diff -r 000000000000 -r 4472ee7c6c3e objdictgen/gen_cfile.py
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/objdictgen/gen_cfile.py	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,492 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+copyright_notice="""/*
+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
+            else:
+                texts["value"] = "0x%X"%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;\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 += "%(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 = ","
+                        if subIndex > 0:
+                            if subIndex == len(values)-1:
+                                sep = ""
+                            if typeinfos[2] == "visible_string":
+                                value = "\"%s\""%value
+                            else:
+                                value = "0x%X"%value
+                            mappedVariableContent += "    %s%s\n"%(value, sep)
+                    mappedVariableContent += "  }\n"
+                else:
+                    strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
+                    for subIndex, value in enumerate(values):
+                        sep = ","
+                        if subIndex > 0:
+                            if subIndex == len(values)-1:
+                                sep = ""
+                            if typeinfos[2] == "visible_string":
+                                value = "\"%s\""%value
+                            else:
+                                value = str(value)
+                            strIndex += "                      %s%s\n"%(value, sep)
+                    strIndex += "                    };\n"
+            else:
+                
+                # 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
+                        else:
+                            texts["value"] = "0x%X"%value
+                        texts["name"] = FormatName(subentry_infos["name"])
+                        if index in variablelist:
+                            strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t// Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X\n"%texts
+                            mappedVariableContent += "%(subIndexType)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;\n"%texts
+                if callbacks:
+                    texts["name"] = FormatName(entry_infos["name"])
+                    strDeclareHeader += "extern ODCallback_t %(name)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(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 = 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];
+                    subindex %(NodeName)s_Index1016[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[0];\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 = 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 += "  %s : %d%s\n"%(cat, quick_index[index_cat][cat], sep)
+        strQuickIndex += "};\n"
+
+#-------------------------------------------------------------------------------
+#                            Write File Content
+#-------------------------------------------------------------------------------
+
+    fileContent = copyright_notice + 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 = copyright_notice + generated_tag + """
+#include "data.h"
+
+// 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 %(NodeName)s_preOperational();
+void %(NodeName)s_operational();
+void %(NodeName)s_stopped();
+
+void %(NodeName)s_post_sync();
+void %(NodeName)s_post_TPDO();
+
+// 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