Merge remote-tracking branch 'origin/master' into 3867

Issue-Ref: 3867
Issue-Url: https://af3-developer.fortiss.org/issues/3867



Signed-off-by: Tiziano Munaro <munaro@fortiss.org>

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/.ratings

@@ -2,8 +2,8 @@ CanBusGeneratorExtension.java 4bed3c88e71923515d7d9dc9235bc40a49ce237f GREEN
 CanConnectorGeneratorExtension.java 5680017d9ef5ec7ac81ef7c035ba0a946d0f8b15 GREEN
 CanTransmissionCatalog.java 0e5d45246d1c05d8391d540053df306c3e2a0b4d GREEN
 ConsoleOutputGeneratorExtension.java 49509abbd2d6e2715c2f3af074d2e46a5c0a961e GREEN
-MainGenerator.java 02e1a33db2f114a2ee5962764b3917568881a277 GREEN
-MultiUnitMainGenerator.java 11c78dc068c5446b3e6b92ca688549b065f95071 RED
+MainGenerator.java 15c330788dc48d1ff930363ffe104fc5b6f17e5f GREEN
+MultiUnitMainGenerator.java b72c221bd1c45e18e8be9e63d42e92b86aef51ac GREEN
 PWMActuatorGeneratorExtension.java 0764332c723731ae0ab19f09f65dfe8c6a571bdb GREEN
 RaspberryPIGeneratorExtension.java 33d100efb28c217042d32facbcb0ae0ac9173b36 GREEN
 SingleUnitMainGenerator.java 25750238d45816d706021d2ceb1b493a4d3c0417 GREEN

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/MainGenerator.java

@@ -190,46 +190,36 @@ public abstract class MainGenerator {
 	/** Creates the read code for the given receiver and port. */
 	protected String createReadCode(Receiver receiver, InputPort inport) {
 		ExecutableBase<?> exec = platformConnector2ExecutableBase.get(receiver);
-		if(exec instanceof IReadableGeneratorExtension) {
-			IReadableGeneratorExtension rexec = (IReadableGeneratorExtension)exec;
-			String targetVariable = getPortIdentifier(inport);
-			String readCode = rexec.getReadCode(inport, targetVariable);
-			String novalCode = rexec.getNoValReadCode(inport);
-			String pnvVar = getPortNoValIdentifier(targetVariable);
-			if(novalCode != null) {
-				return "if (!(" + novalCode + ")) {\n" + pnvVar + " = false;\n" + readCode +
-						"} else {\n" + pnvVar + " = true;\n}\n";
-			}
-			return pnvVar + " = false;\n" + readCode;
+		IReadableGeneratorExtension rexec = (IReadableGeneratorExtension)exec;
+		String targetVariable = getPortIdentifier(inport);
+		String readCode = rexec.getReadCode(inport, targetVariable);
+		String novalCode = rexec.getNoValReadCode(inport);
+		String pnvVar = getPortNoValIdentifier(targetVariable);
+		if(novalCode != null) {
+			return "if (!(" + novalCode + ")) {\n" + pnvVar + " = false;\n" + readCode +
+					"} else {\n" + pnvVar + " = true;\n}\n";
 		}
-		// TODO (TM): Can this happen? If so, an exception should be thrown!
-		return "FIXME(\"No generator extension available to read " + inport.getName() + " from " +
-				receiver.getName() + "\");\n";
+		return pnvVar + " = false;\n" + readCode;
 	}
 
 	/** Creates the read code for the given receiver and port. */
 	protected String createWriteCode(Transmitter transmitter, OutputPort outport) {
 		ExecutableBase<?> exec = platformConnector2ExecutableBase.get(transmitter);
-		if(exec instanceof IWriteableGeneratorExtension) {
-			IWriteableGeneratorExtension wexec = (IWriteableGeneratorExtension)exec;
-			String sourceVariable = getPortIdentifier(outport);
-			String writeCode = wexec.getWriteCode(outport, sourceVariable);
-			String novalCode = wexec.getNoValWriteCode(outport);
-			if(novalCode != null) {
-				String novalVariable = getPortNoValIdentifier(sourceVariable);
-				// @CodeFormatterOff
-				return "if (" + novalVariable + ") {\n"
-						+ novalCode + "\n" +
-						"} else {\n"
-						+ writeCode + "\n" +
-						"}\n";
-				// @CodeFormatterOn
-			}
-			return writeCode;
+		IWriteableGeneratorExtension wexec = (IWriteableGeneratorExtension)exec;
+		String sourceVariable = getPortIdentifier(outport);
+		String writeCode = wexec.getWriteCode(outport, sourceVariable);
+		String novalCode = wexec.getNoValWriteCode(outport);
+		if(novalCode != null) {
+			String novalVariable = getPortNoValIdentifier(sourceVariable);
+			// @CodeFormatterOff
+			return "if (" + novalVariable + ") {\n"
+					+ novalCode + "\n" +
+					"} else {\n"
+					+ writeCode + "\n" +
+					"}\n";
+			// @CodeFormatterOn
 		}
-		// TODO (TM): Can this happen? If so, an exception should be thrown!
-		return "FIXME(\"No generator extension available to write " + outport.getName() + " to " +
-				transmitter.getName() + "\");\n";
+		return writeCode;
 	}
 
 	/** Creates the includes of the system headers. */

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/MultiUnitMainGenerator.java

@@ -139,7 +139,6 @@ class MultiUnitMainGenerator extends MainGenerator {
 			for(OutputPort outport : c.getOutputPorts()) {
 				if(atomicOutputToTransmitter.containsKey(outport)) {
 					// deployed to hardware
-					// FIXME: an atomic output might be needed remotely and on HW
 					continue;
 				}
 				String portVar = af3PortName(outport);

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/motorcontrol/.ratings

 MotorControlGeneratorExtensionBase.java 8140ad5a8114938e5db3e6e03b070c752be7026b GREEN
-MotorControlInputGeneratorExtension.java 5a37e7265ad087aa421d36bf2a5094156ab36d17 GREEN
-MotorControlOutputGeneratorExtension.java a78f5c231fd55c4d1b4285a4d5c9707e845c0de1 GREEN
+MotorControlInputGeneratorExtension.java fe16866bbaad204ec3c61e9b35d2ae4589bc9eb4 GREEN
+MotorControlOutputGeneratorExtension.java 1f9de6223e21e4c129d94381e892fcbee03113ae GREEN

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/motorcontrol/MotorControlInputGeneratorExtension.java

@@ -35,7 +35,7 @@ public class MotorControlInputGeneratorExtension
 	/** {@inheritDoc} */
 	@Override
 	public String getReadCode(InputPort logicalSignal, String targetVariable) {
-		return targetVariable + " = getVelocity();\n";
+		return targetVariable + " = 0;\n";
 	}
 
 	/** {@inheritDoc} */

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/motorcontrol/MotorControlOutputGeneratorExtension.java

@@ -36,7 +36,7 @@ public class MotorControlOutputGeneratorExtension
 	/** {@inheritDoc} */
 	@Override
 	public String getWriteCode(OutputPort logicalSignal, String value) {
-		return "setVelocity(" + value + ");\n";
+		return "set_velocity(" + value + ");\n";
 	}
 
 	/** {@inheritDoc} */