Skip to content
Snippets Groups Projects
Commit 14880785 authored by Florian Hölzl's avatar Florian Hölzl
Browse files

Added motorcontrol code generator extension. 


Signed-off-by: default avatarFlorian Hoelzl <hoelzl@fortiss.org>
parent 5672ee7f
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
Showing
with 96 additions and 48 deletions
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/.ratings
+ 1
− 1
View file @ 14880785
......@@ -4,5 +4,5 @@ CanTransmissionCatalog.java 959d488ebec4ae6a50c3f699d42aad535b1ae0c3 YELLOW
ConsoleOutputGeneratorExtension.java d57db44d57630a50e26c9eeed90d6631bf99db5d YELLOW
MultiUnitMainGenerator.java 458754b89c2d79db3fee08baa444424772e40fb7 RED
PWMActuatorGeneratorExtension.java 8cbfd72070cfc1c8a4da4ccc1d18a6b3e75cea7f YELLOW
RaspberryPIGeneratorExtension.java c81d5606099b3922c70aecd103b2a7269b90f0a6 RED
RaspberryPIGeneratorExtension.java 2cd95ddc54d7562bd9fa0b8a4018c25eda01b5a8 RED
SingleUnitMainGenerator.java 93d0370b01330ab023e02761df818d36fac42b0f RED
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/RaspberryPIGeneratorExtension.java
+ 47
− 28
View file @ 14880785
......@@ -52,6 +52,8 @@ import org.fortiss.af3.platform.model.ExecutionUnit;
import org.fortiss.af3.platform.model.PlatformConnectorUnit;
import org.fortiss.af3.platform.model.TransmissionUnit;
import org.fortiss.af3.platform.raspberry.AF3PlatformRaspberryActivator;
import org.fortiss.af3.platform.raspberry.generator.framework.IPreinstalledHeaderGeneratorExtension;
import org.fortiss.af3.platform.raspberry.generator.framework.IPreinstalledLibraryGeneratorExtension;
import org.fortiss.af3.platform.raspberry.generator.framework.IRasPiCopiedHeaderGeneratorExtension;
import org.fortiss.af3.platform.raspberry.generator.framework.IRasPiCopiedLibraryBasedGeneratorExtension;
import org.fortiss.af3.platform.raspberry.generator.framework.IRasPiCopiedSourceBasedGeneratorExtension;
......@@ -80,7 +82,7 @@ public class RaspberryPIGeneratorExtension extends
/** The list of atomic components deployed on this execution unit. */
private List<Component> atomics = new ArrayList<>();
/** The map from platform elements to executables. */
private Map<PlatformConnectorUnit, ExecutableBase<?>> platformConnector2ExecutableBase =
private Map<PlatformConnectorUnit, ExecutableBase<?>> platformConnector2ExtensionBase =
new HashMap<>();
/** Set of headers to be included. */
private Set<String> includedHeaders = new HashSet<>();
......@@ -106,13 +108,13 @@ public class RaspberryPIGeneratorExtension extends
this.context = context;
findDeploymentAndLookForCanTransmissionCatalog();
createGeneratorResultSourcePackage(name);
analyzePlatformElementsAndCopyCode(deployedPorts);
try {
addEclipseCProjectFiles();
addConfigureAndMakedefsFiles();
Set<String> headers = addPlatformElementsCode(deployedPorts);
addDataDictionaryCode();
addLogicalComponentCode(deployedComponents);
addMainFile(deployedComponents, deployedPorts, headers);
addMainFile(deployedComponents, deployedPorts);
} catch(Exception ex) {
error(AF3PlatformRaspberryActivator.getDefault(), ex.getMessage(), ex);
ex.printStackTrace();
......@@ -124,46 +126,63 @@ public class RaspberryPIGeneratorExtension extends
* Adds the libraries and header files required by the used platform elements and returns the
* set of header file names.
