Added C/H files for components and some patches, added code generation, added includes to system.h

refs 7863

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
 

org.fortiss.af3.platform.raspberry/trunk/lib/Makedefs

+# 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

org.fortiss.af3.platform.raspberry/trunk/lib/inc/CanConnector.h

-#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

org.fortiss.af3.platform.raspberry/trunk/lib/inc/LaserRangeFinder.h

+#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

org.fortiss.af3.platform.raspberry/trunk/lib/inc/libuart.h

+/**
+ * @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

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

org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c

+
+#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);
+            }
+        }
+    }
+}

org.fortiss.af3.platform.raspberry/trunk/lib/src/libuart.c

+/**
+ * @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);
+}

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);
+    }
 }

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} */