2 # -*- coding: utf-8 -*-
4 #This file is part of CanFestival, a library implementing CanOpen Stack.
6 #Copyright (C): Edouard TISSERANT and Francis DUPIN
8 #See COPYING file for copyrights details.
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.
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.
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
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]*)\[([\-0-9]*)-([\-0-9]*)\]')
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"]
38 generated_tag = """\n/* File generated by gen_cfile.py. Should not be modified. */\n"""
42 # Format a string for making a C++ variable
44 wordlist = [word for word in word_model.findall(name) if word != '']
45 return "_".join(wordlist)
47 # Extract the informations from a given type name
48 def GetValidTypeInfos(typename):
49 if typename in internal_types:
50 return internal_types[typename]
52 result = type_model.match(typename)
54 values = result.groups()
55 if values[0] == "UNSIGNED" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
56 typeinfos = ("UNS%s"%values[1], "", "uint%s"%values[1])
57 elif values[0] == "INTEGER" and int(values[1]) in [i * 8 for i in xrange(1, 9)]:
58 typeinfos = ("INTEGER%s"%values[1], "", "int%s"%values[1])
59 elif values[0] == "REAL" and int(values[1]) in (32, 64):
60 typeinfos = ("%s%s"%(values[0], values[1]), "", "real%s"%values[1])
61 elif values[0] == "VISIBLE_STRING":
63 typeinfos = ("UNS8", "[10]", "visible_string")
65 typeinfos = ("UNS8", "[%s]"%values[1], "visible_string")
66 elif values[0] == "DOMAIN":
67 typeinfos = ("UNS8*", "", "domain")
68 elif values[0] == "BOOLEAN":
69 typeinfos = ("UNS8", "", "boolean")
71 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
72 internal_types[typename] = typeinfos
74 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
77 def WriteFile(filepath, content):
78 cfile = open(filepath,"w")
82 def GenerateFileContent(Node, headerfilepath):
86 texts["maxPDOtransmit"] = 0
87 texts["NodeName"] = Node.GetNodeName()
88 texts["NodeID"] = Node.GetNodeID()
89 texts["NodeType"] = Node.GetNodeType()
90 texts["Description"] = Node.GetNodeDescription()
91 texts["iam_a_slave"] = 0
92 if (texts["NodeType"] == "slave"):
93 texts["iam_a_slave"] = 1
95 # Compiling lists of indexes
96 rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]
97 listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]
98 communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]
99 sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]
100 pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]
101 variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]
103 #-------------------------------------------------------------------------------
104 # Declaration of the value range types
105 #-------------------------------------------------------------------------------
107 valueRangeContent = ""
111 for index in rangelist:
112 rangename = Node.GetEntryName(index)
113 result = range_model.match(rangename)
116 typeindex = Node.GetEntry(index, 1)
117 typename = Node.GetTypeName(typeindex)
118 typeinfos = GetValidTypeInfos(typename)
119 internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
120 minvalue = str(Node.GetEntry(index, 2))
121 maxvalue = str(Node.GetEntry(index, 3))
122 strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],minvalue,maxvalue)
123 strSwitch += """ case valueRange_%d:
124 if (*(%s*)Value < (%s)%s) return OD_VALUE_TOO_LOW;
125 if (*(%s*)Value > (%s)%s) return OD_VALUE_TOO_HIGH;
126 break;\n"""%(num,typeinfos[0],typeinfos[0],minvalue,typeinfos[0],typeinfos[0],maxvalue)
128 valueRangeContent += strDefine
129 valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
130 valueRangeContent += "\n switch (typeValue) {\n"
131 valueRangeContent += strSwitch
132 valueRangeContent += " }\n return 0;\n}\n"
134 #-------------------------------------------------------------------------------
135 # Creation of the mapped variables and object dictionary
136 #-------------------------------------------------------------------------------
138 mappedVariableContent = ""
139 strDeclareHeader = ""
140 strDeclareCallback = ""
143 for index in listIndex:
144 texts["index"] = index
146 entry_infos = Node.GetEntryInfos(index)
147 texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
148 values = Node.GetEntry(index)
149 callbacks = Node.HasEntryCallbacks(index)
150 if index in variablelist:
151 strIndex += "\n/* index 0x%(index)04X : Mapped variable %(EntryName)s */\n"%texts
153 strIndex += "\n/* index 0x%(index)04X : %(EntryName)s. */\n"%texts
156 if type(values) != ListType:
157 subentry_infos = Node.GetSubentryInfos(index, 0)
158 typename = Node.GetTypeName(subentry_infos["type"])
159 typeinfos = GetValidTypeInfos(typename)
160 texts["subIndexType"] = typeinfos[0]
161 texts["suffixe"] = typeinfos[1]
162 if typeinfos[2] == "visible_string":
163 texts["value"] = "\"%s\""%values
164 texts["comment"] = ""
165 elif typeinfos[2] == "domain":
166 texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
167 texts["comment"] = ""
169 texts["value"] = "0x%X"%values
170 texts["comment"] = "\t/* %s */"%str(values)
171 if index in variablelist:
