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
  42 # Format a string for making a C++ variable
  43 def FormatName(name):
  44     wordlist = [word for word in word_model.findall(name) if word != '']
  45     return "_".join(wordlist)
  46
  47 # Extract the informations from a given type name
  48 def GetValidTypeInfos(typename):
  49     if typename in internal_types:
  50         return internal_types[typename]
  51     else:
  52         result = type_model.match(typename)
  53         if result:
  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":
  62                 if values[1] == "":
  63                     typeinfos = ("UNS8", "[10]", "visible_string")
  64                 else:
  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")
  70             else:
  71                 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
  72             internal_types[typename] = typeinfos
  73         else:
  74             raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
  75     return typeinfos
  76
  77 def WriteFile(filepath, content):
  78     cfile = open(filepath,"w")
  79     cfile.write(content)
  80     cfile.close()
  81
  82 def GenerateFileContent(Node, headerfilepath):
  83     global type
  84     global internal_types
  85     texts = {}
  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
  94
  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]
 102
 103 #-------------------------------------------------------------------------------
 104 #                       Declaration of the value range types
 105 #-------------------------------------------------------------------------------
 106
 107     valueRangeContent = ""
 108     strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */"
 109     strSwitch = """    case valueRange_EMC:
 110       if (*(UNS8*)value < (UNS8)0) return OD_VALUE_TOO_LOW;
 111       if (*(UNS8*)value > (UNS8)0) return OD_VALUE_TOO_HIGH;
 112       break;\n"""
 113     internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC")
 114     num = 0
 115     for index in rangelist:
 116         rangename = Node.GetEntryName(index)
 117         result = range_model.match(rangename)
 118         if result:
 119             num += 1
 120             typeindex = Node.GetEntry(index, 1)
 121             typename = Node.GetTypeName(typeindex)
 122             typeinfos = GetValidTypeInfos(typename)
 123             internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
 124             minvalue = str(Node.GetEntry(index, 2))
 125             maxvalue = str(Node.GetEntry(index, 3))
 126             strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],minvalue,maxvalue)
 127             strSwitch += """    case valueRange_%d:
 128       if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;
 129       if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;
 130       break;\n"""%(num,typeinfos[0],typeinfos[0],minvalue,typeinfos[0],typeinfos[0],maxvalue)
 131
 132     valueRangeContent += strDefine
 133     valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
 134     valueRangeContent += "\n  switch (typeValue) {\n"
 135     valueRangeContent += strSwitch
 136     valueRangeContent += "  }\n  return 0;\n}\n"
 137
 138 #-------------------------------------------------------------------------------
 139 #            Creation of the mapped variables and object dictionary
 140 #-------------------------------------------------------------------------------
 141
 142     mappedVariableContent = ""
 143     strDeclareHeader = ""
 144     strDeclareCallback = ""
 145     indexContents = {}
 146     indexCallbacks = {}
 147     for index in listIndex:
 148         texts["index"] = index
 149         strIndex = ""
 150         entry_infos = Node.GetEntryInfos(index)
 151         texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
 152         values = Node.GetEntry(index)
 153         callbacks = Node.HasEntryCallbacks(index)
 154         if index in variablelist:
 155             strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts
 156         else:
 157             strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
 158
 159         # Entry type is VAR
 160         if type(values) != ListType:
 161             subentry_infos = Node.GetSubentryInfos(index, 0)
 162             typename = Node.GetTypeName(subentry_infos["type"])
 163             typeinfos = GetValidTypeInfos(typename)
 164             texts["subIndexType"] = typeinfos[0]
 165             texts["suffixe"] = typeinfos[1]
 166             if typeinfos[2] == "visible_string":
 167                 texts["value"] = "\"%s\""%values
 168                 texts["comment"] = ""
 169             elif typeinfos[2] == "domain":
 170                 texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 171                 texts["comment"] = ""
 172             else:
 173                 texts["value"] = "0x%X"%values
 174                 texts["comment"] = "\t/* %s */"%str(values)
 175             if index in variablelist:
 176                 texts["name"] = FormatName(subentry_infos["name"])
 177                 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
 178                 if callbacks:
 179                     strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 180                 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
 181             else:
 182                 strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
 183             values = [values]
 184         else:
 185             subentry_infos = Node.GetSubentryInfos(index, 0)
 186             typename = Node.GetTypeName(subentry_infos["type"])
