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
