objdictgen/gen_cfile.py

   1 #!/usr/bin/env python
   2 # -*- coding: utf-8 -*-
   3
   4 #This file is part of CanFestival, a library implementing CanOpen Stack.
   5 #
   6 #Copyright (C): Edouard TISSERANT and Francis DUPIN
   7 #
   8 #See COPYING file for copyrights details.
   9 #
  10 #This library is free software; you can redistribute it and/or
  11 #modify it under the terms of the GNU Lesser General Public
  12 #License as published by the Free Software Foundation; either
  13 #version 2.1 of the License, or (at your option) any later version.
  14 #
  15 #This library is distributed in the hope that it will be useful,
  16 #but WITHOUT ANY WARRANTY; without even the implied warranty of
  17 #MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  18 #Lesser General Public License for more details.
  19 #
  20 #You should have received a copy of the GNU Lesser General Public
  21 #License along with this library; if not, write to the Free Software
  22 #Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  23
  24 from node import *
  25 from types import *
  26
  27 import re, os
  28
  29 word_model = re.compile('([a-zA-Z_0-9]*)')
  30 type_model = re.compile('([\_A-Z]*)([0-9]*)')
  31 range_model = re.compile('([\_A-Z]*)([0-9]*)\[([\-0-9]*)-([\-0-9]*)\]')
  32
  33 categories = [("SDO_SVR", 0x1200, 0x127F), ("SDO_CLT", 0x1280, 0x12FF),
  34               ("PDO_RCV", 0x1400, 0x15FF), ("PDO_RCV_MAP", 0x1600, 0x17FF),
  35               ("PDO_TRS", 0x1800, 0x19FF), ("PDO_TRS_MAP", 0x1A00, 0x1BFF)]
  36 index_categories = ["firstIndex", "lastIndex"]
  37
  38 generated_tag = """\n/* File generated by gen_cfile.py. Should not be modified. */\n"""
  39
  40 internal_types = {}
  41 default_string_size = 10
  42
  43 # Format a string for making a C++ variable
  44 def FormatName(name):
  45     wordlist = [word for word in word_model.findall(name) if word != '']
  46     return "_".join(wordlist)
  47
  48 # Extract the informations from a given type name
  49 def GetValidTypeInfos(typename, items=[]):
  50     if typename in internal_types:
  51         return internal_types[typename]
  52     else:
  53         result = type_model.match(typename)
  54         if result:
  55             values = result.groups()
  56             if values[0] == "UNSIGNED" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
  57                 typeinfos = ("UNS%s"%values[1], None, "uint%s"%values[1], True)
  58             elif values[0] == "INTEGER" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
  59                 typeinfos = ("INTEGER%s"%values[1], None, "int%s"%values[1], False)
  60             elif values[0] == "REAL" and int(values[1]) in (32, 64):
  61                 typeinfos = ("%s%s"%(values[0], values[1]), None, "real%s"%values[1], False)
  62             elif values[0] == "VISIBLE_STRING":
  63                 size = default_string_size
  64                 for item in items:
  65                     size = max(size, len(item))
  66                 if values[1] != "":
  67                     size = max(size, int(values[1]))
  68                 typeinfos = ("UNS8", size, "visible_string", False)
  69             elif values[0] == "DOMAIN":
  70                 typeinfos = ("UNS8*", None, "domain", False)
  71             elif values[0] == "BOOLEAN":
  72                 typeinfos = ("UNS8", None, "boolean", False)
  73             else:
  74                 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
  75             internal_types[typename] = typeinfos
  76         else:
  77             raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
  78     return typeinfos
  79
  80 def WriteFile(filepath, content):
  81     cfile = open(filepath,"w")
  82     cfile.write(content)
  83     cfile.close()
  84
  85 def GenerateFileContent(Node, headerfilepath):
  86     global type
  87     global internal_types
  88     global default_string_size
  89
  90     texts = {}
  91     texts["maxPDOtransmit"] = 0
  92     texts["NodeName"] = Node.GetNodeName()
  93     texts["NodeID"] = Node.GetNodeID()
  94     texts["NodeType"] = Node.GetNodeType()
  95     texts["Description"] = Node.GetNodeDescription()
  96     texts["iam_a_slave"] = 0
  97     if (texts["NodeType"] == "slave"):
  98         texts["iam_a_slave"] = 1
  99
 100     default_string_size = Node.GetDefaultStringSize()
 101
 102     # Compiling lists of indexes
 103     rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]
 104     listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]
 105     communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]
 106     sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]
 107     pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]
 108     variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]
 109
 110 #-------------------------------------------------------------------------------
 111 #                       Declaration of the value range types
 112 #-------------------------------------------------------------------------------
 113
 114     valueRangeContent = ""
 115     strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */"
 116     strSwitch = """    case valueRange_EMC:
 117       if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED;
 118       break;\n"""
 119     internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True)
 120     num = 0
 121     for index in rangelist:
 122         rangename = Node.GetEntryName(index)
