etisserant@0: #!/usr/bin/env python
etisserant@0: # -*- coding: utf-8 -*-
lbessard@73: 
lbessard@73: #This file is part of CanFestival, a library implementing CanOpen Stack. 
lbessard@73: #
lbessard@73: #Copyright (C): Edouard TISSERANT and Francis DUPIN
lbessard@73: #
lbessard@73: #See COPYING file for copyrights details.
lbessard@73: #
lbessard@73: #This library is free software; you can redistribute it and/or
lbessard@73: #modify it under the terms of the GNU Lesser General Public
lbessard@73: #License as published by the Free Software Foundation; either
lbessard@73: #version 2.1 of the License, or (at your option) any later version.
lbessard@73: #
lbessard@73: #This library is distributed in the hope that it will be useful,
lbessard@73: #but WITHOUT ANY WARRANTY; without even the implied warranty of
lbessard@73: #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
lbessard@73: #Lesser General Public License for more details.
lbessard@73: #
lbessard@73: #You should have received a copy of the GNU Lesser General Public
lbessard@73: #License along with this library; if not, write to the Free Software
lbessard@73: #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: 
etisserant@0: from node import *
etisserant@0: from types import *
etisserant@0: 
etisserant@0: import re, os
etisserant@0: 
etisserant@0: word_model = re.compile('([a-zA-Z_0-9]*)')
etisserant@0: type_model = re.compile('([\_A-Z]*)([0-9]*)')
etisserant@0: range_model = re.compile('([\_A-Z]*)([0-9]*)\[([\-0-9]*)-([\-0-9]*)\]')
etisserant@0: 
etisserant@0: categories = [("SDO_SVR", 0x1200, 0x127F), ("SDO_CLT", 0x1280, 0x12FF),
etisserant@0:               ("PDO_RCV", 0x1400, 0x15FF), ("PDO_RCV_MAP", 0x1600, 0x17FF),
etisserant@0:               ("PDO_TRS", 0x1800, 0x19FF), ("PDO_TRS_MAP", 0x1A00, 0x1BFF)]
etisserant@0: index_categories = ["firstIndex", "lastIndex"]
etisserant@0: 
etisserant@0: generated_tag = """\n/* File generated by gen_cfile.py. Should not be modified. */\n"""
etisserant@0: 
lbessard@188: internal_types = {}
lbessard@188: 
etisserant@0: # Format a string for making a C++ variable
etisserant@0: def FormatName(name):
etisserant@0:     wordlist = [word for word in word_model.findall(name) if word != '']
lbessard@227:     return "_".join(wordlist)
etisserant@0: 
etisserant@0: # Extract the informations from a given type name
etisserant@0: def GetValidTypeInfos(typename):
lbessard@188:     if typename in internal_types:
lbessard@188:         return internal_types[typename]
lbessard@188:     else:
lbessard@188:         result = type_model.match(typename)
lbessard@188:         if result:
lbessard@188:             values = result.groups()
lbessard@188:             if values[0] == "UNSIGNED" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
lbessard@188:                 typeinfos = ("UNS%s"%values[1], "", "uint%s"%values[1])
lbessard@188:             elif values[0] == "INTEGER" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
lbessard@188:                 typeinfos = ("INTEGER%s"%values[1], "", "int%s"%values[1])
lbessard@188:             elif values[0] == "REAL" and int(values[1]) in (32, 64):
lbessard@188:                 typeinfos = ("%s%s"%(values[0], values[1]), "", "real%s"%values[1])
lbessard@188:             elif values[0] == "VISIBLE_STRING":
lbessard@188:                 if values[1] == "":
lbessard@188:                     typeinfos = ("UNS8", "[10]", "visible_string")
lbessard@188:                 else:
lbessard@188:                     typeinfos = ("UNS8", "[%s]"%values[1], "visible_string")
lbessard@188:             elif values[0] == "DOMAIN":
lbessard@188:                 typeinfos = ("UNS8*", "", "domain")
lbessard@188:             elif values[0] == "BOOLEAN":
lbessard@188:                 typeinfos = ("UNS8", "", "boolean")
lbessard@188:             else:
lbessard@188:                 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
lbessard@188:             internal_types[typename] = typeinfos
lbessard@188:         else:
lbessard@188:             raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
lbessard@188:     return typeinfos
etisserant@0: 
etisserant@0: def WriteFile(filepath, content):
etisserant@0:     cfile = open(filepath,"w")
etisserant@0:     cfile.write(content)
etisserant@0:     cfile.close()
etisserant@0: 
lbessard@245: def GenerateFileContent(Node, headerfilepath):
etisserant@0:     global type
lbessard@188:     global internal_types
etisserant@0:     texts = {}
etisserant@0:     texts["maxPDOtransmit"] = 0
lbessard@245:     texts["NodeName"] = Node.GetNodeName()
lbessard@245:     texts["NodeID"] = Node.GetNodeID()
lbessard@245:     texts["NodeType"] = Node.GetNodeType()
