stepper_controller/arduino/stepper/menu.py

   1 #!/usr/bin/python
   2 #
   3 # Build a linked list (indexed array) of characters to parse a
   4 # number of commands and optional arguments and call a function
   5 # for each command.
   6 #
   7 # Version: 0.1
   8 # Date:    25 November 2009
   9 # Author:  Harry McNally
  10 #
  11 #                      +-----------------------+
  12 #                      |   d e c i s i o n s   |
  13 #                      +-----------------------+
  14 #                      | a n d   d e s i g n s |
  15 #                      +-----------------------+
  16 #
  17 # Copyright (C) 2009 Decisions and Designs Pty Ltd. All rights reserved.
  18 #
  19 # This software may be distributed and modified under the terms of the GNU
  20 # General Public License version 2 (GPL) as published by the Free Software
  21 # Foundation and appearing in the file GPL2.TXT included in the packaging of
  22 # this file. Please note that GPL Section 2[b] requires that all works based
  23 # on this software must also be made publicly available under the terms of
  24 # the GPL ("Copyleft").
  25 #
  26 # Contact information:
  27 # Decisions and Designs Web site: http://www.decisions-and-designs.com.au
  28 # e-mail:                         [email protected]
  29 #
  30
  31 class Command:
  32     """Data for a command string, arguments, and called function"""
  33     def __init__(self, cmd, arg, fun):
  34         self.cmd  = cmd
  35         self.arg  = arg
  36         self.fun  = fun
  37
  38 # All of the commands, varg list, and functions to call.
  39 # The commands cannot overlap so "ab" and "abc" will clash (because
  40 # of the option for following arguments). Coding the command parsing
  41 # machine to overcome this would be slightly useful.
  42 # Up to four characters can be included in the argument entry for
  43 # up to four arguments (read left to right). Each character requests:
  44 # u = uint32_t, i = int32_t, d = double
  45 # Command("command", "varg_list", "function_name")
  46 menu = [                                                                 \
  47          Command("az",    "dddu", "COMMAND_AZIMUTH_SIG"),                \
  48          Command("ab",    "d",    "COMMAND_AZIMUTH_BASE_SIG"),           \
  49          Command("as",    "d",    "COMMAND_AZIMUTH_SLEW_SIG"),           \
  50          Command("aa",    "d",    "COMMAND_AZIMUTH_ACCELERATION_SIG"),   \
  51          Command("at",    "u",    "COMMAND_AZIMUTH_STEPS_SIG"),          \
  52          Command("acw",   "",     "COMMAND_AZIMUTH_CLOCKWISE_SIG"),      \
  53          Command("acc",   "",     "COMMAND_AZIMUTH_CCW_SIG"),            \
  54          Command("el",    "dddu", "COMMAND_ELEVATION_SIG"),              \
  55          Command("eb",    "d",    "COMMAND_ELEVATION_BASE_SIG"),         \
  56          Command("es",    "d",    "COMMAND_ELEVATION_SLEW_SIG"),         \
  57          Command("ea",    "d",    "COMMAND_ELEVATION_ACCELERATION_SIG"), \
  58          Command("et",    "u",    "COMMAND_ELEVATION_STEPS_SIG"),        \
  59          Command("eu",    "",     "COMMAND_ELEVATION_UP_SIG"),           \
  60          Command("ed",    "",     "COMMAND_ELEVATION_DOWN_SIG"),         \
  61          Command("sta",   "",     "COMMAND_START_AZIMUTH_SIG"),          \
  62          Command("ste",   "",     "COMMAND_START_ELEVATION_SIG"),        \
  63          Command("stb",   "",     "COMMAND_START_AZ_EL_SIG"),            \
  64        ]
  65
  66 def write_menu(file):
  67     file.write('\n/*\n    Commands defined in the ui.py file\n')
  68     file.write('    command signal arguments\n')
  69     for item in menu:
  70         file.write('    ' + repr(item.cmd) + ', ' +  repr(item.fun) + ', ' + \
  71               repr(item.arg) + '\n')
  72     file.write('*/\n\n')
  73
  74 function_list = []
  75
  76 class Function:
  77     def __init__(self, arg, fun):
  78         self.arg = arg
  79         self.fun = fun
  80
  81 def write_function_list(file):
  82     file.write('MenuSignal menuSignal[] = {\n')
  83     index = 0
  84     csv = ' '
  85     for function in function_list:
  86         shift = 0
  87         argb = 0
  88         for ch in function.arg:
  89             if (ch == 'u'):
  90                 argb += 1 << shift
  91             elif (ch == 'i'):
  92                 argb += 2 << shift
  93             elif (ch == 'd'):
  94                 argb += 3 << shift
  95             else :
  96                 raise WriteFunctionBadVArgChar
  97             shift += 2
  98         file.write('    ' + csv + '{ /* ' + repr(index) + ' */ ' + function.fun + ', ' + hex(argb) + ' }\n')
  99         csv = ','
 100         index += 1
 101     file.write('};\n\n')
 102
 103 class CommandEntry:
 104     def __init__(self, ch):
 105         self.branch = []
 106         self.chr = ch
 107
 108 class FunctionEntry:
 109     def __init__(self, ch, arg, fun):
 110         self.chr = ch
 111         self.index = len(function_list)
 112         if self.index > 127:
 113             raise FunctionListTooBig
 114         function_list.append(Function(arg, fun))
 115
 116 class MenuTree:
 117     """A (state) tree to traverse for each arriving character (event)"""
 118     def __init__(self):
 119         self.root = self.branch = []
 120
 121     # Search the present list and, if the char is found,  index to the char's
 122     # new list. Otherwise, add the char and index to the char's empty list.
 123     def add_command_entry(self, ch):
 124         for entry in self.branch:
 125             # Entry already exists for this character
 126             if entry.chr is ch:
 127                 if isinstance(entry, FunctionEntry):
 128                     raise FunctionEntrySubset
 129                 self.branch = entry.branch
 130                 return
 131         # Make a new entry for this character
 132         entry = CommandEntry(ch)
 133         self.branch.append(entry)
 134         self.branch = entry.branch
 135
 136     def add_function_entry(self, ch, arg, fun):
 137         for entry in self.branch:
 138             # Entry already exists for this character
 139             if entry.chr is ch:
 140                 if isinstance(entry, FunctionEntry):
 141                     raise FunctionEntryDuplicate
 142                 else:
 143                     raise FunctioEntrySuperset
 144         # Make a function entry for this character
 145         entry = FunctionEntry(ch, arg, fun)
 146         self.branch.append(entry)
 147
 148     def build_tree(self, commands):
 149         for command in commands:
 150             self.branch = self.root
 151             for ch in command.cmd[:-1]:
 152                 self.add_command_entry(ch)
 153             self.add_function_entry(command.cmd[-1], command.arg, command.fun)
 154
 155     def index_branch(self, branch):
 156         for entry in branch:
 157             if isinstance(entry, CommandEntry):
 158                 # Forward index this branch
 159                 entry.index = self.next_index
 160                 self.next_index += len(entry.branch) + 1
 161                 if self.next_index > 127:
 162                     raise CommandListTooBig
 163                 # Recurse through the tree branches
 164                 self.index_branch(entry.branch)
 165
 166     def index_tree(self):
 167         self.branch = self.root
 168         self.next_index = len(self.branch) + 1
 169         self.index_branch(self.branch)
 170
 171     def write_branch(self, file, branch):
 172         for entry in branch:
 173             if isinstance(entry, CommandEntry):
 174                 file.write('    { /* ' + repr(self.list_idx) + ' */ \'' + \
 175                            entry.chr + '\', ' + repr(entry.index) + '       },\n')
 176             else:
 177                 file.write('    { /* ' + repr(self.list_idx) + ' */ \'' + \
 178                            entry.chr + '\', ' + repr(entry.index) + ' | EOC },\n')
 179             self.list_idx += 1
 180         file.write('    { /* ' + repr(self.list_idx) + ' */  0,  0       },\n')
 181         self.list_idx += 1
 182         # Recurse through branches
 183         for entry in branch:
 184             if isinstance(entry, CommandEntry):
 185                 self.write_branch(file, entry.branch)
 186
 187     def write_tree(self, file):
 188         self.branch = self.root
 189         self.list_idx = 0
 190         file.write('Menu menu[] = {\n')
 191         self.write_branch(file, self.branch)
 192         file.write('};\n\n')
 193
 194 if __name__ == "__main__":
 195
 196     import sys
 197     import os
 198
 199     # Write default fail signal at index 0
 200     function_list.append(Function('', 'COMMAND_FAIL_SIG'))
 201     # Finish the tree
 202     t = MenuTree()
 203     t.build_tree(menu)
 204     t.index_tree()
 205     # Write the results into the file
 206     output = open(sys.argv[1] + '.tmp', "w")
 207     delete_lines = 0
 208     for line in open(sys.argv[1]):
 209         if not delete_lines:
 210             output.write(line)
 211         if 'Start tag for ui.py' in line:
 212             delete_lines = 1
 213             write_menu(output)
 214             t.write_tree(output)
 215             write_function_list(output)
 216         elif 'End tag for ui.py' in line:
 217             delete_lines = 0
 218             output.write(line)
 219     output.close()\r
 220     os.remove(sys.argv[1])
 221     os.rename(sys.argv[1] + '.tmp', sys.argv[1])
 222