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 = default_string_size
  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             if typeinfos[2] not in ["visible_string", "domain"]:
  79                 internal_types[typename] = typeinfos
  80         else:
  81             raise ValueError, """!!! %s isn't a valid type for CanFestival."""%typename
  82     return typeinfos
  83
  84 def ComputeValue(type, value):
  85     if type == "visible_string":
  86         return "\"%s\""%value, ""
  87     elif type == "domain":
  88         return "\"%s\""%''.join(["\\x%2.2x"%ord(char) for char in value]), ""
  89     elif type.startswith("real"):
  90         return "%f"%value, ""
  91     else:
  92         return "0x%X"%value, "\t/* %s */"%str(value)
  93
  94 def WriteFile(filepath, content):
  95     cfile = open(filepath,"w")
  96     cfile.write(content)
  97     cfile.close()
  98
  99 def GenerateFileContent(Node, headerfilepath, pointers_dict = {}):
 100     """
 101     pointers_dict = {(Idx,Sidx):"VariableName",...}
 102     """
 103     global type
 104     global internal_types
 105     global default_string_size
 106
 107     texts = {}
 108     texts["maxPDOtransmit"] = 0
 109     texts["NodeName"] = Node.GetNodeName()
 110     texts["NodeID"] = Node.GetNodeID()
 111     texts["NodeType"] = Node.GetNodeType()
 112     texts["Description"] = Node.GetNodeDescription()
 113     texts["iam_a_slave"] = 0
 114     if (texts["NodeType"] == "slave"):
 115         texts["iam_a_slave"] = 1
 116
 117     default_string_size = Node.GetDefaultStringSize()
 118
 119     # Compiling lists of indexes
 120     rangelist = [idx for idx in Node.GetIndexes() if 0 <= idx <= 0x260]
 121     listIndex = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0xFFFF]
 122     communicationlist = [idx for idx in Node.GetIndexes() if 0x1000 <= idx <= 0x11FF]
 123     sdolist = [idx for idx in Node.GetIndexes() if 0x1200 <= idx <= 0x12FF]
 124     pdolist = [idx for idx in Node.GetIndexes() if 0x1400 <= idx <= 0x1BFF]
 125     variablelist = [idx for idx in Node.GetIndexes() if 0x2000 <= idx <= 0xBFFF]
 126
 127 #-------------------------------------------------------------------------------
 128 #                       Declaration of the value range types
 129 #-------------------------------------------------------------------------------
 130
 131     valueRangeContent = ""
 132     strDefine = "\n#define valueRange_EMC 0x9F /* Type for index 0x1003 subindex 0x00 (only set of value 0 is possible) */"
 133     strSwitch = """    case valueRange_EMC:
 134       if (*(UNS8*)value != (UNS8)0) return OD_VALUE_RANGE_EXCEEDED;
 135       break;\n"""
 136     internal_types["valueRange_EMC"] = ("UNS8", "", "valueRange_EMC", True)
 137     num = 0
 138     for index in rangelist:
 139         rangename = Node.GetEntryName(index)
 140         result = range_model.match(rangename)
 141         if result:
 142             num += 1
 143             typeindex = Node.GetEntry(index, 1)
 144             typename = Node.GetTypeName(typeindex)
 145             typeinfos = GetValidTypeInfos(typename)
 146             internal_types[rangename] = (typeinfos[0], typeinfos[1], "valueRange_%d"%num)
 147             minvalue = Node.GetEntry(index, 2)
 148             maxvalue = Node.GetEntry(index, 3)
 149             strDefine += "\n#define valueRange_%d 0x%02X /* Type %s, %s < value < %s */"%(num,index,typeinfos[0],str(minvalue),str(maxvalue))
 150             strSwitch += "    case valueRange_%d:\n"%(num)
 151             if typeinfos[3] and minvalue <= 0:
 152                 strSwitch += "      /* Negative or null low limit ignored because of unsigned type */;\n"
 153             else:
 154                 strSwitch += "      if (*(%s*)value < (%s)%s) return OD_VALUE_TOO_LOW;\n"%(typeinfos[0],typeinfos[0],str(minvalue))
 155             strSwitch += "      if (*(%s*)value > (%s)%s) return OD_VALUE_TOO_HIGH;\n"%(typeinfos[0],typeinfos[0],str(maxvalue))