 123         result = range_model.match(rangename)
 124         if result:
 125             num += 1
 126             typeindex = Node.GetEntry(index, 1)
 127             typename = Node.GetTypeName(typeindex)
 128             typeinfos = GetValidTypeInfos(typename)
 129             internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
 130             minvalue = Node.GetEntry(index, 2)
 131             maxvalue = Node.GetEntry(index, 3)
 132             strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],str(minvalue),str(maxvalue))
 133             strSwitch += "    case valueRange_%d:\n"%(num)
 134             if typeinfos[3] and minvalue <= 0:
 135                 strSwitch += "      /* Negative or null low limit ignored because of unsigned type */;\n"
 136             else:
 137                 strSwitch += "      if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;\n"%(typeinfos[0],typeinfos[0],str(minvalue))
 138             strSwitch += "      if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;\n"%(typeinfos[0],typeinfos[0],str(maxvalue))
 139             strSwitch += "    break;\n"
 140
 141     valueRangeContent += strDefine
 142     valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
 143     valueRangeContent += "\n  switch (typeValue) {\n"
 144     valueRangeContent += strSwitch
 145     valueRangeContent += "  }\n  return 0;\n}\n"
 146
 147 #-------------------------------------------------------------------------------
 148 #            Creation of the mapped variables and object dictionary
 149 #-------------------------------------------------------------------------------
 150
 151     mappedVariableContent = ""
 152     strDeclareHeader = ""
 153     strDeclareCallback = ""
 154     indexContents = {}
 155     indexCallbacks = {}
 156     for index in listIndex:
 157         texts["index"] = index
 158         strIndex = ""
 159         entry_infos = Node.GetEntryInfos(index)
 160         texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
 161         values = Node.GetEntry(index)
 162         callbacks = Node.HasEntryCallbacks(index)
 163         if index in variablelist:
 164             strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts
 165         else:
 166             strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
 167
 168         # Entry type is VAR
 169         if type(values) != ListType:
 170             subentry_infos = Node.GetSubentryInfos(index, 0)
 171             typename = Node.GetTypeName(subentry_infos["type"])
 172             typeinfos = GetValidTypeInfos(typename, [values])
 173             texts["subIndexType"] = typeinfos[0]
 174             if typeinfos[1] is not None:
 175                 texts["suffixe"] = "[%d]"%typeinfos[1]
 176             else:
 177                 texts["suffixe"] = ""
 178             if typeinfos[2] == "visible_string":
 179                 texts["value"] = "\"%s\""%values
 180                 texts["comment"] = ""
 181             elif typeinfos[2] == "domain":
 182                 texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 183                 texts["comment"] = ""
 184             else:
 185                 texts["value"] = "0x%X"%values
 186                 texts["comment"] = "\t/* %s */"%str(values)
 187             if index in variablelist:
 188                 texts["name"] = FormatName(subentry_infos["name"])
 189                 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
 190                 if callbacks:
 191                     strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 192                 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
 193             else:
 194                 strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
 195             values = [values]
 196         else:
 197             subentry_infos = Node.GetSubentryInfos(index, 0)
 198             typename = Node.GetTypeName(subentry_infos["type"])
 199             typeinfos = GetValidTypeInfos(typename)
 200             if index == 0x1003:
 201                 texts["value"] = 0
 202             else:
 203                 texts["value"] = values[0]
 204             texts["subIndexType"] = typeinfos[0]
 205             strIndex += "                    %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
 206
 207             # Entry type is RECORD
 208             if entry_infos["struct"] & OD_IdenticalSubindexes:
 209                 subentry_infos = Node.GetSubentryInfos(index, 1)
 210                 typename = Node.GetTypeName(subentry_infos["type"])
 211                 typeinfos = GetValidTypeInfos(typename, values[1:])
 212                 texts["subIndexType"] = typeinfos[0]
 213                 if typeinfos[1] is not None:
 214                     texts["suffixe"] = "[%d]"%typeinfos[1]
 215                 else:
 216                     texts["suffixe"] = ""
 217                 texts["length"] = values[0]
 218                 if index in variablelist:
 219                     texts["name"] = FormatName(entry_infos["name"])
 220                     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
 221                     if callbacks:
 222                         strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 223                     mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts
 224                     for subIndex, value in enumerate(values):
 225                         sep = ","