 187             typeinfos = GetValidTypeInfos(typename)
 188             if index == 0x1003:
 189                 texts["value"] = 0
 190             else:
 191                 texts["value"] = values[0]
 192             texts["subIndexType"] = typeinfos[0]
 193             strIndex += "                    %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
 194
 195             # Entry type is RECORD
 196             if entry_infos["struct"] & OD_IdenticalSubindexes:
 197                 subentry_infos = Node.GetSubentryInfos(index, 1)
 198                 typename = Node.GetTypeName(subentry_infos["type"])
 199                 typeinfos = GetValidTypeInfos(typename)
 200                 texts["subIndexType"] = typeinfos[0]
 201                 texts["suffixe"] = typeinfos[1]
 202                 texts["length"] = values[0]
 203                 if index in variablelist:
 204                     texts["name"] = FormatName(entry_infos["name"])
 205                     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
 206                     if callbacks:
 207                         strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 208                     mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts
 209                     for subIndex, value in enumerate(values):
 210                         sep = ","
 211                         comment = ""
 212                         if subIndex > 0:
 213                             if subIndex == len(values)-1:
 214                                 sep = ""
 215                             if typeinfos[2] == "visible_string":
 216                                 value = "\"%s\""%value
 217                             elif typeinfos[2] == "domain":
 218                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 219                             else:
 220                                 comment = "\t/* %s */"%str(value)
 221                                 value = "0x%X"%value
 222                             mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
 223                     mappedVariableContent += "  };\n"
 224                 else:
 225                     strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
 226                     for subIndex, value in enumerate(values):
 227                         sep = ","
 228                         comment = ""
 229                         if subIndex > 0:
 230                             if subIndex == len(values)-1:
 231                                 sep = ""
 232                             if typeinfos[2] == "visible_string":
 233                                 value = "\"%s\""%value
 234                             elif typeinfos[2] == "domain":
 235                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 236                             else:
 237                                 comment = "\t/* %s */"%str(value)
 238                                 value = "0x%X"%value
 239                             strIndex += "                      %s%s%s\n"%(value, sep, comment)
 240                     strIndex += "                    };\n"
 241             else:
 242
 243                 texts["parent"] = FormatName(entry_infos["name"])
 244                 # Entry type is ARRAY
 245                 for subIndex, value in enumerate(values):
 246                     texts["subIndex"] = subIndex
 247                     if subIndex > 0:
 248                         subentry_infos = Node.GetSubentryInfos(index, subIndex)
 249                         typename = Node.GetTypeName(subentry_infos["type"])
 250                         typeinfos = GetValidTypeInfos(typename)
 251                         texts["subIndexType"] = typeinfos[0]
 252                         texts["suffixe"] = typeinfos[1]
 253                         if typeinfos[2] == "visible_string":
 254                             texts["value"] = "\"%s\""%value
 255                             texts["comment"] = ""
 256                         elif typeinfos[2] == "domain":
 257                             texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 258                             texts["comment"] = ""
 259                         else:
 260                             texts["value"] = "0x%X"%value
 261                             texts["comment"] = "\t/* %s */"%str(value)
 262                         texts["name"] = FormatName(subentry_infos["name"])
 263                         if index in variablelist:
 264                             strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
 265                             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
 266                         else:
 267                             strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
 268                 if callbacks:
 269                     strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 270
 271         # Generating Dictionary C++ entry
 272         if callbacks:
 273             if index in variablelist:
 274                 name = FormatName(entry_infos["name"])
 275             else:
 276                 name = "%(NodeName)s_Index%(index)04X"%texts
 277             strIndex += "                    ODCallback_t %s_callbacks[] = \n                     {\n"%name
 278             for subIndex in xrange(len(values)):
 279                 strIndex += "                       NULL,\n"
 280             strIndex += "                     };\n"
 281             indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
 282         else:
 283             indexCallbacks[index] = ""
