# HG changeset patch # User etisserant # Date 1190389820 -7200 # Node ID 9b69f2fabafe9511b3bc50ec0ee60ef0cd4c3e49 # Parent 9d41c53dadac289a0dd16c98aeb6e0171f675db6 added config.py.in, filled by configure, so that python program using objdictedit can gat compilation params. Reomved old dead files. diff -r 9d41c53dadac -r 9b69f2fabafe configure --- a/configure Fri Sep 21 08:04:00 2007 +0200 +++ b/configure Fri Sep 21 17:50:20 2007 +0200 @@ -639,7 +639,8 @@ \ src/Makefile.in\ \ drivers/Makefile.in\ \ objdictgen/Makefile.in\ -\ examples/Makefile.in +\ examples/Makefile.in\ +\ objdictgen/canfestival_config.py.in # Drivers dependent Makefiles if [ "$SUB_TIMERS_DRIVER" != "" ]; then diff -r 9d41c53dadac -r 9b69f2fabafe objdictgen/.cvsignore --- a/objdictgen/.cvsignore Fri Sep 21 08:04:00 2007 +0200 +++ b/objdictgen/.cvsignore Fri Sep 21 17:50:20 2007 +0200 @@ -8,3 +8,4 @@ *.h *.eds Gnosis_Utils-current.tar.gz +canfestival_config.py diff -r 9d41c53dadac -r 9b69f2fabafe objdictgen/canfestival_config.py.in --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/objdictgen/canfestival_config.py.in Fri Sep 21 17:50:20 2007 +0200 @@ -0,0 +1,39 @@ +# +# Copyright (C) 2006 Laurent Bessard +# +# This file is part of canfestival, a library implementing the canopen +# stack +# +# 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 os.path import join as opj + +CC = "SUB_CC" +PROG_CFLAGS = "SUB_PROG_CFLAGS" +EXE_CFLAGS = "SUB_EXE_CFLAGS" +OS_NAME = "SUB_OS_NAME" +ARCH_NAME = "SUB_ARCH_NAME" +PREFIX = "SUB_PREFIX" +TARGET = "SUB_TARGET" +CAN_DRIVER = "SUB_CAN_DRIVER" +TIMERS_DRIVER = "SUB_TIMERS_DRIVER" + + +def getCFLAGS(Cpth): + ipth = opj(Cpth, "include") + return PROG_CFLAGS + ' -I' + ipth + ' -I' + opj(ipth, TARGET) + ' -I' + opj(ipth, CAN_DRIVER) + ' -I' + opj(ipth,TIMERS_DRIVER) + +def getLDFLAGS(Cpth): + return EXE_CFLAGS + ' ' + opj(Cpth,"src","libcanfestival.a") + ' ' + opj(Cpth,"drivers", TARGET, "libcanfestival_%s.a"%TARGET) diff -r 9d41c53dadac -r 9b69f2fabafe objdictgen/objdictedit.sh --- a/objdictgen/objdictedit.sh Fri Sep 21 08:04:00 2007 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,24 +0,0 @@ -#!/bin/sh - -#This file is part of CanFestival, a library implementing CanOpen Stack. -# -#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD -# -#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 - -# Xbootclasspath option added to workaround bugs in Java 1.4 -java -Xbootclasspath/p:jaxe/lib/xml-apis.jar:jaxe/lib/xerces.jar:jaxe/lib/xalan.jar -classpath jaxe/lib/Jaxe.jar:jaxe/lib/xml-apis.jar:jaxe/lib/xerces.jar:jaxe/lib/xalan.jar:jaxe/lib/jakarta-oro-2.0.8.jar:jaxe/lib/jazzy.jar jaxe/Jaxe config/objdict_Jaxe_cfg.xml diff -r 9d41c53dadac -r 9b69f2fabafe objdictgen/xml_in.py --- a/objdictgen/xml_in.py Fri Sep 21 08:04:00 2007 +0200 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,453 +0,0 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- - -#This file is part of CanFestival, a library implementing CanOpen Stack. -# -#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD -# -#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 xml.parsers import expat - -import node -from node import * - -maxObjects = 8 - -currentPDOIndex = 0 -currentBitsMapped = 0 -currentMaxObjects = 0 -currentNbMappedObjects = 0 - -nextPdoIndex = {"rx":0x1400,"tx":0x1800} - -valid_elements = ["node","heartbeat_consumers","sdo_clients","pdo","mapped_object", - "pdo_param","pdo_receive","pdo_transmit","mapped_variable","mapped_table", - "mapped_string_variable","mapped_string_table"] - -#------------------------------------------------------------------------------- -# Callback method of parse -#------------------------------------------------------------------------------- - -def StartElement(name, attrs): - if name in valid_elements: - if name == "node": - startNode(attrs) - elif name == "heartbeat_consumers": - startHeartBeatConsumers(attrs) - elif name == "sdo_clients": - startSdoClients(attrs) - elif name in ["pdo_param","pdo_receive","pdo_transmit"]: - raise ValueError, """!!! The XML grammar has changed. -Please, open your xml file, delete the tags pdo_param, pdo_receive and pdo_transmit. -Use instead the tag pdo for each pdo to create, and (optional) use the tag mapped_object (menu pdo/map and object ...).""" - elif name == "pdo": - startPdo(attrs) - elif name == "mapped_object": - startMappedObject(attrs) - elif name == "mapped_variable": - startMappedVariable(attrs) - elif name == "mapped_table": - startMappedTable(attrs) - elif name == "mapped_string_variable": - startMappedVariable(attrs) - elif name == "mapped_string_table": - startMappedTable(attrs) - -def EndElement(name): - if name in valid_elements: - if name == "node": - stopNode() - -def CharacterData(data): - pass - -#------------------------------------------------------------------------------- -# Creation of Node -#------------------------------------------------------------------------------- - -def startNode(attrs): - name = attrs["name"] - Node.SetNodeName(name) - - if "node_id" in attrs and len(attrs["node_id"]) > 0: - node_id = eval(attrs["node_id"]) - else: - node_id = 0x01 # We define here a default node_id. - Node.SetNodeID(node_id) - - typeNode = attrs["type_node"] - Node.SetNodeType(typeNode) - - if "device_type_1000" in attrs: - device_type = eval(attrs["device_type_1000"]) - else: - device_type = 0 - Node.AddEntry(0x1000, 0, device_type) - Node.AddEntry(0x1001, 0, 0) - Node.AddEntry(0x1005, 0, 0x00000080) - Node.AddEntry(0x1006, 0, 0) - Node.AddEntry(0x1007, 0, 0) - - if "manufacturer_device_name_1008" in attrs: - manufacturer_device_name = attrs["manufacturer_device_name_1008"] - else: - manufacturer_device_name = "" - Node.AddEntry(0x1008, 0, manufacturer_device_name) - - if "manufacturer_hardware_version_1009" in attrs: - manufacturer_hardware_version = attrs["manufacturer_hardware_version_1009"] - else: - manufacturer_hardware_version = "__DATE__" - Node.AddEntry(0x1009, 0, manufacturer_hardware_version) - - if "manufacturer_software_version_100A" in attrs: - manufacturer_software_version = attrs["manufacturer_software_version_100A"] - else: - manufacturer_software_version = 0 - Node.AddEntry(0x100A, 0, manufacturer_software_version) - - if "vendor_id_1018" in attrs: - vendor_id = eval(attrs["vendor_id_1018"]) - else: - vendor_id = 0 - if "product_code_1018" in attrs: - product_code = eval(attrs["product_code_1018"]) - else: - product_code = 0 - if "revision_number_1018" in attrs: - revision_number = eval(attrs["revision_number_1018"]) - else: - revision_number = 0 - if "serial_number_1018" in attrs: - serial_number = eval(attrs["serial_number_1018"]) - else: - serial_number = 0 - Node.AddEntry(0x1018, 1, vendor_id) - Node.AddEntry(0x1018, 2, product_code) - Node.AddEntry(0x1018, 3, revision_number) - Node.AddEntry(0x1018, 4, serial_number) - -def stopNode(): - heartBeatProducer() - sdoServer() - -#------------------------------------------------------------------------------- -# Creation of PDO in Object Dictionary -#------------------------------------------------------------------------------- - -def startPdo(attrs): - global currentPdoIndex - global currentMaxObjects - global currentNbMappedObjects - global currentBitsMapped - global maxObjects - - cobId = 0 - transmissionType = 253 # Default is on request. Why not ? - - # Find the type of the PDO and search the index of the last added - type = attrs["type_rx_tx"] - index = nextPdoIndex[type] - - # If the index of the PDO is define, verify that it has a good index - if "index_communication_parameter" in attrs: - index = eval(attrs["index_communication_parameter"]) - if type == "rx" and not 0x1400 <= index <= 0x15FF: - raise ValueError, """!!! Abort because Index PDO receive : 0x%04X not valid. -Valid index is 0x1400 ... 