172 texts["name"] = FormatName(subentry_infos["name"])
173 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
175 strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
176 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
178 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
181 subentry_infos = Node.GetSubentryInfos(index, 0)
182 typename = Node.GetTypeName(subentry_infos["type"])
183 typeinfos = GetValidTypeInfos(typename)
184 texts["value"] = values[0]
185 texts["subIndexType"] = typeinfos[0]
186 strIndex += " %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
188 # Entry type is RECORD
189 if entry_infos["struct"] & OD_IdenticalSubindexes:
190 subentry_infos = Node.GetSubentryInfos(index, 1)
191 typename = Node.GetTypeName(subentry_infos["type"])
192 typeinfos = GetValidTypeInfos(typename)
193 texts["subIndexType"] = typeinfos[0]
194 texts["suffixe"] = typeinfos[1]
195 texts["length"] = values[0]
196 if index in variablelist:
197 texts["name"] = FormatName(entry_infos["name"])
198 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
200 strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
201 mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n {\n"%texts
202 for subIndex, value in enumerate(values):
206 if subIndex == len(values)-1:
208 if typeinfos[2] == "visible_string":
209 value = "\"%s\""%value
210 elif typeinfos[2] == "domain":
211 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
213 comment = "\t/* %s */"%str(value)
215 mappedVariableContent += " %s%s%s\n"%(value, sep, comment)
216 mappedVariableContent += " };\n"
218 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n {\n"%texts
219 for subIndex, value in enumerate(values):
223 if subIndex == len(values)-1:
225 if typeinfos[2] == "visible_string":
226 value = "\"%s\""%value
227 elif typeinfos[2] == "domain":
228 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
230 comment = "\t/* %s */"%str(value)
232 strIndex += " %s%s%s\n"%(value, sep, comment)
236 texts["parent"] = FormatName(entry_infos["name"])
237 # Entry type is ARRAY
238 for subIndex, value in enumerate(values):
239 texts["subIndex"] = subIndex
241 subentry_infos = Node.GetSubentryInfos(index, subIndex)
242 typename = Node.GetTypeName(subentry_infos["type"])
243 typeinfos = GetValidTypeInfos(typename)
244 texts["subIndexType"] = typeinfos[0]
245 texts["suffixe"] = typeinfos[1]
246 if typeinfos[2] == "visible_string":
247 texts["value"] = "\"%s\""%value
248 texts["comment"] = ""
249 elif typeinfos[2] == "domain":
250 texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
251 texts["comment"] = ""
253 texts["value"] = "0x%X"%value
254 texts["comment"] = "\t/* %s */"%str(value)
255 texts["name"] = FormatName(subentry_infos["name"])
256 if index in variablelist:
257 strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
258 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
260 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
262 strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
264 # Generating Dictionary C++ entry
266 if index in variablelist:
267 name = FormatName(entry_infos["name"])
269 name = "%(NodeName)s_Index%(index)04X"%texts
270 strIndex += " ODCallback_t %s_callbacks[] = \n {\n"%name
271 for subIndex in xrange(len(values)):
272 strIndex += " NULL,\n"
274 indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
276 indexCallbacks[index] = ""
277 strIndex += " subindex %(NodeName)s_Index%(index)04X[] = \n {\n"%texts
278 for subIndex in xrange(len(values)):
279 subentry_infos = Node.GetSubentryInfos(index, subIndex)
280 if subIndex < len(values) - 1:
284 typename = Node.GetTypeName(subentry_infos["type"])
285 typeinfos = GetValidTypeInfos(typename)
287 if entry_infos["struct"] & OD_MultipleSubindexes:
288 name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
289 elif index in variablelist:
290 name = FormatName(subentry_infos["name"])
292 name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
293 elif entry_infos["struct"] & OD_IdenticalSubindexes:
294 if index in variablelist:
295 name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
297 name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
299 if index in variablelist:
300 name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
302 name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
303 if typeinfos[2] in ["visible_string", "domain"]:
304 sizeof = str(len(values[subIndex]))
306 sizeof = "sizeof (%s)"%typeinfos[0]
307 params = Node.GetParamsEntry(index, subIndex)
312 strIndex += " { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
314 indexContents[index] = strIndex
316 #-------------------------------------------------------------------------------
317 # Declaration of Particular Parameters
318 #-------------------------------------------------------------------------------
320 if 0x1006 not in communicationlist:
321 entry_infos = Node.GetEntryInfos(0x1006)
322 texts["EntryName"] = entry_infos["name"]
323 indexContents[0x1006] = """\n/* index 0x1006 : %(EntryName)s */
324 UNS32 %(NodeName)s_obj1006 = 0x0; /* 0 */
327 if 0x1016 in communicationlist:
328 texts["nombre"] = Node.GetEntry(0x1016, 0)
331 entry_infos = Node.GetEntryInfos(0x1016)
