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 WriteFile(filepath, content):
  84     cfile = open(filepath,"w")
  85     cfile.write(content)
  86     cfile.close()
  87
  88 def GenerateFileContent(Node, headerfilepath):
  89     global type
  90     global internal_types
  91     global default_string_size
  92
  93     texts = {}
  94     texts["maxPDOtransmit"] = 0
  95     texts["NodeName"] = Node.GetNodeName()
  96     texts["NodeID"] = Node.GetNodeID()
  97     texts["NodeType"] = Node.GetNodeType()
  98     texts["Description"] = Node.GetNodeDescription()
  99     texts["iam_a_slave"] = 0
 100     if (texts["NodeType"] == "slave"):
 101         texts["iam_a_slave"] = 1
 102
 103     default_string_size = Node.GetDefaultStringSize()
 104
 105     # Compiling lists of indexes
 106     rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]
 107     listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]
 108     communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]
 109     sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]
 110     pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]
 111     variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]
 112
 113 #-------------------------------------------------------------------------------
 114 #                       Declaration of the value range types
 115 #-------------------------------------------------------------------------------
 116
 117     valueRangeContent = ""
 118     strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */"
 119     strSwitch = """    case valueRange_EMC:
 120       if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED;
 121       break;\n"""
 122     internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True)
 123     num = 0
 124     for index in rangelist:
 125         rangename = Node.GetEntryName(index)
 126         result = range_model.match(rangename)
 127         if result:
 128             num += 1
 129             typeindex = Node.GetEntry(index, 1)
 130             typename = Node.GetTypeName(typeindex)
 131             typeinfos = GetValidTypeInfos(typename)
 132             internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
 133             minvalue = Node.GetEntry(index, 2)
 134             maxvalue = Node.GetEntry(index, 3)
 135             strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],str(minvalue),str(maxvalue))
 136             strSwitch += "    case valueRange_%d:\n"%(num)
 137             if typeinfos[3] and minvalue <= 0:
 138                 strSwitch += "      /* Negative or null low limit ignored because of unsigned type */;\n"
 139             else:
 140                 strSwitch += "      if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;\n"%(typeinfos[0],typeinfos[0],str(minvalue))
 141             strSwitch += "      if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;\n"%(typeinfos[0],typeinfos[0],str(maxvalue))
 142             strSwitch += "    break;\n"
 143
 144     valueRangeContent += strDefine
 145     valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
 146     valueRangeContent += "\n  switch (typeValue) {\n"
 147     valueRangeContent += strSwitch
 148     valueRangeContent += "  }\n  return 0;\n}\n"
 149
 150 #-------------------------------------------------------------------------------
 151 #            Creation of the mapped variables and object dictionary
 152 #-------------------------------------------------------------------------------
 153
 154     mappedVariableContent = ""
 155     strDeclareHeader = ""
 156     strDeclareCallback = ""
 157     indexContents = {}
 158     indexCallbacks = {}
 159     for index in listIndex:
 160         texts["index"] = index
 161         strIndex = ""
 162         entry_infos = Node.GetEntryInfos(index)
 163         texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
 164         values = Node.GetEntry(index)
 165         callbacks = Node.HasEntryCallbacks(index)
 166         if index in variablelist:
 167             strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts
 168         else:
 169             strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
 170
 171         # Entry type is VAR
 172         if type(values) != ListType:
 173             subentry_infos = Node.GetSubentryInfos(index, 0)
 174             typename = Node.GetTypeName(subentry_infos["type"])
 175             typeinfos = GetValidTypeInfos(typename, [values])
 176             texts["subIndexType"] = typeinfos[0]
 177             if typeinfos[1] is not None:
 178                 texts["suffixe"] = "[%d]"%typeinfos[1]
 179             else:
 180                 texts["suffixe"] = ""
 181             if typeinfos[2] == "visible_string":
 182                 texts["value"] = "\"%s\""%values
 183                 texts["comment"] = ""
 184             elif typeinfos[2] == "domain":
 185                 texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 186                 texts["comment"] = ""
 187             else:
 188                 texts["value"] = "0x%X"%values
 189                 texts["comment"] = "\t/* %s */"%str(values)
 190             if index in variablelist:
 191                 texts["name"] = FormatName(subentry_infos["name"])
 192                 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
 193                 if callbacks:
 194                     strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\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                     if callbacks:
 225                         strDeclareHeader += "extern ODCallback_t %(name)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 226                     mappedVariableContent += "%(subIndexType)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts
 227                     for subIndex, value in enumerate(values):
 228                         sep = ","
 229                         comment = ""
 230                         if subIndex > 0:
 231                             if subIndex == len(values)-1:
 232                                 sep = ""
 233                             if typeinfos[2] == "visible_string":
 234                                 value = "\"%s%s\""%(value, "\\0" * (default_string_size - len(value)))
 235                             elif typeinfos[2] == "domain":
 236                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 237                             else:
 238                                 comment = "\t/* %s */"%str(value)
 239                                 value = "0x%X"%value
 240                             mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
 241                     mappedVariableContent += "  };\n"
 242                 else:
 243                     strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
 244                     for subIndex, value in enumerate(values):
 245                         sep = ","
 246                         comment = ""
 247                         if subIndex > 0:
 248                             if subIndex == len(values)-1:
 249                                 sep = ""
 250                             if typeinfos[2] == "visible_string":
 251                                 value = "\"%s%s\""%(value, "\\0" * (default_string_size - len(value)))
 252                             elif typeinfos[2] == "domain":
 253                                 value = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 254                             else:
 255                                 comment = "\t/* %s */"%str(value)
 256                                 value = "0x%X"%value
 257                             strIndex += "                      %s%s%s\n"%(value, sep, comment)
 258                     strIndex += "                    };\n"
 259             else:
 260
 261                 texts["parent"] = FormatName(entry_infos["name"])
 262                 # Entry type is ARRAY
 263                 for subIndex, value in enumerate(values):
 264                     texts["subIndex"] = subIndex
 265                     if subIndex > 0:
 266                         subentry_infos = Node.GetSubentryInfos(index, subIndex)
 267                         typename = Node.GetTypeName(subentry_infos["type"])
 268                         typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
 269                         texts["subIndexType"] = typeinfos[0]
 270                         if typeinfos[1] is not None:
 271                             texts["suffixe"] = "[%d]"%typeinfos[1]
 272                         else:
 273                             texts["suffixe"] = ""
 274                         if typeinfos[2] == "visible_string":
 275                             texts["value"] = "\"%s%s\""%(value, "\\0" * (default_string_size - len(value)))
 276                             texts["comment"] = ""
 277                         elif typeinfos[2] == "domain":
 278                             texts["value"] = "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value])
 279                             texts["comment"] = ""
 280                         else:
 281                             texts["value"] = "0x%X"%value
 282                             texts["comment"] = "\t/* %s */"%str(value)
 283                         texts["name"] = FormatName(subentry_infos["name"])
 284                         if index in variablelist:
 285                             strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
 286                             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
 287                         else:
 288                             strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\n"%texts
 289                 if callbacks:
 290                     strDeclareHeader += "extern ODCallback_t %(parent)s_callbacks[];\t\t/* Callbacks of index0x%(index)04X */\n"%texts
 291
 292         # Generating Dictionary C++ entry
 293         if callbacks:
 294             if index in variablelist:
 295                 name = FormatName(entry_infos["name"])
 296             else:
 297                 name = "%(NodeName)s_Index%(index)04X"%texts
 298             strIndex += "                    ODCallback_t %s_callbacks[] = \n                     {\n"%name
 299             for subIndex in xrange(len(values)):
 300                 strIndex += "                       NULL,\n"
 301             strIndex += "                     };\n"
 302             indexCallbacks[index] = "*callbacks = %s_callbacks; "%name
 303         else:
 304             indexCallbacks[index] = ""
 305         strIndex += "                    subindex %(NodeName)s_Index%(index)04X[] = \n                     {\n"%texts
 306         for subIndex in xrange(len(values)):
 307             subentry_infos = Node.GetSubentryInfos(index, subIndex)
 308             if subIndex < len(values) - 1:
 309                 sep = ","
 310             else:
 311                 sep = ""
 312             typename = Node.GetTypeName(subentry_infos["type"])
 313             if entry_infos["struct"] & OD_IdenticalSubindexes:
 314                 typeinfos = GetValidTypeInfos(typename, values)
 315             else:
 316                 typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
 317             if subIndex == 0:
 318                 if index == 0x1003:
 319                     typeinfos = GetValidTypeInfos("valueRange_EMC")
 320                 if entry_infos["struct"] & OD_MultipleSubindexes:
 321                     name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
 322                 elif index in variablelist:
 323                     name = FormatName(subentry_infos["name"])
 324                 else:
 325                     name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
 326             elif entry_infos["struct"] & OD_IdenticalSubindexes:
 327                 if index in variablelist:
 328                     name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
 329                 else:
 330                     name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
 331             else:
 332                 if index in variablelist:
 333                     name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
 334                 else:
 335                     name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
 336             if typeinfos[2] == "visible_string":
 337                 sizeof = str(max(len(values[subIndex]), default_string_size))
 338             elif typeinfos[2] == "domain":
 339                 sizeof = str(len(values[subIndex]))
 340             else:
 341                 sizeof = "sizeof (%s)"%typeinfos[0]
 342             params = Node.GetParamsEntry(index, subIndex)
 343             if params["save"]:
 344                 save = "|TO_BE_SAVE"
 345             else:
 346                 save = ""
 347             strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
 348         strIndex += "                     };\n"
 349         indexContents[index] = strIndex
 350
 351 #-------------------------------------------------------------------------------
 352 #                     Declaration of Particular Parameters
 353 #-------------------------------------------------------------------------------
 354
 355     if 0x1003 not in communicationlist:
 356         entry_infos = Node.GetEntryInfos(0x1003)
 357         texts["EntryName"] = entry_infos["name"]
 358         indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */
 359                     UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
 360                     UNS32 %(NodeName)s_obj1003[] =
 361                     {
 362                       0x0       /* 0 */
 363                     };
 364                     ODCallback_t %(NodeName)s_Index1003_callbacks[] =
 365                      {
 366                        NULL,
 367                        NULL,
 368                      };
 369                     subindex %(NodeName)s_Index1003[] =
 370                      {
 371                        { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
 372                        { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
 373                      };
 374 """%texts
 375
 376     if 0x1005 not in communicationlist:
 377         entry_infos = Node.GetEntryInfos(0x1005)
 378         texts["EntryName"] = entry_infos["name"]
 379         indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
 380                     UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
 381 """%texts
 382
 383     if 0x1006 not in communicationlist:
 384         entry_infos = Node.GetEntryInfos(0x1006)
 385         texts["EntryName"] = entry_infos["name"]
 386         indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
 387                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
 388 """%texts
 389
 390     if 0x1014 not in communicationlist:
 391         entry_infos = Node.GetEntryInfos(0x1014)
 392         texts["EntryName"] = entry_infos["name"]
 393         indexContents[0x1014] = """\n/* index 0x1014 :   %(EntryName)s */
 394                     UNS32 %(NodeName)s_obj1014 = 0x0;   /* 0 */
 395 """%texts
 396
 397     if 0x1016 in communicationlist:
 398         texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0)
 399     else:
 400         texts["heartBeatTimers_number"] = 0
 401         entry_infos = Node.GetEntryInfos(0x1016)
 402         texts["EntryName"] = entry_infos["name"]
 403         indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */
 404                     UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
 405                     UNS32 %(NodeName)s_obj1016[]={0};
 406 """%texts
 407
 408     if 0x1017 not in communicationlist:
 409         entry_infos = Node.GetEntryInfos(0x1017)
 410         texts["EntryName"] = entry_infos["name"]
 411         indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */
 412                     UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */
 413 """%texts
 414
 415 #-------------------------------------------------------------------------------
 416 #               Declaration of navigation in the Object Dictionary
 417 #-------------------------------------------------------------------------------
 418
 419     strDeclareIndex = ""
 420     strDeclareSwitch = ""
 421     strQuickIndex = ""
 422     quick_index = {}
 423     for index_cat in index_categories:
 424         quick_index[index_cat] = {}
 425         for cat, idx_min, idx_max in categories:
 426             quick_index[index_cat][cat] = 0
 427     maxPDOtransmit = 0
 428     for i, index in enumerate(listIndex):
 429         texts["index"] = index
 430         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
 431         strDeclareSwitch += "           case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
 432         for cat, idx_min, idx_max in categories:
 433             if idx_min <= index <= idx_max:
 434                 quick_index["lastIndex"][cat] = i
 435                 if quick_index["firstIndex"][cat] == 0:
 436                     quick_index["firstIndex"][cat] = i
 437                 if cat == "PDO_TRS":
 438                     maxPDOtransmit += 1
 439     texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
 440     for index_cat in index_categories:
 441         strQuickIndex += "\nquick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
 442         sep = ","
 443         for i, (cat, idx_min, idx_max) in enumerate(categories):
 444             if i == len(categories) - 1:
 445                 sep = ""
 446             strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
 447         strQuickIndex += "};\n"
 448
 449 #-------------------------------------------------------------------------------
 450 #                            Write File Content
 451 #-------------------------------------------------------------------------------
 452
 453     fileContent = generated_tag + """
 454 #include "%s"
 455 """%(headerfilepath)
 456
 457     fileContent += """
 458 /**************************************************************************/
 459 /* Declaration of the mapped variables                                    */
 460 /**************************************************************************/
 461 """ + mappedVariableContent
 462
 463     fileContent += """
 464 /**************************************************************************/
 465 /* Declaration of the value range types                                   */
 466 /**************************************************************************/
 467 """ + valueRangeContent
 468
 469     fileContent += """
 470 /**************************************************************************/
 471 /* The node id                                                            */
 472 /**************************************************************************/
 473 /* node_id default value.*/
 474 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
 475
 476 /**************************************************************************/
 477 /* Array of message processing information */
 478
 479 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
 480
 481 """%texts
 482     if texts["heartBeatTimers_number"] > 0:
 483         fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(heartBeatTimers_number)d] = {TIMER_NONE,};\n"%texts
 484     else:
 485         fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
 486
 487     fileContent += """
 488 /*
 489 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 490
 491                                OBJECT DICTIONARY
 492
 493 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 494 */
 495 """%texts
 496     contentlist = indexContents.keys()
 497     contentlist.sort()
 498     for index in contentlist:
 499         fileContent += indexContents[index]
 500
 501     fileContent += """
 502 const indextable %(NodeName)s_objdict[] =
 503 {
 504 """%texts
 505     fileContent += strDeclareIndex
 506     fileContent += """};
 507
 508 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
 509 {
 510         int i;
 511         *callbacks = NULL;
 512         switch(wIndex){
 513 """%texts
 514     fileContent += strDeclareSwitch
 515     fileContent += """          default:
 516                         *errorCode = OD_NO_SUCH_OBJECT;
 517                         return NULL;
 518         }
 519         *errorCode = OD_SUCCESSFUL;
 520         return &%(NodeName)s_objdict[i];
 521 }
 522
 523 /*
 524  * To count at which received SYNC a PDO must be sent.
 525  * Even if no pdoTransmit are defined, at least one entry is computed
 526  * for compilations issues.
 527  */
 528 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
 529
 530     fileContent += ",".join(["s_PDO_status_Initializer"]*texts["maxPDOtransmit"]) + """};
 531 """
 532
 533     fileContent += strQuickIndex
 534     fileContent += """
 535 UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
 536
 537 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
 538
 539 """%texts
 540
 541 #-------------------------------------------------------------------------------
 542 #                          Write Header File Content
 543 #-------------------------------------------------------------------------------
 544
 545     texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
 546     HeaderFileContent = generated_tag + """
 547 #ifndef %(file_include_name)s
 548 #define %(file_include_name)s
 549
 550 #include "data.h"
 551
 552 /* Prototypes of function provided by object dictionnary */
 553 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
 554 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
 555
 556 /* Master node data struct */
 557 extern CO_Data %(NodeName)s_Data;
 558 """%texts
 559     HeaderFileContent += strDeclareHeader
 560
 561     HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
 562
 563     return fileContent,HeaderFileContent
 564
 565 #-------------------------------------------------------------------------------
 566 #                             Main Function
 567 #-------------------------------------------------------------------------------
 568
 569 def GenerateFile(filepath, node):
 570     try:
 571         headerfilepath = os.path.splitext(filepath)[0]+".h"
 572         content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1])
 573         WriteFile(filepath, content)
 574         WriteFile(headerfilepath, header)
 575         return None
 576     except ValueError, message:
 577         return "Unable to Generate C File\n%s"%message
 578