diff --git a/org.fortiss.af3.platform.raspberry/trunk/META-INF/MANIFEST.MF b/org.fortiss.af3.platform.raspberry/trunk/META-INF/MANIFEST.MF
index d371b80904390645e4017eebd1c84713ef5c918a..f1b5978babc581b2ea7679a2a8e2881cc95a8e3f 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/META-INF/MANIFEST.MF
+++ b/org.fortiss.af3.platform.raspberry/trunk/META-INF/MANIFEST.MF
@@ -19,8 +19,9 @@ Require-Bundle: org.fortiss.af3.project,
org.eclipse.core.runtime,
org.eclipse.emf.ecore;visibility:=reexport,
org.fortiss.tooling.base;visibility:=reexport,
- org.fortiss.af3.platform;visibility:=reexport;bundle-version="2.5.0",
- org.fortiss.tooling.base.ui;bundle-version="2.11.0"
+ org.fortiss.af3.platform;bundle-version="2.5.0";visibility:=reexport,
+ org.fortiss.tooling.base.ui;bundle-version="2.11.0",
+ org.fortiss.af3.generator.common
Import-Package: org.fortiss.af3.deployment.generator,
org.fortiss.af3.platform.model
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/Makedefs b/org.fortiss.af3.platform.raspberry/trunk/lib/Makedefs
new file mode 100644
index 0000000000000000000000000000000000000000..bce7e5bba098a5d1db3cb81f67d97ac0e1bb492a
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/Makedefs
@@ -0,0 +1,47 @@
+# The default application name.
+ifndef APPL
+ APPL=my_app
+endif
+
+# The default build path.
+ifndef BPATH
+ BPATH=build
+endif
+
+# The compiler.
+ifndef CROSSCC
+ CROSSCC=gcc
+endif
+
+# The linker.
+ifndef CROSSLD
+ CROSSLD=gcc
+endif
+
+# The flags which are passed to the compiler and the linker.
+CCFLAGS+=-std=gnu99 -Wall -pedantic -c ${patsubst %,-I%,${subst :, ,${IPATH}}}
+LDFLAGS+=-std=gnu99 -Wall -pedantic
+
+# The default rules, i.e. the entry point.
+all: ${BPATH}
+all: ${BPATH}/${APPL}.run
+
+# The target to clean the build directory.
+clean:
+ @echo "cleaning up path '${BPATH}' ..."
+ @rm -rf ${BPATH}
+
+# The rule for creating the build directory.
+${BPATH}:
+ @echo "creating path '${BPATH}' ..."
+ @mkdir ${BPATH}
+
+# The rule for building an object file from the corresponding C source file.
+${BPATH}/%.o: %.c
+ @echo "compiling file '${<}' ..."
+ @${CROSSCC} ${CCFLAGS} -o ${@} ${<}
+
+# The rule for linking an application.
+${BPATH}/%.run:
+ @echo "linking application '${@}' ..."
+ @${CROSSLD} ${LDFLAGS} -o ${@} $(filter %.o %.a, ${^})
\ No newline at end of file
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/CanConnector.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/CanConnector.h
index 85a5d2a2e4c4562399a78ff23fc78324bdca0f3f..65a758921ec8ea615f147e225bebf6af1a0963b6 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/CanConnector.h
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/CanConnector.h
@@ -1,5 +1,5 @@
-#ifndef __CAN_H
-#define __CAN_H
+#ifndef __CANCONNECTOR_H
+#define __CANCONNECTOR_H
#include <stdio.h>
@@ -10,7 +10,7 @@ typedef const char* PORT_T;
// init, terminate, prepare
void can_init();
-void can_terminate();
+void can_term();
void prepare_input_CanConnector();
void finish_input_CanConnector();
@@ -32,4 +32,4 @@ void can_write_bool(PORT_T port, GEN_TYPE_boolean value);
void can_write_double(PORT_T port, GEN_TYPE_double value);
void can_write_int(PORT_T port, GEN_TYPE_int value);
-#endif // __CAN_H
+#endif // __CANCONNECTOR_H
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/GPIO.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/GPIO.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/Gamepad.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/Gamepad.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/IMU.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/IMU.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/LaserRangeFinder.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/LaserRangeFinder.h
new file mode 100644
index 0000000000000000000000000000000000000000..a73e206a85b5b3ae62b0fd85bf7974fe183a3c5a