0x15FF"""%index - if type == "tx" and not 0x1800 <= index <= 0x19FF: - raise ValueError, """!!! Abort because Index PDO transmit : 0x%04X not valid. -Valid index is 0x1800 ... 0x19FF"""%index - - # Extract the PDO communication parameters - if "cob_id" == attrs: - cobId = eval(attrs["cob_id"]) - if "max_objects_in_pdo" == attrs: - maxObjects = eval(attrs["max_objects_in_pdo"]) - if "transmission_type" in attrs: - transmissionType = eval(attrs["transmission_type"]) - - if Node.IsEntry(index): - raise ValueError, """!!! Abort because the PDO at index : 0x%04X have been already defined."""%index - - # Communication parameters - Node.AddEntry(index, 1, cobId) - Node.AddEntry(index, 2, transmissionType) - - # Mapping parameters - mapping_index = index + 0x200 - for i in xrange(1, maxObjects + 1): - Node.AddEntry(mapping_index, i, 0x0) - - currentPdoIndex = index - currentMaxObjects = maxObjects - currentBitsMapped = 0 - currentNbMappedObjects = 0 - - nextPdoIndex[type] = index + 1 - -def startMappedObject(attrs): - global currentPdoIndex - global currentMaxObjects - global currentNbMappedObjects - global currentBitsMapped - - index = currentPdoIndex - mapping_index = index + 0x200 - - indexObject = eval(attrs["index"]) - subIndexObject = eval(attrs["sub_index"]) - sizeInBitsObject = eval(attrs["size_in_bits"]) - - if currentMaxObjects == 0: - raise ValueError, """!!! Abort because of a bogue for mapped object (defined at index 0x%04X, subIndex 0x%025X) -in PDO. index : 0x%04X is undefined."""%(indexObject,subindexObject,mapping_index) - if currentNbMappedObjects >= currentMaxObjects: - raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X) -in PDO index 0x%04X. max objects (%d) reached."""%(IndexObject,subIndexObject,mapping_index,pdo[mapping_index]["maxObjects"]) - if currentBitsMapped + sizeInBitsObject > 64: - raise ValueError, """!!! Abort mapping object (defined at index 0x%04X, subIndex 0x%02X) -in PDO index 0x%04X. No room to put %d bits in the PDO."""%(IndexObject,subIndexObject,mapping_index,sizeInBitsObject) - - value = eval("0x%04X%02X%02X"%(indexObject,subIndexObject,sizeInBitsObject)) - Node.SetEntry(mapping_index, currentNbMappedObjects + 1, value) - - currentNbMappedObjects += 1 - currentBitsMapped += sizeInBitsObject - -#------------------------------------------------------------------------------- -# Creation of mapped variable and table -#------------------------------------------------------------------------------- - -def startMappedVariable(attrs): - name = attrs["name"] - index = eval(attrs["index"]) - subIndex = eval(attrs["sub_index"]) - - if "size_in_bits" in attrs: - size = eval(attrs["size_in_bits"]) # Numeric variable - if "type" in attrs: - type = attrs["type"] - if (type == "UNS"): - type = "UNSIGNED" - else: # Default type - type = "UNSIGNED" - typename = "%s%d"%(type,size) - - type_index = Manager.GetTypeIndex(typename, False) - if type_index == None: - raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unrecognized type : %s"""%(name,index,subIndex,typename) - - # Begin ValueRange support - if "min_value" in attrs or "max_value" in attrs: - if "min_value" in attrs and "max_value" in attrs: - minValue = eval(attrs["min_value"]) - maxValue = eval(attrs["max_value"]) - if (minValue > maxValue): - raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : error in value-range : min > max"""%(name,index,subIndex) - else: - 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) - - type_index = findRangeType(type_index, minValue, maxValue) - if type_index == None: - raise ValueError, """!!! Sorry, too many different value range have been defined""" - # End ValueRange support - - if "size_in_byte" in attrs: - size = eval(attrs["size_in_byte"]) # String variable - type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size) - if type_index == None: - raise ValueError, """!!! Sorry, too many different string length have been defined""" - - if "access" in attrs: - access = attrs["access"].lower() - else: - access = "rw" # default value - - if index < 0x2000 or index > 0xBFFF: - 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) - - if subIndex == 0: - Node.AddMappingEntry(index, name = name, struct = 1) - elif subIndex == 1: - Node.AddMappingEntry(index, struct = 3) - Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False}) - result = Node.AddMappingEntry(index, subIndex, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True}) - - if result: - Node.AddEntry(index, subIndex, 0) - else: - raise ValueError, """!!! ERROR : For variable "%s" at index 0x%04X, subindex 0x%02X : Unable to map"""%(name,index,subIndex) - -def startMappedTable(attrs): - name = attrs["name"] - number_elements = eval(attrs["number_elements"]) - index = eval(attrs["index"]) - - if "size_in_bits" in attrs: - size = eval(attrs["size_in_bits"]) # Numeric variable - if "type" in attrs: - type = attrs["type"] - if (type == "UNS"): - type = "UNSIGNED" - else: # Default type - type = "UNSIGNED" - typename = "%s%d"%(type,size) - - type_index = Manager.GetTypeIndex(typename, False) - if type_index == None: - raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Unrecognized type : %s"""%(name,index,typename) - - # Begin ValueRange support - if "min_value" in attrs or "max_value" in attrs: - if "min_value" in attrs and "max_value" in attrs: - minValue = eval(attrs["min_value"]) - maxValue = eval(attrs["max_value"]) - if (minValue > maxValue): - raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : error in value-range : min > max"""%(name,index) - else: - 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) - - type_index = findRangeType(type_index, minValue, maxValue) - if type_index == None: - raise ValueError, """!!! Sorry, too many different value range have been defined""" - # End ValueRange support - - if "size_in_byte" in attrs: - size = eval(attrs["size_in_byte"]) # String variable - type_index = findStringType(Manager.GetTypeIndex("VISIBLE_STRING", False), size) - if type_index == None: - raise ValueError, """!!! Sorry, too many different string length have been defined""" - - if "access" in attrs: - access = attrs["access"].lower() - else: - access = "rw" # default value - - if index < 0x2000 or index > 0xBFFF: - raise ValueError, """!!! ERROR : For table \"%s\" at index 0x%04X : Variable can't be defined using this index-subindex."""%(name,index) - - result = Node.AddMappingEntry(index, name = name, struct = 7) - if not result: - 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) - Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False}) - Node.AddMappingEntry(index, 1, values = {"name" : name, "type" : type_index, "access" : access, "pdo" : True, "nbmax" : number_elements}) - - for subIndex in xrange(1,number_elements+1): - Node.AddEntry(index, subIndex, 0) - -def findRangeType(type, minValue, maxValue): - index = 0xA0 - while index < 0x100 and Node.IsEntry(index): - current_type = Node.GetEntry(index, 1) - if current_type == type: - current_minValue = Node.GetEntry(index, 2) - current_maxValue = Node.GetEntry(index, 3) - if current_minValue == minValue and current_maxValue == maxValue: - return index - index += 1 - if index < 0x100: - infos = Manager.GetEntryInfos(type, False) - name = "%s[%d-%d]"%(infos["name"], minValue, maxValue) - Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"]) - Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False}) - Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False}) - Node.AddMappingEntry(index, 2, values = {"name" : "Minimum Value", "type" : type, "access" : "ro", "pdo" : False}) - Node.AddMappingEntry(index, 3, values = {"name" : "Maximum Value", "type" : type, "access" : "ro", "pdo" : False}) - Node.AddEntry(index, 1, type) - Node.AddEntry(index, 2, minValue) - Node.AddEntry(index, 3, maxValue) - return index - return None - -def findStringType(type, length): - index = 0xA0 - while index < 0x100 and Node.IsEntry(index): - current_type = Node.GetEntry(index, 1) - if current_type == type: - current_length = Node.GetEntry(index, 2) - if current_length == length: - return index - index += 1 - if index < 0x100: - infos = Manager.GetEntryInfos(type, False) - name = "%s%d"%(Manager.GetTypeName(type), length) - Node.AddMappingEntry(index, name = name, struct = 3, size = infos["size"], default = infos["default"]) - Node.AddMappingEntry(index, 0, values = {"name" : "Number of Entries", "type" : 0x02, "access" : "ro", "pdo" : False}) - Node.AddMappingEntry(index, 1, values = {"name" : "Type", "type" : 0x02, "access" : "ro", "pdo" : False}) - Node.AddMappingEntry(index, 2, values = {"name" : "Length", "type" : 0x02, "access" : "ro", "pdo" : False}) - Node.AddEntry(index, 1, type) - Node.AddEntry(index, 2, length) - return index - return None - -#------------------------------------------------------------------------------- -# Creation HeartBeat Producer & Consumers -#------------------------------------------------------------------------------- - -def heartBeatProducer(): - Node.AddEntry(0x1017, 0, 0) - -def startHeartBeatConsumers(attrs): - nombre = eval(attrs["nombre"]) - for i in xrange(nombre): - Node.AddEntry(0x1016, i + 1, 0) - -#------------------------------------------------------------------------------- -# Creation of SDO Server & Clients -#------------------------------------------------------------------------------- - -def sdoServer(): - Node.AddEntry(0x1200, 1, 0x600 + Node.GetNodeID()) - Node.AddEntry(0x1200, 2, 0x580 + Node.GetNodeID()) - -def startSdoClients(attrs): - nombre = eval(attrs["nombre"]) - for i in xrange(nombre): - Node.AddEntry(0x1280 + i, 1, 0x600) - Node.AddEntry(0x1280 + i, 2, 0x580) - Node.AddEntry(0x1280 + i, 3, 0) - -#------------------------------------------------------------------------------- -# Parse file with Saxe -#------------------------------------------------------------------------------- - -def ParseFile(filepath): - xmlfile = open(filepath,"r") - Parser = expat.ParserCreate() - Parser.StartElementHandler = StartElement - Parser.EndElementHandler = EndElement - Parser.CharacterDataHandler = CharacterData - ParserStatus = Parser.ParseFile(xmlfile) - xmlfile.close() - -def GenerateNode(filepath, manager): - global Node - global Manager - Manager = manager - Node = node.Node() - ParseFile(filepath) - return Node - -#------------------------------------------------------------------------------- -# Main Function -#------------------------------------------------------------------------------- - -if __name__ == '__main__': - ParseFile("test.xml") -