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+00020
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+00022
+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
+