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/LaserRangeFinder.h
@@ -0,0 +1,20 @@
+#ifndef __LASERRANGEFINDER_H
+#define __LASERRANGEFINDER_H
+
+#include <stdlib.h>
+
+#include "inc-gen/data_dictionary.h"
+#include "inc/libuart.h"
+
+// constants
+const char* LRF_DEVICE_NAME;
+
+// init, terminate
+void lrf_init();
+void lrf_term();
+
+// getters
+GEN_TYPE_boolean lrf_is_noval();
+GEN_TYPE_int lrf_get_distance();
+
+#endif // __LASERRANGEFINDER_H
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/LaserScanner.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/LaserScanner.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/PWM.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/PWM.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/inc/libuart.h b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/libuart.h
new file mode 100644
index 0000000000000000000000000000000000000000..3e5da7f4ae266c9d1d154154417e5f748f171465
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/inc/libuart.h
@@ -0,0 +1,33 @@
+/**
+ * @file uart.h
+ * @author Bianca Forkel
+ */
+
+#ifndef MBSE_UART_H
+#define MBSE_UART_H
+
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <errno.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <sys/select.h>
+
+extern int uart_filestream;
+
+char port[13];
+
+int uart_setup(const char*);
+
+int uart_send_byte(char, int);
+
+int uart_send_string(char*, int, int);
+
+int uart_receive(char*, int, int);
+
+void uart_close();
+
+#endif
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c
index 29127b54665ca7a3e9bf7b7f710f766d66a09a6d..8e84952eefffeab8f73b6e1014b035a93f5e9123 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c
@@ -3,11 +3,11 @@
// init, terminate
void can_init(const char* message) {
- printf("initializing CAN\n");
+ printf("initializing CAN\n");
}
-void can_terminate() {
- printf("terminating CAN\n");
+void can_term() {
+ printf("terminating CAN\n");
}
void prepare_input_CanConnector() {
@@ -28,24 +28,24 @@ void finish_output_CanConnector() {
// NOVAL
GEN_TYPE_boolean can_is_noval(PORT_T port) {
- return true;
+ return true;
}
GEN_TYPE_boolean can_set_noval(PORT_T port) {
- return true;
+ return true;
}
// readers
GEN_TYPE_boolean can_read_bool(PORT_T port) {
- return false;
+ return false;
}
GEN_TYPE_double can_read_double(PORT_T port) {
- return 0.0;
+ return 0.0;
}
GEN_TYPE_int can_read_int(PORT_T port) {
- return 0;
+ return 0;
}
// writers
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/GPIO.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/GPIO.c
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/Gamepad.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/Gamepad.c
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/IMU.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/IMU.c
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
new file mode 100644
index 0000000000000000000000000000000000000000..0aaff79aa1201b918dfdb1a3f17b4994b9e0428a
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
@@ -0,0 +1,43 @@
+
+#include "inc/LaserRangeFinder.h"
+
+// constants
+const char* LRF_DEVICE_NAME = "/dev/ttyACM0";
+
+// init, terminate
+void lrf_init() {
+ uart_setup(LRF_DEVICE_NAME);
+}
+
+void lrf_term() {
+ uart_close();
+}
+
+// getters
+GEN_TYPE_boolean lrf_is_noval() {
+ return false;
+}
+
+GEN_TYPE_int lrf_get_distance() {
+ char bytes[5];
+ int n_read = 0;
+
+ char value[3];
+ int n = 0;
+
+ int i;
+
+ // looks like a blocking call and actually is but is always very fast
+ // since it only has to read the queue
+ while (1) {
+ n_read = uart_receive(bytes, 5, 0);
+
+ for (i = 0; i < n_read; i++) {
+ if (bytes[i] != 0xd && bytes[i] != 0xa) {
+ value[n++] = bytes[i];
+ } else if (atoi(value) != 0) {
+ return atoi(value);
+ }
+ }
+ }
+}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserScanner.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserScanner.c
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/PWM.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/PWM.c
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/libuart.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/libuart.c
new file mode 100644
index 0000000000000000000000000000000000000000..2f88d066c57a76adf650db4bdacde5d18aa1ad98
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/libuart.c
@@ -0,0 +1,125 @@
+/**
+ * @file uart.c
+ * @author Bianca Forkel
+ */
+
+#include "inc/libuart.h"
+
+int uart_filestream = -1;
+
+int uart_setup(const char *porta) {
+ strcpy(port, porta);
+ uart_filestream = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
+ if (uart_filestream < 0) {
+ fprintf(stderr, "[%s] Error opening port: %s\n", port, strerror(errno));
+ }
+
+ struct termios tty;
+ memset(&tty, 0, sizeof tty);
+ if (tcgetattr(uart_filestream, &tty) != 0) {
+ fprintf(stderr, "[%s] Error from tcgetattr: %s\n", port, strerror(errno));
+ }
+
+ // Baud Rate
+ cfsetospeed(&tty, (speed_t) B115200);
+ cfsetispeed(&tty, (speed_t) B115200);
+
+ // TTY settings: 8N1
+ tty.c_cflag &= ~PARENB; //no parity
+ tty.c_cflag &= ~CSTOPB; // 1 stop bit
+ tty.c_cflag &= ~CSIZE;
+ tty.c_cflag |= CS8; // 8 data bits
+
+ tty.c_cflag &= ~CRTSCTS;
+ tty.c_cc[VMIN] = 1;
+ tty.c_cc[VTIME] = 5;
+ tty.c_cflag |= CREAD | CLOCAL;
+
+ cfmakeraw(&tty);
+ tcflush(uart_filestream, TCIFLUSH);
+ if (tcsetattr(uart_filestream, TCSANOW, &tty) != 0) {
+ fprintf(stderr, "[%s] Error from tcsetattr: %s\n", port, strerror(errno));
+ }
+ return uart_filestream;
+}
+
+int uart_send_byte(char data, int printt) {
+ if (uart_filestream != -1) {
+ int n_written = 0;
+ n_written = write(uart_filestream, &data, 1);
+ if (n_written < 0) {
+ if (printt)
+ fprintf(stderr, "[%s] Error sending byte: %s\n", port, strerror(errno));
+ } else {
+ if (printt)
+ printf("[%s] Sent byte %#02x\n", port, data);
+ return 0;
+ }
+ }
+ return -1;
+}
+
+int uart_send_string(char *str, int length, int printt) {
+ if (uart_filestream != -1) {
+ int n_written = 0;
+ n_written = write(uart_filestream, str, length);
+ if (n_written < 0) {
+ if (printt)
+ fprintf(stderr, "[%s] Error sending string: %s\n", port, strerror(errno));
+ } else {
+ if (printt)
+ printf("[%s] Sent string %s\n", port, str);
+ return 0;
+ }
+ }
+ return -1;
+}
+
+int uart_receive(char *c, int bufLen, int printt) {
+ fd_set set;
+ struct timeval timeout;
+ int rv;
+ int n_read = -1;
+
+ if (uart_filestream != -1) {
+ FD_ZERO(&set);
+ FD_SET(uart_filestream, &set);
+
+ timeout.tv_sec = 0;
+ timeout.tv_usec = 10000;
+
+ rv = select(uart_filestream + 1, &set, NULL, NULL, &timeout);
+ if (rv == -1) {
+ if (printt)
+ perror("select");
+ } else if (rv == 0) {
+ if (printt)
+ perror("timeout");
+ } else {
+ n_read = read(uart_filestream, (void *) c, bufLen);
+ }
+
+ if (n_read < 0) {
+ if (printt)
+ fprintf(stderr, "[%s] Error receiving byte: %s\n", port, strerror(errno));
+ n_read = 0;
+ } else if (n_read == 0) {
+ if (printt)
+ printf("[%s] No data to receive \n", port);
+ } else {
+ c[n_read] = '\0';
+ if (printt) {
+ printf("[%s] %i Bytes received: 0x", port, n_read);
+ int i;
+ for (i = 0; i < n_read; i++)
+ printf("%02x", c[i]);
+ printf("\n");
+ }
+ }
+ }
+ return n_read;
+}
+
+void uart_close() {
+ close(uart_filestream);
+}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c
index 09054c94ba4bfbea20cfb423a9d40f66ab4b9a35..feaad2e4ea2848420326279172ca64e308c83d51 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c
@@ -3,10 +3,22 @@
*/
#include <stdio.h>
+#include <unistd.h>
+
+#include "inc-gen/system.h"
int main(int argc, char* argv[]) {
+ // start a joystick thread
+ //pthread_t pt_joystick;
+ //pthread_create(&pt_joystick, NULL, joystick_main, NULL);
- // TODO add actual startup code here!
- printf("Hello world!\n");
+ // start a rover thread
+ //pthread_t pt_rover;
+ //pthread_create(&pt_rover, NULL, rover_main, NULL);
+ // run endlessly
+ while(1) {
+ run_system();
+ usleep(50000);
+ }
}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/CanConnectorExecutable.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/CanConnectorExecutable.java
index 680e1347892fd4ee13d1b9313cae2b851196c9f1..b69b60a7117378fd11e67304333074f5571d967b 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/CanConnectorExecutable.java
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/CanConnectorExecutable.java
@@ -71,7 +71,7 @@ public class CanConnectorExecutable extends GenericTransceiverExecutable {
@Override
public IExpressionTerm getTermination() {
// terminate the bus on the given interface
- return funcCall("can_terminate");
+ return funcCall("can_term");
}
/** {@inheritDoc} */
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/LaserRangeFinderSensorExecutable.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/LaserRangeFinderSensorExecutable.java
index 5e71557e9f7a4edf6111fed601bba62456a5ad36..0b16b400d9c2405f3f4f2f630778cb1d6b9ea3a9 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/LaserRangeFinderSensorExecutable.java
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/LaserRangeFinderSensorExecutable.java
@@ -17,6 +17,8 @@ $Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
+--------------------------------------------------------------------------*/
package org.fortiss.af3.platform.raspberry.generator.executable;
+import static org.fortiss.af3.expression.utils.ExpressionModelElementFactory.funcCall;
+
import org.fortiss.af3.component.model.InputPort;
import org.fortiss.af3.expression.model.terms.IExpressionTerm;
import org.fortiss.af3.platform.generic.generator.executable.GenericReceiverExecutable;
@@ -41,24 +43,24 @@ public class LaserRangeFinderSensorExecutable extends GenericReceiverExecutable
/** {@inheritDoc} */
@Override
public IExpressionTerm getInitialization() {
- return super.getInitialization();
+ return funcCall("lrf_init");
}
/** {@inheritDoc} */
@Override
public IExpressionTerm getNoValGuardAccessor(InputPort logicalSignal) {
- return super.getNoValGuardAccessor(logicalSignal);
+ return funcCall("lrf_is_noval");
}
/** {@inheritDoc} */
@Override
public IExpressionTerm getTermination() {
- return super.getTermination();
+ return funcCall("lrf_term");
}
/** {@inheritDoc} */
@Override
public IExpressionTerm getValueReadAccessor(InputPort logicalSignal) {
- return super.getValueReadAccessor(logicalSignal);
+ return funcCall("lrf_get_distance");
}
}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java
index 7b926aaa2e848b6bbe20c63ec2a29c705073985b..6bd049f79634108682069e37b0136d519fc946fe 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java
@@ -18,6 +18,7 @@ $Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
package org.fortiss.af3.platform.raspberry.generator.executable;
import static org.fortiss.af3.expression.utils.ExpressionModelElementFactory.funcCall;
+import static org.fortiss.af3.generator.common.utils.CLanguageModelElementFacade.addUserHeaderInclude;
import static org.fortiss.af3.generator.common.utils.SourceModelElementFactory.createByteContentUnitForPluginFile;
import java.io.IOException;
@@ -35,6 +36,7 @@ import org.fortiss.af3.component.model.generator.LocalFunction;
import org.fortiss.af3.expression.model.terms.IExpressionTerm;
import org.fortiss.af3.expression.model.terms.imperative.IStatementTerm;
import org.fortiss.af3.generator.common.model.c.CSourcePackage;
+import org.fortiss.af3.generator.common.model.source.SourceUnit;
import org.fortiss.af3.platform.generic.generator.executable.GenericExecutionUnitExecutable;
