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"""
41 default_string_size = 10
43 # Format a string for making a C++ variable
45 wordlist = [word for word in word_model.findall(name) if word != '']
46 return "_".join(wordlist)
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]
53 result = type_model.match(typename)
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
65 size = max(size, len(item))
67 size = max(size, int(values[1]))
68 typeinfos = ("UNS8", size, "visible_string", False)
69 elif values[0] == "DOMAIN":
72 size = max(size, len(item))
73 typeinfos = ("UNS8*", size, "domain", False)
74 elif values[0] == "BOOLEAN":
75 typeinfos = ("UNS8", None, "boolean", False)
77 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
78 internal_types[typename] = typeinfos
80 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
83 def ComputeValue(type, value):
84 if type == "visible_string":
85 return "\"%s\""%value, ""
86 elif type == "domain":
87 return "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value]), ""
88 elif type.startswith("real"):
91 return "0x%X"%value, "\t/* %s */"%str(value)
93 def WriteFile(filepath, content):
94 cfile = open(filepath,"w")
98 def GenerateFileContent(Node, headerfilepath):
100 global internal_types
101 global default_string_size
104 texts["maxPDOtransmit"] = 0
105 texts["NodeName"] = Node.GetNodeName()
106 texts["NodeID"] = Node.GetNodeID()
107 texts["NodeType"] = Node.GetNodeType()
108 texts["Description"] = Node.GetNodeDescription()
109 texts["iam_a_slave"] = 0
110 if (texts["NodeType"] == "slave"):
111 texts["iam_a_slave"] = 1
113 default_string_size = Node.GetDefaultStringSize()
115 # Compiling lists of indexes
116 rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]
117 listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]
118 communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]
119 sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]
120 pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]
121 variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]
123 #-------------------------------------------------------------------------------
124 # Declaration of the value range types
125 #-------------------------------------------------------------------------------
127 valueRangeContent = ""
128 strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */"
129 strSwitch = """ case valueRange_EMC:
130 if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED;
132 internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True)
134 for index in rangelist:
135 rangename = Node.GetEntryName(index)
136 result = range_model.match(rangename)
139 typeindex = Node.GetEntry(index, 1)
140 typename = Node.GetTypeName(typeindex)
141 typeinfos = GetValidTypeInfos(typename)
142 internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
143 minvalue = Node.GetEntry(index, 2)
144 maxvalue = Node.GetEntry(index, 3)
145 strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],str(minvalue),str(maxvalue))
146 strSwitch += " case valueRange_%d:\n"%(num)
147 if typeinfos[3] and minvalue <= 0:
148 strSwitch += " /* Negative or null low limit ignored because of unsigned type */;\n"
150 strSwitch += " if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;\n"%(typeinfos[0],typeinfos[0],str(minvalue))
151 strSwitch += " if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;\n"%(typeinfos[0],typeinfos[0],str(maxvalue))
152 strSwitch += " break;\n"
154 valueRangeContent += strDefine
155 valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
156 valueRangeContent += "\n switch (typeValue) {\n"
157 valueRangeContent += strSwitch
158 valueRangeContent += " }\n return 0;\n}\n"
160 #-------------------------------------------------------------------------------
161 # Creation of the mapped variables and object dictionary
162 #-------------------------------------------------------------------------------
164 mappedVariableContent = ""
165 strDeclareHeader = ""
166 strDeclareCallback = ""
169 for index in listIndex:
170 texts["index"] = index
172 entry_infos = Node.GetEntryInfos(index)
173 texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
174 values = Node.GetEntry(index)
175 callbacks = Node.HasEntryCallbacks(index)
176 if index in variablelist:
177 strIndex += "\n/* index 0x%(index)04X : Mapped variable %(EntryName)s */\n"%texts
179 strIndex += "\n/* index 0x%(index)04X : %(EntryName)s. */\n"%texts
182 if type(values) != ListType:
183 subentry_infos = Node.GetSubentryInfos(index, 0)
184 typename = Node.GetTypeName(subentry_infos["type"])
185 typeinfos = GetValidTypeInfos(typename, [values])
186 texts["subIndexType"] = typeinfos[0]
187 if typeinfos[1] is not None:
188 texts["suffixe"] = "[%d]"%typeinfos[1]
190 texts["suffixe"] = ""
191 texts["value"], texts["comment"] = ComputeValue(typeinfos[2], values)
192 if index in variablelist:
193 texts["name"] = FormatName(subentry_infos["name"])
194 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
195 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
197 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
200 subentry_infos = Node.GetSubentryInfos(index, 0)
201 typename = Node.GetTypeName(subentry_infos["type"])