 226                         comment = ""
 227                         if subIndex > 0:
 228                             if subIndex == len(values)-1:
 229                                 sep = ""
 230                             if typeinfos[2] == "visible_string":
 231                                 value = "\"%s\""%value
 232                             elif typeinfos[2] == "domain":
 233                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 234                             else:
 235                                 comment = "\t/* %s */"%str(value)
 236                                 value = "0x%X"%value
 237                             mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
 238                     mappedVariableContent += "  };\n"
 239                 else:
 240                     strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
 241                     for subIndex, value in enumerate(values):
 242                         sep = ","
 243                         comment = ""
 244                         if subIndex > 0:
 245                             if subIndex == len(values)-1:
 246                                 sep = ""
 247                             if typeinfos[2] == "visible_string":
 248                                 value = "\"%s\""%value
 249                             elif typeinfos[2] == "domain":
 250                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 251                             else:
 252                                 comment = "\t/* %s */"%str(value)
 253                                 value = "0x%X"%value
 254                             strIndex += "                      %s%s%s\n"%(value, sep, comment)
 255                     strIndex += "                    };\n"
 256             else:
 257
 258                 texts["parent"] = FormatName(entry_infos["name"])
 259                 # Entry type is ARRAY
 260                 for subIndex, value in enumerate(values):
 261                     texts["subIndex"] = subIndex
 262                     if subIndex > 0:
 263                         subentry_infos = Node.GetSubentryInfos(index, subIndex)
 264                         typename = Node.GetTypeName(subentry_infos["type"])
 265                         typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
 266                         texts["subIndexType"] = typeinfos[0]
 267                         if typeinfos[1] is not None:
 268                             texts["suffixe"] = "[%d]"%typeinfos[1]
 269                         else:
 270                             texts["suffixe"] = ""
 271                         if typeinfos[2] == "visible_string":
 272                             texts["value"] = "\"%s\""%value
 273                             texts["comment"] = ""
 274                         elif typeinfos[2] == "domain":
 275                             texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 276                             texts["comment"] = ""
 277                         else:
 278                             texts["value"] = "0x%X"%value
 279                             texts["comment"] = "\t/* %s */"%str(value)
 280                         texts["name"] = FormatName(subentry_infos["name"])
 281                         if index in variablelist:
 282                             strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
 283                             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
 284                         else:
 285                             strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
 286                 if callbacks:
 287                     strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 288
 289         # Generating Dictionary C++ entry
 290         if callbacks:
 291             if index in variablelist:
 292                 name = FormatName(entry_infos["name"])
 293             else:
 294                 name = "%(NodeName)s_Index%(index)04X"%texts
 295             strIndex += "                    ODCallback_t %s_callbacks[] = \n                     {\n"%name
 296             for subIndex in xrange(len(values)):
 297                 strIndex += "                       NULL,\n"
 298             strIndex += "                     };\n"
 299             indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
 300         else:
 301             indexCallbacks[index] = ""
 302         strIndex += "                    subindex %(NodeName)s_Index%(index)04X[] = \n                     {\n"%texts
 303         for subIndex in xrange(len(values)):
 304             subentry_infos = Node.GetSubentryInfos(index, subIndex)
 305             if subIndex < len(values) - 1:
 306                 sep = ","
 307             else:
 308                 sep = ""
 309             typename = Node.GetTypeName(subentry_infos["type"])
 310             if entry_infos["struct"] & OD_IdenticalSubindexes:
 311                 typeinfos = GetValidTypeInfos(typename, values)
 312             else:
 313                 typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
 314             if subIndex == 0:
 315                 if index == 0x1003:
 316                     typeinfos = GetValidTypeInfos("valueRange_EMC")
 317                 if entry_infos["struct"] & OD_MultipleSubindexes:
 318                     name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
 319                 elif index in variablelist:
 320                     name = FormatName(subentry_infos["name"])
 321                 else:
 322                     name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
 323             elif entry_infos["struct"] & OD_IdenticalSubindexes:
 324                 if index in variablelist:
 325                     name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
 326                 else:
 327                     name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
 328             else:
 329                 if index in variablelist:
 330                     name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
 331                 else:
 332                     name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
 333             if typeinfos[2] in ["visible_string", "domain"]:
 334                 sizeof = typeinfos[1]
 335             else:
 336                 sizeof = "sizeof (%s)"%typeinfos[0]
 337             params = Node.GetParamsEntry(index, subIndex)
 338             if params["save"]:
 339                 save = "|TO_BE_SAVE"
 340             else:
 341                 save = ""
 342             strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
 343         strIndex += "                     };\n"
 344         indexContents[index] = strIndex
 345
 346 #-------------------------------------------------------------------------------
 347 #                     Declaration of Particular Parameters
 348 #-------------------------------------------------------------------------------
 349
 350     if 0x1003 not in communicationlist:
 351         entry_infos = Node.GetEntryInfos(0x1003)
 352         texts["EntryName"] = entry_infos["name"]
 353         indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */
 354                     UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
 355                     UNS32 %(NodeName)s_obj1003[] =
 356                     {
 357                       0x0       /* 0 */
 358                     };
 359                     ODCallback_t %(NodeName)s_Index1003_callbacks[] =
 360                      {
 361                        NULL,
 362                        NULL,
 363                      };
 364                     subindex %(NodeName)s_Index1003[] =
 365                      {
 366                        { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
 367                        { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
 368                      };
 369 """%texts
 370
 371     if 0x1005 not in communicationlist:
 372         entry_infos = Node.GetEntryInfos(0x1005)
 373         texts["EntryName"] = entry_infos["name"]
 374         indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
 375                     UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
 376 """%texts
 377
 378     if 0x1006 not in communicationlist:
 379         entry_infos = Node.GetEntryInfos(0x1006)
 380         texts["EntryName"] = entry_infos["name"]
 381         indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
 382                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
 383 """%texts
 384
 385     if 0x1014 not in communicationlist:
 386         entry_infos = Node.GetEntryInfos(0x1014)
 387         texts["EntryName"] = entry_infos["name"]
 388         indexContents[0x1014] = """\n/* index 0x1014 :   %(EntryName)s */
 389                     UNS32 %(NodeName)s_obj1014 = 0x0;   /* 0 */
 390 """%texts
 391
 392     if 0x1016 in communicationlist:
 393         texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0)
 394     else:
 395         texts["heartBeatTimers_number"] = 0
 396         entry_infos = Node.GetEntryInfos(0x1016)
 397         texts["EntryName"] = entry_infos["name"]
 398         indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */
 399                     UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
 400                     UNS32 %(NodeName)s_obj1016[]={0};
 401 """%texts
 402
 403     if 0x1017 not in communicationlist:
 404         entry_infos = Node.GetEntryInfos(0x1017)
 405         texts["EntryName"] = entry_infos["name"]
 406         indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */
 407                     UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */
 408 """%texts
 409
 410 #-------------------------------------------------------------------------------
 411 #               Declaration of navigation in the Object Dictionary
 412 #-------------------------------------------------------------------------------
 413
 414     strDeclareIndex = ""
 415     strDeclareSwitch = ""
 416     strQuickIndex = ""
 417     quick_index = {}
 418     for index_cat in index_categories:
 419         quick_index[index_cat] = {}
 420         for cat, idx_min, idx_max in categories:
 421             quick_index[index_cat][cat] = 0
 422     maxPDOtransmit = 0
 423     for i, index in enumerate(listIndex):
 424         texts["index"] = index
 425         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
 426         strDeclareSwitch += "           case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
 427         for cat, idx_min, idx_max in categories:
 428             if idx_min <= index <= idx_max:
 429                 quick_index["lastIndex"][cat] = i
 430                 if quick_index["firstIndex"][cat] == 0:
 431                     quick_index["firstIndex"][cat] = i