 156             strSwitch += "    break;\n"
 157
 158     valueRangeContent += strDefine
 159     valueRangeContent += "\nUNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value)\n{"%texts
 160     valueRangeContent += "\n  switch (typeValue) {\n"
 161     valueRangeContent += strSwitch
 162     valueRangeContent += "  }\n  return 0;\n}\n"
 163
 164 #-------------------------------------------------------------------------------
 165 #            Creation of the mapped variables and object dictionary
 166 #-------------------------------------------------------------------------------
 167
 168     mappedVariableContent = ""
 169     pointedVariableContent = ""
 170     strDeclareHeader = ""
 171     strDeclareCallback = ""
 172     indexContents = {}
 173     indexCallbacks = {}
 174     for index in listIndex:
 175         texts["index"] = index
 176         strIndex = ""
 177         entry_infos = Node.GetEntryInfos(index)
 178         texts["EntryName"] = entry_infos["name"].encode('ascii','replace')
 179         values = Node.GetEntry(index)
 180         callbacks = Node.HasEntryCallbacks(index)
 181         if index in variablelist:
 182             strIndex += "\n/* index 0x%(index)04X :   Mapped variable %(EntryName)s */\n"%texts
 183         else:
 184             strIndex += "\n/* index 0x%(index)04X :   %(EntryName)s. */\n"%texts
 185
 186         # Entry type is VAR
 187         if not isinstance(values, ListType):
 188             subentry_infos = Node.GetSubentryInfos(index, 0)
 189             typename = Node.GetTypeName(subentry_infos["type"])
 190             typeinfos = GetValidTypeInfos(typename, [values])
 191             texts["subIndexType"] = typeinfos[0]
 192             if typeinfos[1] is not None:
 193                 texts["suffixe"] = "[%d]"%typeinfos[1]
 194             else:
 195                 texts["suffixe"] = ""
 196             texts["value"], texts["comment"] = ComputeValue(typeinfos[2], values)
 197             if index in variablelist:
 198                 texts["name"] = FormatName(subentry_infos["name"])
 199                 strDeclareHeader += "extern %(subIndexType)s %(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00*/\n"%texts
 200                 mappedVariableContent += "%(subIndexType)s %(name)s%(suffixe)s = %(value)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x00 */\n"%texts
 201             else:
 202                 strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X%(suffixe)s = %(value)s;%(comment)s\n"%texts
 203             values = [values]
 204         else:
 205             subentry_infos = Node.GetSubentryInfos(index, 0)
 206             typename = Node.GetTypeName(subentry_infos["type"])
 207             typeinfos = GetValidTypeInfos(typename)
 208             if index == 0x1003:
 209                 texts["value"] = 0
 210             else:
 211                 texts["value"] = values[0]
 212             texts["subIndexType"] = typeinfos[0]
 213             strIndex += "                    %(subIndexType)s %(NodeName)s_highestSubIndex_obj%(index)04X = %(value)d; /* number of subindex - 1*/\n"%texts
 214
 215             # Entry type is RECORD
 216             if entry_infos["struct"] & OD_IdenticalSubindexes:
 217                 subentry_infos = Node.GetSubentryInfos(index, 1)
 218                 typename = Node.GetTypeName(subentry_infos["type"])
 219                 typeinfos = GetValidTypeInfos(typename, values[1:])
 220                 texts["subIndexType"] = typeinfos[0]
 221                 if typeinfos[1] is not None:
 222                     texts["suffixe"] = "[%d]"%typeinfos[1]
 223                     texts["type_suffixe"] = "*"
 224                 else:
 225                     texts["suffixe"] = ""
 226                     texts["type_suffixe"] = ""
 227                 texts["length"] = values[0]
 228                 if index in variablelist:
 229                     texts["name"] = FormatName(entry_infos["name"])
