From 602e613bd8c16c65ed156a6863397ca32f7d58b8 Mon Sep 17 00:00:00 2001
From: Johannes Eder <eder@fortiss.org>
Date: Mon, 22 May 2017 13:16:32 +0000
Subject: [PATCH] specific sensor and actuator elements
---
.../ui/prototype/ProtoypeProvider.java | 28 +++-
.../trunk/model/raspberry.ecore | 5 +
.../trunk/model/raspberry.genmodel | 5 +
.../trunk/plugin.xml | 16 +++
.../compose/RaspberryPiCompositor.java | 7 +-
.../executable/RaspberryPIExecutable.java | 123 ++++++++++++++++++
.../transform/RaspberryPITransformation.java | 59 +++++++++
.../util/RaspberryModelElementFactory.java | 36 +++++
8 files changed, 276 insertions(+), 3 deletions(-)
create mode 100644 org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java
create mode 100644 org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/transform/RaspberryPITransformation.java
diff --git a/org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/prototype/ProtoypeProvider.java b/org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/prototype/ProtoypeProvider.java
index 50058c09..e5c96200 100644
--- a/org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/prototype/ProtoypeProvider.java
+++ b/org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/prototype/ProtoypeProvider.java
@@ -25,10 +25,14 @@ import static org.fortiss.tooling.base.utils.LayoutDataUtils.setNodePosition;
import static org.fortiss.tooling.base.utils.LayoutModelElementFactory.createRectangle;
import org.fortiss.af3.platform.raspberry.model.ActuatorConnector;
+import org.fortiss.af3.platform.raspberry.model.ActuatorPWM;
import org.fortiss.af3.platform.raspberry.model.CanBus;
import org.fortiss.af3.platform.raspberry.model.CanConnector;
import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
import org.fortiss.af3.platform.raspberry.model.SensorConnector;
+import org.fortiss.af3.platform.raspberry.model.SensorIMU;
+import org.fortiss.af3.platform.raspberry.model.SensorLaserRangeFinder;
+import org.fortiss.af3.platform.raspberry.model.SensorLaserScanner;
import org.fortiss.af3.platform.raspberry.util.RaspberryModelElementFactory;
import org.fortiss.tooling.kernel.extension.base.PrototypeProviderBase;
@@ -63,12 +67,32 @@ public class ProtoypeProvider extends PrototypeProviderBase {
SensorConnector sensor = RaspberryModelElementFactory.createSensorConnector();
setNodePosition(sensor, 0, 0);
setConnectorPosition(sensor, 0, 0);
- registerPrototype("Sensor", sensor, CATEGORY_NAME);
+ registerPrototype("GenericPI_Sensor", sensor, CATEGORY_NAME);
+
+ SensorIMU imu = RaspberryModelElementFactory.createSensorIMU();
+ setNodePosition(imu, 0, 0);
+ setConnectorPosition(imu, 0, 0);
+ registerPrototype("IMU_Sensor", imu, CATEGORY_NAME);
+
+ SensorLaserRangeFinder slrf = RaspberryModelElementFactory.createSensorLaserRangeFinder();
+ setNodePosition(slrf, 0, 0);
+ setConnectorPosition(slrf, 0, 0);
+ registerPrototype("LaserRangeFinder_Sensor", slrf, CATEGORY_NAME);
+
+ SensorLaserScanner sls = RaspberryModelElementFactory.createSensorLaserScanner();
+ setNodePosition(sls, 0, 0);
+ setConnectorPosition(sls, 0, 0);
+ registerPrototype("LaserScanner_Sensor", sls, CATEGORY_NAME);
ActuatorConnector actuator = RaspberryModelElementFactory.createActuatorConnector();
setNodePosition(actuator, 0, 0);
setConnectorPosition(actuator, 0, 0);
- registerPrototype("Actuator", actuator, CATEGORY_NAME);
+ registerPrototype("GenericPI_Actuator", actuator, CATEGORY_NAME);
+
+ ActuatorPWM pwm = RaspberryModelElementFactory.createActuatorPWM();
+ setNodePosition(pwm, 0, 0);
+ setConnectorPosition(pwm, 0, 0);
+ registerPrototype("PWM_Actuator", pwm, CATEGORY_NAME);
}
}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore b/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore
index 53284dc1..e2825530 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore
+++ b/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore
@@ -7,4 +7,9 @@
<eClassifiers xsi:type="ecore:EClass" name="CanConnector" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransceiver"/>
<eClassifiers xsi:type="ecore:EClass" name="SensorConnector" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
<eClassifiers xsi:type="ecore:EClass" name="ActuatorConnector" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransmitter"/>
+ <eClassifiers xsi:type="ecore:EClass" name="SensorGamepad" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