 432                 if cat == "PDO_TRS":
 433                     maxPDOtransmit += 1
 434     texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
 435     for index_cat in index_categories:
 436         strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
 437         sep = ","
 438         for i, (cat, idx_min, idx_max) in enumerate(categories):
 439             if i == len(categories) - 1:
 440                 sep = ""
 441             strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
 442         strQuickIndex += "};\n"
 443
 444 #-------------------------------------------------------------------------------
 445 #                            Write File Content
 446 #-------------------------------------------------------------------------------
 447
 448     fileContent = generated_tag + """
 449 #include "%s"
 450 """%(headerfilepath)
 451
 452     fileContent += """
 453 /**************************************************************************/
 454 /* Declaration of the mapped variables                                    */
 455 /**************************************************************************/
 456 """ + mappedVariableContent
 457
 458     fileContent += """
 459 /**************************************************************************/
 460 /* Declaration of the value range types                                   */
 461 /**************************************************************************/
 462 """ + valueRangeContent
 463
 464     fileContent += """
 465 /**************************************************************************/
 466 /* The node id                                                            */
 467 /**************************************************************************/
 468 /* node_id default value.*/
 469 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
 470
 471 /**************************************************************************/
 472 /* Array of message processing information */
 473
 474 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
 475
 476 """%texts
 477     if texts["heartBeatTimers_number"] > 0:
 478         fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(heartBeatTimers_number)d] = {TIMER_NONE,};\n"%texts
 479     else:
 480         fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
 481
 482     fileContent += """
 483 /*
 484 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 485
 486                                OBJECT DICTIONARY
 487
 488 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 489 */
 490 """%texts
 491     contentlist = indexContents.keys()
 492     contentlist.sort()
 493     for index in contentlist:
 494         fileContent += indexContents[index]
 495
 496     fileContent += """
 497 const indextable %(NodeName)s_objdict[] =
 498 {
 499 """%texts
 500     fileContent += strDeclareIndex
 501     fileContent += """};
 502
 503 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
 504 {
 505         int i;
 506         *callbacks = NULL;
 507         switch(wIndex){
 508 """%texts
 509     fileContent += strDeclareSwitch
 510     fileContent += """          default:
 511                         *errorCode = OD_NO_SUCH_OBJECT;
 512                         return NULL;
 513         }
 514         *errorCode = OD_SUCCESSFUL;
 515         return &%(NodeName)s_objdict[i];
 516 }
 517
 518 /*
 519  * To count at which received SYNC a PDO must be sent.
 520  * Even if no pdoTransmit are defined, at least one entry is computed
 521  * for compilations issues.
 522  */
 523 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
 524
 525     fileContent += ",".join(["s_PDO_status_Initializer"]*texts["maxPDOtransmit"]) + """};
 526 """
 527
 528     fileContent += strQuickIndex
 529     fileContent += """
 530 UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
 531
 532 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
 533
 534 """%texts
 535
 536 #-------------------------------------------------------------------------------
 537 #                          Write Header File Content
 538 #-------------------------------------------------------------------------------
 539
 540     texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
 541     HeaderFileContent = generated_tag + """
 542 #ifndef %(file_include_name)s
 543 #define %(file_include_name)s
 544
 545 #include "data.h"
 546
 547 /* Prototypes of function provided by object dictionnary */
 548 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
 549 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
 550
 551 /* Master node data struct */
 552 extern CO_Data %(NodeName)s_Data;
 553 """%texts
 554     HeaderFileContent += strDeclareHeader
 555
 556     HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
 557
 558     return fileContent,HeaderFileContent
 559
 560 #-------------------------------------------------------------------------------
 561 #                             Main Function
 562 #-------------------------------------------------------------------------------
 563
 564 def GenerateFile(filepath, node):
 565     try:
 566         headerfilepath = os.path.splitext(filepath)[0]+".h"
 567         content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1])
 568         WriteFile(filepath, content)
 569         WriteFile(headerfilepath, header)
 570         return None
 571     except ValueError, message:
 572         return "Unable to Generate C File\n%s"%message
 573