Added port code generation.

refs 3079

org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/temp_actuator.h

+#ifndef INC_TEMP_ACTUATOR_H_
+#define INC_TEMP_ACTUATOR_H_
+
+#include <stdint.h>
+
+void temp_actuator_initialize(const char * device);
+
+int temp_actuator_get_position(uint8_t channel);
+
+int temp_actuator_set_target(uint8_t channel, uint16_t target);
+
+void temp_actuator_terminate();
+
+#endif /* INC_TEMP_ACTUATOR_H_ */

org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/MainGenerator.java

@@ -23,11 +23,23 @@ import java.util.List;
 
 import org.conqat.lib.commons.collections.Pair;
 import org.fortiss.af3.component.model.Component;
+import org.fortiss.af3.component.model.InputPort;
+import org.fortiss.af3.component.model.OutputPort;
 import org.fortiss.af3.component.model.Port;
 import org.fortiss.af3.generator.common.model.source.AbstractUnit;
 import org.fortiss.af3.platform.model.ExecutionUnit;
 import org.fortiss.af3.platform.model.PlatformConnectorUnit;
+import org.fortiss.af3.platform.model.Receiver;
+import org.fortiss.af3.platform.model.Transmitter;
+import org.fortiss.af3.platform.raspberry.model.ActuatorPWM;
 import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
+import org.fortiss.af3.platform.raspberry.model.gamepad.Button1;
+import org.fortiss.af3.platform.raspberry.model.gamepad.Button2;
+import org.fortiss.af3.platform.raspberry.model.gamepad.Button3;
+import org.fortiss.af3.platform.raspberry.model.gamepad.Button4;
+import org.fortiss.af3.platform.raspberry.model.gamepad.GamepadReceiverBase;
+import org.fortiss.af3.platform.raspberry.model.gamepad.Left_StickX_Position;
+import org.fortiss.af3.platform.raspberry.model.gamepad.Left_StickY_Position;
 import org.fortiss.tooling.kernel.extension.data.ITransformationContext;
 
 /**
@@ -43,35 +55,110 @@ class MainGenerator {
 	public AbstractUnit createMain(RaspberryPi executionUnit,
 			List<Pair<ExecutionUnit, Component>> deployedComponents,
 			List<Pair<PlatformConnectorUnit, Port>> deployedPorts, ITransformationContext context) {
-		String includes = createIncludes(deployedComponents);
+		String includes = createIncludes(deployedComponents, deployedPorts);
 		// TODO: syncbox code
 		String initCode = createInitCode(deployedComponents);
-		String workerCode = createWorkerCode(deployedComponents);
+		String workerCode = createWorkerCode(deployedComponents, deployedPorts);
 		return getMainCFile(executionUnit.getName(), executionUnit.isCoordinatorUnit(),
 				executionUnit.getCanCoordinationID(), executionUnit.getCycleTime(), 250, includes,
 				"// TODO\n", initCode, workerCode);
 	}
 
 	/** Creates the includes of the system headers. */
-	private String createIncludes(List<Pair<ExecutionUnit, Component>> deployedComponents) {
+	private String createIncludes(List<Pair<ExecutionUnit, Component>> deployedComponents,
+			List<Pair<PlatformConnectorUnit, Port>> deployedPorts) {
 		StringBuilder sb = new StringBuilder();
 		for(Pair<ExecutionUnit, Component> p : deployedComponents) {
 			Component c = p.getSecond();
 			sb.append("#include <" + c.getName() + "_ID_" + c.getId() + ".h>\n");
 		}
+		boolean useGamepad = false;
+		boolean usePWM = false;
+		for(Pair<PlatformConnectorUnit, Port> p : deployedPorts) {
+			if(!useGamepad && p.getFirst() instanceof GamepadReceiverBase) {
+				sb.append("#include <gamepad.h>\n");
+				useGamepad = true;
+			}
+			if(!usePWM && p.getFirst() instanceof ActuatorPWM) {
+				sb.append("#include <temp_actuator.h>\n");
+				usePWM = true;
+			}
+		}
 		return sb.toString();
 	}
 