+ <eClassifiers xsi:type="ecore:EClass" name="SensorIMU" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
+ <eClassifiers xsi:type="ecore:EClass" name="SensorLaserRangeFinder" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
+ <eClassifiers xsi:type="ecore:EClass" name="SensorLaserScanner" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
+ <eClassifiers xsi:type="ecore:EClass" name="ActuatorPWM" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransmitter"/>
</ecore:EPackage>
diff --git a/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel b/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel
index 6cd7d086..44dbaf53 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel
+++ b/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel
@@ -12,5 +12,10 @@
<genClasses ecoreClass="raspberry.ecore#//CanConnector"/>
<genClasses ecoreClass="raspberry.ecore#//SensorConnector"/>
<genClasses ecoreClass="raspberry.ecore#//ActuatorConnector"/>
+ <genClasses ecoreClass="raspberry.ecore#//SensorGamepad"/>
+ <genClasses ecoreClass="raspberry.ecore#//SensorIMU"/>
+ <genClasses ecoreClass="raspberry.ecore#//SensorLaserRangeFinder"/>
+ <genClasses ecoreClass="raspberry.ecore#//SensorLaserScanner"/>
+ <genClasses ecoreClass="raspberry.ecore#//ActuatorPWM"/>
</genPackages>
</genmodel:GenModel>
diff --git a/org.fortiss.af3.platform.raspberry/trunk/plugin.xml b/org.fortiss.af3.platform.raspberry/trunk/plugin.xml
index 52892d06..a40d19b0 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/plugin.xml
+++ b/org.fortiss.af3.platform.raspberry/trunk/plugin.xml
@@ -61,6 +61,22 @@
</target>
</modelConnectionCompositor>
</extension>
+ <extension
+ point="org.fortiss.tooling.kernel.transformationProvider">
+ <transformationProvider
+ transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.RaspberryPITransformation">
+ <source>
+ <objectClass
+ objectClass="org.fortiss.af3.platform.raspberry.model.RaspberryPi">
+ </objectClass>
+ </source>
+ <target>
+ <objectClass
+ objectClass="org.fortiss.af3.platform.raspberry.generator.executable.RaspberryPIExecutable">
+ </objectClass>
+ </target>
+ </transformationProvider>
+ </extension>
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/compose/RaspberryPiCompositor.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/compose/RaspberryPiCompositor.java
index 7b17eeb0..fd5561a6 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/compose/RaspberryPiCompositor.java
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/compose/RaspberryPiCompositor.java
@@ -23,9 +23,13 @@ import org.eclipse.emf.ecore.EObject;
import org.fortiss.af3.platform.compose.PlatformArchitectureElementCompositorBase;
import org.fortiss.af3.platform.model.IPlatformArchitectureElement;
import org.fortiss.af3.platform.raspberry.model.ActuatorConnector;
+import org.fortiss.af3.platform.raspberry.model.ActuatorPWM;
import org.fortiss.af3.platform.raspberry.model.CanConnector;
import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
import org.fortiss.af3.platform.raspberry.model.SensorConnector;
+import org.fortiss.af3.platform.raspberry.model.SensorGamepad;
+import org.fortiss.af3.platform.raspberry.model.SensorLaserRangeFinder;
+import org.fortiss.af3.platform.raspberry.model.SensorLaserScanner;
/**
*
@@ -43,7 +47,8 @@ public class RaspberryPiCompositor extends
EObject contained) {
final boolean instanceOfAny2 =
isInstanceOfAny(contained, CanConnector.class, SensorConnector.class,
- ActuatorConnector.class);
+ ActuatorConnector.class, ActuatorPWM.class, SensorLaserRangeFinder.class,
+ SensorGamepad.class, SensorLaserScanner.class);
if(container != null) {
final boolean instanceOfAny = isInstanceOfAny(container, RaspberryPi.class);
return instanceOfAny && instanceOfAny2;
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
new file mode 100644
index 00000000..b653f55f
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java
@@ -0,0 +1,123 @@
+/*--------------------------------------------------------------------------+
+$Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
+| |
+| Copyright 2017 fortiss GmbH |
+| |
+| Licensed under the Apache License, Version 2.0 (the "License"); |
+| you may not use this file except in compliance with the License. |
+| You may obtain a copy of the License at |