202 typeinfos = GetValidTypeInfos(typename)
206 texts["value"] = values[0]
207 texts["subIndexType"] = typeinfos[0]
208 strIndex += " %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
210 # Entry type is RECORD
211 if entry_infos["struct"] & OD_IdenticalSubindexes:
212 subentry_infos = Node.GetSubentryInfos(index, 1)
213 typename = Node.GetTypeName(subentry_infos["type"])
214 typeinfos = GetValidTypeInfos(typename, values[1:])
215 texts["subIndexType"] = typeinfos[0]
216 if typeinfos[1] is not None:
217 texts["suffixe"] = "[%d]"%typeinfos[1]
219 texts["suffixe"] = ""
220 texts["length"] = values[0]
221 if index in variablelist:
222 texts["name"] = FormatName(entry_infos["name"])
223 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
224 mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n {\n"%texts
225 for subIndex, value in enumerate(values):
228 if subIndex == len(values)-1:
230 value, comment = ComputeValue(typeinfos[2], value)
231 mappedVariableContent += " %s%s%s\n"%(value, sep, comment)
232 mappedVariableContent += " };\n"
234 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n {\n"%texts
235 for subIndex, value in enumerate(values):
238 if subIndex == len(values)-1:
240 value, comment = ComputeValue(typeinfos[2], value)
241 strIndex += " %s%s%s\n"%(value, sep, comment)
245 texts["parent"] = FormatName(entry_infos["name"])
246 # Entry type is ARRAY
247 for subIndex, value in enumerate(values):
248 texts["subIndex"] = subIndex
250 subentry_infos = Node.GetSubentryInfos(index, subIndex)
251 typename = Node.GetTypeName(subentry_infos["type"])
252 typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
253 texts["subIndexType"] = typeinfos[0]
254 if typeinfos[1] is not None:
255 texts["suffixe"] = "[%d]"%typeinfos[1]
257 texts["suffixe"] = ""
258 texts["value"], texts["comment"] = ComputeValue(typeinfos[2], value)
259 texts["name"] = FormatName(subentry_infos["name"])
260 if index in variablelist:
261 strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
262 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
264 strIndex += " %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
266 # Generating Dictionary C++ entry
268 if index in variablelist:
269 name = FormatName(entry_infos["name"])
271 name = "%(NodeName)s_Index%(index)04X"%texts
272 strIndex += " ODCallback_t %s_callbacks[] = \n {\n"%name
273 for subIndex in xrange(len(values)):
274 strIndex += " NULL,\n"
276 indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
278 indexCallbacks[index] = ""
279 strIndex += " subindex %(NodeName)s_Index%(index)04X[] = \n {\n"%texts
280 for subIndex in xrange(len(values)):
281 subentry_infos = Node.GetSubentryInfos(index, subIndex)
282 if subIndex < len(values) - 1:
286 typename = Node.GetTypeName(subentry_infos["type"])
287 if entry_infos["struct"] & OD_IdenticalSubindexes:
288 typeinfos = GetValidTypeInfos(typename, values)
290 typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
293 typeinfos = GetValidTypeInfos("valueRange_EMC")
294 if entry_infos["struct"] & OD_MultipleSubindexes:
295 name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
296 elif index in variablelist:
297 name = FormatName(subentry_infos["name"])
299 name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
300 elif entry_infos["struct"] & OD_IdenticalSubindexes:
301 if index in variablelist:
302 name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
304 name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
306 if index in variablelist:
307 name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
309 name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
310 if typeinfos[2] == "visible_string":
311 sizeof = str(max(len(values[subIndex]), default_string_size))
312 elif typeinfos[2] == "domain":
313 sizeof = str(len(values[subIndex]))
315 sizeof = "sizeof (%s)"%typeinfos[0]
316 params = Node.GetParamsEntry(index, subIndex)
321 strIndex += " { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
323 indexContents[index] = strIndex
325 #-------------------------------------------------------------------------------
326 # Declaration of Particular Parameters
327 #-------------------------------------------------------------------------------
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[] =
338 ODCallback_t %(NodeName)s_Index1003_callbacks[] =
343 subindex %(NodeName)s_Index1003[] =
345 { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
346 { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
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 */
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 */
364 if 0x1014 not in communicationlist:
365 entry_infos = Node.GetEntryInfos(0x1014)
366 texts["EntryName"] = entry_infos["name"]
367 indexContents[0x1014] = """\n/* index 0x1014 : %(EntryName)s */
368 UNS32 %(NodeName)s_obj1014 = 0x0; /* 0 */
371 if 0x1016 in communicationlist:
372 texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0)
374 texts["heartBeatTimers_number"] = 0
375 entry_infos = Node.GetEntryInfos(0x1016)
376 texts["EntryName"] = entry_infos["name"]
377 indexContents[0x1016] = """\n/* index 0x1016 : %(EntryName)s */
378 UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