 230                     strDeclareHeader += "extern %(subIndexType)s%(type_suffixe)s %(name)s[];\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n"%texts
 231                     mappedVariableContent += "%(subIndexType)s%(type_suffixe)s %(name)s[] =\t\t/* Mapped at index 0x%(index)04X, subindex 0x01 - 0x%(length)02X */\n  {\n"%texts
 232                     for subIndex, value in enumerate(values):
 233                         sep = ","
 234                         if subIndex > 0:
 235                             if subIndex == len(values)-1:
 236                                 sep = ""
 237                             value, comment = ComputeValue(typeinfos[2], value)
 238                             mappedVariableContent += "    %s%s%s\n"%(value, sep, comment)
 239                     mappedVariableContent += "  };\n"
 240                 else:
 241                     strIndex += "                    %(subIndexType)s%(type_suffixe)s %(NodeName)s_obj%(index)04X[] = \n                    {\n"%texts
 242                     for subIndex, value in enumerate(values):
 243                         sep = ","
 244                         if subIndex > 0:
 245                             if subIndex == len(values)-1:
 246                                 sep = ""
 247                             value, comment = ComputeValue(typeinfos[2], value)
 248                             strIndex += "                      %s%s%s\n"%(value, sep, comment)
 249                     strIndex += "                    };\n"
 250             else:
 251
 252                 texts["parent"] = FormatName(entry_infos["name"])
 253                 # Entry type is ARRAY
 254                 for subIndex, value in enumerate(values):
 255                     texts["subIndex"] = subIndex
 256                     if subIndex > 0:
 257                         subentry_infos = Node.GetSubentryInfos(index, subIndex)
 258                         typename = Node.GetTypeName(subentry_infos["type"])
 259                         typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
 260                         texts["subIndexType"] = typeinfos[0]
 261                         if typeinfos[1] is not None:
 262                             texts["suffixe"] = "[%d]"%typeinfos[1]
 263                         else:
 264                             texts["suffixe"] = ""
 265                         texts["value"], texts["comment"] = ComputeValue(typeinfos[2], value)
 266                         texts["name"] = FormatName(subentry_infos["name"])
 267                         if index in variablelist:
 268                             strDeclareHeader += "extern %(subIndexType)s %(parent)s_%(name)s%(suffixe)s;\t\t/* Mapped at index 0x%(index)04X, subindex 0x%(subIndex)02X */\n"%texts
 269                             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
 270                         else:
 271                             strIndex += "                    %(subIndexType)s %(NodeName)s_obj%(index)04X_%(name)s%(suffixe)s = %(value)s;%(comment)s\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             if entry_infos["struct"] & OD_IdenticalSubindexes:
 295                 typeinfos = GetValidTypeInfos(typename, values[1:])
 296             else:
 297                 typeinfos = GetValidTypeInfos(typename, [values[subIndex]])
 298             if subIndex == 0:
 299                 if index == 0x1003:
 300                     typeinfos = GetValidTypeInfos("valueRange_EMC")
 301                 if entry_infos["struct"] & OD_MultipleSubindexes:
 302                     name = "%(NodeName)s_highestSubIndex_obj%(index)04X"%texts
 303                 elif index in variablelist:
 304                     name = FormatName(subentry_infos["name"])
 305                 else:
 306                     name = FormatName("%s_obj%04X"%(texts["NodeName"], texts["index"]))
 307             elif entry_infos["struct"] & OD_IdenticalSubindexes:
 308                 if index in variablelist:
 309                     name = "%s[%d]"%(FormatName(entry_infos["name"]), subIndex - 1)
 310                 else:
 311                     name = "%s_obj%04X[%d]"%(texts["NodeName"], texts["index"], subIndex - 1)
 312             else:
 313                 if index in variablelist:
 314                     name = FormatName("%s_%s"%(entry_infos["name"],subentry_infos["name"]))
 315                 else:
 316                     name = "%s_obj%04X_%s"%(texts["NodeName"], texts["index"], FormatName(subentry_infos["name"]))
 317             if typeinfos[2] == "visible_string":
 318                 sizeof = str(max(len(values[subIndex]), default_string_size))
 319             elif typeinfos[2] == "domain":
 320                 sizeof = str(len(values[subIndex]))
 321             else:
 322                 sizeof = "sizeof (%s)"%typeinfos[0]
 323             params = Node.GetParamsEntry(index, subIndex)
 324             if params["save"]:
 325                 save = "|TO_BE_SAVE"
 326             else:
 327                 save = ""
 328             strIndex += "                       { %s%s, %s, %s, (void*)&%s }%s\n"%(subentry_infos["access"].upper(),save,typeinfos[2],sizeof,name,sep)
 329             pointer_name = pointers_dict.get((index, subIndex), None)
 330             if pointer_name is not None:
 331                 pointedVariableContent += "%s* %s = &%s;\n"%(typeinfos[0], pointer_name, name)
 332         strIndex += "                     };\n"
 333         indexContents[index] = strIndex
 334
 335 #-------------------------------------------------------------------------------
 336 #                     Declaration of Particular Parameters
 337 #-------------------------------------------------------------------------------
 338
 339     if 0x1003 not in communicationlist:
 340         entry_infos = Node.GetEntryInfos(0x1003)
 341         texts["EntryName"] = entry_infos["name"]
 342         indexContents[0x1003] = """\n/* index 0x1003 :   %(EntryName)s */
 343                     UNS8 %(NodeName)s_highestSubIndex_obj1003 = 0; /* number of subindex - 1*/
 344                     UNS32 %(NodeName)s_obj1003[] =
 345                     {
 346                       0x0       /* 0 */
 347                     };
 348                     ODCallback_t %(NodeName)s_Index1003_callbacks[] =
 349                      {
 350                        NULL,
 351                        NULL,
 352                      };
 353                     subindex %(NodeName)s_Index1003[] =
 354                      {
 355                        { RW, valueRange_EMC, sizeof (UNS8), (void*)&%(NodeName)s_highestSubIndex_obj1003 },
 356                        { RO, uint32, sizeof (UNS32), (void*)&%(NodeName)s_obj1003[0] }
 357                      };
 358 """%texts
 359
 360     if 0x1005 not in communicationlist:
 361         entry_infos = Node.GetEntryInfos(0x1005)
 362         texts["EntryName"] = entry_infos["name"]
 363         indexContents[0x1005] = """\n/* index 0x1005 :   %(EntryName)s */
 364                     UNS32 %(NodeName)s_obj1005 = 0x0;   /* 0 */
 365 """%texts
 366
 367     if 0x1006 not in communicationlist:
 368         entry_infos = Node.GetEntryInfos(0x1006)
 369         texts["EntryName"] = entry_infos["name"]
 370         indexContents[0x1006] = """\n/* index 0x1006 :   %(EntryName)s */
 371                     UNS32 %(NodeName)s_obj1006 = 0x0;   /* 0 */
 372 """%texts
 373
 374     if 0x1014 not in communicationlist:
 375         entry_infos = Node.GetEntryInfos(0x1014)
 376         texts["EntryName"] = entry_infos["name"]
 377         indexContents[0x1014] = """\n/* index 0x1014 :   %(EntryName)s */
 378                     UNS32 %(NodeName)s_obj1014 = 0x80 + 0x%(NodeID)02X;   /* 128 + NodeID */
 379 """%texts
 380
 381     if 0x1016 in communicationlist:
 382         texts["heartBeatTimers_number"] = Node.GetEntry(0x1016, 0)
 383     else:
 384         texts["heartBeatTimers_number"] = 0