+| |
+| http://www.apache.org/licenses/LICENSE-2.0 |
+| |
+| Unless required by applicable law or agreed to in writing, software |
+| distributed under the License is distributed on an "AS IS" BASIS, |
+| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
+| See the License for the specific language governing permissions and |
+| limitations under the License. |
++--------------------------------------------------------------------------*/
+package org.fortiss.af3.platform.raspberry.generator.executable;
+
+import static org.fortiss.af3.expression.utils.ExpressionModelElementFactory.funcCall;
+
+import java.util.List;
+import java.util.Set;
+
+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.component.model.generator.ComponentFunction;
+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.platform.generic.generator.executable.GenericExecutionUnitExecutable;
+import org.fortiss.af3.platform.language.executable.IReadableExecutable;
+import org.fortiss.af3.platform.language.executable.IWritableExecutable;
+import org.fortiss.af3.platform.model.ExecutionUnit;
+import org.fortiss.af3.platform.model.PlatformConnectorUnit;
+import org.fortiss.af3.platform.model.generic.GenericTransceiver;
+import org.fortiss.tooling.kernel.extension.data.ITransformationContext;
+
+/**
+ *
+ * @author eder
+ * @author $Author: hoelzl $
+ * @version $Rev: 18709 $
+ * @ConQAT.Rating RED Hash:
+ */
+public class RaspberryPIExecutable extends GenericExecutionUnitExecutable {
+
+ /** Constructor. */
+ public RaspberryPIExecutable(ExecutionUnit modelElement) {
+ super(modelElement);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ protected CSourcePackage createExecutionUnitSourcePackage(String name,
+ List<Pair<ExecutionUnit, Component>> deployedComponents,
+ List<Pair<PlatformConnectorUnit, Port>> deployedPorts, ITransformationContext context) {
+ return super.createExecutionUnitSourcePackage(name, deployedComponents, deployedPorts,
+ context);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ protected ComponentFunction createInitializeFunction(
+ List<Pair<ExecutionUnit, Component>> deployedComponents,
+ Set<PlatformConnectorUnit> usedUnits) {
+ return super.createInitializeFunction(deployedComponents, usedUnits);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ protected void
+ createReadAccess(IReadableExecutable exec, InputPort p, List<IStatementTerm> body) {
+ super.createReadAccess(exec, p, body);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ protected LocalFunction createReadInputFunction(
+ List<Pair<PlatformConnectorUnit, Port>> deployedPorts,
+ Set<GenericTransceiver> usedTransceivers) {
+ return super.createReadInputFunction(deployedPorts, usedTransceivers);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ protected ComponentFunction createStepFunction(
+ List<Pair<ExecutionUnit, Component>> deployedComponents,
+ List<Pair<PlatformConnectorUnit, Port>> deployedPorts,
+ Set<GenericTransceiver> usedTransceivers) {
+ return super.createStepFunction(deployedComponents, deployedPorts, usedTransceivers);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ protected LocalFunction createTerminationFunction(Set<PlatformConnectorUnit> usedUnits) {
+ return super.createTerminationFunction(usedUnits);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ protected void createWriteAccess(IWritableExecutable exec, OutputPort p,
+ List<IStatementTerm> body) {
+ super.createWriteAccess(exec, p, body);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public IExpressionTerm getInitialization() {
+ return funcCall("init_raspberryPI_ecu");
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public IExpressionTerm getTermination() {
+ return funcCall("term_raspberryPI_ecu");
+ }
+
+}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/transform/RaspberryPITransformation.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/transform/RaspberryPITransformation.java
new file mode 100644
index 00000000..eb320f64
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/transform/RaspberryPITransformation.java
@@ -0,0 +1,59 @@
+/*--------------------------------------------------------------------------+
+$Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
+| |
+| Copyright 2017 fortiss GmbH |
+| |
+| Licensed under the Apache License, Version 2.0 (the "License"); |
+| you may not use this file except in compliance with the License. |
+| You may obtain a copy of the License at |
+| |
+| http://www.apache.org/licenses/LICENSE-2.0 |
+| |
+| Unless required by applicable law or agreed to in writing, software |
+| distributed under the License is distributed on an "AS IS" BASIS, |
+| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
+| See the License for the specific language governing permissions and |
+| limitations under the License. |
++--------------------------------------------------------------------------*/
+package org.fortiss.af3.platform.raspberry.generator.transform;
+
+import org.fortiss.af3.platform.raspberry.generator.executable.RaspberryPIExecutable;
+import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
+import org.fortiss.tooling.kernel.extension.ITransformationProvider;
+import org.fortiss.tooling.kernel.extension.data.ITransformationContext;
+
+/**
+ *
+ * @author eder
+ * @author $Author: hoelzl $
+ * @version $Rev: 18709 $
+ * @ConQAT.Rating RED Hash:
+ */
+public class RaspberryPITransformation implements ITransformationProvider {
+
+ /** {@inheritDoc} */
+ @Override
+ public Class<?> getTargetClass() {
+ return RaspberryPIExecutable.class;
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public boolean
+ canHandleChainTransformation(Class<?> sourceClass, ITransformationContext context) {
+ return RaspberryPi.class.isAssignableFrom(sourceClass);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public boolean canTransform(Object source, ITransformationContext context) {
+ return source instanceof RaspberryPi;
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public Object transform(Object source, ITransformationContext context) {
+ return new RaspberryPIExecutable((RaspberryPi)source);
+ }
+
+}
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 3324c467..12c3f96e 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
@@ -20,11 +20,15 @@ package org.fortiss.af3.platform.raspberry.util;
import static org.fortiss.tooling.base.utils.LayoutModelElementFactory.createConnectorLayout;
import org.fortiss.af3.platform.raspberry.model.ActuatorConnector;
+import org.fortiss.af3.platform.raspberry.model.ActuatorPWM;
import org.fortiss.af3.platform.raspberry.model.CanBus;
import org.fortiss.af3.platform.raspberry.model.CanConnector;
import org.fortiss.af3.platform.raspberry.model.ModelFactory;
import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
import org.fortiss.af3.platform.raspberry.model.SensorConnector;
+import org.fortiss.af3.platform.raspberry.model.SensorIMU;
+import org.fortiss.af3.platform.raspberry.model.SensorLaserRangeFinder;
+import org.fortiss.af3.platform.raspberry.model.SensorLaserScanner;
import org.fortiss.tooling.base.utils.LayoutModelElementFactory;
/**
@@ -69,6 +73,30 @@ public class RaspberryModelElementFactory {
return connector;
}
+ /** Creates a {@link SensorIMU}. */
+ public static SensorIMU createSensorIMU() {
+ SensorIMU connector = ModelFactory.eINSTANCE.createSensorIMU();
+ connector.setName("IMU_In");
+ createConnectorLayout(connector);
+ return connector;
+ }
+
+ /** Creates a {@link SensorLaserRangeFinder}. */
+ public static SensorLaserRangeFinder createSensorLaserRangeFinder() {
+ SensorLaserRangeFinder connector = ModelFactory.eINSTANCE.createSensorLaserRangeFinder();
+ connector.setName("LaserRangeFinder_In");
+ createConnectorLayout(connector);
+ return connector;
+ }
+
+ /** Creates a {@link SensorLaserScanner}. */
+ public static SensorLaserScanner createSensorLaserScanner() {
+ SensorLaserScanner connector = ModelFactory.eINSTANCE.createSensorLaserScanner();
+ connector.setName("LaserScanner_In");
+ createConnectorLayout(connector);
+ return connector;
+ }
+
/** Creates a {@link ActuatorConnector}. */
public static ActuatorConnector createActuatorConnector() {
ActuatorConnector connector = ModelFactory.eINSTANCE.createActuatorConnector();
@@ -76,4 +104,12 @@ public class RaspberryModelElementFactory {
createConnectorLayout(connector);
return connector;
}
+
+ /** Creates a {@link ActuatorPWM}. */
+ public static ActuatorPWM createActuatorPWM() {
+ ActuatorPWM connector = ModelFactory.eINSTANCE.createActuatorPWM();
+ connector.setName("PWM_Out");
+ createConnectorLayout(connector);
+ return connector;
+ }
}
--
GitLab