332 texts["EntryName"] = entry_infos["name"]
333 indexContents[0x1016] = """\n/* index 0x1016 : %(EntryName)s */
334 UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
335 UNS32 %(NodeName)s_obj1016[]={0};
337 if texts["nombre"] > 0:
338 strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts
340 strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
342 if 0x1017 not in communicationlist:
343 entry_infos = Node.GetEntryInfos(0x1017)
344 texts["EntryName"] = entry_infos["name"]
345 indexContents[0x1017] = """\n/* index 0x1017 : %(EntryName)s */
346 UNS16 %(NodeName)s_obj1017 = 0x0; /* 0 */
349 #-------------------------------------------------------------------------------
350 # Declaration of navigation in the Object Dictionary
351 #-------------------------------------------------------------------------------
354 strDeclareSwitch = ""
357 for index_cat in index_categories:
358 quick_index[index_cat] = {}
359 for cat, idx_min, idx_max in categories:
360 quick_index[index_cat][cat] = 0
362 for i, index in enumerate(listIndex):
363 texts["index"] = index
364 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
365 strDeclareSwitch += " case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
366 for cat, idx_min, idx_max in categories:
367 if idx_min <= index <= idx_max:
368 quick_index["lastIndex"][cat] = i
369 if quick_index["firstIndex"][cat] == 0:
370 quick_index["firstIndex"][cat] = i
373 texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
374 for index_cat in index_categories:
375 strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
377 for i, (cat, idx_min, idx_max) in enumerate(categories):
378 if i == len(categories) - 1:
380 strQuickIndex += " %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
381 strQuickIndex += "};\n"
383 #-------------------------------------------------------------------------------
385 #-------------------------------------------------------------------------------
387 fileContent = generated_tag + """
392 /**************************************************************************/
393 /* Declaration of the mapped variables */
394 /**************************************************************************/
395 """ + mappedVariableContent
398 /**************************************************************************/
399 /* Declaration of the value range types */
400 /**************************************************************************/
401 """ + valueRangeContent
404 /**************************************************************************/
406 /**************************************************************************/
407 /* node_id default value.*/
408 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
410 /**************************************************************************/
411 /* Array of message processing information */
413 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
416 fileContent += strTimers
420 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
424 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
427 contentlist = indexContents.keys()
429 for index in contentlist:
430 fileContent += indexContents[index]
433 const indextable %(NodeName)s_objdict[] =
436 fileContent += strDeclareIndex
439 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
445 fileContent += strDeclareSwitch
446 fileContent += """ default:
447 *errorCode = OD_NO_SUCH_OBJECT;
450 *errorCode = OD_SUCCESSFUL;
451 return &%(NodeName)s_objdict[i];
455 * To count at which received SYNC a PDO must be sent.
456 * Even if no pdoTransmit are defined, at least one entry is computed
457 * for compilations issues.
459 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
461 fileContent += ",".join(["s_PDO_staus_Initializer"]*texts["maxPDOtransmit"]) + """};
464 fileContent += strQuickIndex
466 UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
468 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
472 #-------------------------------------------------------------------------------
473 # Write Header File Content
474 #-------------------------------------------------------------------------------
476 texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
477 HeaderFileContent = generated_tag + """
478 #ifndef %(file_include_name)s
479 #define %(file_include_name)s
483 /* Prototypes of function provided by object dictionnary */
484 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
485 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
487 /* Master node data struct */
488 extern CO_Data %(NodeName)s_Data;
490 HeaderFileContent += strDeclareHeader
492 HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
494 return fileContent,HeaderFileContent
496 #-------------------------------------------------------------------------------
498 #-------------------------------------------------------------------------------
500 def GenerateFile(filepath, node):
502 headerfilepath = os.path.splitext(filepath)[0]+".h"
503 content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1])
504 WriteFile(filepath, content)
505 WriteFile(headerfilepath, header)
507 except ValueError, message:
508 return "Unable to Generate C File\n%s"%message