379 UNS32 %(NodeName)s_obj1016[]={0};
382 if 0x1017 not in communicationlist:
383 entry_infos = Node.GetEntryInfos(0x1017)
384 texts["EntryName"] = entry_infos["name"]
385 indexContents[0x1017] = """\n/* index 0x1017 : %(EntryName)s */
386 UNS16 %(NodeName)s_obj1017 = 0x0; /* 0 */
389 #-------------------------------------------------------------------------------
390 # Declaration of navigation in the Object Dictionary
391 #-------------------------------------------------------------------------------
394 strDeclareSwitch = ""
397 for index_cat in index_categories:
398 quick_index[index_cat] = {}
399 for cat, idx_min, idx_max in categories:
400 quick_index[index_cat][cat] = 0
402 for i, index in enumerate(listIndex):
403 texts["index"] = index
404 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
405 strDeclareSwitch += " case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
406 for cat, idx_min, idx_max in categories:
407 if idx_min <= index <= idx_max:
408 quick_index["lastIndex"][cat] = i
409 if quick_index["firstIndex"][cat] == 0:
410 quick_index["firstIndex"][cat] = i
413 texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
414 for index_cat in index_categories:
415 strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
417 for i, (cat, idx_min, idx_max) in enumerate(categories):
418 if i == len(categories) - 1:
420 strQuickIndex += " %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
421 strQuickIndex += "};\n"
423 #-------------------------------------------------------------------------------
425 #-------------------------------------------------------------------------------
427 fileContent = generated_tag + """
432 /**************************************************************************/
433 /* Declaration of the mapped variables */
434 /**************************************************************************/
435 """ + mappedVariableContent
438 /**************************************************************************/
439 /* Declaration of the value range types */
440 /**************************************************************************/
441 """ + valueRangeContent
444 /**************************************************************************/
446 /**************************************************************************/
447 /* node_id default value.*/
448 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
450 /**************************************************************************/
451 /* Array of message processing information */
453 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
456 if texts["heartBeatTimers_number"] > 0:
457 declaration = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(heartBeatTimers_number)d]"%texts
458 initializer = "{TIMER_NONE" + ",TIMER_NONE" * (texts["heartBeatTimers_number"] - 1) + "}"
459 fileContent += declaration + " = " + initializer + ";\n"
461 fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
465 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
469 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
472 contentlist = indexContents.keys()
474 for index in contentlist:
475 fileContent += indexContents[index]
478 const indextable %(NodeName)s_objdict[] =
481 fileContent += strDeclareIndex
484 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
490 fileContent += strDeclareSwitch
491 fileContent += """ default:
492 *errorCode = OD_NO_SUCH_OBJECT;
495 *errorCode = OD_SUCCESSFUL;
496 return &%(NodeName)s_objdict[i];
500 * To count at which received SYNC a PDO must be sent.
501 * Even if no pdoTransmit are defined, at least one entry is computed
502 * for compilations issues.
504 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
506 fileContent += ",".join(["s_PDO_status_Initializer"]*texts["maxPDOtransmit"]) + """};
509 fileContent += strQuickIndex
511 UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
513 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
517 #-------------------------------------------------------------------------------
518 # Write Header File Content
519 #-------------------------------------------------------------------------------
521 texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
522 HeaderFileContent = generated_tag + """
523 #ifndef %(file_include_name)s
524 #define %(file_include_name)s
528 /* Prototypes of function provided by object dictionnary */
529 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
530 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
532 /* Master node data struct */
533 extern CO_Data %(NodeName)s_Data;
535 HeaderFileContent += strDeclareHeader
537 HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
539 return fileContent,HeaderFileContent
541 #-------------------------------------------------------------------------------
543 #-------------------------------------------------------------------------------
545 def GenerateFile(filepath, node):
547 headerfilepath = os.path.splitext(filepath)[0]+".h"
548 content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1])
549 WriteFile(filepath, content)
550 WriteFile(headerfilepath, header)
552 except ValueError, message:
553 return "Unable to Generate C File\n%s"%message