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):
  99     global type
 100     global internal_types
 101     global default_string_size
 102
 103     texts = {}
 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
 112
 113     default_string_size = Node.GetDefaultStringSize()
 114
 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]
 122
 123 #-------------------------------------------------------------------------------
 124 #                       Declaration of the value range types
 125 #-------------------------------------------------------------------------------
 126
 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;
 131       break;\n"""
 132     internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True)
 133     num = 0
 134     for index in rangelist:
 135         rangename = Node.GetEntryName(index)
 136         result = range_model.match(rangename)
 137         if result:
 138             num += 1
 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"
 149             else:
 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"
 153
 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"
 159
 160 #-------------------------------------------------------------------------------
 161 #            Creation of the mapped variables and object dictionary
 162 #-------------------------------------------------------------------------------
 163
 164     mappedVariableContent = ""
 165     strDeclareHeader = ""
 166     strDeclareCallback = ""
 167     indexContents = {}
 168     indexCallbacks = {}
 169     for index in listIndex:
 170         texts["index"] = index
 171         strIndex = ""
 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
 178         else:
 179             strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
 180
 181         # Entry type is VAR
 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]
 189             else:
 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
 196             else:
 197                 strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
 198             values = [values]
 199         else:
 200             subentry_infos = Node.GetSubentryInfos(index, 0)
 201             typename = Node.GetTypeName(subentry_infos["type"])
 202             typeinfos = GetValidTypeInfos(typename)
 203             if index == 0x1003:
 204                 texts["value"] = 0
 205             else:
 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
 209
 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]
 218                 else:
 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):
 226                         sep = ","
 227                         if subIndex > 0:
 228                             if subIndex == len(values)-1:
 229                                 sep = ""
 230                             value, comment = ComputeValue(typeinfos[2], value)
 231                             mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
 232                     mappedVariableContent += "  };\n"
 233                 else:
 234                     strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
 235                     for subIndex, value in enumerate(values):
 236                         sep = ","
 237                         if subIndex > 0:
 238                             if subIndex == len(values)-1:
 239                                 sep = ""
 240                             value, comment = ComputeValue(typeinfos[2], 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, [values[subIndex]])
 253                         texts["subIndexType"] = typeinfos[0]
 254                         if typeinfos[1] is not None:
 255                             texts["suffixe"] = "[%d]"%typeinfos[1]
 256                         else:
 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
 263                         else:
 264                             strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
 265
 266         # Generating Dictionary C++ entry
 267         if callbacks:
 268             if index in variablelist:
 269                 name = FormatName(entry_infos["name"])
 270             else:
 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"
 275             strIndex += "                     };\n"
 276             indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
 277         else:
 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:
 283                 sep = ","
 284             else:
 285                 sep = ""
 286             typename = Node.GetTypeName(subentry_infos["type"])
 287             if entry_infos["struct"] & OD_IdenticalSubindexes:
 288                 typeinfos = GetValidTypeInfos(typename, values)
 289             else:
 290                 typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
 291             if subIndex == 0:
 292                 if index == 0x1003:
 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"])
 298                 else:
 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)
 303                 else:
 304                     name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
 305             else:
 306                 if index in variablelist:
 307                     name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
 308                 else:
 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]))
 314             else:
 315                 sizeof = "sizeof (%s)"%typeinfos[0]
 316             params = Node.GetParamsEntry(index, subIndex)
 317             if params["save"]:
 318                 save = "|TO_BE_SAVE"
 319             else:
 320                 save = ""
 321             strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
 322         strIndex += "                     };\n"
 323         indexContents[index] = strIndex
 324
 325 #-------------------------------------------------------------------------------
 326 #                     Declaration of Particular Parameters
 327 #-------------------------------------------------------------------------------
 328
 329     if 0x1003 not in communicationlist:
 330         entry_infos = Node.GetEntryInfos(0x1003)
 331         texts["EntryName"] = entry_infos["name"]
 332         indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */
 333                     UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
 334                     UNS32 %(NodeName)s_obj1003[] =
 335                     {
 336                       0x0       /* 0 */
 337                     };
 338                     ODCallback_t %(NodeName)s_Index1003_callbacks[] =
 339                      {
 340                        NULL,
 341                        NULL,
 342                      };
 343                     subindex %(NodeName)s_Index1003[] =
 344                      {
 345                        { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
 346                        { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
 347                      };
 348 """%texts
 349
 350     if 0x1005 not in communicationlist:
 351         entry_infos = Node.GetEntryInfos(0x1005)
 352         texts["EntryName"] = entry_infos["name"]
 353         indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
 354                     UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
 355 """%texts
 356
 357     if 0x1006 not in communicationlist:
 358         entry_infos = Node.GetEntryInfos(0x1006)
 359         texts["EntryName"] = entry_infos["name"]
 360         indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
 361                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
 362 """%texts
 363
 364     if 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 */
 369 """%texts
 370
 371     if 0x1016 in communicationlist:
 372         texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0)
 373     else:
 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};
 380 """%texts
 381
 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 */
 387 """%texts
 388
 389 #-------------------------------------------------------------------------------
 390 #               Declaration of navigation in the Object Dictionary
 391 #-------------------------------------------------------------------------------
 392
 393     strDeclareIndex = ""
 394     strDeclareSwitch = ""
 395     strQuickIndex = ""
 396     quick_index = {}
 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
 401     maxPDOtransmit = 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
 411                 if cat == "PDO_TRS":
 412                     maxPDOtransmit += 1
 413     texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
 414     for index_cat in index_categories:
 415         strQuickIndex += "\nconst quick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
 416         sep = ","
 417         for i, (cat, idx_min, idx_max) in enumerate(categories):
 418             if i == len(categories) - 1:
 419                 sep = ""
 420             strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
 421         strQuickIndex += "};\n"
 422
 423 #-------------------------------------------------------------------------------
 424 #                            Write File Content
 425 #-------------------------------------------------------------------------------
 426
 427     fileContent = generated_tag + """
 428 #include "%s"
 429 """%(headerfilepath)
 430
 431     fileContent += """
 432 /**************************************************************************/
 433 /* Declaration of the mapped variables                                    */
 434 /**************************************************************************/
 435 """ + mappedVariableContent
 436
 437     fileContent += """
 438 /**************************************************************************/
 439 /* Declaration of the value range types                                   */
 440 /**************************************************************************/
 441 """ + valueRangeContent
 442
 443     fileContent += """
 444 /**************************************************************************/
 445 /* The node id                                                            */
 446 /**************************************************************************/
 447 /* node_id default value.*/
 448 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
 449
 450 /**************************************************************************/
 451 /* Array of message processing information */
 452
 453 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
 454
 455 """%texts
 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"
 460     else:
 461         fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
 462
 463     fileContent += """
 464 /*
 465 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 466
 467                                OBJECT DICTIONARY
 468
 469 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 470 */
 471 """%texts
 472     contentlist = indexContents.keys()
 473     contentlist.sort()
 474     for index in contentlist:
 475         fileContent += indexContents[index]
 476
 477     fileContent += """
 478 const indextable %(NodeName)s_objdict[] =
 479 {
 480 """%texts
 481     fileContent += strDeclareIndex
 482     fileContent += """};
 483
 484 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
 485 {
 486         int i;
 487         *callbacks = NULL;
 488         switch(wIndex){
 489 """%texts
 490     fileContent += strDeclareSwitch
 491     fileContent += """          default:
 492                         *errorCode = OD_NO_SUCH_OBJECT;
 493                         return NULL;
 494         }
 495         *errorCode = OD_SUCCESSFUL;
 496         return &%(NodeName)s_objdict[i];
 497 }
 498
 499 /*
 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.
 503  */
 504 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
 505
 506     fileContent += ",".join(["s_PDO_status_Initializer"]*texts["maxPDOtransmit"]) + """};
 507 """
 508
 509     fileContent += strQuickIndex
 510     fileContent += """
 511 const UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
 512
 513 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
 514
 515 """%texts
 516
 517 #-------------------------------------------------------------------------------
 518 #                          Write Header File Content
 519 #-------------------------------------------------------------------------------
 520
 521     texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
 522     HeaderFileContent = generated_tag + """
 523 #ifndef %(file_include_name)s
 524 #define %(file_include_name)s
 525
 526 #include "data.h"
 527
 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);
 531
 532 /* Master node data struct */
 533 extern CO_Data %(NodeName)s_Data;
 534 """%texts
 535     HeaderFileContent += strDeclareHeader
 536
 537     HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
 538
 539     return fileContent,HeaderFileContent
 540
 541 #-------------------------------------------------------------------------------
 542 #                             Main Function
 543 #-------------------------------------------------------------------------------
 544
 545 def GenerateFile(filepath, node):
 546     try:
 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)
 551         return None
 552     except ValueError, message:
 553         return "Unable to Generate C File\n%s"%message
 554