 284         strIndex += "                    subindex %(NodeName)s_Index%(index)04X[] = \n                     {\n"%texts
 285         for subIndex in xrange(len(values)):
 286             subentry_infos = Node.GetSubentryInfos(index, subIndex)
 287             if subIndex < len(values) - 1:
 288                 sep = ","
 289             else:
 290                 sep = ""
 291             typename = Node.GetTypeName(subentry_infos["type"])
 292             typeinfos = GetValidTypeInfos(typename)
 293             if subIndex == 0:
 294                 if index == 0x1003:
 295                     typeinfos = GetValidTypeInfos("valueRange_EMC")
 296                 if entry_infos["struct"] & OD_MultipleSubindexes:
 297                     name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
 298                 elif index in variablelist:
 299                     name = FormatName(subentry_infos["name"])
 300                 else:
 301                     name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
 302             elif entry_infos["struct"] & OD_IdenticalSubindexes:
 303                 if index in variablelist:
 304                     name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
 305                 else:
 306                     name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
 307             else:
 308                 if index in variablelist:
 309                     name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
 310                 else:
 311                     name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
 312             if typeinfos[2] in ["visible_string", "domain"]:
 313                 sizeof = str(len(values[subIndex]))
 314             else:
 315                 sizeof = "sizeof (%s)"%typeinfos[0]
 316             params = Node.GetParamsEntry(index, subIndex)
 317             if params["save"]:
 318                 save = "|TO_BE_SAVE"
 319             else:
 320                 save = ""
 321             strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
 322         strIndex += "                     };\n"
 323         indexContents[index] = strIndex
 324
 325 #-------------------------------------------------------------------------------
 326 #                     Declaration of Particular Parameters
 327 #-------------------------------------------------------------------------------
 328
 329     if 0x1003 not in communicationlist:
 330         entry_infos = Node.GetEntryInfos(0x1003)
 331         texts["EntryName"] = entry_infos["name"]
 332         indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */
 333                     UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
 334                     UNS32 %(NodeName)s_obj1003[] =
 335                     {
 336                       0x0       /* 0 */
 337                     };
 338                     ODCallback_t %(NodeName)s_Index1003_callbacks[] =
 339                      {
 340                        NULL,
 341                        NULL,
 342                      };
 343                     subindex %(NodeName)s_Index1003[] =
 344                      {
 345                        { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
 346                        { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
 347                      };
 348 """%texts
 349
 350     if 0x1005 not in communicationlist:
 351         entry_infos = Node.GetEntryInfos(0x1005)
 352         texts["EntryName"] = entry_infos["name"]
 353         indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
 354                     UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
 355 """%texts
 356
 357     if 0x1006 not in communicationlist:
 358         entry_infos = Node.GetEntryInfos(0x1006)
 359         texts["EntryName"] = entry_infos["name"]
 360         indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
 361                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
 362 """%texts
 363
 364     if 0x1016 in communicationlist:
 365         texts["nombre"] = Node.GetEntry(0x1016, 0)
 366     else:
 367         texts["nombre"] = 0
 368         entry_infos = Node.GetEntryInfos(0x1016)
 369         texts["EntryName"] = entry_infos["name"]
 370         indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */
 371                     UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
 372                     UNS32 %(NodeName)s_obj1016[]={0};
 373 """%texts
 374     if texts["nombre"] > 0:
 375         strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts
 376     else:
 377         strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
 378
 379     if 0x1017 not in communicationlist:
 380         entry_infos = Node.GetEntryInfos(0x1017)
 381         texts["EntryName"] = entry_infos["name"]
 382         indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */
 383                     UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */
 384 """%texts
 385
 386 #-------------------------------------------------------------------------------
 387 #               Declaration of navigation in the Object Dictionary
 388 #-------------------------------------------------------------------------------
 389
 390     strDeclareIndex = ""
 391     strDeclareSwitch = ""
 392     strQuickIndex = ""
 393     quick_index = {}
 394     for index_cat in index_categories:
 395         quick_index[index_cat] = {}
 396         for cat, idx_min, idx_max in categories:
 397             quick_index[index_cat][cat] = 0
 398     maxPDOtransmit = 0
 399     for i, index in enumerate(listIndex):
 400         texts["index"] = index
 401         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
