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Commit 5ca25869 authored by fortissBot's avatar fortissBot
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Code Generation for Sensors and Rumblepad

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org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/af3pihal/rumblepad.h 0 → 100644
+ 66
− 0
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/*******************************************************************************
* Copyright (c) 2017 fortiss GmbH.
* All rights reserved. This program and the accompanying materials
* are made available under the terms of the Eclipse Public License v2.0
* which accompanies this distribution, and is available at
* http://www.eclipse.org/legal/epl-v20.html
*
* Contributors:
* Thomas Boehm, Florian Hoelzl - initial API and implementation
*******************************************************************************/
#ifndef INC_RUMBLEPAD_H_
#define INC_RUMBLEPAD_H_
#include <stdint.h>
#define RUMBLEPAD_AXIS_LEFT_STICK_HORIZONTAL 0
#define RUMBLEPAD_AXIS_LEFT_STICK_VERTICAL 1
#define RUMBLEPAD_AXIS_L2 2
#define RUMBLEPAD_AXIS_RIGHT_STICK_HORIZONTAL 3
#define RUMBLEPAD_AXIS_RIGHT_STICK_VERTICAL 4
#define RUMBLEPAD_AXIS_R2 5
//#define RUMBLEPAD_AXIS_CROSS_PAD_HORIZONTAL 4
//#define RUMBLEPAD_AXIS_CROSS_PAD_VERTICAL 5
#define RUMBLEPAD_BUTTON_A 6
#define RUMBLEPAD_BUTTON_B 7
#define RUMBLEPAD_BUTTON_Y 8
#define RUMBLEPAD_BUTTON_X 9
#define RUMBLEPAD_BUTTON_L1 10
#define RUMBLEPAD_BUTTON_R1 11
#define RUMBLEPAD_BUTTON_SELECT 12
#define RUMBLEPAD_BUTTON_START 13
#define RUMBLEPAD_BUTTON_L3 14
#define RUMBLEPAD_BUTTON_R3 15
#define RUMBLEPAD_BUTTON_HOME 16
#define RUMBLEPAD_DPAD_UP 17
#define RUMBLEPAD_DPAD_DOWN 18
#define RUMBLEPAD_DPAD_LEFT 19
#define RUMBLEPAD_DPAD_RIGHT 20
//#define RUMBLEPAD_BUTTON_LEFT_STICK 16
//#define RUMBLEPAD_BUTTON_RIGHT_STICK 17
#define RUMBLEPAD_BUTTON_STATE_PRESSED 1
#define RUMBLEPAD_BUTTON_STATE_NPRESSED 0
struct rumblepad_configuration {
const char* device_id;
uint64_t waiting_sleep_in_micros;
void (*axis_callback)(uint8_t axis, int16_t value);
void (*button_callback)(uint8_t button, uint16_t old_value, uint16_t new_value);
};
typedef struct rumblepad_configuration rumblepad_configuration_t;
/** Initializes the rumblepad and starts its thread. */
void rumblepad_initialize(rumblepad_configuration_t* configuration);
/** Get the axis position for the given axis. */
int16_t rumblepad_get_axis_position(uint8_t axisID);
/** Get the button state for the given button. */
int16_t rumblepad_get_button_state(uint8_t buttonID);
/** Terminates the rumblepad thread and frees its resources. */
void rumblepad_terminate();
#endif /* INC_RUMBLEPAD_H_ */
org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/af3pihal/temp_actuator.h
+ 3
− 1
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......@@ -3,12 +3,14 @@
#include <stdint.h>
void temp_actuator_initialize(const char * device);
int 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);
int temp_actuator_device_set_target(int device, uint8_t channel, uint16_t target);
void temp_actuator_terminate();
#endif /* INC_TEMP_ACTUATOR_H_ */
org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/lib/libaf3pihal.a
+ 0
− 0
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org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore
+ 16
− 16
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......@@ -2,21 +2,21 @@
<ecore:EPackage xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" name="model" nsURI="http://www.fortiss.org/af3/platform/raspberry"
nsPrefix="org-fortiss-af3-platform-raspberry">
<eClassifiers xsi:type="ecore:EClass" name="RaspberryPi" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//ExecutionUnit">
<eClassifiers xsi:type="ecore:EClass" name="RaspberryPi" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//ExecutionUnit">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="canCoordinationID" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EInt"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="ipAddress" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="coordinatorUnit" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EBoolean"/>
<eStructuralFeatures xsi:type="ecore:EAttribute" name="cycleTime" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EInt"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="CanBus" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//TransmissionUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="CanConnector" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Transceiver"/>
<eClassifiers xsi:type="ecore:EClass" name="ActuatorPWM" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Transmitter">
<eClassifiers xsi:type="ecore:EClass" name="CanBus" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//TransmissionUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="CanConnector" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Transceiver"/>
<eClassifiers xsi:type="ecore:EClass" name="ActuatorPWM" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Transmitter">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="channelID" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EInt"/>
</eClassifiers>
<eSubpackages name="gamepad" nsURI="http://www.fortiss.org/af3/platform/raspberry/gamepad"
nsPrefix="org-fortiss-af3-platform-raspberry-gamepad">
<eClassifiers xsi:type="ecore:EClass" name="GamepadReceiverBase" abstract="true"
eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
<eClassifiers xsi:type="ecore:EClass" name="Button1" eSuperTypes="#//gamepad/GamepadReceiverBase"/>
<eClassifiers xsi:type="ecore:EClass" name="Button2" eSuperTypes="#//gamepad/GamepadReceiverBase"/>
<eClassifiers xsi:type="ecore:EClass" name="Button3" eSuperTypes="#//gamepad/GamepadReceiverBase"/>
......@@ -32,25 +32,25 @@
</eSubpackages>
<eSubpackages name="brick" nsURI="http://www.fortiss.org/af3/platform/raspberry/brick"
nsPrefix="org-fortiss-af3-platform-raspberry">
<eClassifiers xsi:type="ecore:EClass" name="UIDUnit" abstract="true" eSuperTypes="../../org.fortiss.tooling.kernel/model/kernel.ecore#//INamedCommentedElement">
<eClassifiers xsi:type="ecore:EClass" name="UIDUnit" abstract="true" eSuperTypes="platform:/resource/org.fortiss.tooling.kernel/model/kernel.ecore#//INamedCommentedElement">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="uniqueBrickletID" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EString"/>
</eClassifiers>
<eClassifiers xsi:type="ecore:EClass" name="UltraSonicSensor" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="LaserRangeSensor" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AccelerationXSensor" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AccelerationYSensor" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AccelerationZSensor" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AngularVelocityXSensor" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AngularVelocityYSensor" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AngularVelocityZSensor" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="ActuatorDigits" eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Transmitter #//brick/UIDUnit">
<eClassifiers xsi:type="ecore:EClass" name="UltraSonicSensor" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="LaserRangeSensor" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AccelerationXSensor" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AccelerationYSensor" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AccelerationZSensor" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AngularVelocityXSensor" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AngularVelocityYSensor" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="AngularVelocityZSensor" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver #//brick/UIDUnit"/>
<eClassifiers xsi:type="ecore:EClass" name="ActuatorDigits" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Transmitter #//brick/UIDUnit">
<eStructuralFeatures xsi:type="ecore:EAttribute" name="showHexValue" eType="ecore:EDataType http://www.eclipse.org/emf/2002/Ecore#//EBoolean"/>
</eClassifiers>
</eSubpackages>
<eSubpackages name="rumblepad" nsURI="http://www.fortiss.org/af3/platform/raspberry/rumblepad"
nsPrefix="org-fortiss-af3-platform-raspberry-rumblepad">
<eClassifiers xsi:type="ecore:EClass" name="RumblepadReceiverBase" abstract="true"
eSuperTypes="../../org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
<eClassifiers xsi:type="ecore:EClass" name="ButtonA" eSuperTypes="#//rumblepad/RumblepadReceiverBase"/>
<eClassifiers xsi:type="ecore:EClass" name="ButtonB" eSuperTypes="#//rumblepad/RumblepadReceiverBase"/>
<eClassifiers xsi:type="ecore:EClass" name="ButtonX" eSuperTypes="#//rumblepad/RumblepadReceiverBase"/>
......
org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel
+ 28
− 4
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......@@ -18,10 +18,6 @@
<genClasses ecoreClass="raspberry.ecore#//ActuatorPWM">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute raspberry.ecore#//ActuatorPWM/channelID"/>
</genClasses>
<genClasses ecoreClass="raspberry.ecore#//ActuatorDigits">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute raspberry.ecore#//ActuatorDigits/showHexValue"/>
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute raspberry.ecore#//ActuatorDigits/uniqueBrickletID"/>
</genClasses>
<nestedGenPackages prefix="Gamepad" basePackage="org.fortiss.af3.platform.raspberry.model"
disposableProviderFactory="true" ecorePackage="raspberry.ecore#//gamepad">
<genClasses image="false" ecoreClass="raspberry.ecore#//gamepad/GamepadReceiverBase"/>
......@@ -51,6 +47,34 @@
<genClasses ecoreClass="raspberry.ecore#//brick/AngularVelocityXSensor"/>
<genClasses ecoreClass="raspberry.ecore#//brick/AngularVelocityYSensor"/>
<genClasses ecoreClass="raspberry.ecore#//brick/AngularVelocityZSensor"/>
<genClasses ecoreClass="raspberry.ecore#//brick/ActuatorDigits">
<genFeatures createChild="false" ecoreFeature="ecore:EAttribute raspberry.ecore#//brick/ActuatorDigits/showHexValue"/>
</genClasses>
</nestedGenPackages>
<nestedGenPackages prefix="Rumblepad" basePackage="org.fortiss.af3.platform.raspberry.model"
disposableProviderFactory="true" ecorePackage="raspberry.ecore#//rumblepad">
<genClasses image="false" ecoreClass="raspberry.ecore#//rumblepad/RumblepadReceiverBase"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonA"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonB"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonX"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonY"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonL1"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonR1"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonL3"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonR3"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/Left_StickX_Position"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/Left_StickY_Position"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/Right_StickX_Position"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/Right_StickY_Position"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/L2_Position"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/R2_Position"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/DPadUp"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/DPadDown"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/DPadLeft"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/DPadRight"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonStart"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonSelect"/>
<genClasses ecoreClass="raspberry.ecore#//rumblepad/ButtonHome"/>
</nestedGenPackages>
</genPackages>
</genmodel:GenModel>
org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/HeaderCopyGenerator.java
+ 6
− 0
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......@@ -42,6 +42,7 @@ final class HeaderCopyGenerator {
incLibPack.addUnit(copyAF3Hal("canthread.h"));
incLibPack.addUnit(copyAF3Hal("debugprint.h"));
incLibPack.addUnit(copyAF3Hal("gamepad.h"));
incLibPack.addUnit(copyAF3Hal("rumblepad.h"));
incLibPack.addUnit(copyAF3Hal("protocol_can.h"));
incLibPack.addUnit(copyAF3Hal("protocol_control_center.h"));
incLibPack.addUnit(copyAF3Hal("protocol_coordinator.h"));
......@@ -49,6 +50,11 @@ final class HeaderCopyGenerator {
incLibPack.addUnit(copyAF3Hal("protocol_worker.h"));
incLibPack.addUnit(copyAF3Hal("temp_actuator.h"));
incLibPack.addUnit(copyAF3Hal("timeutil.h"));
incLibPack.addUnit(copyBrick("ip_connection.h"));
incLibPack.addUnit(copyBrick("bricklet_distance_us.h"));
incLibPack.addUnit(copyBrick("bricklet_laser_range_finder.h"));
incLibPack.addUnit(copyBrick("brick_imu_v2.h"));
incLibPack.addUnit(copyBrick("bricklet_segment_display_4x7.h"));
}
/** Copies the AF3 HAL header file. */
......
org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java
+ 2
− 1
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......@@ -93,7 +93,8 @@ public class RaspberryPIExecutable extends ExecutionUnitExecutableBase<Raspberry
addLogicalComponentCode(deployedComponents, context, sourcePackage);
addEclipseCProjectFiles(sourcePackage, modelElement.getName());
addStaticLibraries(sourcePackage);
addConfigureAndMakedefsFiles(sourcePackage, modelElement.getName(), LIB_NAMES);
addConfigureAndMakedefsFiles(sourcePackage, modelElement.getName(),
LIB_NAMES_WITH_BRICK);
addMainFile(sourcePackage, deployedComponents, deployedPorts, context);
} catch(Exception ex) {
error(AF3PlatformRaspberryActivator.getDefault(), ex.getMessage(), ex);
......
org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java
+ 4
− 2
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......@@ -61,14 +61,16 @@ public final class RasPiCTemplates {
}
/** Returns the 'main.c' file configured using the given arguments. */
public static AbstractUnit getSingleUnitMainCFile(String unitName, int cycletimeInMillis,
String systemIncludes, String systemInitCode, String workerCode) {
public static AbstractUnit
getSingleUnitMainCFile(String unitName, int cycletimeInMillis, String systemIncludes,
String systemInitCode, String workerCode, String sensorVariables) {
StringTemplate template = makeTemplate("SingleUnitMainFile.stg", "MainFile");
template.setAttribute("UNIT_NAME", unitName);
template.setAttribute("CYCLE_TIME_IN_MILLIS", cycletimeInMillis);
template.setAttribute("SYSTEM_INCLUDES", systemIncludes);
template.setAttribute("SYSTEM_INIT_CODE", systemInitCode);
template.setAttribute("WORKER_CODE", workerCode);
template.setAttribute("SENSOR_VARIABLES", sensorVariables);
StaticContentSourceUnit unit =
createStaticContentSourceUnit("main.c", template.toString(), false);
return unit;
......
org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/SingleUnitMainFile.stg
+ 7
− 1
View file @ 5ca25869
......@@ -4,7 +4,8 @@ MainFile(UNIT_NAME,
CYCLE_TIME_IN_MILLIS,
SYSTEM_INCLUDES,
SYSTEM_INIT_CODE,
WORKER_CODE) ::= <<
WORKER_CODE,
SENSOR_VARIABLES) ::= <<
// due to current data dictionary declaration of GENTYPE_boolean
// system include must be first
$SYSTEM_INCLUDES$
......@@ -24,7 +25,10 @@ $SYSTEM_INCLUDES$
static uint64_t step = 0;
$SENSOR_VARIABLES$
static void worker() {
uint64_t curr_time = time_util_get_current_micros();
step++;
$WORKER_CODE$
}
......@@ -36,8 +40,10 @@ static uint64_t delta_time_in_micros;
static uint64_t local_logical_clock;
int main(int argc, char** argv) {
local_logical_clock = 1;
// set AF3 unit name used when communicating with CC
af3_set_execution_unit_identifier("$UNIT_NAME$");
uint32_t cycle_time = $CYCLE_TIME_IN_MILLIS$;
// TODO: initialize ControlCenter connection
$SYSTEM_INIT_CODE$
......
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