Updated af3pihal library with control center support.

Signed-off-by: Florian Hoelzl <hoelzl@fortiss.org>

org.fortiss.af3.platform.raspberry/code-gen-hal/inc/af3pihal/af3.h

@@ -7,6 +7,7 @@
  *
  * Contributors:
  *    Florian Hoelzl - initial API and implementation
+ *    Constantin Dresel - added struct receive_message_t
  *******************************************************************************/
 #ifndef INC_AF3_H_
 #define INC_AF3_H_
@@ -22,6 +23,15 @@ typedef int		GEN_TYPE_int;
 typedef double	GEN_TYPE_double;
 #endif
 
+
+// new structure for receiveing message
+typedef struct receive_message_t{
+	char modulename[30];
+	char variablename[30];
+	char value[30];
+	char time[30];
+}receive_message_t;
+
 /*
  * Function for initializing the module and callbacks
  */

org.fortiss.af3.platform.raspberry/code-gen-hal/inc/af3pihal/camera_client.h

@@ -20,6 +20,7 @@
 
 /** Initialize the connection to the camera server. */
 void camera_client_initialize(const char *hostname, const char *port);
+
 /** Returns whether the client is connected to the camera. */
 bool camera_client_is_connected();
 /** Returns the left distance. */

org.fortiss.af3.platform.raspberry/code-gen-hal/inc/af3pihal/control_center_downstream.h

+/*******************************************************************************
+ * Copyright (c) 2018 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:
+ *    Constantin Dresel - initial API and implementation
+ *******************************************************************************/
+#ifndef INC_CONTROL_CENTER_DOWNSTREAM_H_
+#define INC_CONTROL_CENTER_DOWNSTREAM_H_
+
+#include "af3.h"
+#include <stdint.h>
+#define INTBASE 10  //!< Base for conversion from string to int (10 for dec)
+
+typedef struct rx_msg_container_t {
+	receive_message_t message;
+	uint8_t age_in_cycles;
+}rx_msg_container_t;
+
+/** listener for received messages**/
+void af3_cc_listen(void (*listener_handler) (receive_message_t));
+
+/**
+ * \brief Initialize the downstream communication for control center.
+ * Currently just initializes a mutex and starts a thread listening for incoming
+ * messages.
+ */
+void af3_cc_donwstream_init(void);
+
+/**
+ * \brief Exit downstream communication for control center.
+ * Stops the thread used for receiving incoming downstream messages and frees
+ * used memory.
+ */
+void af3_cc_downstream_exit(void);
+
+/**
+ * \brief Handler function for received control center downstream messages.
+ * Stores a given received message in a list of received messages for further
+ * processing.
+ * @param received_message The received message to be handled.
+ */
+void cc_downstream_message_handler(receive_message_t received_message);
+
+/**
+ * \brief Get a received integer variable with the given name.
+ * Checks whether an integer variable with the given name was received. If so
+ * the value of the received variable is converted to integer an stored at the
+ * given destination. If no appropriate message was received the destination
+ * variable won't get modified.
+ * @param userfriendly_name The userfriendly name of the variable to search for.
+ * @param p_variable_to_write A pointer to the destination where the integer
+ * value will be stored if a message was received containing the desired
+ * variable.
+ * @param p_variable_to_write A pointer to the destination where to record
+ * whether the variable is valid or not.
+ * @return Positive if the destination variable was updated, negative otherwise.
+ */
+int af3_cc_get_int(char* userfriendly_name, GEN_TYPE_int* p_variable_to_write,
+		GEN_TYPE_boolean* p_variable_to_write_noval);
+
+/**
+ * \brief Get a received boolean variable with the given name.
+ * Checks whether an boolean variable with the given name was received. If so
+ * the value of the received variable is converted to boolean an stored at the
+ * given destination. If no appropriate message was received the destination
+ * variable won't get modified.
+ * @param userfriendly_name The userfriendly name of the variable to search for.
+ * @param p_variable_to_write A pointer to the destination where the boolean
+ * value will be stored if a message was received containing the desired
+ * variable.
+ * @param p_variable_to_write A pointer to the destination where to record
+ * whether the variable is valid or not.
+ * @return Positive if the destination variable was updated, negative otherwise.
+ */
+int af3_cc_get_bool(char* userfriendly_name,
+		GEN_TYPE_boolean* p_variable_to_write,
+		GEN_TYPE_boolean* p_variable_to_write_noval);
+
+/**
+ * \brief Get a received double variable with the given name.
+ * Checks whether an double variable with the given name was received. If so
+ * the value of the received variable is converted to double an stored at the
+ * given destination. If no appropriate message was received the destination
+ * variable won't get modified.
+ * @param userfriendly_name The userfriendly name of the variable to search for.
+ * @param p_variable_to_write A pointer to the destination where the double
+ * value will be stored if a message was received containing the desired
+ * variable.
+ * @param p_variable_to_write A pointer to the destination where to record
+ * whether the variable is valid or not.
+ * @return Positive if the destination variable was updated, negative otherwise.
+ */
+int af3_cc_get_double(char* userfriendly_name,
+		GEN_TYPE_double* p_variable_to_write,
+		GEN_TYPE_boolean* p_variable_to_write_noval);
+/**
+ * \brief Clear received messages that are older than a given number of cycles
+ * Clears received messages stored in the list buffer that were not popped from
+ * the list within the given interval of cycles. Use this to clear received
+ * messages from the list that are not related to an existing variable and
+ * therefore would pile up in the list and never be popped otherwise.
+ * One call of this function represents one cycle.
+ * @param age_to_keep The maximum age of messages to keep given in cycles.
+ */
+void af3_cc_downstream_clean_up_rx_list(uint8_t age_to_keep);
+
+
+#endif /* INC_CONTROL_CENTER_DOWNSTREAM_H_ */

org.fortiss.af3.platform.raspberry/code-gen-hal/inc/af3pihal/listutil.h

@@ -7,6 +7,7 @@
  *
  * Contributors:
  *    Florian Hoelzl - initial API and implementation
+ *    Constantin Dresel - added destroy_list and other functions
  *******************************************************************************/
 #ifndef INC_LISTUTIL_H_
 #define INC_LISTUTIL_H_
@@ -20,6 +21,9 @@ typedef struct list_iterator list_iterator_t;
 /** Creates a new list with the given element size. */
 list_t* list_util_create_list();
 
+/** Frees the memory occupied by the given list. */
+void list_util_destroy_list(list_t* list);
+
 /** Appends the given element to the end of the list. */
 void list_util_append(list_t* list, void* element);
 
@@ -46,6 +50,10 @@ bool list_util_iterator_has_next(list_iterator_t* iter);
 /** Returns the next element during forward iteration and advances the iterator forward. */
 void* list_util_iterator_next(list_iterator_t* iter);
 
+/** Returns the current element during iteration without advancing the iterator.
+ *  */
+void* list_util_iterator_current(list_iterator_t* iter);
+
 /** Checks whether the given iterator has a previous element during backward iteration. */
 bool list_util_iterator_has_previous(list_iterator_t* iter);
 
@@ -54,4 +62,7 @@ void* list_util_iterator_previous(list_iterator_t* iter);
 
 /** Destroys the iterator when it is no longer needed. */
 void list_util_iterator_destroy(list_iterator_t* iter);
+
+/** Removes and returns the specified element in the list. */
+void* list_util_remove_element(list_iterator_t* list_iterator);
 #endif /* INC_LISTUTIL_H_ */

org.fortiss.af3.platform.raspberry/code-gen-hal/inc/af3pihal/protocol_control_center.h

@@ -7,6 +7,7 @@
  *
  * Contributors:
  *    Florian Hoelzl - initial API and implementation
+ *    Constantin Dresel - added recceive function
  *******************************************************************************/
 
 #ifndef INC_PROTOCOL_CONTROL_CENTER_H_
@@ -27,6 +28,9 @@ void protocol_control_center_create(protocol_control_center_configuration_t* con
 /** Writes len bytes of the given text to the control center. */
 void protocol_control_center_write(char* text, size_t len);
 
+/** Reads at maximum len bytes from control center to the given buffer. */
+void protocol_control_center_receive(char* text, size_t len);
+
 /** Terminates the connection to the control center. */
 void protocol_control_center_terminate();