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], True)
  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], False)
  59             elif values[0] == "REAL" and int(values[1]) in (32, 64):
  60                 typeinfos = ("%s%s"%(values[0], values[1]), "", "real%s"%values[1], False)
  61             elif values[0] == "VISIBLE_STRING":
  62                 if values[1] == "":
  63                     typeinfos = ("UNS8", "[10]", "visible_string", False)
  64                 else:
  65                     typeinfos = ("UNS8", "[%s]"%values[1], "visible_string", False)
  66             elif values[0] == "DOMAIN":
  67                 typeinfos = ("UNS8*", "", "domain", True)
  68             elif values[0] == "BOOLEAN":
  69                 typeinfos = ("UNS8", "", "boolean", True)
  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_RANGE_EXCEEDED;
 111       break;\n"""
 112     internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True)
 113     num = 0
 114     for index in rangelist:
 115         rangename = Node.GetEntryName(index)
 116         result = range_model.match(rangename)
 117         if result:
 118             num += 1
 119             typeindex = Node.GetEntry(index, 1)
 120             typename = Node.GetTypeName(typeindex)
 121             typeinfos = GetValidTypeInfos(typename)
 122             internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
 123             minvalue = Node.GetEntry(index, 2)
 124             maxvalue = Node.GetEntry(index, 3)
 125             strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],str(minvalue),str(maxvalue))
 126             strSwitch += "    case valueRange_%d:\n"%(num)
 127             if typeinfos[3] and minvalue <= 0:
 128                 strSwitch += "      /* Negative or null low limit ignored because of unsigned type */;\n"
 129             else:
 130                 strSwitch += "      if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;\n"%(typeinfos[0],typeinfos[0],str(minvalue))
 131             strSwitch += "      if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;\n"%(typeinfos[0],typeinfos[0],str(maxvalue))
 132             strSwitch += "    break;\n"
 133
 134     valueRangeContent += strDefine
 135     valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
 136     valueRangeContent += "\n  switch (typeValue) {\n"
 137     valueRangeContent += strSwitch
 138     valueRangeContent += "  }\n  return 0;\n}\n"
 139
 140 #-------------------------------------------------------------------------------
 141 #            Creation of the mapped variables and object dictionary
 142 #-------------------------------------------------------------------------------
 143
 144     mappedVariableContent = ""
 145     strDeclareHeader = ""
 146     strDeclareCallback = ""
 147     indexContents = {}
 148     indexCallbacks = {}
 149     for index in listIndex:
 150         texts["index"] = index
 151         strIndex = ""
 152         entry_infos = Node.GetEntryInfos(index)
 153         texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
 154         values = Node.GetEntry(index)
 155         callbacks = Node.HasEntryCallbacks(index)
 156         if index in variablelist:
 157             strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts
 158         else:
 159             strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
 160
 161         # Entry type is VAR
 162         if type(values) != ListType:
 163             subentry_infos = Node.GetSubentryInfos(index, 0)
 164             typename = Node.GetTypeName(subentry_infos["type"])
 165             typeinfos = GetValidTypeInfos(typename)
 166             texts["subIndexType"] = typeinfos[0]
 167             texts["suffixe"] = typeinfos[1]
 168             if typeinfos[2] == "visible_string":
 169                 texts["value"] = "\"%s\""%values
 170                 texts["comment"] = ""
 171             elif typeinfos[2] == "domain":
 172                 texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 173                 texts["comment"] = ""
 174             else:
 175                 texts["value"] = "0x%X"%values
 176                 texts["comment"] = "\t/* %s */"%str(values)
 177             if index in variablelist:
 178                 texts["name"] = FormatName(subentry_infos["name"])
 179                 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
 180                 if callbacks:
 181                     strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 182                 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
 183             else:
 184                 strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
 185             values = [values]
 186         else:
 187             subentry_infos = Node.GetSubentryInfos(index, 0)
 188             typename = Node.GetTypeName(subentry_infos["type"])
 189             typeinfos = GetValidTypeInfos(typename)
 190             if index == 0x1003:
 191                 texts["value"] = 0
 192             else:
 193                 texts["value"] = values[0]
 194             texts["subIndexType"] = typeinfos[0]
 195             strIndex += "                    %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
 196
 197             # Entry type is RECORD
 198             if entry_infos["struct"] & OD_IdenticalSubindexes:
 199                 subentry_infos = Node.GetSubentryInfos(index, 1)
 200                 typename = Node.GetTypeName(subentry_infos["type"])