lbessard@245:     texts["Description"] = Node.GetNodeDescription()
etisserant@0:     texts["iam_a_slave"] = 0
etisserant@0:     if (texts["NodeType"] == "slave"):
etisserant@0:         texts["iam_a_slave"] = 1
etisserant@0:     
etisserant@0:     # Compiling lists of indexes
lbessard@245:     rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]
lbessard@245:     listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]
lbessard@245:     communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]
lbessard@245:     sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]
lbessard@245:     pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]
lbessard@245:     variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]
etisserant@0: 
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: #                       Declaration of the value range types
etisserant@0: #-------------------------------------------------------------------------------    
etisserant@0:     
etisserant@0:     valueRangeContent = ""
etisserant@0:     strDefine = ""
etisserant@0:     strSwitch = ""
etisserant@0:     num = 0
etisserant@0:     for index in rangelist:
lbessard@245:         rangename = Node.GetEntryName(index)
etisserant@0:         result = range_model.match(rangename)
etisserant@0:         if result:
etisserant@0:             num += 1
lbessard@245:             typeindex = Node.GetEntry(index, 1)
lbessard@245:             typename = Node.GetTypeName(typeindex)
etisserant@0:             typeinfos = GetValidTypeInfos(typename)
lbessard@188:             internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
lbessard@245:             minvalue = str(Node.GetEntry(index, 2))
lbessard@245:             maxvalue = str(Node.GetEntry(index, 3))
lbessard@188:             strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],minvalue,maxvalue)
etisserant@0:             strSwitch += """    case valueRange_%d:
etisserant@0:       if (*(%s*)Value < (%s)%s) return OD_VALUE_TOO_LOW;
etisserant@0:       if (*(%s*)Value > (%s)%s) return OD_VALUE_TOO_HIGH;
lbessard@188:       break;\n"""%(num,typeinfos[0],typeinfos[0],minvalue,typeinfos[0],typeinfos[0],maxvalue)
etisserant@0: 
etisserant@0:     valueRangeContent += strDefine
etisserant@0:     valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
etisserant@0:     valueRangeContent += "\n  switch (typeValue) {\n"
etisserant@0:     valueRangeContent += strSwitch
etisserant@0:     valueRangeContent += "  }\n  return 0;\n}\n"
etisserant@0: 
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: #            Creation of the mapped variables and object dictionary
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: 
etisserant@0:     mappedVariableContent = ""
etisserant@0:     strDeclareHeader = ""
etisserant@0:     strDeclareCallback = ""
etisserant@0:     indexContents = {}
etisserant@0:     indexCallbacks = {}
etisserant@0:     for index in listIndex:
etisserant@0:         texts["index"] = index
etisserant@0:         strIndex = ""
lbessard@245:         entry_infos = Node.GetEntryInfos(index)
etisserant@229:         texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
lbessard@245:         values = Node.GetEntry(index)
lbessard@245:         callbacks = Node.HasEntryCallbacks(index)
etisserant@0:         if index in variablelist:
etisserant@0:             strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts
etisserant@0:         else:
etisserant@0:             strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
etisserant@0:         
etisserant@0:         # Entry type is VAR
etisserant@0:         if type(values) != ListType:
lbessard@245:             subentry_infos = Node.GetSubentryInfos(index, 0)
lbessard@245:             typename = Node.GetTypeName(subentry_infos["type"])
etisserant@0:             typeinfos = GetValidTypeInfos(typename)
etisserant@0:             texts["subIndexType"] = typeinfos[0]
etisserant@0:             texts["suffixe"] = typeinfos[1]
etisserant@0:             if typeinfos[2] == "visible_string":
etisserant@0:                 texts["value"] = "\"%s\""%values
lbessard@5:                 texts["comment"] = ""
lbessard@223:             elif typeinfos[2] == "domain":
lbessard@223:                 texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
lbessard@223:                 texts["comment"] = ""
etisserant@0:             else:
etisserant@0:                 texts["value"] = "0x%X"%values
frdupin@76:                 texts["comment"] = "\t/* %s */"%str(values)
etisserant@0:             if index in variablelist:
etisserant@0:                 texts["name"] = FormatName(subentry_infos["name"])
frdupin@76:                 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
etisserant@0:                 if callbacks:
frdupin@76:                     strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
frdupin@76:                 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
etisserant@0:             else:
lbessard@5:                 strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
etisserant@0:             values = [values]
etisserant@0:         else:
lbessard@245:             subentry_infos = Node.GetSubentryInfos(index, 0)
lbessard@245:             typename = Node.GetTypeName(subentry_infos["type"])
lbessard@188:             typeinfos = GetValidTypeInfos(typename)
lbessard@188:             texts["value"] = values[0]
lbessard@188:             texts["subIndexType"] = typeinfos[0]
lbessard@188:             strIndex += "                    %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
etisserant@0:             
etisserant@0:             # Entry type is RECORD
etisserant@0:             if entry_infos["struct"] & OD_IdenticalSubindexes:
lbessard@245:                 subentry_infos = Node.GetSubentryInfos(index, 1)
lbessard@245:                 typename = Node.GetTypeName(subentry_infos["type"])
etisserant@0:                 typeinfos = GetValidTypeInfos(typename)
etisserant@0:                 texts["subIndexType"] = typeinfos[0]
etisserant@0:                 texts["suffixe"] = typeinfos[1]
etisserant@0:                 texts["length"] = values[0]
etisserant@0:                 if index in variablelist:
etisserant@0:                     texts["name"] = FormatName(entry_infos["name"])
frdupin@76:                     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
etisserant@0:                     if callbacks:
frdupin@76:                         strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
frdupin@76:                     mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts
etisserant@0:                     for subIndex, value in enumerate(values):
etisserant@0:                         sep = ","
lbessard@5:                         comment = ""
etisserant@0:                         if subIndex > 0:
etisserant@0:                             if subIndex == len(values)-1:
etisserant@0:                                 sep = ""
etisserant@0:                             if typeinfos[2] == "visible_string":
etisserant@0:                                 value = "\"%s\""%value
lbessard@223:                             elif typeinfos[2] == "domain":
lbessard@223:                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
lbessard@227:                             else:
frdupin@76:                                 comment = "\t/* %s */"%str(value)
etisserant@0:                                 value = "0x%X"%value
lbessard@5:                             mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
lbessard@28:                     mappedVariableContent += "  };\n"
etisserant@0:                 else:
etisserant@0:                     strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
etisserant@0:                     for subIndex, value in enumerate(values):
etisserant@0:                         sep = ","
lbessard@5:                         comment = ""
etisserant@0:                         if subIndex > 0:
etisserant@0:                             if subIndex == len(values)-1:
etisserant@0:                                 sep = ""
etisserant@0:                             if typeinfos[2] == "visible_string":
etisserant@0:                                 value = "\"%s\""%value
lbessard@182:                             elif typeinfos[2] == "domain":
greg@176:                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
etisserant@0:                             else:
frdupin@76:                                 comment = "\t/* %s */"%str(value)
lbessard@5:                                 value = "0x%X"%value
lbessard@5:                             strIndex += "                      %s%s%s\n"%(value, sep, comment)
etisserant@0:                     strIndex += "                    };\n"
etisserant@0:             else:
etisserant@0:                 
lbessard@66:                 texts["parent"] = FormatName(entry_infos["name"])
etisserant@0:                 # Entry type is ARRAY
etisserant@0:                 for subIndex, value in enumerate(values):
etisserant@0:                     texts["subIndex"] = subIndex
etisserant@0:                     if subIndex > 0:
lbessard@245:                         subentry_infos = Node.GetSubentryInfos(index, subIndex)
lbessard@245:                         typename = Node.GetTypeName(subentry_infos["type"])
etisserant@0:                         typeinfos = GetValidTypeInfos(typename)
etisserant@0:                         texts["subIndexType"] = typeinfos[0]