 385         entry_infos = Node.GetEntryInfos(0x1016)
 386         texts["EntryName"] = entry_infos["name"]
 387         indexContents[0x1016] = """\n/* index 0x1016 :   %(EntryName)s */
 388                     UNS8 %(NodeName)s_highestSubIndex_obj1016 = 0;
 389                     UNS32 %(NodeName)s_obj1016[]={0};
 390 """%texts
 391
 392     if 0x1017 not in communicationlist:
 393         entry_infos = Node.GetEntryInfos(0x1017)
 394         texts["EntryName"] = entry_infos["name"]
 395         indexContents[0x1017] = """\n/* index 0x1017 :   %(EntryName)s */
 396                     UNS16 %(NodeName)s_obj1017 = 0x0;   /* 0 */
 397 """%texts
 398
 399 #-------------------------------------------------------------------------------
 400 #               Declaration of navigation in the Object Dictionary
 401 #-------------------------------------------------------------------------------
 402
 403     strDeclareIndex = ""
 404     strDeclareSwitch = ""
 405     strQuickIndex = ""
 406     quick_index = {}
 407     for index_cat in index_categories:
 408         quick_index[index_cat] = {}
 409         for cat, idx_min, idx_max in categories:
 410             quick_index[index_cat][cat] = 0
 411     maxPDOtransmit = 0
 412     for i, index in enumerate(listIndex):
 413         texts["index"] = index
 414         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
 415         strDeclareSwitch += "           case 0x%04X: i = %d;%sbreak;\n"%(index, i, indexCallbacks[index])
 416         for cat, idx_min, idx_max in categories:
 417             if idx_min <= index <= idx_max:
 418                 quick_index["lastIndex"][cat] = i
 419                 if quick_index["firstIndex"][cat] == 0:
 420                     quick_index["firstIndex"][cat] = i
 421                 if cat == "PDO_TRS":
 422                     maxPDOtransmit += 1
 423     texts["maxPDOtransmit"] = max(1, maxPDOtransmit)
 424     for index_cat in index_categories:
 425         strQuickIndex += "\nconst quick_index %s_%s = {\n"%(texts["NodeName"], index_cat)
 426         sep = ","
 427         for i, (cat, idx_min, idx_max) in enumerate(categories):
 428             if i == len(categories) - 1:
 429                 sep = ""
 430             strQuickIndex += "  %d%s /* %s */\n"%(quick_index[index_cat][cat],sep,cat)
 431         strQuickIndex += "};\n"
 432
 433 #-------------------------------------------------------------------------------
 434 #                            Write File Content
 435 #-------------------------------------------------------------------------------
 436
 437     fileContent = generated_tag + """
 438 #include "%s"
 439 """%(headerfilepath)
 440
 441     fileContent += """
 442 /**************************************************************************/
 443 /* Declaration of mapped variables                                        */
 444 /**************************************************************************/
 445 """ + mappedVariableContent
 446
 447     fileContent += """
 448 /**************************************************************************/
 449 /* Declaration of value range types                                       */
 450 /**************************************************************************/
 451 """ + valueRangeContent
 452
 453     fileContent += """
 454 /**************************************************************************/
 455 /* The node id                                                            */
 456 /**************************************************************************/
 457 /* node_id default value.*/
 458 UNS8 %(NodeName)s_bDeviceNodeId = 0x%(NodeID)02X;
 459
 460 /**************************************************************************/
 461 /* Array of message processing information */
 462
 463 const UNS8 %(NodeName)s_iam_a_slave = %(iam_a_slave)d;
 464
 465 """%texts
 466     if texts["heartBeatTimers_number"] > 0:
 467         declaration = "TIMER_HANDLE %(NodeName)s_heartBeatTimers[%(heartBeatTimers_number)d]"%texts