 402         strDeclareSwitch += "           case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
 403         for cat, idx_min, idx_max in categories:
 404             if idx_min <= index <= idx_max:
 405                 quick_index["lastIndex"][cat] = i
 406                 if quick_index["firstIndex"][cat] == 0:
 407                     quick_index["firstIndex"][cat] = i
 408                 if cat == "PDO_TRS":
 409                     maxPDOtransmit += 1
 410     texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
 411     for index_cat in index_categories:
 412         strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
 413         sep = ","
 414         for i, (cat, idx_min, idx_max) in enumerate(categories):
 415             if i == len(categories) - 1:
 416                 sep = ""
 417             strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
 418         strQuickIndex += "};\n"
 419
 420 #-------------------------------------------------------------------------------
 421 #                            Write File Content
 422 #-------------------------------------------------------------------------------
 423
 424     fileContent = generated_tag + """
 425 #include "%s"
 426 """%(headerfilepath)
 427
 428     fileContent += """
 429 /**************************************************************************/
 430 /* Declaration of the mapped variables                                    */
 431 /**************************************************************************/
 432 """ + mappedVariableContent
 433
 434     fileContent += """
 435 /**************************************************************************/
 436 /* Declaration of the value range types                                   */
 437 /**************************************************************************/
 438 """ + valueRangeContent
 439
 440     fileContent += """
 441 /**************************************************************************/
 442 /* The node id                                                            */
 443 /**************************************************************************/
 444 /* node_id default value.*/
 445 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
 446
 447 /**************************************************************************/
 448 /* Array of message processing information */
 449
 450 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
 451
 452 """%texts
 453     fileContent += strTimers
 454
 455     fileContent += """
 456 /*
 457 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 458
 459                                OBJECT DICTIONARY
 460
 461 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 462 */
 463 """%texts
 464     contentlist = indexContents.keys()
 465     contentlist.sort()
 466     for index in contentlist:
 467         fileContent += indexContents[index]
 468
 469     fileContent += """
 470 const indextable %(NodeName)s_objdict[] =
 471 {
 472 """%texts
 473     fileContent += strDeclareIndex
 474     fileContent += """};
 475
 476 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
 477 {
 478         int i;
 479         *callbacks = NULL;
 480         switch(wIndex){
 481 """%texts
 482     fileContent += strDeclareSwitch
 483     fileContent += """          default:
 484                         *errorCode = OD_NO_SUCH_OBJECT;
 485                         return NULL;
 486         }
 487         *errorCode = OD_SUCCESSFUL;
 488         return &%(NodeName)s_objdict[i];
 489 }
 490
 491 /*
 492  * To count at which received SYNC a PDO must be sent.
 493  * Even if no pdoTransmit are defined, at least one entry is computed
 494  * for compilations issues.
 495  */
 496 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
 497
 498     fileContent += ",".join(["s_PDO_staus_Initializer"]*texts["maxPDOtransmit"]) + """};
 499 """
 500
 501     fileContent += strQuickIndex
 502     fileContent += """
 503 UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
 504
 505 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
 506
 507 """%texts
 508
 509 #-------------------------------------------------------------------------------
 510 #                          Write Header File Content
 511 #-------------------------------------------------------------------------------
 512
 513     texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
 514     HeaderFileContent = generated_tag + """
 515 #ifndef %(file_include_name)s
 516 #define %(file_include_name)s
 517
 518 #include "data.h"
 519
 520 /* Prototypes of function provided by object dictionnary */
 521 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
 522 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
 523
 524 /* Master node data struct */
 525 extern CO_Data %(NodeName)s_Data;
 526 """%texts
 527     HeaderFileContent += strDeclareHeader
 528
 529     HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
 530
 531     return fileContent,HeaderFileContent
 532
 533 #-------------------------------------------------------------------------------
 534 #                             Main Function
 535 #-------------------------------------------------------------------------------
 536
 537 def GenerateFile(filepath, node):
 538     try:
 539         headerfilepath = os.path.splitext(filepath)[0]+".h"
 540         content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1])
 541         WriteFile(filepath, content)
 542         WriteFile(headerfilepath, header)
 543         return None
 544     except ValueError, message:
 545         return "Unable to Generate C File\n%s"%message
 546