typename = Manager.GetTypeName(subentry_infos["type"])
typeinfos = GetValidTypeInfos(typename)
if typeinfos == None:
raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
if typename not in internal_types:
internal_types[typename] = typeinfos[2]
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
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
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 = Manager.GetSubentryInfos(index, subIndex)
typename = Manager.GetTypeName(subentry_infos["type"])
typeinfos = GetValidTypeInfos(typename)
if typeinfos == None:
raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
if typename not in internal_types:
internal_types[typename] = typeinfos[2]
texts["subIndexType"] = typeinfos[0]
texts["suffixe"] = typeinfos[1]
if typeinfos[2] == "visible_string":
texts["value"] = "\"%s\""%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 = Manager.GetSubentryInfos(index, subIndex)
if subIndex < len(values) - 1:
sep = ","
else:
sep = ""
typename = Manager.GetTypeName(subentry_infos["type"])
typeinfos = GetValidTypeInfos(typename)
if typename.startswith("VISIBLE_STRING"):
subIndexType = "visible_string"
elif typename in internal_types:
subIndexType = internal_types[typename]
else:
subIndexType = typename
if subIndex == 0:
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 subIndexType == "visible_string":
sizeof = name
else:
sizeof = typeinfos[0]
params = Manager.GetCurrentParamsEntry(index, subIndex)
if params["save"]:
save = "|TO_BE_SAVE"
else:
save = ""
strIndex += " { %s%s, %s, sizeof (%s), (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,subIndexType,sizeof,name,sep)
strIndex += " };\n"
indexContents[index] = strIndex
#-------------------------------------------------------------------------------
# Declaration of Particular Parameters
#-------------------------------------------------------------------------------
if 0x1006 not in communicationlist:
entry_infos = Manager.GetEntryInfos(0x1006)
texts["EntryName"] = entry_infos["name"]
indexContents[0x1006] = """\n/* index 0x1006 : %(EntryName)s */
UNS32 %(NodeName)s_obj1006 = 0x0; /* 0 */
"""%texts
if 0x1016 in communicationlist:
texts["nombre"] = Manager.GetCurrentEntry(0x1016, 0)
else:
texts["nombre"] = 0
entry_infos = Manager.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 texts["nombre"] > 0:
strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts
else:
strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
if 0x1017 not in communicationlist:
entry_infos = Manager.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
fileContent += strTimers
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.
*/
UNS8 %(NodeName)s_count_sync[%(maxPDOtransmit)d] = {0,};
"""%texts
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
#-------------------------------------------------------------------------------
HeaderFileContent = generated_tag + """
#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);
/* prototypes of function to be filled by app. */
void %(NodeName)s_SDOtimeoutError(UNS8 line);
void %(NodeName)s_heartbeatError(UNS8);
UNS8 %(NodeName)s_canSend(Message *);
void %(NodeName)s_initialisation(void);
void %(NodeName)s_preOperational(void);
void %(NodeName)s_operational(void);
void %(NodeName)s_stopped(void);
void %(NodeName)s_post_sync(void);
void %(NodeName)s_post_TPDO(void);
/* Master node data struct */
extern CO_Data %(NodeName)s_Data;
"""%texts
HeaderFileContent += strDeclareHeader
return fileContent,HeaderFileContent
#-------------------------------------------------------------------------------
# Main Function
#-------------------------------------------------------------------------------
def GenerateFile(filepath, manager):
headerfilepath = os.path.splitext(filepath)[0]+".h"
content, header = GenerateFileContent(manager, os.path.split(headerfilepath)[1])
WriteFile(filepath, content)
WriteFile(headerfilepath, header)
return True