*/
private Set<String> addPlatformElementsCode(
private void analyzePlatformElementsAndCopyCode(
List<Pair<PlatformConnectorUnit, Port>> deployedPorts) {
for(Pair<PlatformConnectorUnit, Port> pair : deployedPorts) {
PlatformConnectorUnit pcu = pair.getFirst();
ExecutableBase<?> executable =
ExecutableBase<?> extension =
createTransformedObjectWithoutExceptionFor(pcu, ExecutableBase.class, context);
platformConnector2ExecutableBase.put(pcu, executable);
if(executable instanceof IRasPiCopiedHeaderGeneratorExtension) {
IRasPiCopiedHeaderGeneratorExtension headerExec =
(IRasPiCopiedHeaderGeneratorExtension)executable;
if(!includedHeaders.contains(headerExec.getHeaderFileName())) {
platformConnector2ExtensionBase.put(pcu, extension);
if(extension instanceof IRasPiCopiedHeaderGeneratorExtension) {
IRasPiCopiedHeaderGeneratorExtension headerExt =
(IRasPiCopiedHeaderGeneratorExtension)extension;
if(!includedHeaders.contains(headerExt.getHeaderFileName())) {
generatorResult.getSubPackage(INC_LIB_SUB_PACKAGE_NAME).addUnit(
headerExec.getHeaderFileContent());
includedHeaders.add(headerExec.getHeaderFileName());
headerExt.getHeaderFileContent());
includedHeaders.add(headerExt.getHeaderFileName());
}
// ignore header file, since it is already included
}
if(executable instanceof IRasPiCopiedSourceBasedGeneratorExtension) {
IRasPiCopiedSourceBasedGeneratorExtension srcExec =
(IRasPiCopiedSourceBasedGeneratorExtension)executable;
if(!includedSources.contains(srcExec.getSourceFileName())) {
if(extension instanceof IRasPiCopiedSourceBasedGeneratorExtension) {
IRasPiCopiedSourceBasedGeneratorExtension srcExt =
(IRasPiCopiedSourceBasedGeneratorExtension)extension;
if(!includedSources.contains(srcExt.getSourceFileName())) {
generatorResult.getSubPackage(SRC_LIB_SUB_PACKAGE_NAME).addUnit(
srcExec.getSourceFileContent());
includedSources.add(srcExec.getSourceFileName());
srcExt.getSourceFileContent());
includedSources.add(srcExt.getSourceFileName());
}
// ignore source file, since it is already included
}
if(executable instanceof IRasPiCopiedLibraryBasedGeneratorExtension) {
IRasPiCopiedLibraryBasedGeneratorExtension libExec =
(IRasPiCopiedLibraryBasedGeneratorExtension)executable;
if(!includedLibraries.contains(libExec.getLibraryFileName())) {
if(extension instanceof IRasPiCopiedLibraryBasedGeneratorExtension) {
IRasPiCopiedLibraryBasedGeneratorExtension libExt =
(IRasPiCopiedLibraryBasedGeneratorExtension)extension;
if(!includedLibraries.contains(libExt.getLibraryFileName())) {
generatorResult.getSubPackage(LIB_SUB_PACKAGE_NAME).addUnit(
libExec.getLibraryFileContent());
includedLibraries.add(libExec.getLibraryFileName());
includedLibraries.addAll(libExec.getDependencyLibraries());
libExt.getLibraryFileContent());
includedLibraries.add(libExt.getLibraryFileName());
includedLibraries.addAll(libExt.getDependencyLibraries());
}
// ignore library file, since it is already included
}
if(extension instanceof IPreinstalledHeaderGeneratorExtension) {
IPreinstalledHeaderGeneratorExtension preHExt =
(IPreinstalledHeaderGeneratorExtension)extension;
for(String header : preHExt.getHeaderIncludes()) {
if(!includedHeaders.contains(header)) {
includedHeaders.add(header);
}
}
}
if(extension instanceof IPreinstalledLibraryGeneratorExtension) {
IPreinstalledLibraryGeneratorExtension preLExt =
(IPreinstalledLibraryGeneratorExtension)extension;
for(String lib : preLExt.getLibraryNames()) {
if(!includedLibraries.contains(lib)) {
includedLibraries.add(lib);
}
}
}
}
return includedHeaders;
}
/** Initializes the generator result source package. */
