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 default_string_size = 10
  42
  43 # Format a string for making a C++ variable
  44 def FormatName(name):
  45     wordlist = [word for word in word_model.findall(name) if word != '']
  46     return "_".join(wordlist)
  47
  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]
  52     else:
  53         result = type_model.match(typename)
  54         if result:
  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
  64                 for item in items:
  65                     size = max(size, len(item))
  66                 if values[1] != "":
  67                     size = max(size, int(values[1]))
  68                 typeinfos = ("UNS8", size, "visible_string", False)
  69             elif values[0] == "DOMAIN":
  70                 size = 0
  71                 for item in items:
  72                     size = max(size, len(item))
  73                 typeinfos = ("UNS8*", size, "domain", False)
  74             elif values[0] == "BOOLEAN":
  75                 typeinfos = ("UNS8", None, "boolean", False)
  76             else:
  77                 raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
  78             internal_types[typename] = typeinfos
  79         else:
  80             raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
  81     return typeinfos
  82
  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"):
  89         return "%f"%value, ""
  90     else:
  91         return "0x%X"%value, "\t/* %s */"%str(value)
  92
  93 def WriteFile(filepath, content):
  94     cfile = open(filepath,"w")
  95     cfile.write(content)
  96     cfile.close()
  97
  98 def GenerateFileContent(Node, headerfilepath, pointers_dict = {}):
  99     """
 100     pointers_dict = {(Idx,Sidx):"VariableName",...}
 101     """
 102     global type
 103     global internal_types
 104     global default_string_size
 105
 106     texts = {}
 107     texts["maxPDOtransmit"] = 0
 108     texts["NodeName"] = Node.GetNodeName()
 109     texts["NodeID"] = Node.GetNodeID()
 110     texts["NodeType"] = Node.GetNodeType()
 111     texts["Description"] = Node.GetNodeDescription()
 112     texts["iam_a_slave"] = 0
 113     if (texts["NodeType"] == "slave"):
 114         texts["iam_a_slave"] = 1
 115
 116     default_string_size = Node.GetDefaultStringSize()
 117
 118     # Compiling lists of indexes
 119     rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]
 120     listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]
 121     communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]
 122     sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]
 123     pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]
 124     variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]
 125
 126 #-------------------------------------------------------------------------------
 127 #                       Declaration of the value range types
 128 #-------------------------------------------------------------------------------
 129
 130     valueRangeContent = ""
 131     strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */"
 132     strSwitch = """    case valueRange_EMC:
 133       if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED;
 134       break;\n"""
 135     internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True)
 136     num = 0
 137     for index in rangelist:
 138         rangename = Node.GetEntryName(index)
 139         result = range_model.match(rangename)
 140         if result:
 141             num += 1
 142             typeindex = Node.GetEntry(index, 1)
 143             typename = Node.GetTypeName(typeindex)
 144             typeinfos = GetValidTypeInfos(typename)
 145             internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
 146             minvalue = Node.GetEntry(index, 2)
 147             maxvalue = Node.GetEntry(index, 3)
 148             strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],str(minvalue),str(maxvalue))
 149             strSwitch += "    case valueRange_%d:\n"%(num)
 150             if typeinfos[3] and minvalue <= 0:
 151                 strSwitch += "      /* Negative or null low limit ignored because of unsigned type */;\n"
 152             else:
 153                 strSwitch += "      if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;\n"%(typeinfos[0],typeinfos[0],str(minvalue))
 154             strSwitch += "      if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;\n"%(typeinfos[0],typeinfos[0],str(maxvalue))
 155             strSwitch += "    break;\n"
 156
 157     valueRangeContent += strDefine
 158     valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
 159     valueRangeContent += "\n  switch (typeValue) {\n"
 160     valueRangeContent += strSwitch
 161     valueRangeContent += "  }\n  return 0;\n}\n"
 162
 163 #-------------------------------------------------------------------------------
 164 #            Creation of the mapped variables and object dictionary
 165 #-------------------------------------------------------------------------------
 166
 167     mappedVariableContent = ""
 168     pointedVariableContent = ""
 169     strDeclareHeader = ""
 170     strDeclareCallback = ""
 171     indexContents = {}
 172     indexCallbacks = {}
 173     for index in listIndex:
 174         texts["index"] = index
 175         strIndex = ""
 176         entry_infos = Node.GetEntryInfos(index)
 177         texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
 178         values = Node.GetEntry(index)
 179         callbacks = Node.HasEntryCallbacks(index)
 180         if index in variablelist:
 181             strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts
 182         else:
 183             strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
 184
 185         # Entry type is VAR
 186         if isinstance(values, ListType):
 187             subentry_infos = Node.GetSubentryInfos(index, 0)
 188             typename = Node.GetTypeName(subentry_infos["type"])
 189             typeinfos = GetValidTypeInfos(typename, [values])
 190             texts["subIndexType"] = typeinfos[0]
 191             if typeinfos[1] is not None:
 192                 texts["suffixe"] = "[%d]"%typeinfos[1]
 193             else:
 194                 texts["suffixe"] = ""
 195             texts["value"], texts["comment"] = ComputeValue(typeinfos[2], values)
 196             if index in variablelist:
 197                 texts["name"] = FormatName(subentry_infos["name"])
 198                 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
 199                 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
 200             else:
 201                 strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
 202             values = [values]
 203         else:
 204             subentry_infos = Node.GetSubentryInfos(index, 0)
 205             typename = Node.GetTypeName(subentry_infos["type"])
 206             typeinfos = GetValidTypeInfos(typename)
 207             if index == 0x1003:
 208                 texts["value"] = 0
 209             else:
 210                 texts["value"] = values[0]
 211             texts["subIndexType"] = typeinfos[0]
 212             strIndex += "                    %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
 213
 214             # Entry type is RECORD
 215             if entry_infos["struct"] & OD_IdenticalSubindexes:
 216                 subentry_infos = Node.GetSubentryInfos(index, 1)
 217                 typename = Node.GetTypeName(subentry_infos["type"])
 218                 typeinfos = GetValidTypeInfos(typename, values[1:])
 219                 texts["subIndexType"] = typeinfos[0]
 220                 if typeinfos[1] is not None:
 221                     texts["suffixe"] = "[%d]"%typeinfos[1]
 222                 else:
 223                     texts["suffixe"] = ""
 224                 texts["length"] = values[0]
 225                 if index in variablelist:
 226                     texts["name"] = FormatName(entry_infos["name"])
 227                     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
 228                     mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts
 229                     for subIndex, value in enumerate(values):
 230                         sep = ","
 231                         if subIndex > 0:
 232                             if subIndex == len(values)-1:
 233                                 sep = ""
 234                             value, comment = ComputeValue(typeinfos[2], value)
 235                             mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
 236                     mappedVariableContent += "  };\n"
 237                 else:
 238                     strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
 239                     for subIndex, value in enumerate(values):
 240                         sep = ","
 241                         if subIndex > 0:
 242                             if subIndex == len(values)-1:
 243                                 sep = ""
 244                             value, comment = ComputeValue(typeinfos[2], value)
 245                             strIndex += "                      %s%s%s\n"%(value, sep, comment)
 246                     strIndex += "                    };\n"
 247             else:
 248
 249                 texts["parent"] = FormatName(entry_infos["name"])
 250                 # Entry type is ARRAY
 251                 for subIndex, value in enumerate(values):
 252                     texts["subIndex"] = subIndex
 253                     if subIndex > 0:
 254                         subentry_infos = Node.GetSubentryInfos(index, subIndex)
 255                         typename = Node.GetTypeName(subentry_infos["type"])
 256                         typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
 257                         texts["subIndexType"] = typeinfos[0]
 258                         if typeinfos[1] is not None:
 259                             texts["suffixe"] = "[%d]"%typeinfos[1]
 260                         else:
 261                             texts["suffixe"] = ""
 262                         texts["value"], texts["comment"] = ComputeValue(typeinfos[2], value)
 263                         texts["name"] = FormatName(subentry_infos["name"])
 264                         if index in variablelist:
 265                             strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
 266                             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
 267                         else:
 268                             strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
 269
 270         # Generating Dictionary C++ entry
 271         if callbacks:
 272             if index in variablelist:
 273                 name = FormatName(entry_infos["name"])
 274             else:
 275                 name = "%(NodeName)s_Index%(index)04X"%texts
 276             strIndex += "                    ODCallback_t %s_callbacks[] = \n                     {\n"%name
 277             for subIndex in xrange(len(values)):
 278                 strIndex += "                       NULL,\n"
 279             strIndex += "                     };\n"
 280             indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
 281         else:
 282             indexCallbacks[index] = ""
 283         strIndex += "                    subindex %(NodeName)s_Index%(index)04X[] = \n                     {\n"%texts
 284         for subIndex in xrange(len(values)):
 285             subentry_infos = Node.GetSubentryInfos(index, subIndex)
 286             if subIndex < len(values) - 1:
 287                 sep = ","
 288             else:
 289                 sep = ""
 290             typename = Node.GetTypeName(subentry_infos["type"])
 291             if entry_infos["struct"] & OD_IdenticalSubindexes:
 292                 typeinfos = GetValidTypeInfos(typename, values)
 293             else:
 294                 typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
 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] == "visible_string":
 315                 sizeof = str(max(len(values[subIndex]), default_string_size))
 316             elif typeinfos[2] == "domain":
 317                 sizeof = str(len(values[subIndex]))
 318             else:
 319                 sizeof = "sizeof (%s)"%typeinfos[0]
 320             params = Node.GetParamsEntry(index, subIndex)
 321             if params["save"]:
 322                 save = "|TO_BE_SAVE"
 323             else:
 324                 save = ""
 325             strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
 326             pointer_name = pointers_dict.get((index, subIndex), None)
 327             if pointer_name is not None:
 328                 pointedVariableContent += "%s* %s = &%s;\n"%(typeinfos[0], pointer_name, name)
 329         strIndex += "                     };\n"
 330         indexContents[index] = strIndex
 331
 332 #-------------------------------------------------------------------------------
 333 #                     Declaration of Particular Parameters
 334 #-------------------------------------------------------------------------------
 335
 336     if 0x1003 not in communicationlist:
 337         entry_infos = Node.GetEntryInfos(0x1003)
 338         texts["EntryName"] = entry_infos["name"]
 339         indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */
 340                     UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
 341                     UNS32 %(NodeName)s_obj1003[] =
 342                     {
 343                       0x0       /* 0 */
 344                     };
 345                     ODCallback_t %(NodeName)s_Index1003_callbacks[] =
 346                      {
 347                        NULL,
 348                        NULL,
 349                      };
 350                     subindex %(NodeName)s_Index1003[] =
 351                      {
 352                        { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
 353                        { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
 354                      };
 355 """%texts
 356
 357     if 0x1005 not in communicationlist:
 358         entry_infos = Node.GetEntryInfos(0x1005)
 359         texts["EntryName"] = entry_infos["name"]
 360         indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
 361                     UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
 362 """%texts
 363
 364     if 0x1006 not in communicationlist:
 365         entry_infos = Node.GetEntryInfos(0x1006)
 366         texts["EntryName"] = entry_infos["name"]
 367         indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
 368                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
 369 """%texts
 370
 371     if 0x1014 not in communicationlist:
 372         entry_infos = Node.GetEntryInfos(0x1014)
 373         texts["EntryName"] = entry_infos["name"]
 374         indexContents[0x1014] = """\n/* index 0x1014 :   %(EntryName)s */
 375                     UNS32 %(NodeName)s_obj1014 = 0x80 + 0x%(NodeID)02X;   /* 128 + NodeID */
 376 """%texts
 377
 378     if 0x1016 in communicationlist:
 379         texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0)
 380     else:
 381         texts["heartBeatTimers_number"] = 0
 382         entry_infos = Node.GetEntryInfos(0x1016)
 383         texts["EntryName"] = entry_infos["name"]
 384         indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */
 385                     UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
 386                     UNS32 %(NodeName)s_obj1016[]={0};
 387 """%texts
 388
 389     if 0x1017 not in communicationlist:
 390         entry_infos = Node.GetEntryInfos(0x1017)
 391         texts["EntryName"] = entry_infos["name"]
 392         indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */
 393                     UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */
 394 """%texts
 395
 396 #-------------------------------------------------------------------------------
 397 #               Declaration of navigation in the Object Dictionary
 398 #-------------------------------------------------------------------------------
 399
 400     strDeclareIndex = ""
 401     strDeclareSwitch = ""
 402     strQuickIndex = ""
 403     quick_index = {}
 404     for index_cat in index_categories:
 405         quick_index[index_cat] = {}
 406         for cat, idx_min, idx_max in categories:
 407             quick_index[index_cat][cat] = 0
 408     maxPDOtransmit = 0
 409     for i, index in enumerate(listIndex):
 410         texts["index"] = index
 411         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
 412         strDeclareSwitch += "           case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
 413         for cat, idx_min, idx_max in categories:
 414             if idx_min <= index <= idx_max:
 415                 quick_index["lastIndex"][cat] = i
 416                 if quick_index["firstIndex"][cat] == 0:
 417                     quick_index["firstIndex"][cat] = i
 418                 if cat == "PDO_TRS":
 419                     maxPDOtransmit += 1
 420     texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
 421     for index_cat in index_categories:
 422         strQuickIndex += "\nconst quick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
 423         sep = ","
 424         for i, (cat, idx_min, idx_max) in enumerate(categories):
 425             if i == len(categories) - 1:
 426                 sep = ""
 427             strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
 428         strQuickIndex += "};\n"
 429
 430 #-------------------------------------------------------------------------------
 431 #                            Write File Content
 432 #-------------------------------------------------------------------------------
 433
 434     fileContent = generated_tag + """
 435 #include "%s"
 436 """%(headerfilepath)
 437
 438     fileContent += """
 439 /**************************************************************************/
 440 /* Declaration of mapped variables                                        */
 441 /**************************************************************************/
 442 """ + mappedVariableContent
 443
 444     fileContent += """
 445 /**************************************************************************/
 446 /* Declaration of value range types                                       */
 447 /**************************************************************************/
 448 """ + valueRangeContent
 449
 450     fileContent += """
 451 /**************************************************************************/
 452 /* The node id                                                            */
 453 /**************************************************************************/
 454 /* node_id default value.*/
 455 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
 456
 457 /**************************************************************************/
 458 /* Array of message processing information */
 459
 460 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
 461
 462 """%texts
 463     if texts["heartBeatTimers_number"] > 0:
 464         declaration = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(heartBeatTimers_number)d]"%texts
 465         initializer = "{TIMER_NONE" + ",TIMER_NONE" * (texts["heartBeatTimers_number"] - 1) + "}"
 466         fileContent += declaration + " = " + initializer + ";\n"
 467     else:
 468         fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
 469
 470     fileContent += """
 471 /*
 472 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 473
 474                                OBJECT DICTIONARY
 475
 476 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 477 */
 478 """%texts
 479     contentlist = indexContents.keys()
 480     contentlist.sort()
 481     for index in contentlist:
 482         fileContent += indexContents[index]
 483
 484     fileContent += """
 485 /**************************************************************************/
 486 /* Declaration of pointed variables                                       */
 487 /**************************************************************************/
 488 """ + pointedVariableContent
 489
 490     fileContent += """
 491 const indextable %(NodeName)s_objdict[] =
 492 {
 493 """%texts
 494     fileContent += strDeclareIndex
 495     fileContent += """};
 496
 497 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
 498 {
 499         int i;
 500         *callbacks = NULL;
 501         switch(wIndex){
 502 """%texts
 503     fileContent += strDeclareSwitch
 504     fileContent += """          default:
 505                         *errorCode = OD_NO_SUCH_OBJECT;
 506                         return NULL;
 507         }
 508         *errorCode = OD_SUCCESSFUL;
 509         return &%(NodeName)s_objdict[i];
 510 }
 511
 512 /*
 513  * To count at which received SYNC a PDO must be sent.
 514  * Even if no pdoTransmit are defined, at least one entry is computed
 515  * for compilations issues.
 516  */
 517 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
 518
 519     fileContent += ",".join(["s_PDO_status_Initializer"]*texts["maxPDOtransmit"]) + """};
 520 """
 521
 522     fileContent += strQuickIndex
 523     fileContent += """
 524 const UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
 525
 526 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
 527
 528 """%texts
 529
 530 #-------------------------------------------------------------------------------
 531 #                          Write Header File Content
 532 #-------------------------------------------------------------------------------
 533
 534     texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
 535     HeaderFileContent = generated_tag + """
 536 #ifndef %(file_include_name)s
 537 #define %(file_include_name)s
 538
 539 #include "data.h"
 540
 541 /* Prototypes of function provided by object dictionnary */
 542 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
 543 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
 544
 545 /* Master node data struct */
 546 extern CO_Data %(NodeName)s_Data;
 547 """%texts
 548     HeaderFileContent += strDeclareHeader
 549
 550     HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
 551
 552     return fileContent,HeaderFileContent
 553
 554 #-------------------------------------------------------------------------------
 555 #                             Main Function
 556 #-------------------------------------------------------------------------------
 557
 558 def GenerateFile(filepath, node, pointers_dict = {}):
 559     try:
 560         headerfilepath = os.path.splitext(filepath)[0]+".h"
 561         content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1], pointers_dict)
 562         WriteFile(filepath, content)
 563         WriteFile(headerfilepath, header)
 564         return None
 565     except ValueError, message:
 566         return "Unable to Generate C File\n%s"%message
 567