 201                 typeinfos = GetValidTypeInfos(typename)
 202                 texts["subIndexType"] = typeinfos[0]
 203                 texts["suffixe"] = typeinfos[1]
 204                 texts["length"] = values[0]
 205                 if index in variablelist:
 206                     texts["name"] = FormatName(entry_infos["name"])
 207                     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
 208                     if callbacks:
 209                         strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 210                     mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts
 211                     for subIndex, value in enumerate(values):
 212                         sep = ","
 213                         comment = ""
 214                         if subIndex > 0:
 215                             if subIndex == len(values)-1:
 216                                 sep = ""
 217                             if typeinfos[2] == "visible_string":
 218                                 value = "\"%s\""%value
 219                             elif typeinfos[2] == "domain":
 220                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 221                             else:
 222                                 comment = "\t/* %s */"%str(value)
 223                                 value = "0x%X"%value
 224                             mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
 225                     mappedVariableContent += "  };\n"
 226                 else:
 227                     strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
 228                     for subIndex, value in enumerate(values):
 229                         sep = ","
 230                         comment = ""
 231                         if subIndex > 0:
 232                             if subIndex == len(values)-1:
 233                                 sep = ""
 234                             if typeinfos[2] == "visible_string":
 235                                 value = "\"%s\""%value
 236                             elif typeinfos[2] == "domain":
 237                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 238                             else:
 239                                 comment = "\t/* %s */"%str(value)
 240                                 value = "0x%X"%value
 241                             strIndex += "                      %s%s%s\n"%(value, sep, comment)
 242                     strIndex += "                    };\n"
 243             else:
 244
 245                 texts["parent"] = FormatName(entry_infos["name"])
 246                 # Entry type is ARRAY
 247                 for subIndex, value in enumerate(values):
 248                     texts["subIndex"] = subIndex
 249                     if subIndex > 0:
 250                         subentry_infos = Node.GetSubentryInfos(index, subIndex)
 251                         typename = Node.GetTypeName(subentry_infos["type"])
 252                         typeinfos = GetValidTypeInfos(typename)
 253                         texts["subIndexType"] = typeinfos[0]
 254                         texts["suffixe"] = typeinfos[1]
 255                         if typeinfos[2] == "visible_string":
 256                             texts["value"] = "\"%s\""%value
 257                             texts["comment"] = ""
 258                         elif typeinfos[2] == "domain":
 259                             texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 260                             texts["comment"] = ""
 261                         else:
 262                             texts["value"] = "0x%X"%value
 263                             texts["comment"] = "\t/* %s */"%str(value)
 264                         texts["name"] = FormatName(subentry_infos["name"])
 265                         if index in variablelist:
 266                             strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
 267                             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
 268                         else:
 269                             strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
 270                 if callbacks:
 271                     strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 272
 273         # Generating Dictionary C++ entry
 274         if callbacks:
 275             if index in variablelist:
 276                 name = FormatName(entry_infos["name"])
 277             else:
 278                 name = "%(NodeName)s_Index%(index)04X"%texts
 279             strIndex += "                    ODCallback_t %s_callbacks[] = \n                     {\n"%name
 280             for subIndex in xrange(len(values)):
 281                 strIndex += "                       NULL,\n"
 282             strIndex += "                     };\n"
 283             indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
 284         else:
 285             indexCallbacks[index] = ""
 286         strIndex += "                    subindex %(NodeName)s_Index%(index)04X[] = \n                     {\n"%texts
 287         for subIndex in xrange(len(values)):
 288             subentry_infos = Node.GetSubentryInfos(index, subIndex)
 289             if subIndex < len(values) - 1:
 290                 sep = ","
 291             else:
 292                 sep = ""
 293             typename = Node.GetTypeName(subentry_infos["type"])
 294             typeinfos = GetValidTypeInfos(typename)
 295             if subIndex == 0:
 296                 if index == 0x1003:
 297                     typeinfos = GetValidTypeInfos("valueRange_EMC")
 298                 if entry_infos["struct"] & OD_MultipleSubindexes:
 299                     name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
 300                 elif index in variablelist:
 301                     name = FormatName(subentry_infos["name"])
 302                 else:
 303                     name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
 304             elif entry_infos["struct"] & OD_IdenticalSubindexes:
 305                 if index in variablelist:
 306                     name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
 307                 else:
 308                     name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
 309             else:
 310                 if index in variablelist:
 311                     name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
 312                 else:
 313                     name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
 314             if typeinfos[2] in ["visible_string", "domain"]:
 315                 sizeof = str(len(values[subIndex]))
 316             else:
 317                 sizeof = "sizeof (%s)"%typeinfos[0]
 318             params = Node.GetParamsEntry(index, subIndex)
 319             if params["save"]:
 320                 save = "|TO_BE_SAVE"
 321             else:
 322                 save = ""
 323             strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
 324         strIndex += "                     };\n"
 325         indexContents[index] = strIndex
 326
 327 #-------------------------------------------------------------------------------
 328 #                     Declaration of Particular Parameters
 329 #-------------------------------------------------------------------------------
 330
 331     if 0x1003 not in communicationlist:
 332         entry_infos = Node.GetEntryInfos(0x1003)
 333         texts["EntryName"] = entry_infos["name"]
 334         indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */
 335                     UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
 336                     UNS32 %(NodeName)s_obj1003[] =
 337                     {
 338                       0x0       /* 0 */
 339                     };
 340                     ODCallback_t %(NodeName)s_Index1003_callbacks[] =
 341                      {
 342                        NULL,
 343                        NULL,
 344                      };
 345                     subindex %(NodeName)s_Index1003[] =
 346                      {
 347                        { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
 348                        { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
 349                      };
 350 """%texts
 351
 352     if 0x1005 not in communicationlist:
 353         entry_infos = Node.GetEntryInfos(0x1005)
 354         texts["EntryName"] = entry_infos["name"]
 355         indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
 356                     UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
 357 """%texts
 358
 359     if 0x1006 not in communicationlist:
 360         entry_infos = Node.GetEntryInfos(0x1006)
 361         texts["EntryName"] = entry_infos["name"]
 362         indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
 363                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
 364 """%texts
 365
 366     if 0x1016 in communicationlist:
 367         texts["nombre"] = Node.GetEntry(0x1016, 0)
 368     else:
 369         texts["nombre"] = 0
 370         entry_infos = Node.GetEntryInfos(0x1016)
 371         texts["EntryName"] = entry_infos["name"]
 372         indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */
 373                     UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
 374                     UNS32 %(NodeName)s_obj1016[]={0};
 375 """%texts
 376     if texts["nombre"] > 0:
 377         strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(nombre)d] = {TIMER_NONE,};\n"%texts
 378     else:
 379         strTimers = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
 380
 381     if 0x1017 not in communicationlist:
 382         entry_infos = Node.GetEntryInfos(0x1017)
 383         texts["EntryName"] = entry_infos["name"]
 384         indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */
 385                     UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */
 386 """%texts
 387
 388 #-------------------------------------------------------------------------------
 389 #               Declaration of navigation in the Object Dictionary
 390 #-------------------------------------------------------------------------------
 391
 392     strDeclareIndex = ""
 393     strDeclareSwitch = ""
 394     strQuickIndex = ""
 395     quick_index = {}
 396     for index_cat in index_categories:
 397         quick_index[index_cat] = {}
 398         for cat, idx_min, idx_max in categories:
 399             quick_index[index_cat][cat] = 0
 400     maxPDOtransmit = 0
 401     for i, index in enumerate(listIndex):
 402         texts["index"] = index
 403         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
 404         strDeclareSwitch += "           case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
 405         for cat, idx_min, idx_max in categories:
 406             if idx_min <= index <= idx_max:
 407                 quick_index["lastIndex"][cat] = i
 408                 if quick_index["firstIndex"][cat] == 0:
 409                     quick_index["firstIndex"][cat] = i
 410                 if cat == "PDO_TRS":
 411                     maxPDOtransmit += 1
 412     texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
 413     for index_cat in index_categories:
 414         strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
 415         sep = ","
 416         for i, (cat, idx_min, idx_max) in enumerate(categories):
 417             if i == len(categories) - 1:
 418                 sep = ""
 419             strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
 420         strQuickIndex += "};\n"
 421
 422 #-------------------------------------------------------------------------------
 423 #                            Write File Content
 424 #-------------------------------------------------------------------------------
 425
 426     fileContent = generated_tag + """
 427 #include "%s"
 428 """%(headerfilepath)
 429
 430     fileContent += """
 431 /**************************************************************************/
 432 /* Declaration of the mapped variables                                    */
 433 /**************************************************************************/
 434 """ + mappedVariableContent
 435
 436     fileContent += """
 437 /**************************************************************************/
 438 /* Declaration of the value range types                                   */
 439 /**************************************************************************/
 440 """ + valueRangeContent
 441
 442     fileContent += """
 443 /**************************************************************************/
 444 /* The node id                                                            */
 445 /**************************************************************************/
 446 /* node_id default value.*/
 447 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
 448
 449 /**************************************************************************/
 450 /* Array of message processing information */
 451
 452 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
 453
 454 """%texts
 455     fileContent += strTimers
 456
 457     fileContent += """
 458 /*
 459 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 460
 461                                OBJECT DICTIONARY
 462
 463 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 464 */
 465 """%texts
 466     contentlist = indexContents.keys()
 467     contentlist.sort()
 468     for index in contentlist:
 469         fileContent += indexContents[index]
 470
 471     fileContent += """
 472 const indextable %(NodeName)s_objdict[] =
 473 {
 474 """%texts
 475     fileContent += strDeclareIndex
 476     fileContent += """};
 477
 478 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
 479 {
 480         int i;
 481         *callbacks = NULL;
 482         switch(wIndex){
 483 """%texts
 484     fileContent += strDeclareSwitch
 485     fileContent += """          default:
 486                         *errorCode = OD_NO_SUCH_OBJECT;
 487                         return NULL;
 488         }
 489         *errorCode = OD_SUCCESSFUL;
 490         return &%(NodeName)s_objdict[i];
 491 }
 492
 493 /*
 494  * To count at which received SYNC a PDO must be sent.
 495  * Even if no pdoTransmit are defined, at least one entry is computed
 496  * for compilations issues.
 497  */
 498 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
 499
 500     fileContent += ",".join(["s_PDO_staus_Initializer"]*texts["maxPDOtransmit"]) + """};
 501 """
 502
 503     fileContent += strQuickIndex
 504     fileContent += """
 505 UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
 506
 507 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
 508
 509 """%texts
 510
 511 #-------------------------------------------------------------------------------
 512 #                          Write Header File Content
 513 #-------------------------------------------------------------------------------
 514
 515     texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
 516     HeaderFileContent = generated_tag + """
 517 #ifndef %(file_include_name)s
 518 #define %(file_include_name)s
 519
 520 #include "data.h"
 521
 522 /* Prototypes of function provided by object dictionnary */
 523 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
 524 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
 525
 526 /* Master node data struct */
 527 extern CO_Data %(NodeName)s_Data;
 528 """%texts
 529     HeaderFileContent += strDeclareHeader
 530
 531     HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
 532
 533     return fileContent,HeaderFileContent
 534
 535 #-------------------------------------------------------------------------------
 536 #                             Main Function
 537 #-------------------------------------------------------------------------------
 538
 539 def GenerateFile(filepath, node):
 540     try:
 541         headerfilepath = os.path.splitext(filepath)[0]+".h"
 542         content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1])
 543         WriteFile(filepath, content)
 544         WriteFile(headerfilepath, header)
 545         return None
 546     except ValueError, message:
 547         return "Unable to Generate C File\n%s"%message
 548