......@@ -239,7 +258,7 @@ public class RaspberryPIGeneratorExtension extends
/** Creates the main file by using the {@link SingleUnitMainGenerator} helper class. */
private void addMainFile(List<Pair<ExecutionUnit, Component>> deployedComponents,
List<Pair<PlatformConnectorUnit, Port>> deployedPorts, Set<String> headers) {
List<Pair<PlatformConnectorUnit, Port>> deployedPorts) {
CSourcePackage srcGenPack = (CSourcePackage)generatorResult.getSrcGenPackage();
if(canCatalog != null) {
MultiUnitMainGenerator mg =
......@@ -249,7 +268,7 @@ public class RaspberryPIGeneratorExtension extends
} else {
SingleUnitMainGenerator mg =
new SingleUnitMainGenerator(modelElement, deployedComponents, deployedPorts,
platformConnector2ExecutableBase, headers, context);
platformConnector2ExtensionBase, includedHeaders, context);
srcGenPack.addUnit(mg.createSingleUnitMain());
}
}
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/library/.ratings
+ 1
− 1
View file @ 14880785
BrickLibraryGeneratorExtensionBase.java 2b22b7ef042ef6eced32f227fd4d682bab421722 YELLOW
PiHALLibraryGeneratorExtensionBase.java d6678cf07b655b33844329dae89603d7827c63b1 YELLOW
VescLibraryGeneratorExtensionBase.java 1227d3de77cab52a396b3d9751a6b43a8c373b31 YELLOW
VescLibraryGeneratorExtensionBase.java 0a78b5894b50213bb11cd2b7066b63823c7aa7c7 YELLOW
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/library/VescLibraryGeneratorExtensionBase.java
+ 3
− 3
View file @ 14880785
......@@ -25,7 +25,7 @@ import org.fortiss.af3.platform.raspberry.generator.framework.IPreinstalledHeade
import org.fortiss.af3.platform.raspberry.generator.framework.IPreinstalledLibraryGeneratorExtension;
/**
* Base class for executables using the Vesc library.
* Base class for executables using the vesc library.
*
* @author hoelzl
*/
......@@ -39,8 +39,8 @@ public abstract class VescLibraryGeneratorExtensionBase<T extends EObject> exten
/** {@inheritDoc} */
@Override
public String getHeaderIncludes() {
return "#include \"hal.h\"\n" + "#include \"commands.h\"\n";
public List<String> getHeaderIncludes() {
return asList("hal.h", "commands.h");
}
/** {@inheritDoc} */
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/motorcontrol/.ratings
+ 3
− 3
View file @ 14880785
MotorControlGeneratorExtensionBase.java 3b62fdf7052bc212bc565c8b891fc3da0912b04b RED
MotorControlInputGeneratorExtension.java fc4f86caf0867d5ec27e2db2461d2e6365eb2dd2 RED
MotorControlOutputGeneratorExtension.java 9ab48031ad519db2aed2cab21c5219d6c8feeefb RED
MotorControlGeneratorExtensionBase.java 41dfce7d14fa23340ee7135ef40828b1d4e87610 YELLOW
MotorControlInputGeneratorExtension.java fb06c42a006eb3f7bfb632739cc763de3e5aaee8 YELLOW
MotorControlOutputGeneratorExtension.java 6eab7224fd0a90eeb47da2c391f21b201791fabf YELLOW
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/motorcontrol/MotorControlGeneratorExtensionBase.java
+ 3
− 4
View file @ 14880785
......@@ -17,6 +17,7 @@ package org.fortiss.af3.platform.raspberry.generator.extension.motorcontrol;
import org.eclipse.emf.ecore.EObject;
import org.fortiss.af3.platform.language.executable.ExecutableBase;
import org.fortiss.af3.platform.raspberry.generator.extension.library.VescLibraryGeneratorExtensionBase;
import org.fortiss.af3.platform.raspberry.generator.framework.ISingletonInitializationGeneratorExtension;
/**
......@@ -24,8 +25,8 @@ import org.fortiss.af3.platform.raspberry.generator.framework.ISingletonInitiali
*
* @author hoelzl
*/
abstract class MotorControlGeneratorExtensionBase<T extends EObject> extends ExecutableBase<T>
implements ISingletonInitializationGeneratorExtension {
