comp.g

CNC 的开放码,EMC2 V2.2.8版

    print >>f, "static int get_data_size(void);"
    if options.get("extra_setup"):
        print >>f, "static int extra_setup(struct state *inst, long extra_arg);"
    if options.get("extra_cleanup"):
        print >>f, "static void extra_cleanup(void);"

    if not options.get("no_convenience_defines"):
        print >>f, "#define TRUE (1)"
        print >>f, "#define FALSE (0)"
        print >>f, "#define true (1)"
        print >>f, "#define false (0)"

    print >>f
    if has_personality:
        print >>f, "static int export(char *prefix, long extra_arg, long personality) {"
    else:
        print >>f, "static int export(char *prefix, long extra_arg) {"
    print >>f, "    char buf[HAL_NAME_LEN + 2];"
    print >>f, "    int r = 0;"
    if has_array:
        print >>f, "    int j = 0;"
    print >>f, "    int sz = sizeof(struct state) + get_data_size();"
    print >>f, "    struct state *inst = hal_malloc(sz);"
    print >>f, "    memset(inst, 0, sz);"
    if options.get("extra_setup"):
        if has_personality:
            print >>f, "    r = extra_setup(inst, extra_arg, &personality);"
        else:
            print >>f, "    r = extra_setup(inst, extra_arg);"
	print >>f, "    if(r != 0) return r;"
    if has_personality:
        print >>f, "    inst->_personality = personality;"
    for name, type, array, dir, value, personality in pins:
        if personality:
            print >>f, "if(%s) {" % personality
        if array:
            if isinstance(array, tuple): array = array[1]
            print >>f, "    for(j=0; j < (%s); j++) {" % array
            print >>f, "        r = hal_pin_%s_newf(%s, &(inst->%s[j]), comp_id," % (
                type, dirmap[dir], to_c(name))
            print >>f, "            \"%%s%s\", prefix, j);" % to_hal("." + name)
            print >>f, "        if(r != 0) return r;"
            if value is not None:
                print >>f, "    *(inst->%s[j]) = %s;" % (to_c(name), value)
            print >>f, "    }"
        else:
            print >>f, "    r = hal_pin_%s_newf(%s, &(inst->%s), comp_id," % (
                type, dirmap[dir], to_c(name))
            print >>f, "        \"%%s%s\", prefix);" % to_hal("." + name)
            print >>f, "    if(r != 0) return r;"
            if value is not None:
                print >>f, "    *(inst->%s) = %s;" % (to_c(name), value)
        if personality:
            print >>f, "}"

    for name, type, array, dir, value, personality in params:
        if personality:
            print >>f, "if(%s) {" % personality
        if array:
            if isinstance(array, tuple): array = array[1]
            print >>f, "    for(j=0; j < %s; j++) {" % array
            print >>f, "        r = hal_param_%s_newf(%s, &(inst->%s[j]), comp_id," % (
                type, dirmap[dir], to_c(name))
            print >>f, "            \"%%s%s\", prefix, j);" % to_hal("." + name)
            print >>f, "        if(r != 0) return r;"
            if value is not None:
                print >>f, "    inst->%s[j] = %s;" % (to_c(name), value)
            print >>f, "    }"
        else:
            print >>f, "    r = hal_param_%s_newf(%s, &(inst->%s), comp_id," % (
                type, dirmap[dir], to_c(name))
            print >>f, "        \"%%s%s\", prefix);" % to_hal("." + name)
            if value is not None:
                print >>f, "    inst->%s = %s;" % (to_c(name), value)
            print >>f, "    if(r != 0) return r;"
        if personality:
            print >>f, "}"

    for type, name, array, value in variables:
        if value is None: continue
        if array:
            print >>f, "    for(j=0; j < %s; j++) {" % array
            print >>f, "        inst->%s[j] = %s;" % (name, value)
            print >>f, "    }"
        else:
            print >>f, "    inst->%s = %s;" % (name, value)

    for name, fp in functions:
        print >>f, "    rtapi_snprintf(buf, HAL_NAME_LEN, \"%%s%s\", prefix);"\
            % to_hal("." + name)
        print >>f, "    r = hal_export_funct(buf, (void(*)(void *inst, long))%s, inst, %s, 0, comp_id);" % (
            to_c(name), int(fp))
        print >>f, "    if(r != 0) return r;"
    print >>f, "    inst->_next = first_inst;"
    print >>f, "    first_inst = inst;"
    print >>f, "    return 0;"
    print >>f, "}"

    if options.get("count_function"):
        print >>f, "static int get_count(void);"

    if options.get("rtapi_app", 1):
        if options.get("constructable") and not options.get("singleton"):
            print >>f, "static int export_1(char *prefix, char *argstr) {"
            print >>f, "    int arg = simple_strtol(argstr, NULL, 0);"
            print >>f, "    return export(prefix, arg);"
            print >>f, "}"   
        if not options.get("singleton") and not options.get("count_function") :
            print >>f, "static int count = %s;" \
                % options.get("default_count", 1)
            if not options.get("userspace"):
                print >>f, "RTAPI_MP_INT(count, \"number of %s\");" % comp_name

        if has_personality:
            print >>f, "static int personality[16] = {0,};"
            print >>f, "RTAPI_MP_ARRAY_INT(personality, 16, \"personality of each %s\");" % comp_name
        print >>f, "int rtapi_app_main(void) {"
        print >>f, "    int r = 0;"
        if not options.get("singleton"):
            print >>f, "    int i;"
        if options.get("count_function"):
            print >>f, "    int count = get_count();"

        print >>f, "    comp_id = hal_init(\"%s\");" % comp_name
        print >>f, "    if(comp_id < 0) return comp_id;"

        if options.get("singleton"):
            if has_personality:
                print >>f, "    r = export(\"%s\", 0, personality[0]);" % \
                        to_hal(removeprefix(comp_name, "hal_"))
            else:
                print >>f, "    r = export(\"%s\", 0);" % \
                        to_hal(removeprefix(comp_name, "hal_"))
        else:
            print >>f, "    for(i=0; i<count; i++) {"
            print >>f, "        char buf[HAL_NAME_LEN + 2];"
            print >>f, "        rtapi_snprintf(buf, HAL_NAME_LEN, " \
                                        "\"%s.%%d\", i);" % \
                    to_hal(removeprefix(comp_name, "hal_"))
            if has_personality:
                print >>f, "        r = export(buf, i, personality[i%16]);"
            else:
                print >>f, "        r = export(buf, i);"
            print >>f, "        if(r != 0) break;"
            print >>f, "    }"
        if options.get("constructable") and not options.get("singleton"):
            print >>f, "    hal_set_constructor(comp_id, export_1);"
        print >>f, "    if(r) {"
	if options.get("extra_cleanup"):
            print >>f, "    extra_cleanup();"
        print >>f, "        hal_exit(comp_id);"
        print >>f, "    } else {"
        print >>f, "        hal_ready(comp_id);"
        print >>f, "    }"
        print >>f, "    return r;";
        print >>f, "}"

        print >>f
        print >>f, "void rtapi_app_exit(void) {"
	if options.get("extra_cleanup"):
            print >>f, "    extra_cleanup();"
        print >>f, "    hal_exit(comp_id);"
        print >>f, "}"

    if options.get("userspace"):
        print >>f, "static void user_mainloop(void);"
        if options.get("userinit"):
            print >>f, "static void user_init(int argc, char **argv);"
        print >>f, "int argc=0; char **argv=0;"
        print >>f, "int main(int argc_, char **argv_) {"    
        print >>f, "    argc = argc_; argv = argv;"
        print >>f 
        if options.get("userinit", 0):
            print >>f, "    userinit(argc, argv)";
        print >>f 
        print >>f, "    if(rtapi_app_main() < 0) return 1;"
        print >>f, "    user_mainloop();"
        print >>f, "    rtapi_app_exit();"
        print >>f, "    return 0;"
        print >>f, "}"

    print >>f
    if not options.get("no_convenience_defines"):
        print >>f, "#define FUNCTION(name) static void name(struct state *inst, long period)"
        print >>f, "#define EXTRA_SETUP() static int extra_setup(struct state *inst, long extra_arg)"
        print >>f, "#define EXTRA_CLEANUP() static void extra_cleanup(void)"
        print >>f, "#define fperiod (period * 1e-9)"
        for name, type, array, dir, value, personality in pins:
            if array:
                if dir == 'in':
                    print >>f, "#define %s(i) (0+*(inst->%s[i]))" % (to_c(name), to_c(name))
                else:
                    print >>f, "#define %s(i) (*(inst->%s[i]))" % (to_c(name), to_c(name))
            else:
                if dir == 'in':
                    print >>f, "#define %s (0+*inst->%s)" % (to_c(name), to_c(name))
                else:
                    print >>f, "#define %s (*inst->%s)" % (to_c(name), to_c(name))
        for name, type, array, dir, value, personality in params:
            if array:
                print >>f, "#define %s(i) (inst->%s[i])" % (to_c(name), to_c(name))
            else:
                print >>f, "#define %s (inst->%s)" % (to_c(name), to_c(name))

        for type, name, array, value in variables:
            print >>f, "#define %s (inst->%s)" % (name, name)

        if has_data:
            print >>f, "#define data (*(%s*)&(inst->_data))" % options['data']
        if has_personality:
            print >>f, "#define personality (inst->_personality)"

        if options.get("userspace"):
            print >>f, "#define FOR_ALL_INSTS() for(inst = first_inst; inst; inst = inst->_next)"    
    print >>f
    print >>f

def epilogue(f):
    data = options.get('data')
    print >>f
    if data:
        print >>f, "static int get_data_size(void) { return sizeof(%s); }" % data
    else:
        print >>f, "static int get_data_size(void) { return 0; }"

INSTALL, COMPILE, PREPROCESS, DOCUMENT, INSTALLDOC, VIEWDOC = range(6)
modename = ("install", "compile", "preprocess", "document", "installdoc", "viewdoc")

modinc = None
def find_modinc():
    global modinc
    if modinc: return modinc
    d = os.path.abspath(os.path.dirname(os.path.dirname(sys.argv[0])))
    for e in ['src', 'etc/emc2', '/etc/emc2']:
        e = os.path.join(d, e, 'Makefile.modinc')
        if os.path.exists(e):
            modinc = e
            return e
    raise SystemExit, "Unable to locate Makefile.modinc"

def build_usr(tempdir, filename, mode, origfilename):
    binname = os.path.basename(os.path.splitext(filename)[0])

    makefile = os.path.join(tempdir, "Makefile")
    f = open(makefile, "w")
    print >>f, "%s: %s" % (binname, filename)
    print >>f, "\t$(CC) $(EXTRA_CFLAGS) -URTAPI -DULAPI -O2 %s -o $@ $< -Wl,-rpath,$(LIBDIR) -L$(LIBDIR) -lemchal %s" % (
        options.get("extra_compile_args", ""),
        options.get("extra_link_args", ""))
    print >>f, "include %s" % find_modinc()
    f.close()
    result = os.system("cd %s; make -S %s" % (tempdir, binname))
    if result != 0:
        raise SystemExit, result
    output = os.path.join(tempdir, binname)
    if mode == INSTALL:
        shutil.copy(output, os.path.join(BASE, "bin", binname))
    elif mode == COMPILE:
        shutil.copy(output, os.path.join(os.path.dirname(origfilename),binname))

def build_rt(tempdir, filename, mode, origfilename):
    objname = os.path.basename(os.path.splitext(filename)[0] + ".o")
    makefile = os.path.join(tempdir, "Makefile")
    f = open(makefile, "w")
    print >>f, "obj-m += %s" % objname
    print >>f, "include %s" % find_modinc()
    print >>f, "EXTRA_CFLAGS += -I%s" % os.path.abspath(os.path.dirname(origfilename))
    print >>f, "EXTRA_CFLAGS += -I%s" % os.path.abspath('.')
    f.close()
    if mode == INSTALL:
        target = "modules install"
    else:
        target = "modules"
    result = os.system("cd %s; make -S %s" % (tempdir, target))
    if result != 0:
        raise SystemExit, result
    if mode == COMPILE:
        for extension in ".ko", ".so", ".o":
            kobjname = os.path.splitext(filename)[0] + extension
            if os.path.exists(kobjname):
                shutil.copy(kobjname, os.path.basename(kobjname))
                break
        else:
            raise SystemExit, "Unable to copy module from temporary directory"

def finddoc(section=None, name=None):
    for item in docs:
        if ((section == None or section == item[0]) and
                (name == None or name == item[1])): return item
    return None

def finddocs(section=None, name=None):
    for item in docs:
        if ((section == None or section == item[0]) and
                (name == None or name == item[1])):
                    yield item

def to_hal_man(s):
    if options.get("singleton"):
        s = "%s.%s" % (comp_name, s)
    else:
        s = "%s.\\fIN\\fB.%s" % (comp_name, s)
    s = s.replace("_", "-")
    s = s.rstrip("-")
    s = s.rstrip(".")
    s = re.sub("#+", lambda m: "\\fI" + "M" * len(m.group(0)) + "\\fB", s)
    # s = s.replace("-", "\\-")
    return s