CanFestival: /home/epimerde/documents/tc11/CanFestival-3/objdictgen/xml

00001 #!/usr/bin/env python
-00002 # -*- coding: utf-8 -*-
-00003 
-00004 #This file is part of CanFestival, a library implementing CanOpen Stack. 
-00005 #
-00006 #Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
-00007 #
-00008 #See COPYING file for copyrights details.
-00009 #
-00010 #This library is free software; you can redistribute it and/or
-00011 #modify it under the terms of the GNU Lesser General Public
-00012 #License as published by the Free Software Foundation; either
-00013 #version 2.1 of the License, or (at your option) any later version.
-00014 #
-00015 #This library is distributed in the hope that it will be useful,
-00016 #but WITHOUT ANY WARRANTY; without even the implied warranty of
-00017 #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00018 #Lesser General Public License for more details.
-00019 #
-00020 #You should have received a copy of the GNU Lesser General Public
-00021 #License along with this library; if not, write to the Free Software
-00022 #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00023 
-00024 from xml.parsers import expat
-00025 
-00026 import node
-00027 from node import *
-00028 
-00029 maxObjects = 8
-00030 
-00031 currentPDOIndex = 0
-00032 currentBitsMapped = 0
-00033 currentMaxObjects = 0
-00034 currentNbMappedObjects = 0
-00035 
-00036 nextPdoIndex = {"rx":0x1400,"tx":0x1800}
-00037 
-00038 valid_elements = ["node","heartbeat_consumers","sdo_clients","pdo","mapped_object",
-00039     "pdo_param","pdo_receive","pdo_transmit","mapped_variable","mapped_table",
-00040     "mapped_string_variable","mapped_string_table"]
-00041 
-00042 #-------------------------------------------------------------------------------
-00043 #                       Callback method of parse
-00044 #-------------------------------------------------------------------------------
-00045 
-00046 def StartElement(name, attrs):
-00047     if name in valid_elements:
-00048         if name == "node":
-00049             startNode(attrs)
-00050         elif name == "heartbeat_consumers":
-00051             startHeartBeatConsumers(attrs)
-00052         elif name == "sdo_clients":
-00053             startSdoClients(attrs)
-00054         elif name in ["pdo_param","pdo_receive","pdo_transmit"]:
-00055             raise ValueError, """!!! The XML grammar has changed.
-00056 Please, open your xml file, delete the tags pdo_param, pdo_receive and pdo_transmit.
-00057 Use instead the tag pdo for each pdo to create, and (optional) use the tag mapped_object (menu pdo/map and object ...)."""
-00058         elif name == "pdo":
-00059             startPdo(attrs)
-00060         elif name == "mapped_object":
-00061             startMappedObject(attrs)
-00062         elif name == "mapped_variable":
-00063             startMappedVariable(attrs)
-00064         elif name == "mapped_table":
-00065             startMappedTable(attrs)
-00066         elif name == "mapped_string_variable":
-00067             startMappedVariable(attrs)
-00068         elif name == "mapped_string_table":
-00069             startMappedTable(attrs)
-00070 
-00071 def EndElement(name):
-00072     if name in valid_elements:
-00073        if name == "node":
-00074            stopNode()
-00075 
-00076 def CharacterData(data):
-00077     pass
-00078 
-00079 #-------------------------------------------------------------------------------
-00080 #                          Creation of Node
-00081 #-------------------------------------------------------------------------------
-00082 
-00083 def startNode(attrs):
-00084     name = attrs["name"]
-00085     Node.SetNodeName(name)
-00086     
-00087     if "node_id" in attrs and len(attrs["node_id"]) > 0:
-00088         node_id = eval(attrs["node_id"])
-00089     else:
-00090         node_id = 0x01  # We define here a default node_id. 
-00091     Node.SetNodeID(node_id)
-00092     
-00093     typeNode = attrs["type_node"]
-00094     Node.SetNodeType(typeNode)
-00095     
-00096     if "device_type_1000" in attrs:
-00097         device_type = eval(attrs["device_type_1000"])
-00098     else:
-00099         device_type = 0
-00100     Node.AddEntry(0x1000, 0, device_type)
-00101     Node.AddEntry(0x1001, 0, 0)
-00102     Node.AddEntry(0x1005, 0, 0x00000080)
-00103     Node.AddEntry(0x1006, 0, 0)
-00104     Node.AddEntry(0x1007, 0, 0)
-00105 
-00106     if "manufacturer_device_name_1008" in attrs:
-00107         manufacturer_device_name = attrs["manufacturer_device_name_1008"]
-00108     else:
-00109         manufacturer_device_name = ""
-00110     Node.AddEntry(0x1008, 0, manufacturer_device_name)
-00111     
-00112     if "manufacturer_hardware_version_1009" in attrs:
-00113         manufacturer_hardware_version = attrs["manufacturer_hardware_version_1009"]
-00114     else:
-00115         manufacturer_hardware_version = "__DATE__"
-00116     Node.AddEntry(0x1009, 0, manufacturer_hardware_version)
-00117 
-00118     if "manufacturer_software_version_100A" in attrs:
-00119         manufacturer_software_version = attrs["manufacturer_software_version_100A"]
-00120     else:
-00121         manufacturer_software_version = 0
-00122     Node.AddEntry(0x100A, 0,  manufacturer_software_version)
-00123 
-00124     if "vendor_id_1018" in attrs:
-00125         vendor_id = eval(attrs["vendor_id_1018"])
-00126     else:
-00127         vendor_id = 0
-00128     if "product_code_1018" in attrs:
-00129         product_code = eval(attrs["product_code_1018"])
-00130     else:
-00131         product_code = 0
-00132     if "revision_number_1018" in attrs:
-00133         revision_number = eval(attrs["revision_number_1018"])
-00134     else:
-00135         revision_number = 0
-00136     if "serial_number_1018" in attrs:
-00137         serial_number = eval(attrs["serial_number_1018"])
-00138     else:
-00139         serial_number = 0
-00140     Node.AddEntry(0x1018, 1, vendor_id)
-00141     Node.AddEntry(0x1018, 2, product_code)
-00142     Node.AddEntry(0x1018, 3, revision_number)
-00143     Node.AddEntry(0x1018, 4, serial_number)
-00144 
-00145 def stopNode():
-00146     heartBeatProducer()
-00147     sdoServer()
-00148 
-00149 #-------------------------------------------------------------------------------
-00150 #                      Creation of PDO in Object Dictionary
-00151 #-------------------------------------------------------------------------------
-00152 
-00153 def startPdo(attrs):
-00154     global currentPdoIndex
-00155     global currentMaxObjects
-00156     global currentNbMappedObjects
-00157     global currentBitsMapped
-00158     global maxObjects
-00159     
-00160     cobId = 0
-00161     transmissionType = 253 # Default is on request. Why not ?
-00162 
-00163     # Find the type of the PDO and search the index of the last added
-00164     type = attrs["type_rx_tx"]
-00165     index = nextPdoIndex[type]
-00166     
-00167     # If the index of the PDO is define, verify that it has a good index
-00168     if "index_communication_parameter" in attrs:
-00169         index = eval(attrs["index_communication_parameter"])
-00170     if type == "rx" and not 0x1400 <= index <= 0x15FF:
-00171         raise ValueError, """!!! Abort because Index PDO receive : 0x%04X not valid.
-00172 Valid index is 0x1400 ... 0x15FF"""%index
-00173     if type == "tx" and not 0x1800 <= index <= 0x19FF:
-00174         raise ValueError, """!!! Abort because Index PDO transmit : 0x%04X not valid.
-00175 Valid index is 0x1800 ... 0x19FF"""%index
-00176     
-00177     # Extract the PDO communication parameters
-00178     if "cob_id" == attrs:
-00179         cobId = eval(attrs["cob_id"])
-00180     if "max_objects_in_pdo" == attrs:
-00181         maxObjects = eval(attrs["max_objects_in_pdo"])
-00182     if "transmission_type" in attrs:
-00183         transmissionType = eval(attrs["transmission_type"])
-00184 
-00185     if Node.IsEntry(index):
-00186         raise ValueError, """!!! Abort because the PDO at index : 0x%04X have been already defined."""%index
-00187 
-00188     # Communication parameters
-00189     Node.AddEntry(index, 1, cobId)
-00190     Node.AddEntry(index, 2, transmissionType)
-00191     
-00192     # Mapping parameters
-00193     mapping_index = index + 0x200
-00194     for i in xrange(1, maxObjects + 1):
-00195         Node.AddEntry(mapping_index, i, 0x0)
-00196 
-00197     currentPdoIndex = index
-00198     currentMaxObjects = maxObjects
-00199     currentBitsMapped = 0
-00200     currentNbMappedObjects = 0
-00201     
-00202     nextPdoIndex[type] = index + 1
-00203 
-00204 def startMappedObject(attrs):
-00205     global currentPdoIndex
-00206     global currentMaxObjects
-00207     global currentNbMappedObjects
-00208     global currentBitsMapped
-00209     
-00210     index = currentPdoIndex
-00211     mapping_index = index + 0x200
-00212     
-00213     indexObject = eval(attrs["index"])
-00214     subIndexObject = eval(attrs["sub_index"])
-00215     sizeInBitsObject = eval(attrs["size_in_bits"])
-00216 
-00217     if currentMaxObjects == 0:
-00218         raise ValueError, """!!! Abort because of a bogue for mapped object (defined at index 0x%04X, subIndex 0x%025X)
-00219 in PDO. index : 0x%04X is undefined."""%(indexObject,subindexObject,mapping_index)
-00220     if currentNbMappedObjects >= currentMaxObjects:
-00221         raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X)
-00222 in PDO index 0x%04X. max objects (%d) reached."""%(IndexObject,subIndexObject,mapping_index,pdo[mapping_index]["maxObjects"])
-00223     if currentBitsMapped + sizeInBitsObject > 64:
-00224         raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X)
-00225 in PDO index 0x%04X. No room to put %d bits in the PDO."""%(IndexObject,subIndexObject,mapping_index,sizeInBitsObject)
-00226 
-00227     value = eval("0x%04X%02X%02X"%(indexObject,subIndexObject,sizeInBitsObject))
-00228     Node.SetEntry(mapping_index, currentNbMappedObjects + 1, value)
-00229     
-00230     currentNbMappedObjects += 1
-00231     currentBitsMapped += sizeInBitsObject
-00232 
-00233 #-------------------------------------------------------------------------------
-00234 #                    Creation of mapped variable and table 
-00235 #-------------------------------------------------------------------------------
-00236 
-00237 def startMappedVariable(attrs):
-00238     name = attrs["name"]
-00239     index = eval(attrs["index"])
-00240     subIndex = eval(attrs["sub_index"])
-00241     
-00242     if "size_in_bits" in attrs:
-00243         size = eval(attrs["size_in_bits"]) # Numeric variable
-00244         if "type" in attrs:
-00245             type = attrs["type"]
-00246             if (type == "UNS"):
-00247                 type = "UNSIGNED"
-00248         else: # Default type
-00249             type = "UNSIGNED"
-00250         typename = "%s%d"%(type,size)
-00251 
-00252         type_index = Manager.GetTypeIndex(typename, False)
-00253         if type_index == None:
-00254             raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unrecognized type : %s"""%(name,index,subIndex,typename)
-00255         
-00256         # Begin ValueRange support
-00257         if "min_value" in attrs or "max_value" in attrs:
-00258             if "min_value" in attrs and "max_value" in attrs:
-00259                 minValue = eval(attrs["min_value"])
-00260                 maxValue = eval(attrs["max_value"])
-00261                 if (minValue > maxValue):
-00262                     raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : error in value-range : min > max"""%(name,index,subIndex)
-00263             else:
-00264                 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)
-00265         
-00266             type_index = findRangeType(type_index, minValue, maxValue)
-00267             if type_index == None:
-00268                 raise ValueError, """!!! Sorry, too many different value range have been defined"""
-00269         # End ValueRange support    
-00270 
-00271     if "size_in_byte" in attrs:
-00272         size = eval(attrs["size_in_byte"]) # String variable
-00273         type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size)
-00274         if type_index == None:
-00275             raise ValueError, """!!! Sorry, too many different string length have been defined"""
-00276           
-00277     if "access" in attrs:
-00278         access = attrs["access"].lower()
-00279     else: 
-00280         access = "rw" # default value
-00281  
-00282     if index < 0x2000 or index > 0xBFFF:
-00283         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)
-00284 
-00285     if subIndex == 0:
-00286         Node.AddMappingEntry(index, name = name, struct = 1)
-00287     elif subIndex == 1:
-00288         Node.AddMappingEntry(index, struct = 3)
-00289         Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})    
-00290     result = Node.AddMappingEntry(index, subIndex, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True})
-00291     
-00292     if result:
-00293         Node.AddEntry(index, subIndex, 0)
-00294     else:
-00295         raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unable to map"""%(name,index,subIndex)
-00296 
-00297 def startMappedTable(attrs):
-00298     name = attrs["name"]
-00299     number_elements = eval(attrs["number_elements"])
-00300     index = eval(attrs["index"])
-00301 
-00302     if "size_in_bits" in attrs:
-00303         size = eval(attrs["size_in_bits"]) # Numeric variable
-00304         if "type" in attrs:
-00305             type = attrs["type"]
-00306             if (type == "UNS"):
-00307                 type = "UNSIGNED"
-00308         else: # Default type
-00309             type = "UNSIGNED"
-00310         typename = "%s%d"%(type,size)
-00311 
-00312         type_index = Manager.GetTypeIndex(typename, False)
-00313         if type_index == None:
-00314             raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Unrecognized type : %s"""%(name,index,typename)
-00315         
-00316         # Begin ValueRange support
-00317         if "min_value" in attrs or "max_value" in attrs:
-00318             if "min_value" in attrs and "max_value" in attrs:
-00319                 minValue = eval(attrs["min_value"])
-00320                 maxValue = eval(attrs["max_value"])
-00321                 if (minValue > maxValue):
-00322                     raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : error in value-range : min > max"""%(name,index)
-00323             else:
-00324                 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)
-00325         
-00326             type_index = findRangeType(type_index, minValue, maxValue)
-00327             if type_index == None:
-00328                 raise ValueError, """!!! Sorry, too many different value range have been defined"""
-00329         # End ValueRange support
-00330 
-00331     if "size_in_byte" in attrs:
-00332         size = eval(attrs["size_in_byte"]) # String variable
-00333         type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size)
-00334         if type_index == None:
-00335             raise ValueError, """!!! Sorry, too many different string length have been defined"""
-00336               
-00337     if "access" in attrs:
-00338         access = attrs["access"].lower()
-00339     else:
-00340         access = "rw" # default value    
-00341 
-00342     if index < 0x2000 or index > 0xBFFF:
-00343         raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Variable can't be defined using this index-subindex."""%(name,index)
-00344 
-00345     result = Node.AddMappingEntry(index, name = name, struct = 7)
-00346     if not result:
-00347         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)
-00348     Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})
-00349     Node.AddMappingEntry(index, 1, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True, "nbmax" : number_elements})
-00350     
-00351     for subIndex in xrange(1,number_elements+1):
-00352         Node.AddEntry(index, subIndex, 0)
-00353 
-00354 def findRangeType(type, minValue, maxValue):
-00355     index = 0xA0
-00356     while index < 0x100 and Node.IsEntry(index):
-00357         current_type = Node.GetEntry(index, 1)
-00358         if current_type == type:
-00359             current_minValue = Node.GetEntry(index, 2)
-00360             current_maxValue = Node.GetEntry(index, 3)
-00361             if current_minValue == minValue and current_maxValue == maxValue:
-00362                 return index
-00363         index += 1
-00364     if index < 0x100:
-00365         infos = Manager.GetEntryInfos(type, False)
-00366         name = "%s[%d-%d]"%(infos["name"], minValue, maxValue)
-00367         Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"])
-00368         Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})
-00369         Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False})
-00370         Node.AddMappingEntry(index, 2, values = {"name" : "Minimum Value", "type" : type, "access" : "ro", "pdo" : False})
-00371         Node.AddMappingEntry(index, 3, values = {"name" : "Maximum Value", "type" : type, "access" : "ro", "pdo" : False})
-00372         Node.AddEntry(index, 1, type)
-00373         Node.AddEntry(index, 2, minValue)
-00374         Node.AddEntry(index, 3, maxValue)
-00375         return index
-00376     return None
-00377 
-00378 def findStringType(type, length):
-00379     index = 0xA0
-00380     while index < 0x100 and Node.IsEntry(index):
-00381         current_type = Node.GetEntry(index, 1)
-00382         if current_type == type:
-00383             current_length = Node.GetEntry(index, 2)
-00384             if current_length == length:
-00385                 return index
-00386         index += 1
-00387     if index < 0x100:
-00388         infos = Manager.GetEntryInfos(type, False)
-00389         name = "%s%d"%(Manager.GetTypeName(type), length)
-00390         Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"])
-00391         Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False})
-00392         Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False})
-00393         Node.AddMappingEntry(index, 2, values = {"name" : "Length", "type" : 0x02, "access" : "ro", "pdo" : False})
-00394         Node.AddEntry(index, 1, type)
-00395         Node.AddEntry(index, 2, length)
-00396         return index
-00397     return None
-00398 
-00399 #-------------------------------------------------------------------------------
-00400 #                   Creation HeartBeat Producer & Consumers
-00401 #-------------------------------------------------------------------------------
-00402 
-00403 def heartBeatProducer():
-00404     Node.AddEntry(0x1017, 0, 0)
-00405     
-00406 def startHeartBeatConsumers(attrs):
-00407     nombre = eval(attrs["nombre"])
-00408     for i in xrange(nombre):
-00409         Node.AddEntry(0x1016, i + 1, 0)             
-00410 
-00411 #-------------------------------------------------------------------------------
-00412 #                       Creation of SDO Server & Clients
-00413 #-------------------------------------------------------------------------------
-00414 
-00415 def sdoServer():
-00416     Node.AddEntry(0x1200, 1, 0x600 + Node.GetNodeID())
-00417     Node.AddEntry(0x1200, 2, 0x580 + Node.GetNodeID())
-00418     
-00419 def startSdoClients(attrs):
-00420     nombre = eval(attrs["nombre"])
-00421     for i in xrange(nombre):
-00422         Node.AddEntry(0x1280 + i, 1, 0x600)
-00423         Node.AddEntry(0x1280 + i, 2, 0x580)
-00424         Node.AddEntry(0x1280 + i, 3, 0)
-00425     
-00426 #-------------------------------------------------------------------------------
-00427 #                           Parse file with Saxe
-00428 #-------------------------------------------------------------------------------
-00429 
-00430 def ParseFile(filepath):
-00431     xmlfile = open(filepath,"r")
-00432     Parser = expat.ParserCreate()
-00433     Parser.StartElementHandler = StartElement
-00434     Parser.EndElementHandler = EndElement
-00435     Parser.CharacterDataHandler = CharacterData
-00436     ParserStatus = Parser.ParseFile(xmlfile)
-00437     xmlfile.close()    
-00438 
-00439 def GenerateNode(filepath, manager):
-00440     global Node
-00441     global Manager
-00442     Manager = manager
-00443     Node = node.Node()
-00444     ParseFile(filepath)
-00445     return Node
-00446 
-00447 #-------------------------------------------------------------------------------
-00448 #                             Main Function
-00449 #-------------------------------------------------------------------------------
-00450 
-00451 if __name__ == '__main__':
-00452     ParseFile("test.xml")
-00453 
-
/home/epimerde/documents/tc11/CanFestival-3/objdictgen/xml_in.py
