diff --git a/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/temp_actuator.h b/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/temp_actuator.h
new file mode 100644
index 0000000000000000000000000000000000000000..7edc9167247ed40ef4f191a493ff32bc052460ba
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/temp_actuator.h
@@ -0,0 +1,14 @@
+#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_ */
diff --git a/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/lib/libaf3pihal.a b/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/lib/libaf3pihal.a
index f5a7f9b432da53a1d1764d0dcce667f065b59afe..3d6219dbd5f7d4fd2e36ff267d21144e75bbfbd9 100644
Binary files a/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/lib/libaf3pihal.a and b/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/lib/libaf3pihal.a differ
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/MainGenerator.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/MainGenerator.java
index 74b343d8ebe8cb6dc3fb016c7f4c9bae6d920855..87dd2ae0e062de4cd3074b323ff7981e6af069d4 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/MainGenerator.java
+++ b/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();