abstract class MotorControlGeneratorExtensionBase<T extends EObject> extends
VescLibraryGeneratorExtensionBase<T> implements ISingletonInitializationGeneratorExtension {
/** Constructor. */
public MotorControlGeneratorExtensionBase(T modelElement) {
super(modelElement);
......@@ -46,8 +47,6 @@ abstract class MotorControlGeneratorExtensionBase<T extends EObject> extends Exe
/** {@inheritDoc} */
@Override
public final String getSingletonAuxiliaryFunctions(String singletonPostfix) {
// return "extern void initUSB(char* device, int baudRate);\n"
// + "extern void uint8_t get_values();";
return null;
}
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/motorcontrol/MotorControlInputGeneratorExtension.java
+ 12
− 5
View file @ 14880785
......@@ -16,8 +16,7 @@
package org.fortiss.af3.platform.raspberry.generator.extension.motorcontrol;
import org.fortiss.af3.component.model.InputPort;
import org.fortiss.af3.expression.model.terms.IExpressionTerm;
import org.fortiss.af3.platform.language.executable.IReadableExecutable;
import org.fortiss.af3.platform.raspberry.generator.framework.IReadableGeneratorExtension;
import org.fortiss.af3.platform.raspberry.model.motorcontrol.MotorControlInput;
/**
......@@ -26,7 +25,8 @@ import org.fortiss.af3.platform.raspberry.model.motorcontrol.MotorControlInput;
* @author hoelzl
*/
public class MotorControlInputGeneratorExtension extends
MotorControlGeneratorExtensionBase<MotorControlInput> implements IReadableExecutable {
MotorControlGeneratorExtensionBase<MotorControlInput> implements
IReadableGeneratorExtension {
/** Constructor. */
public MotorControlInputGeneratorExtension(MotorControlInput modelElement) {
super(modelElement);
......@@ -34,8 +34,15 @@ public class MotorControlInputGeneratorExtension extends
/** {@inheritDoc} */
@Override
public IExpressionTerm getValueReadAccessor(InputPort logicalSignal) {
// TODO Auto-generated method stub
public String getReadCode(String postfix, String singletonPostfix, InputPort logicalSignal,
String targetVariable) {
return targetVariable + " = get_velocity();\n";
}
/** {@inheritDoc} */
@Override
public String
getNoValReadCode(String postfix, String singletonPostfix, InputPort logicalSignal) {
return null;
}
}
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/motorcontrol/MotorControlOutputGeneratorExtension.java
+ 19
− 1
View file @ 14880785
......@@ -15,7 +15,9 @@
+--------------------------------------------------------------------------*/
package org.fortiss.af3.platform.raspberry.generator.extension.motorcontrol;
import org.fortiss.af3.component.model.OutputPort;
import org.fortiss.af3.platform.language.executable.ExecutableBase;
import org.fortiss.af3.platform.raspberry.generator.framework.IWriteableGeneratorExtension;
import org.fortiss.af3.platform.raspberry.model.motorcontrol.MotorControlOutput;
/**
......@@ -23,9 +25,25 @@ import org.fortiss.af3.platform.raspberry.model.motorcontrol.MotorControlOutput;
*
* @author hoelzl
*/
public class MotorControlOutputGeneratorExtension extends ExecutableBase<MotorControlOutput> {
public class MotorControlOutputGeneratorExtension extends
MotorControlGeneratorExtensionBase<MotorControlOutput> implements
IWriteableGeneratorExtension {
/** Constructor. */
public MotorControlOutputGeneratorExtension(MotorControlOutput modelElement) {
super(modelElement);
}
/** {@inheritDoc} */
@Override
public String getWriteCode(String postfix, String singletonPostfix, OutputPort logicalSignal,
String value) {
return "set_velocity(" + value + ");\n";
}
/** {@inheritDoc} */
@Override
