def CTNGenerate_C(self, buildpath, locations):
can_driver = self.GetCanDriver()
if can_driver is not None:
can_drivers = local_canfestival_config.DLL_LIST
if can_driver not in can_drivers:
can_driver = can_drivers[0]
can_drv_ext = self.GetCTRoot().GetBuilder().extension
can_drv_prefix = self.GetCTRoot().GetBuilder().dlopen_prefix
can_driver_name = can_drv_prefix + "libcanfestival_" + can_driver + can_drv_ext
else:
can_driver_name = ""
format_dict = {
"locstr": "_".join(map(str, self.GetCurrentLocation())),
"candriver": can_driver_name,
"nodes_includes": "",
"board_decls": "",
"nodes_init": "",
"nodes_open": "",
"nodes_stop": "",
"nodes_close": "",
"nodes_send_sync": "",
"nodes_proceed_sync": "",
"slavebootups": "",
"slavebootup_register": "",
"post_sync": "",
"post_sync_register": "",
"pre_op": "",
"pre_op_register": "",
}
for child in self.IECSortedChildren():
childlocstr = "_".join(map(str, child.GetCurrentLocation()))
nodename = "OD_%s" % childlocstr
# Try to get Slave Node
child_data = getattr(child, "CanFestivalSlaveNode", None)
if child_data is None:
# Not a slave -> master
child_data = getattr(child, "CanFestivalNode")
# Apply sync setting
format_dict[
"nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n ' % (
nodename, child_data.getNodeId())
if child_data.getSync_TPDOs():
format_dict[
"nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n ' % (
nodename)
format_dict[
"nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n ' % (
nodename)
# initialize and declare node boot status variables for post_SlaveBootup lookup
SlaveIDs = child.GetSlaveIDs()
if len(SlaveIDs) == 0:
# define post_SlaveBootup lookup functions
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){}\n"
% (nodename))
else:
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"
% (nodename) +
" check_and_start_node(d, nodeId);\n" + "}\n")
# register previously declared func as post_SlaveBootup callback for that node
format_dict["slavebootup_register"] += (
"%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n" %
(nodename, nodename))
format_dict["pre_op"] += (
"static void %s_preOperational(CO_Data* d){\n " %
(nodename) + "".join([
" masterSendNMTstateChange(d, %d, NMT_Reset_Comunication);\n"
% NdId for NdId in SlaveIDs
]) + "}\n")
format_dict["pre_op_register"] += (
"%s_Data.preOperational = %s_preOperational;\n" %
(nodename, nodename))
else:
# Slave node
align = child_data.getSync_Align()
align_ratio = child_data.getSync_Align_Ratio()
if align > 0:
format_dict["post_sync"] += (
"static int %s_CalCount = 0;\n" % (nodename) +
"static void %s_post_sync(CO_Data* d){\n" %
(nodename) + " if(%s_CalCount < %d){\n" %
(nodename, align) + " %s_CalCount++;\n" %
(nodename) + " align_tick(-1);\n" +
" }else{\n" + " align_tick(%d);\n" %
(align_ratio) + " }\n" + "}\n")
format_dict["post_sync_register"] += (
"%s_Data.post_sync = %s_post_sync;\n" %
(nodename, nodename))
format_dict[
"nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n ' % (
nodename, child_data.getNodeId())
# Include generated OD headers
format_dict["nodes_includes"] += '#include "%s.h"\n' % (nodename)
# Declare CAN channels according user filled config
format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n' % (
nodename, child.GetCanDevice(), child_data.getCAN_Baudrate())
format_dict["nodes_open"] += 'NODE_OPEN(%s)\n ' % (nodename)
format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n ' % (nodename)
format_dict["nodes_stop"] += 'NODE_STOP(%s)\n ' % (nodename)
filename = paths.AbsNeighbourFile(__file__, "cf_runtime.c")
cf_main = open(filename).read() % format_dict
cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c" % format_dict)
f = open(cf_main_path, 'w')
f.write(cf_main)
f.close()
res = [
(cf_main_path, local_canfestival_config.getCFLAGS(CanFestivalPath))
], local_canfestival_config.getLDFLAGS(CanFestivalPath), True
if can_driver is not None:
can_driver_path = os.path.join(CanFestivalPath, "drivers",
can_driver, can_driver_name)
if os.path.exists(can_driver_path):
res += ((can_driver_name, file(can_driver_path, "rb")), )
return res
def CTNGenerate_C(self, buildpath, locations):
can_driver = self.GetCanDriver()
if can_driver is not None:
can_drivers = local_canfestival_config.DLL_LIST
if can_driver not in can_drivers :
can_driver = can_drivers[0]
can_drv_ext = self.GetCTRoot().GetBuilder().extension
can_drv_prefix = self.GetCTRoot().GetBuilder().dlopen_prefix
can_driver_name = can_drv_prefix + "libcanfestival_" + can_driver + can_drv_ext
else:
can_driver_name = ""
format_dict = {"locstr" : "_".join(map(str,self.GetCurrentLocation())),
"candriver" : can_driver_name,
"nodes_includes" : "",
"board_decls" : "",
"nodes_init" : "",
"nodes_open" : "",
"nodes_stop" : "",
"nodes_close" : "",
"nodes_send_sync" : "",
"nodes_proceed_sync" : "",
"slavebootups" : "",
"slavebootup_register" : "",
"post_sync" : "",
"post_sync_register" : "",
"pre_op" : "",
"pre_op_register" : "",
}
for child in self.IECSortedChildren():
childlocstr = "_".join(map(str,child.GetCurrentLocation()))
nodename = "OD_%s" % childlocstr
# Try to get Slave Node
child_data = getattr(child, "CanFestivalSlaveNode", None)
if child_data is None:
# Not a slave -> master
child_data = getattr(child, "CanFestivalNode")
# Apply sync setting
format_dict["nodes_init"] += 'NODE_MASTER_INIT(%s, %s)\n '%(
nodename,
child_data.getNodeId())
if child_data.getSync_TPDOs():
format_dict["nodes_send_sync"] += 'NODE_SEND_SYNC(%s)\n '%(nodename)
format_dict["nodes_proceed_sync"] += 'NODE_PROCEED_SYNC(%s)\n '%(nodename)
# initialize and declare node boot status variables for post_SlaveBootup lookup
SlaveIDs = child.GetSlaveIDs()
if len(SlaveIDs) == 0:
# define post_SlaveBootup lookup functions
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){}\n"%(nodename))
else:
format_dict["slavebootups"] += (
"static void %s_post_SlaveBootup(CO_Data* d, UNS8 nodeId){\n"%(nodename)+
" check_and_start_node(d, nodeId);\n"+
"}\n")
# register previously declared func as post_SlaveBootup callback for that node
format_dict["slavebootup_register"] += (
"%s_Data.post_SlaveBootup = %s_post_SlaveBootup;\n"%(nodename,nodename))
format_dict["pre_op"] += (
"static void %s_preOperational(CO_Data* d){\n "%(nodename)+
"".join([" masterSendNMTstateChange(d, %d, NMT_Reset_Comunication);\n"%NdId for NdId in SlaveIDs])+
"}\n")
format_dict["pre_op_register"] += (
"%s_Data.preOperational = %s_preOperational;\n"%(nodename,nodename))
else:
# Slave node
align = child_data.getSync_Align()
align_ratio=child_data.getSync_Align_Ratio()
if align > 0:
format_dict["post_sync"] += (
"static int %s_CalCount = 0;\n"%(nodename)+
"static void %s_post_sync(CO_Data* d){\n"%(nodename)+
" if(%s_CalCount < %d){\n"%(nodename, align)+
" %s_CalCount++;\n"%(nodename)+
" align_tick(-1);\n"+
" }else{\n"+
" align_tick(%d);\n"%(align_ratio)+
" }\n"+
"}\n")
format_dict["post_sync_register"] += (
"%s_Data.post_sync = %s_post_sync;\n"%(nodename,nodename))
format_dict["nodes_init"] += 'NODE_SLAVE_INIT(%s, %s)\n '%(
nodename,
child_data.getNodeId())
# Include generated OD headers
format_dict["nodes_includes"] += '#include "%s.h"\n'%(nodename)
# Declare CAN channels according user filled config
format_dict["board_decls"] += 'BOARD_DECL(%s, "%s", "%s")\n'%(
nodename,
child.GetCanDevice(),
child_data.getCAN_Baudrate())
format_dict["nodes_open"] += 'NODE_OPEN(%s)\n '%(nodename)
format_dict["nodes_close"] += 'NODE_CLOSE(%s)\n '%(nodename)
format_dict["nodes_stop"] += 'NODE_STOP(%s)\n '%(nodename)
filename = os.path.join(os.path.split(__file__)[0],"cf_runtime.c")
cf_main = open(filename).read() % format_dict
cf_main_path = os.path.join(buildpath, "CF_%(locstr)s.c"%format_dict)
f = open(cf_main_path,'w')
f.write(cf_main)
f.close()
res = [(cf_main_path, local_canfestival_config.getCFLAGS(CanFestivalPath))],local_canfestival_config.getLDFLAGS(CanFestivalPath), True
if can_driver is not None:
can_driver_path = os.path.join(CanFestivalPath,"drivers",can_driver,can_driver_name)
if os.path.exists(can_driver_path):
res += ((can_driver_name, file(can_driver_path,"rb")),)
return res