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 = ""
 109     strSwitch = ""
 110     num = 0
 111     for index in rangelist:
 112         rangename = Node.GetEntryName(index)
 113         result = range_model.match(rangename)
 114         if result:
 115             num += 1
 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)
 127
 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"
 133
 134 #-------------------------------------------------------------------------------
 135 #            Creation of the mapped variables and object dictionary
 136 #-------------------------------------------------------------------------------
 137
 138     mappedVariableContent = ""
 139     strDeclareHeader = ""
 140     strDeclareCallback = ""
 141     indexContents = {}
 142     indexCallbacks = {}
 143     for index in listIndex:
 144         texts["index"] = index
 145         strIndex = ""
 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
 152         else:
 153             strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
 154
 155         # Entry type is VAR
 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"] = ""
 168             else:
 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
 174                 if callbacks:
 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
 177             else:
 178                 strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
 179             values = [values]
 180         else:
 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
 187
 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
 199                     if callbacks:
 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):
 203                         sep = ","
 204                         comment = ""
 205                         if subIndex > 0:
 206                             if subIndex == len(values)-1:
 207                                 sep = ""
 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])
 212                             else:
 213                                 comment = "\t/* %s */"%str(value)
 214                                 value = "0x%X"%value
 215                             mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
 216                     mappedVariableContent += "  };\n"
 217                 else:
 218                     strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
 219                     for subIndex, value in enumerate(values):
 220                         sep = ","
 221                         comment = ""
 222                         if subIndex > 0:
 223                             if subIndex == len(values)-1:
 224                                 sep = ""
 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])
 229                             else:
 230                                 comment = "\t/* %s */"%str(value)
 231                                 value = "0x%X"%value
 232                             strIndex += "                      %s%s%s\n"%(value, sep, comment)
 233                     strIndex += "                    };\n"
 234             else:
 235
 236                 texts["parent"] = FormatName(entry_infos["name"])
 237                 # Entry type is ARRAY
 238                 for subIndex, value in enumerate(values):
 239                     texts["subIndex"] = subIndex
 240                     if subIndex > 0:
 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"] = ""
 252                         else:
 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
 259                         else:
 260                             strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
 261                 if callbacks:
 262                     strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 263
 264         # Generating Dictionary C++ entry
 265         if callbacks:
 266             if index in variablelist:
 267                 name = FormatName(entry_infos["name"])
 268             else:
 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"
 273             strIndex += "                     };\n"
 274             indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
 275         else:
 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:
 281                 sep = ","
 282             else:
 283                 sep = ""
 284             typename = Node.GetTypeName(subentry_infos["type"])
 285             typeinfos = GetValidTypeInfos(typename)
 286             if subIndex == 0:
 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"])
 291                 else:
 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)
 296                 else:
 297                     name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
 298             else:
 299                 if index in variablelist:
 300                     name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
 301                 else:
 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]))
 305             else:
 306                 sizeof = "sizeof (%s)"%typeinfos[0]
 307             params = Node.GetParamsEntry(index, subIndex)
 308             if params["save"]:
 309                 save = "|TO_BE_SAVE"
 310             else:
 311                 save = ""
 312             strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
 313         strIndex += "                     };\n"
 314         indexContents[index] = strIndex
 315
 316 #-------------------------------------------------------------------------------
 317 #                     Declaration of Particular Parameters
 318 #-------------------------------------------------------------------------------
 319
 320     if 0x1003 not in communicationlist:
 321         entry_infos = Node.GetEntryInfos(0x1003)
 322         texts["EntryName"] = entry_infos["name"]
 323         indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */
 324                     UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
 325                     UNS32 %(NodeName)s_obj1003[] =
 326                     {
 327                       0x0       /* 0 */
 328                     };
 329                     ODCallback_t %(NodeName)s_Index1003_callbacks[] =
 330                      {
 331                        NULL,
 332                        NULL,
 333                      };
 334                     subindex %(NodeName)s_Index1003[] =
 335                      {
 336                        { RW, uint8, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
 337                        { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
 338                      };
 339 """%texts
 340
 341     if 0x1005 not in communicationlist:
 342         entry_infos = Node.GetEntryInfos(0x1005)
 343         texts["EntryName"] = entry_infos["name"]
 344         indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
 345                     UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
 346 """%texts
 347
 348     if 0x1006 not in communicationlist:
 349         entry_infos = Node.GetEntryInfos(0x1006)
 350         texts["EntryName"] = entry_infos["name"]
 351         indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
 352                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
 353 """%texts
 354
 355     if 0x1016 in communicationlist:
 356         texts["nombre"] = Node.GetEntry(0x1016, 0)
 357     else:
 358         texts["nombre"] = 0
 359         entry_infos = Node.GetEntryInfos(0x1016)
 360         texts["EntryName"] = entry_infos["name"]
 361         indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */
 362                     UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
 363                     UNS32 %(NodeName)s_obj1016[]={0};
 364 """%texts
 365     if texts["nombre"] > 0:
 366         strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts
 367     else:
 368         strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
 369
 370     if 0x1017 not in communicationlist:
 371         entry_infos = Node.GetEntryInfos(0x1017)
 372         texts["EntryName"] = entry_infos["name"]
 373         indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */
 374                     UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */
 375 """%texts
 376
 377 #-------------------------------------------------------------------------------
 378 #               Declaration of navigation in the Object Dictionary
 379 #-------------------------------------------------------------------------------
 380
 381     strDeclareIndex = ""
 382     strDeclareSwitch = ""
 383     strQuickIndex = ""
 384     quick_index = {}
 385     for index_cat in index_categories:
 386         quick_index[index_cat] = {}
 387         for cat, idx_min, idx_max in categories:
 388             quick_index[index_cat][cat] = 0
 389     maxPDOtransmit = 0
 390     for i, index in enumerate(listIndex):
 391         texts["index"] = index
 392         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
 393         strDeclareSwitch += "           case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
 394         for cat, idx_min, idx_max in categories:
 395             if idx_min <= index <= idx_max:
 396                 quick_index["lastIndex"][cat] = i
 397                 if quick_index["firstIndex"][cat] == 0:
 398                     quick_index["firstIndex"][cat] = i
 399                 if cat == "PDO_TRS":
 400                     maxPDOtransmit += 1
 401     texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
 402     for index_cat in index_categories:
 403         strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
 404         sep = ","
 405         for i, (cat, idx_min, idx_max) in enumerate(categories):
 406             if i == len(categories) - 1:
 407                 sep = ""
 408             strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
 409         strQuickIndex += "};\n"
 410
 411 #-------------------------------------------------------------------------------
 412 #                            Write File Content
 413 #-------------------------------------------------------------------------------
 414
 415     fileContent = generated_tag + """
 416 #include "%s"
 417 """%(headerfilepath)
 418
 419     fileContent += """
 420 /**************************************************************************/
 421 /* Declaration of the mapped variables                                    */
 422 /**************************************************************************/
 423 """ + mappedVariableContent
 424
 425     fileContent += """
 426 /**************************************************************************/
 427 /* Declaration of the value range types                                   */
 428 /**************************************************************************/
 429 """ + valueRangeContent
 430
 431     fileContent += """
 432 /**************************************************************************/
 433 /* The node id                                                            */
 434 /**************************************************************************/
 435 /* node_id default value.*/
 436 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
 437
 438 /**************************************************************************/
 439 /* Array of message processing information */
 440
 441 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
 442
 443 """%texts
 444     fileContent += strTimers
 445
 446     fileContent += """
 447 /*
 448 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 449
 450                                OBJECT DICTIONARY
 451
 452 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 453 */
 454 """%texts
 455     contentlist = indexContents.keys()
 456     contentlist.sort()
 457     for index in contentlist:
 458         fileContent += indexContents[index]
 459
 460     fileContent += """
 461 const indextable %(NodeName)s_objdict[] =
 462 {
 463 """%texts
 464     fileContent += strDeclareIndex
 465     fileContent += """};
 466
 467 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
 468 {
 469         int i;
 470         *callbacks = NULL;
 471         switch(wIndex){
 472 """%texts
 473     fileContent += strDeclareSwitch
 474     fileContent += """          default:
 475                         *errorCode = OD_NO_SUCH_OBJECT;
 476                         return NULL;
 477         }
 478         *errorCode = OD_SUCCESSFUL;
 479         return &%(NodeName)s_objdict[i];
 480 }
 481
 482 /*
 483  * To count at which received SYNC a PDO must be sent.
 484  * Even if no pdoTransmit are defined, at least one entry is computed
 485  * for compilations issues.
 486  */
 487 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
 488
 489     fileContent += ",".join(["s_PDO_staus_Initializer"]*texts["maxPDOtransmit"]) + """};
 490 """
 491
 492     fileContent += strQuickIndex
 493     fileContent += """
 494 UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
 495
 496 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
 497
 498 """%texts
 499
 500 #-------------------------------------------------------------------------------
 501 #                          Write Header File Content
 502 #-------------------------------------------------------------------------------
 503
 504     texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
 505     HeaderFileContent = generated_tag + """
 506 #ifndef %(file_include_name)s
 507 #define %(file_include_name)s
 508
 509 #include "data.h"
 510
 511 /* Prototypes of function provided by object dictionnary */
 512 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
 513 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
 514
 515 /* Master node data struct */
 516 extern CO_Data %(NodeName)s_Data;
 517 """%texts
 518     HeaderFileContent += strDeclareHeader
 519
 520     HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
 521
 522     return fileContent,HeaderFileContent
 523
 524 #-------------------------------------------------------------------------------
 525 #                             Main Function
 526 #-------------------------------------------------------------------------------
 527
 528 def GenerateFile(filepath, node):
 529     try:
 530         headerfilepath = os.path.splitext(filepath)[0]+".h"
 531         content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1])
 532         WriteFile(filepath, content)
 533         WriteFile(headerfilepath, header)
 534         return None
 535     except ValueError, message:
 536         return "Unable to Generate C File\n%s"%message
 537