etisserant@0:                         texts["suffixe"] = typeinfos[1]
etisserant@0:                         if typeinfos[2] == "visible_string":
etisserant@0:                             texts["value"] = "\"%s\""%value
lbessard@5:                             texts["comment"] = ""
lbessard@223:                         elif typeinfos[2] == "domain":
lbessard@223:                             texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
lbessard@223:                             texts["comment"] = ""			
lbessard@227:                         else:
etisserant@0:                             texts["value"] = "0x%X"%value
frdupin@76:                             texts["comment"] = "\t/* %s */"%str(value)
etisserant@0:                         texts["name"] = FormatName(subentry_infos["name"])
etisserant@0:                         if index in variablelist:
frdupin@76:                             strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
frdupin@76:                             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
etisserant@0:                         else:
lbessard@5:                             strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
etisserant@0:                 if callbacks:
frdupin@76:                     strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
etisserant@0:         
etisserant@0:         # Generating Dictionary C++ entry
etisserant@0:         if callbacks:
etisserant@0:             if index in variablelist:
etisserant@0:                 name = FormatName(entry_infos["name"])
etisserant@0:             else:
etisserant@0:                 name = "%(NodeName)s_Index%(index)04X"%texts
etisserant@0:             strIndex += "                    ODCallback_t %s_callbacks[] = \n                     {\n"%name
etisserant@0:             for subIndex in xrange(len(values)):
etisserant@0:                 strIndex += "                       NULL,\n"
etisserant@0:             strIndex += "                     };\n"
etisserant@0:             indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
etisserant@0:         else:
etisserant@0:             indexCallbacks[index] = ""
etisserant@0:         strIndex += "                    subindex %(NodeName)s_Index%(index)04X[] = \n                     {\n"%texts
etisserant@0:         for subIndex in xrange(len(values)):
lbessard@245:             subentry_infos = Node.GetSubentryInfos(index, subIndex)
etisserant@0:             if subIndex < len(values) - 1:
etisserant@0:                 sep = ","
etisserant@0:             else:
etisserant@0:                 sep = ""
lbessard@245:             typename = Node.GetTypeName(subentry_infos["type"])
etisserant@0:             typeinfos = GetValidTypeInfos(typename)
etisserant@0:             if subIndex == 0:
etisserant@0:                 if entry_infos["struct"] & OD_MultipleSubindexes:
etisserant@0:                     name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
etisserant@0:                 elif index in variablelist:
etisserant@0:                     name = FormatName(subentry_infos["name"])
etisserant@0:                 else:
etisserant@0:                     name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
etisserant@0:             elif entry_infos["struct"] & OD_IdenticalSubindexes:
etisserant@0:                 if index in variablelist:
etisserant@0:                     name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
etisserant@0:                 else:
etisserant@0:                     name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
etisserant@0:             else:
etisserant@0:                 if index in variablelist:
lbessard@70:                     name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
etisserant@0:                 else:
etisserant@0:                     name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
lbessard@188:             if typeinfos[2] in ["visible_string", "domain"]:
greg@176:                 sizeof = str(len(values[subIndex]))
greg@176:             else:
greg@176:                 sizeof = "sizeof (%s)"%typeinfos[0]
lbessard@245:             params = Node.GetParamsEntry(index, subIndex)
etisserant@0:             if params["save"]:
etisserant@0:                 save = "|TO_BE_SAVE"
etisserant@0:             else:
etisserant@0:                 save = ""
lbessard@188:             strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
etisserant@0:         strIndex += "                     };\n"
etisserant@0:         indexContents[index] = strIndex
etisserant@0: 
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: #                     Declaration of Particular Parameters
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: 
etisserant@261:     if 0x1005 not in communicationlist:
etisserant@261:         entry_infos = Node.GetEntryInfos(0x1005)
etisserant@261:         texts["EntryName"] = entry_infos["name"]
etisserant@261:         indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
etisserant@261:                     UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
etisserant@261: """%texts
etisserant@261: 
etisserant@0:     if 0x1006 not in communicationlist:
lbessard@245:         entry_infos = Node.GetEntryInfos(0x1006)
etisserant@0:         texts["EntryName"] = entry_infos["name"]
etisserant@0:         indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
frdupin@76:                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
etisserant@0: """%texts
etisserant@0: 
etisserant@0:     if 0x1016 in communicationlist:
lbessard@245:         texts["nombre"] = Node.GetEntry(0x1016, 0)
etisserant@0:     else:
etisserant@0:         texts["nombre"] = 0
lbessard@245:         entry_infos = Node.GetEntryInfos(0x1016)
etisserant@0:         texts["EntryName"] = entry_infos["name"]
etisserant@0:         indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */
etisserant@0:                     UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
etisserant@91:                     UNS32 %(NodeName)s_obj1016[]={0};
etisserant@0: """%texts
etisserant@0:     if texts["nombre"] > 0:
etisserant@0:         strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts
etisserant@0:     else:
frdupin@76:         strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
etisserant@0: 
etisserant@0:     if 0x1017 not in communicationlist:
lbessard@245:         entry_infos = Node.GetEntryInfos(0x1017)
etisserant@0:         texts["EntryName"] = entry_infos["name"]
etisserant@0:         indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */ 
frdupin@76:                     UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */
etisserant@0: """%texts
etisserant@0: 
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: #               Declaration of navigation in the Object Dictionary
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: 
etisserant@0:     strDeclareIndex = ""
etisserant@0:     strDeclareSwitch = ""
etisserant@0:     strQuickIndex = ""
etisserant@0:     quick_index = {}
etisserant@0:     for index_cat in index_categories:
etisserant@0:         quick_index[index_cat] = {}
etisserant@0:         for cat, idx_min, idx_max in categories:
etisserant@0:             quick_index[index_cat][cat] = 0
etisserant@0:     maxPDOtransmit = 0
etisserant@0:     for i, index in enumerate(listIndex):
etisserant@0:         texts["index"] = index
etisserant@0:         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
etisserant@0:         strDeclareSwitch += "		case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
etisserant@0:         for cat, idx_min, idx_max in categories:
etisserant@0:             if idx_min <= index <= idx_max:
etisserant@0:                 quick_index["lastIndex"][cat] = i
etisserant@0:                 if quick_index["firstIndex"][cat] == 0:
etisserant@0:                     quick_index["firstIndex"][cat] = i
etisserant@0:                 if cat == "PDO_TRS":
etisserant@0:                     maxPDOtransmit += 1
etisserant@0:     texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
etisserant@0:     for index_cat in index_categories:
etisserant@0:         strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
etisserant@0:         sep = ","
etisserant@0:         for i, (cat, idx_min, idx_max) in enumerate(categories):
etisserant@0:             if i == len(categories) - 1:
etisserant@0:                 sep = ""
frdupin@76:             strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
etisserant@0:         strQuickIndex += "};\n"
etisserant@0: 
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: #                            Write File Content
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: 
lbessard@73:     fileContent = generated_tag + """
etisserant@0: #include "%s"
etisserant@0: """%(headerfilepath)
etisserant@0: 
etisserant@0:     fileContent += """
etisserant@0: /**************************************************************************/
etisserant@0: /* Declaration of the mapped variables                                    */
etisserant@0: /**************************************************************************/
etisserant@0: """ + mappedVariableContent
etisserant@0: 
etisserant@0:     fileContent += """
etisserant@0: /**************************************************************************/
etisserant@0: /* Declaration of the value range types                                   */
etisserant@0: /**************************************************************************/
etisserant@0: """ + valueRangeContent
etisserant@0: 
etisserant@0:     fileContent += """
etisserant@0: /**************************************************************************/
etisserant@0: /* The node id                                                            */
etisserant@0: /**************************************************************************/
etisserant@0: /* node_id default value.*/
etisserant@0: UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
etisserant@0: 
frdupin@76: /**************************************************************************/
etisserant@0: /* Array of message processing information */
etisserant@0: 
etisserant@0: const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
etisserant@0: 
etisserant@0: """%texts
etisserant@0:     fileContent += strTimers
etisserant@0:     
etisserant@0:     fileContent += """
frdupin@76: /*
frdupin@76: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
frdupin@76: 
frdupin@76:                                OBJECT DICTIONARY
frdupin@76: 
frdupin@76: $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
frdupin@76: */
etisserant@0: """%texts
etisserant@0:     contentlist = indexContents.keys()
etisserant@0:     contentlist.sort()
etisserant@0:     for index in contentlist:
etisserant@0:         fileContent += indexContents[index]
etisserant@0: 
etisserant@0:     fileContent += """
etisserant@0: const indextable %(NodeName)s_objdict[] = 
etisserant@0: {
etisserant@0: """%texts
etisserant@0:     fileContent += strDeclareIndex
etisserant@0:     fileContent += """};
etisserant@0: 
etisserant@0: const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
etisserant@0: {
etisserant@0: 	int i;
etisserant@0: 	*callbacks = NULL;
etisserant@0: 	switch(wIndex){
etisserant@0: """%texts
etisserant@0:     fileContent += strDeclareSwitch
etisserant@0:     fileContent += """		default:
etisserant@0: 			*errorCode = OD_NO_SUCH_OBJECT;
etisserant@0: 			return NULL;
etisserant@0: 	}
etisserant@0: 	*errorCode = OD_SUCCESSFUL;
etisserant@0: 	return &%(NodeName)s_objdict[i];
etisserant@0: }
etisserant@0: 
etisserant@235: /* 
etisserant@235:  * To count at which received SYNC a PDO must be sent.
frdupin@76:  * Even if no pdoTransmit are defined, at least one entry is computed
frdupin@76:  * for compilations issues.
frdupin@76:  */
etisserant@235: s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
etisserant@235: 
etisserant@235:     fileContent += ",".join(["s_PDO_staus_Initializer"]*texts["maxPDOtransmit"]) + """};
etisserant@235: """
etisserant@235: 
etisserant@0:     fileContent += strQuickIndex
etisserant@0:     fileContent += """
etisserant@0: UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]); 
etisserant@0: 
etisserant@0: CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
etisserant@0: 
etisserant@0: """%texts
etisserant@0: 
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: #                          Write Header File Content
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: 
lbessard@223:     texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
lbessard@73:     HeaderFileContent = generated_tag + """
lbessard@224: #ifndef %(file_include_name)s
lbessard@223: #define %(file_include_name)s
lbessard@223: 
etisserant@0: #include "data.h"
etisserant@0: 
frdupin@76: /* Prototypes of function provided by object dictionnary */
lbessard@63: UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
lbessard@63: const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
lbessard@63: 
frdupin@76: /* Master node data struct */
etisserant@0: extern CO_Data %(NodeName)s_Data;
etisserant@0: """%texts
etisserant@0:     HeaderFileContent += strDeclareHeader
etisserant@0:     
lbessard@223:     HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
lbessard@223:     
etisserant@0:     return fileContent,HeaderFileContent
etisserant@0: 
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: #                             Main Function
etisserant@0: #-------------------------------------------------------------------------------
etisserant@0: 
lbessard@245: def GenerateFile(filepath, node):
lbessard@188:     try:
lbessard@188:         headerfilepath = os.path.splitext(filepath)[0]+".h"
lbessard@245:         content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1])
lbessard@188:         WriteFile(filepath, content)
lbessard@188:         WriteFile(headerfilepath, header)
lbessard@188:         return None
lbessard@188:     except ValueError, message:
lbessard@188:         return "Unable to Generate C File\n%s"%message
lbessard@188: