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-00023
-00024 from node import *
-00025 from types import *
-00026
-00027 import re, os
-00028
-00029 word_model = re.compile('([a-zA-Z_0-9]*)')
-00030 type_model = re.compile('([\_A-Z]*)([0-9]*)')
-00031 range_model = re.compile('([\_A-Z]*)([0-9]*)\[([\-0-9]*)-([\-0-9]*)\]')
-00032
-00033 categories = [("SDO_SVR", 0x1200, 0x127F), ("SDO_CLT", 0x1280, 0x12FF),
-00034 ("PDO_RCV", 0x1400, 0x15FF), ("PDO_RCV_MAP", 0x1600, 0x17FF),
-00035 ("PDO_TRS", 0x1800, 0x19FF), ("PDO_TRS_MAP", 0x1A00, 0x1BFF)]
-00036 index_categories = ["firstIndex", "lastIndex"]
-00037
-00038 generated_tag = """\n/* File generated by gen_cfile.py. Should not be modified. */\n"""
-00039
-00040 internal_types = {}
-00041
-00042
-00043 def FormatName(name):
-00044 wordlist = [word for word in word_model.findall(name) if word != '']
-00045 result = ''
-00046 sep = ''
-00047 for word in wordlist:
-00048 result += "%s%s"%(sep,word)
-00049 sep = '_'
-00050 return result
-00051
-00052
-00053 def GetValidTypeInfos(typename):
-00054 if typename in internal_types:
-00055 return internal_types[typename]
-00056 else:
-00057 result = type_model.match(typename)
-00058 if result:
-00059 values = result.groups()
-00060 if values[0] == "UNSIGNED" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
-00061 typeinfos = ("UNS%s"%values[1], "", "uint%s"%values[1])
-00062 elif values[0] == "INTEGER" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
-00063 typeinfos = ("INTEGER%s"%values[1], "", "int%s"%values[1])
-00064 elif values[0] == "REAL" and int(values[1]) in (32, 64):
-00065 typeinfos = ("%s%s"%(values[0], values[1]), "", "real%s"%values[1])
-00066 elif values[0] == "VISIBLE_STRING":
-00067 if values[1] == "":
-00068 typeinfos = ("UNS8", "[10]", "visible_string")
-00069 else:
-00070 typeinfos = ("UNS8", "[%s]"%values[1], "visible_string")
-00071 elif values[0] == "DOMAIN":
-00072 typeinfos = ("UNS8*", "", "domain")
-00073 elif values[0] == "BOOLEAN":
-00074 typeinfos = ("UNS8", "", "boolean")
-00075 else:
-00076 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
-00077 internal_types[typename] = typeinfos
-00078 else:
-00079 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
-00080 return typeinfos
-00081
-00082 def WriteFile(filepath, content):
-00083 cfile = open(filepath,"w")
-00084 cfile.write(content)
-00085 cfile.close()
-00086
-00087 def GenerateFileContent(Manager, headerfilepath):
-00088 global type
-00089 global internal_types
-00090 texts = {}
-00091 texts["maxPDOtransmit"] = 0
-00092 texts["NodeName"], texts["NodeID"], texts["NodeType"], texts["Description"] = Manager.GetCurrentNodeInfos()
-00093 texts["iam_a_slave"] = 0
-00094 if (texts["NodeType"] == "slave"):
-00095 texts["iam_a_slave"] = 1
-00096
-00097
-00098 rangelist = [idx for name,idx in Manager.GetCurrentValidIndexes(0, 0x260)]
-00099 listIndex = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1000, 0xFFFF)]
-00100 communicationlist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1000, 0x11FF)]
-00101 sdolist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1200, 0x12FF)]
-00102 pdolist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x1400, 0x1BFF)]
-00103 variablelist = [idx for name,idx in Manager.GetCurrentValidIndexes(0x2000, 0xBFFF)]
-00104
-00105
-00106
-00107
-00108
-00109 valueRangeContent = ""
-00110 strDefine = ""
-00111 strSwitch = ""
-00112 num = 0
-00113 for index in rangelist:
-00114 rangename = Manager.GetEntryName(index)
-00115 result = range_model.match(rangename)
-00116 if result:
-00117 num += 1
-00118 typeindex = Manager.GetCurrentEntry(index, 1)
-00119 typename = Manager.GetTypeName(typeindex)
-00120 typeinfos = GetValidTypeInfos(typename)
-00121 internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
-00122 minvalue = str(Manager.GetCurrentEntry(index, 2))
-00123 maxvalue = str(Manager.GetCurrentEntry(index, 3))
-00124 strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],minvalue,maxvalue)
-00125 strSwitch += """ case valueRange_%d:
-00126 if (*(%s*)Value < (%s)%s) return OD_VALUE_TOO_LOW;
-00127 if (*(%s*)Value > (%s)%s) return OD_VALUE_TOO_HIGH;
-00128 break;\n"""%(num,typeinfos[0],typeinfos[0],minvalue,typeinfos[0],typeinfos[0],maxvalue)
-00129
-00130 valueRangeContent += strDefine
-00131 valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
-00132 valueRangeContent += "\n switch (typeValue) {\n"
-00133 valueRangeContent += strSwitch
-00134 valueRangeContent += " }\n return 0;\n}\n"
-00135
-00136
-00137
-00138
-00139
-00140 mappedVariableContent = ""
-00141 strDeclareHeader = ""
-00142 strDeclareCallback = ""
-00143 indexContents = {}
-00144 indexCallbacks = {}
-00145 for index in listIndex:
-00146 texts["index"] = index
-00147 strIndex = ""
-00148 entry_infos = Manager.GetEntryInfos(index)
-00149 texts["EntryName"] = entry_infos["name"]
-00150 values = Manager.GetCurrentEntry(index)
-00151 callbacks = Manager.HasCurrentEntryCallbacks(index)
-00152 if index in variablelist:
-00153 strIndex += "\n/* index 0x%(index)04X : Mapped variable %(EntryName)s */\n"%texts
-00154 else:
-00155 strIndex += "\n/* index 0x%(index)04X : %(EntryName)s. */\n"%texts
-00156
-00157
-00158 if type(values) != ListType:
-00159 subentry_infos = Manager.GetSubentryInfos(index, 0)
-00160 typename = Manager.GetTypeName(subentry_infos["type"])
-00161 typeinfos = GetValidTypeInfos(typename)
-00162 texts["subIndexType"] = typeinfos[0]
-00163 texts["suffixe"] = typeinfos[1]
-00164 if typeinfos[2] == "visible_string":
-00165 texts["value"] = "\"%s\""%values
-00166 texts["comment"] = ""
-00167 else:
-00168 texts["value"] = "0x%X"%values
-00169 texts["comment"] = "\t/* %s */"%str(values)
-00170 if index in variablelist:
-00171 texts["name"] = FormatName(subentry_infos["name"])
-00172 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
-00173 if callbacks:
-00174 strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
-00175 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
-00176 else:
-00177 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
-00178 values = [values]
-00179 else:
-00180 subentry_infos = Manager.GetSubentryInfos(index, 0)
-00181 typename = Manager.GetTypeName(subentry_infos["type"])
-00182 typeinfos = GetValidTypeInfos(typename)
-00183 texts["value"] = values[0]
-00184 texts["subIndexType"] = typeinfos[0]
-00185 strIndex += " %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
-00186
-00187
-00188 if entry_infos["struct"] & OD_IdenticalSubindexes:
-00189 subentry_infos = Manager.GetSubentryInfos(index, 1)
-00190 typename = Manager.GetTypeName(subentry_infos["type"])
-00191 typeinfos = GetValidTypeInfos(typename)
-00192 texts["subIndexType"] = typeinfos[0]
-00193 texts["suffixe"] = typeinfos[1]
-00194 texts["length"] = values[0]
-00195 if index in variablelist:
-00196 texts["name"] = FormatName(entry_infos["name"])
-00197 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
-00198 if callbacks:
-00199 strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
-00200 mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n {\n"%texts
-00201 for subIndex, value in enumerate(values):
-00202 sep = ","
-00203 comment = ""
-00204 if subIndex > 0:
-00205 if subIndex == len(values)-1:
-00206 sep = ""
-00207 if typeinfos[2] == "visible_string":
-00208 value = "\"%s\""%value
-00209 else:
-00210 comment = "\t/* %s */"%str(value)
-00211 value = "0x%X"%value
-00212 mappedVariableContent += " %s%s%s\n"%(value, sep, comment)
-00213 mappedVariableContent += " };\n"
-00214 else:
-00215 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n {\n"%texts
-00216 for subIndex, value in enumerate(values):
-00217 sep = ","
-00218 comment = ""
-00219 if subIndex > 0:
-00220 if subIndex == len(values)-1:
-00221 sep = ""
-00222 if typeinfos[2] == "visible_string":
-00223 value = "\"%s\""%value
-00224 elif typeinfos[2] == "domain":
-00225 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
-00226 else:
-00227 comment = "\t/* %s */"%str(value)
-00228 value = "0x%X"%value
-00229 strIndex += " %s%s%s\n"%(value, sep, comment)
-00230 strIndex += " };\n"
-00231 else:
-00232
-00233 texts["parent"] = FormatName(entry_infos["name"])
-00234
-00235 for subIndex, value in enumerate(values):
-00236 texts["subIndex"] = subIndex
-00237 if subIndex > 0:
-00238 subentry_infos = Manager.GetSubentryInfos(index, subIndex)
-00239 typename = Manager.GetTypeName(subentry_infos["type"])
-00240 typeinfos = GetValidTypeInfos(typename)
-00241 texts["subIndexType"] = typeinfos[0]
-00242 texts["suffixe"] = typeinfos[1]
-00243 if typeinfos[2] == "visible_string":
-00244 texts["value"] = "\"%s\""%value
-00245 texts["comment"] = ""
-00246 else:
-00247 texts["value"] = "0x%X"%value
-00248 texts["comment"] = "\t/* %s */"%str(value)
-00249 texts["name"] = FormatName(subentry_infos["name"])
-00250 if index in variablelist:
-00251 strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
-00252 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
-00253 else:
-00254 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
-00255 if callbacks:
-00256 strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
-00257
-00258
-00259 if callbacks:
-00260 if index in variablelist:
-00261 name = FormatName(entry_infos["name"])
-00262 else:
-00263 name = "%(NodeName)s_Index%(index)04X"%texts
-00264 strIndex += " ODCallback_t %s_callbacks[] = \n {\n"%name
-00265 for subIndex in xrange(len(values)):
-00266 strIndex += " NULL,\n"
-00267 strIndex += " };\n"
-00268 indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
-00269 else:
-00270 indexCallbacks[index] = ""
-00271 strIndex += " subindex %(NodeName)s_Index%(index)04X[] = \n {\n"%texts
-00272 for subIndex in xrange(len(values)):
-00273 subentry_infos = Manager.GetSubentryInfos(index, subIndex)
-00274 if subIndex < len(values) - 1:
-00275 sep = ","
-00276 else:
-00277 sep = ""
-00278 typename = Manager.GetTypeName(subentry_infos["type"])
-00279 typeinfos = GetValidTypeInfos(typename)
-00280 if subIndex == 0:
-00281 if entry_infos["struct"] & OD_MultipleSubindexes:
-00282 name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
-00283 elif index in variablelist:
-00284 name = FormatName(subentry_infos["name"])
-00285 else:
-00286 name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
-00287 elif entry_infos["struct"] & OD_IdenticalSubindexes:
-00288 if index in variablelist:
-00289 name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
-00290 else:
-00291 name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
-00292 else:
-00293 if index in variablelist:
-00294 name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
-00295 else:
-00296 name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
-00297 if typeinfos[2] in ["visible_string", "domain"]:
-00298 sizeof = str(len(values[subIndex]))
-00299 else:
-00300 sizeof = "sizeof (%s)"%typeinfos[0]
-00301 params = Manager.GetCurrentParamsEntry(index, subIndex)
-00302 if params["save"]:
-00303 save = "|TO_BE_SAVE"
-00304 else:
-00305 save = ""
-00306 strIndex += " { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
-00307 strIndex += " };\n"
-00308 indexContents[index] = strIndex
-00309
-00310
-00311
-00312
-00313
-00314 if 0x1006 not in communicationlist:
-00315 entry_infos = Manager.GetEntryInfos(0x1006)
-00316 texts["EntryName"] = entry_infos["name"]
-00317 indexContents[0x1006] = """\n/* index 0x1006 : %(EntryName)s */
-00318 UNS32 %(NodeName)s_obj1006 = 0x0; /* 0 */
-00319 """%texts
-00320
-00321 if 0x1016 in communicationlist:
-00322 texts["nombre"] = Manager.GetCurrentEntry(0x1016, 0)
-00323 else:
-00324 texts["nombre"] = 0
-00325 entry_infos = Manager.GetEntryInfos(0x1016)
-00326 texts["EntryName"] = entry_infos["name"]
-00327 indexContents[0x1016] = """\n/* index 0x1016 : %(EntryName)s */
-00328 UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
-00329 UNS32 %(NodeName)s_obj1016[]={0};
-00330 """%texts
-00331 if texts["nombre"] > 0:
-00332 strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts
-00333 else:
-00334 strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
-00335
-00336 if 0x1017 not in communicationlist:
-00337 entry_infos = Manager.GetEntryInfos(0x1017)
-00338 texts["EntryName"] = entry_infos["name"]
-00339 indexContents[0x1017] = """\n/* index 0x1017 : %(EntryName)s */
-00340 UNS16 %(NodeName)s_obj1017 = 0x0; /* 0 */
-00341 """%texts
-00342
-00343
-00344
-00345
-00346
-00347 strDeclareIndex = ""
-00348 strDeclareSwitch = ""
-00349 strQuickIndex = ""
-00350 quick_index = {}
-00351 for index_cat in index_categories:
-00352 quick_index[index_cat] = {}
-00353 for cat, idx_min, idx_max in categories:
-00354 quick_index[index_cat][cat] = 0
-00355 maxPDOtransmit = 0
-00356 for i, index in enumerate(listIndex):
-00357 texts["index"] = index
-00358 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
-00359 strDeclareSwitch += " case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
-00360 for cat, idx_min, idx_max in categories:
-00361 if idx_min <= index <= idx_max:
-00362 quick_index["lastIndex"][cat] = i
-00363 if quick_index["firstIndex"][cat] == 0:
-00364 quick_index["firstIndex"][cat] = i
-00365 if cat == "PDO_TRS":
-00366 maxPDOtransmit += 1
-00367 texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
-00368 for index_cat in index_categories:
-00369 strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
-00370 sep = ","
-00371 for i, (cat, idx_min, idx_max) in enumerate(categories):
-00372 if i == len(categories) - 1:
-00373 sep = ""
-00374 strQuickIndex += " %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
-00375 strQuickIndex += "};\n"
-00376
-00377
-00378
-00379
-00380
-00381 fileContent = generated_tag + """
-00382 #include "%s"
-00383 """%(headerfilepath)
-00384
-00385 fileContent += """
-00386 /**************************************************************************/
-00387 /* Declaration of the mapped variables */
-00388 /**************************************************************************/
-00389 """ + mappedVariableContent
-00390
-00391 fileContent += """
-00392 /**************************************************************************/
-00393 /* Declaration of the value range types */
-00394 /**************************************************************************/
-00395 """ + valueRangeContent
-00396
-00397 fileContent += """
-00398 /**************************************************************************/
-00399 /* The node id */
-00400 /**************************************************************************/
-00401 /* node_id default value.*/
-00402 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
-00403
-00404 /**************************************************************************/
-00405 /* Array of message processing information */
-00406
-00407 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
-00408
-00409 """%texts
-00410 fileContent += strTimers
-00411
-00412 fileContent += """
-00413 /*
-00414 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
-00415
-00416 OBJECT DICTIONARY
-00417
-00418 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
-00419 */
-00420 """%texts
-00421 contentlist = indexContents.keys()
-00422 contentlist.sort()
-00423 for index in contentlist:
-00424 fileContent += indexContents[index]
-00425
-00426 fileContent += """
-00427 const indextable %(NodeName)s_objdict[] =
-00428 {
-00429 """%texts
-00430 fileContent += strDeclareIndex
-00431 fileContent += """};
-00432
-00433 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
-00434 {
-00435 int i;
-00436 *callbacks = NULL;
-00437 switch(wIndex){
-00438 """%texts
-00439 fileContent += strDeclareSwitch
-00440 fileContent += """ default:
-00441 *errorCode = OD_NO_SUCH_OBJECT;
-00442 return NULL;
-00443 }
-00444 *errorCode = OD_SUCCESSFUL;
-00445 return &%(NodeName)s_objdict[i];
-00446 }
-00447
-00448 /* To count at which received SYNC a PDO must be sent.
-00449 * Even if no pdoTransmit are defined, at least one entry is computed
-00450 * for compilations issues.
-00451 */
-00452 UNS8 %(NodeName)s_count_sync[%(maxPDOtransmit)d] = {0,};
-00453 """%texts
-00454 fileContent += strQuickIndex
-00455 fileContent += """
-00456 UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
-00457
-00458 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
-00459
-00460 """%texts
-00461
-00462
-00463
-00464
-00465
-00466 HeaderFileContent = generated_tag + """
-00467 #include "data.h"
-00468
-00469 /* Prototypes of function provided by object dictionnary */
-00470 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
-00471 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
-00472
-00473 /* Master node data struct */
-00474 extern CO_Data %(NodeName)s_Data;
-00475
-00476 """%texts
-00477 HeaderFileContent += strDeclareHeader
-00478
-00479 return fileContent,HeaderFileContent
-00480
-00481
-00482
-00483
-00484
-00485 def GenerateFile(filepath, manager):
-00486 try:
-00487 headerfilepath = os.path.splitext(filepath)[0]+".h"
-00488 content, header = GenerateFileContent(manager, os.path.split(headerfilepath)[1])
-00489 WriteFile(filepath, content)
-00490 WriteFile(headerfilepath, header)
-00491 return None
-00492 except ValueError, message:
-00493 return "Unable to Generate C File\n%s"%message
-00494
-