 	/** Create the worker code. */
-	private String createWorkerCode(List<Pair<ExecutionUnit, Component>> deployedComponents) {
+	private String createWorkerCode(List<Pair<ExecutionUnit, Component>> deployedComponents,
+			List<Pair<PlatformConnectorUnit, Port>> deployedPorts) {
 		StringBuilder sb = new StringBuilder();
+		for(Pair<PlatformConnectorUnit, Port> p : deployedPorts) {
+			if(p.getFirst() instanceof Receiver && p.getSecond() instanceof InputPort) {
+				sb.append(createReadCode((Receiver)p.getFirst(), (InputPort)p.getSecond()));
+			}
+		}
 		for(Pair<ExecutionUnit, Component> p : deployedComponents) {
 			Component c = p.getSecond();
 			sb.append(makeCall("perform_step", c));
 		}
+		for(Pair<PlatformConnectorUnit, Port> p : deployedPorts) {
+			if(p.getFirst() instanceof Transmitter && p.getSecond() instanceof OutputPort) {
+				sb.append(createWriteCode((Transmitter)p.getFirst(), (OutputPort)p.getSecond()));
+			}
+		}
 		return sb.toString();
 	}
 
+	/** Returns the port and ID identifier. */
+	private String portName(Port port) {
+		return port.getName() + "_ID_" + port.getId();
+	}
+
+	/** Creates the read code for the given receiver and port. */
+	private String createWriteCode(Transmitter transmitter, OutputPort outport) {
+		if(transmitter instanceof ActuatorPWM) {
+			ActuatorPWM act = (ActuatorPWM)transmitter;
+			String result = "if(!noval_" + portName(outport) + ") {\n";
+			result +=
+					"temp_actuator_set_target(" + act.getChannelID() + ", (uint16_t)" +
+							portName(outport) + ");\n";
+			result += "}\n";
+			return result;
+		}
+		return "";
+	}
+
+	/** Creates the read code for the given receiver and port. */
+	private String createReadCode(Receiver receiver, InputPort inport) {
+		if(receiver instanceof Button1) {
+			return gamepadReadCode("gamepad_get_button_state", "GAMEPAD_BUTTON_1", inport);
+		}
+		if(receiver instanceof Button2) {
+			return gamepadReadCode("gamepad_get_button_state", "GAMEPAD_BUTTON_2", inport);
+		}
+		if(receiver instanceof Button3) {
+			return gamepadReadCode("gamepad_get_button_state", "GAMEPAD_BUTTON_3", inport);
+		}
+		if(receiver instanceof Button4) {
+			return gamepadReadCode("gamepad_get_button_state", "GAMEPAD_BUTTON_4", inport);
+		}
+		if(receiver instanceof Left_StickX_Position) {
+			return gamepadReadCode("gamepad_get_axis_position",
+					"GAMEPAD_AXIS_LEFT_STICK_HORIZONTAL", inport);
+		}
+		if(receiver instanceof Left_StickY_Position) {
+			return gamepadReadCode("gamepad_get_axis_position", "GAMEPAD_AXIS_LEFT_STICK_VERTICAL",
+					inport);
+		}
+		return "";
+	}
+
+	/** Creates read code for gamepad state. */
+	private String gamepadReadCode(String gamepadFun, String btnId, InputPort inport) {
+		String noval = "noval_" + portName(inport) + " = false;\n";
+		String setBtn = portName(inport) + " = " + gamepadFun + "(" + btnId + ");\n";
+		return noval + setBtn;
+	}
+
 	/** Create the initialize code. */
 	private String createInitCode(List<Pair<ExecutionUnit, Component>> deployedComponents) {
 		StringBuilder sb = new StringBuilder();