 468         initializer = "{TIMER_NONE" + ",TIMER_NONE" * (texts["heartBeatTimers_number"] - 1) + "}"
 469         fileContent += declaration + " = " + initializer + ";\n"
 470     else:
 471         fileContent += "TIMER_HANDLE %(NodeName)s_heartBeatTimers[1];\n"%texts
 472
 473     fileContent += """
 474 /*
 475 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 476
 477                                OBJECT DICTIONARY
 478
 479 $$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$
 480 */
 481 """%texts
 482     contentlist = indexContents.keys()
 483     contentlist.sort()
 484     for index in contentlist:
 485         fileContent += indexContents[index]
 486
 487     fileContent += """
 488 /**************************************************************************/
 489 /* Declaration of pointed variables                                       */
 490 /**************************************************************************/
 491 """ + pointedVariableContent
 492
 493     fileContent += """
 494 const indextable %(NodeName)s_objdict[] =
 495 {
 496 """%texts
 497     fileContent += strDeclareIndex
 498     fileContent += """};
 499
 500 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks)
 501 {
 502         int i;
 503         *callbacks = NULL;
 504         switch(wIndex){
 505 """%texts
 506     fileContent += strDeclareSwitch
 507     fileContent += """          default:
 508                         *errorCode = OD_NO_SUCH_OBJECT;
 509                         return NULL;
 510         }
 511         *errorCode = OD_SUCCESSFUL;
 512         return &%(NodeName)s_objdict[i];
 513 }
 514
 515 /*
 516  * To count at which received SYNC a PDO must be sent.
 517  * Even if no pdoTransmit are defined, at least one entry is computed
 518  * for compilations issues.
 519  */
 520 s_PDO_status %(NodeName)s_PDO_status[%(maxPDOtransmit)d] = {"""%texts
 521
 522     fileContent += ",".join(["s_PDO_status_Initializer"]*texts["maxPDOtransmit"]) + """};
 523 """
 524
 525     fileContent += strQuickIndex
 526     fileContent += """
 527 const UNS16 %(NodeName)s_ObjdictSize = sizeof(%(NodeName)s_objdict)/sizeof(%(NodeName)s_objdict[0]);
 528
 529 CO_Data %(NodeName)s_Data = CANOPEN_NODE_DATA_INITIALIZER(%(NodeName)s);
 530
 531 """%texts
 532
 533 #-------------------------------------------------------------------------------
 534 #                          Write Header File Content
 535 #-------------------------------------------------------------------------------
 536
 537     texts["file_include_name"] = headerfilepath.replace(".", "_").upper()
 538     HeaderFileContent = generated_tag + """
 539 #ifndef %(file_include_name)s
 540 #define %(file_include_name)s
 541
 542 #include "data.h"
 543
 544 /* Prototypes of function provided by object dictionnary */
 545 UNS32 %(NodeName)s_valueRangeTest (UNS8 typeValue, void * value);
 546 const indextable * %(NodeName)s_scanIndexOD (UNS16 wIndex, UNS32 * errorCode, ODCallback_t **callbacks);
 547
 548 /* Master node data struct */
 549 extern CO_Data %(NodeName)s_Data;
 550 """%texts
 551     HeaderFileContent += strDeclareHeader
 552
 553     HeaderFileContent += "\n#endif // %(file_include_name)s\n"%texts
 554
 555     return fileContent,HeaderFileContent
 556
 557 #-------------------------------------------------------------------------------
 558 #                             Main Function
 559 #-------------------------------------------------------------------------------
 560
 561 def GenerateFile(filepath, node, pointers_dict = {}):
 562     try:
 563         headerfilepath = os.path.splitext(filepath)[0]+".h"
 564         content, header = GenerateFileContent(node, os.path.split(headerfilepath)[1], pointers_dict)
 565         WriteFile(filepath, content)
 566         WriteFile(headerfilepath, header)
 567         return None
 568     except ValueError, message:
 569         return "Unable to Generate C File\n%s"%message
 570