import org.fortiss.af3.platform.language.executable.IInitializableExecutable;
import org.fortiss.af3.platform.language.executable.IReadableExecutable;
@@ -59,6 +61,9 @@ import org.fortiss.tooling.kernel.extension.data.ITransformationContext;
*/
public class RaspberryPIExecutable extends GenericExecutionUnitExecutable {
+ private static final String SRC_LIB_SUB_PACKAGE_NAME = "src-lib";
+ private static final String INC_LIB_SUB_PACKAGE_NAME = "inc-lib";
+
/** Constructor. */
public RaspberryPIExecutable(ExecutionUnit modelElement) {
super(modelElement);
@@ -74,23 +79,63 @@ public class RaspberryPIExecutable extends GenericExecutionUnitExecutable {
super.createExecutionUnitSourcePackage(name, deployedComponents, deployedPorts,
context);
- // Add source/header files here --> TODO
+ // TODO: doesn't work since not recognized by configure script
+
+ // add src-lib/inc-lib sub packages (= folders in deployment)
+ // CSourcePackage sub =
+ // AF3GeneratorCommonLanguagesCFactory.eINSTANCE.createCSourcePackage();
+ // sub.setBaseLocation(SRC_LIB_SUB_PACKAGE_NAME);
+ // pkg.getSubPackages().add(sub);
+
+ // sub = AF3GeneratorCommonLanguagesCFactory.eINSTANCE.createCSourcePackage();
+ // sub.setBaseLocation(INC_LIB_SUB_PACKAGE_NAME);
+ // pkg.getSubPackages().add(sub);
+
+ // get system.h to add references to self-defined inc files
+ SourceUnit system = pkg.getSrcGenPackage().findSourceUnitByName("system.c");
+ // pkg.getIncGenPackage().findSourceUnitByName("system.h");
+
+ // Add source/header files here to be copied into the deployment directory
try {
- // add main
+ /** COMPONENTS **/
+
addFile(pkg, "src/main.c");
- // add IO
+ // reference is added by GenericExecutableBase -> only add file
addFile(pkg, "inc/io.h");
addFile(pkg, "src/io.c");
- // add CAN
- addFile(pkg, "inc/CanConnector.h");
- addFile(pkg, "src/CanConnector.c");
+ // add all components including references
+ addFilesWithReference(pkg, system, "CanConnector");
+ addFilesWithReference(pkg, system, "Gamepad");
+ addFilesWithReference(pkg, system, "GPIO");
+ addFilesWithReference(pkg, system, "IMU");
+ addFilesWithReference(pkg, system, "LaserRangeFinder");
+ addFilesWithReference(pkg, system, "LaserScanner");
+ addFilesWithReference(pkg, system, "PWM");
+
+ /** LIBRARIES **/
+
+ // TODO: will fail during a build since not defined in Makefile
- // add fix for dictionary, simply overwrite incorrect version (TODO!!)
+ // add UART lib
+ // addFile(pkg, "inc-lib/uart.h");
+ // addFile(pkg, "src-lib/uart.c");
+ addFile(pkg, "inc/libuart.h");
+ addFile(pkg, "src/libuart.c");
+
+ /** FIXES AND PATCHES **/
+
+ // overwrite data_dictionary, the new one has all functions
+ // required for the simulation commented out so there are no
+ // conflicts
addFile(pkg, "inc-gen/data_dictionary.h");
addFile(pkg, "src-gen/data_dictionary.c");
+ // overwrite Makedefs, the new one uses -std=gnu99 instead of -std=c99
+ // so libuart compiles properly
+ addFile(pkg, "Makedefs");
+
} catch(IOException | URISyntaxException e) {
throw new RuntimeException("could not add header and source files from lib", e);
}
@@ -98,12 +143,23 @@ public class RaspberryPIExecutable extends GenericExecutionUnitExecutable {
return pkg;
}
+ private static void addFilesWithReference(CSourcePackage pkg, SourceUnit source,
+ String fileWithoutExtension) throws IOException, URISyntaxException {
+ addFile(pkg, "src/" + fileWithoutExtension + ".c");
+ addFile(pkg, "inc/" + fileWithoutExtension + ".h");
+ addSystemCReference(source, fileWithoutExtension);
+ }
+
private static void addFile(CSourcePackage pkg, String file) throws IOException,
URISyntaxException {
pkg.addUnit(createByteContentUnitForPluginFile(AF3PlatformRaspberryActivator.PLUGIN_ID,
"lib", file, false));
}
+ private static void addSystemCReference(SourceUnit source, String reference) {
+ addUserHeaderInclude(source, reference);
+ }
+
/** {@inheritDoc} */
@Override
protected ComponentFunction createInitializeFunction(
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/util/RaspberryModelElementFactory.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/util/RaspberryModelElementFactory.java
index 02052cb2e99393d40234918b151f6ad00c2d38fb..f5b95a534cef56ce2ea7190593ff12b72517db32 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/util/RaspberryModelElementFactory.java
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/util/RaspberryModelElementFactory.java
@@ -92,7 +92,7 @@ public class RaspberryModelElementFactory {
/** Creates a {@link SensorGamepad} */
public static SensorGamepad createGamepadSensor() {
SensorGamepad connector = ModelFactory.eINSTANCE.createSensorGamepad();
- connector.setName("Gamepad_In");
+ connector.setName("Gamepad");
createConnectorLayout(connector);
return connector;
}
@@ -100,7 +100,7 @@ public class RaspberryModelElementFactory {
/** Creates a {@link SensorIMU}. */
public static SensorIMU createSensorIMU() {
SensorIMU connector = ModelFactory.eINSTANCE.createSensorIMU();
- connector.setName("IMU_In");
+ connector.setName("IMU");
createConnectorLayout(connector);
return connector;
}
@@ -108,7 +108,7 @@ public class RaspberryModelElementFactory {
/** Creates a {@link SensorLaserRangeFinder}. */
public static SensorLaserRangeFinder createSensorLaserRangeFinder() {
SensorLaserRangeFinder connector = ModelFactory.eINSTANCE.createSensorLaserRangeFinder();
- connector.setName("LaserRangeFinder_In");
+ connector.setName("LaserRangeFinder");
createConnectorLayout(connector);
return connector;
}
@@ -116,7 +116,7 @@ public class RaspberryModelElementFactory {
/** Creates a {@link SensorLaserScanner}. */
public static SensorLaserScanner createSensorLaserScanner() {
SensorLaserScanner connector = ModelFactory.eINSTANCE.createSensorLaserScanner();
- connector.setName("LaserScanner_In");
+ connector.setName("LaserScanner");
createConnectorLayout(connector);
return connector;
}
@@ -132,7 +132,7 @@ public class RaspberryModelElementFactory {
/** Creates a {@link ActuatorPWM}. */
public static ActuatorPWM createActuatorPWM() {
ActuatorPWM connector = ModelFactory.eINSTANCE.createActuatorPWM();
- connector.setName("PWM_Out");
+ connector.setName("PWM");
createConnectorLayout(connector);
return connector;
}
@@ -164,7 +164,7 @@ public class RaspberryModelElementFactory {
/** Creates a {@link Button2}. */
public static Button2 createButton2() {
Button2 button = GamepadFactory.eINSTANCE.createButton2();
- button.setName("Button1_Circle_");
+ button.setName("Button2_Circle");
createConnectorLayout(button);
return button;
}
@@ -185,6 +185,14 @@ public class RaspberryModelElementFactory {
return button;
}
+ /** Creates a {@link ButtonR1}. */
+ public static ButtonR1 createButtonR1() {
+ ButtonR1 button = GamepadFactory.eINSTANCE.createButtonR1();
+ button.setName("ButtonR1");
+ createConnectorLayout(button);
+ return button;
+ }
+
/** Creates a {@link ButtonL1}. */
public static ButtonL1 createButtonL1() {
ButtonL1 button = GamepadFactory.eINSTANCE.createButtonL1();
@@ -209,14 +217,6 @@ public class RaspberryModelElementFactory {
return button;
}
- /** Creates a {@link ButtonR1}. */
- public static ButtonR1 createButtonR1() {
- ButtonR1 button = GamepadFactory.eINSTANCE.createButtonR1();
- button.setName("ButtonR1");
- createConnectorLayout(button);
- return button;
- }
-
/** Creates a {@link Left_StickX_Position}. */
public static Left_StickX_Position createLeftStickX() {
Left_StickX_Position button = GamepadFactory.eINSTANCE.createLeft_StickX_Position();