public String getNoValWriteCode(String postfix, String singletonPostfix,
OutputPort logicalSignal) {
return ";\n";
}
}
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/framework/.ratings
+ 1
− 1
View file @ 14880785
IInstanceGeneratorExtension.java 9d20878f9a1b9f82bd8f9f090bd989af1f08c8ab YELLOW
IInstanceInitializationGeneratorExtension.java ae145d29cb2abbc492380c6af303a12fc2a0daa6 YELLOW
IInstanceTerminationGeneratorExtension.java d9632d04207a484bbe46110ec5925c9850228f30 YELLOW
IPreinstalledHeaderGeneratorExtension.java 120c52d35969b35b5ff1ea50570401d5451ba221 YELLOW
IPreinstalledHeaderGeneratorExtension.java 3da78064729ba9664650d7beacafb61ef68d7733 YELLOW
IPreinstalledLibraryGeneratorExtension.java 437fafdb45561b1acc6c54db2c43c39c48033280 YELLOW
IRasPiCopiedHeaderGeneratorExtension.java 8c08db84c6dfe01b6eb242ea584f3765210fdc56 YELLOW
IRasPiCopiedLibraryBasedGeneratorExtension.java edac836e2553f72a0487ac6455ae87d87d3f6aae YELLOW
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/framework/IPreinstalledHeaderGeneratorExtension.java
+ 3
− 1
View file @ 14880785
......@@ -15,6 +15,8 @@
+--------------------------------------------------------------------------*/
package org.fortiss.af3.platform.raspberry.generator.framework;
import java.util.List;
/**
* Interface for generator extensions, which require one or more header files to be imported in the
* created main file. This is usually the case when the header files in question are pre-installed
......@@ -24,5 +26,5 @@ package org.fortiss.af3.platform.raspberry.generator.framework;
*/
public interface IPreinstalledHeaderGeneratorExtension {
/** Returns the included header files. */
public String getHeaderIncludes();
public List<String> getHeaderIncludes();
}
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/CProjectFile.stg
+ 3
− 0
View file @ 14880785
......@@ -33,6 +33,7 @@ CDTProjectFile(PROJECT_NAME) ::= <<
<listOptionValue builtIn="false" value="&quot;\${workspace_loc:/\${ProjName}/inc-lib}&quot;"/>
<listOptionValue builtIn="false" value="&quot;\${workspace_loc:/\${ProjName}}&quot;"/>
<listOptionValue builtIn="false" value="&quot;\${workspace_loc:/brick/inc}&quot;"/>
<listOptionValue builtIn="false" value="&quot;\${workspace_loc:/vesc}&quot;"/>
<listOptionValue builtIn="false" value="&quot;\${workspace_loc:/af3pihal/inc}&quot;"/>
</option>
<option id="gnu.c.compiler.option.dialect.std.995945301" name="Language standard" superClass="gnu.c.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.c.compiler.dialect.default" valueType="enumerated"/>
......@@ -55,11 +56,13 @@ CDTProjectFile(PROJECT_NAME) ::= <<
<listOptionValue builtIn="false" value="brick"/>
<listOptionValue builtIn="false" value="af3pihal"/>
<listOptionValue builtIn="false" value="rt"/>
<listOptionValue builtIn="false" value="vesc"/>
</option>
<option id="gnu.c.link.option.paths.32490919" name="Library search path (-L)" superClass="gnu.c.link.option.paths" useByScannerDiscovery="false" valueType="libPaths">
<listOptionValue builtIn="false" value="&quot;\${workspace_loc:/\${ProjName}/lib}&quot;"/>
<listOptionValue builtIn="false" value="&quot;\${workspace_loc:/af3pihal/Debug}&quot;"/>
<listOptionValue builtIn="false" value="&quot;\${workspace_loc:/brick/Debug}&quot;"/>
<listOptionValue builtIn="false" value="&quot;\${workspace_loc:/vesc}&quot;"/>
</option>
<inputType id="cdt.managedbuild.tool.gnu.c.linker.input.1755029706" superClass="cdt.managedbuild.tool.gnu.c.linker.input">
<additionalInput kind="additionalinputdependency" paths="\$(USER_OBJS)"/>
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment