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 1240414a8017b08c00a604276d47a09426e0c17f..448ebb2f3099aaef5b068e9d9ce91cbe5e03b83d 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
@@ -33,6 +33,7 @@ import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
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.model.WheelEncoder;
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;
@@ -81,11 +82,6 @@ public class ProtoypeProvider extends PrototypeProviderBase {
setConnectorPosition(con, 0, 0);
registerPrototype("CanConnector", con, CATEGORY_NAME);
- // SensorConnector sensor = RaspberryModelElementFactory.createSensorConnector();
- // setNodePosition(sensor, 0, 0);
- // setConnectorPosition(sensor, 0, 0);
- // registerPrototype("GenericPI_Sensor", sensor, CATEGORY_NAME);
-
SensorIMU imu = RaspberryModelElementFactory.createSensorIMU();
setNodePosition(imu, 0, 0);
setConnectorPosition(imu, 0, 0);
@@ -101,16 +97,6 @@ public class ProtoypeProvider extends PrototypeProviderBase {
setConnectorPosition(sls, 0, 0);
registerPrototype("LaserScanner_Sensor", sls, CATEGORY_NAME);
- // SensorGamepad pad = RaspberryModelElementFactory.createGamepadSensor();
- // setNodePosition(pad, 0, 0);
- // setConnectorPosition(pad, 0, 0);
- // registerPrototype("Gamepad_Sensor", pad, CATEGORY_NAME);
-
- // ActuatorConnector actuator = RaspberryModelElementFactory.createActuatorConnector();
- // setNodePosition(actuator, 0, 0);
- // setConnectorPosition(actuator, 0, 0);
- // registerPrototype("GenericPI_Actuator", actuator, CATEGORY_NAME);
-
ActuatorPWM pwm = RaspberryModelElementFactory.createActuatorPWM();
setNodePosition(pwm, 0, 0);
setConnectorPosition(pwm, 0, 0);
@@ -126,6 +112,11 @@ public class ProtoypeProvider extends PrototypeProviderBase {
setConnectorPosition(gpo, 0, 0);
registerPrototype("GPO", gpo, CATEGORY_NAME);
+ WheelEncoder wEncoder = RaspberryModelElementFactory.createWheelEncoder();
+ setNodePosition(wEncoder, 0, 0);
+ setConnectorPosition(wEncoder, 0, 0);
+ registerPrototype("WheelEncoder", wEncoder, CATEGORY_NAME);
+
Button1 button1 = RaspberryModelElementFactory.createButton1();
setNodePosition(button1, 0, 0);
setConnectorPosition(button1, 0, 0);
diff --git a/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore b/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore
index 38984afbf398022761208042a7eb2df7e221e20c..7dbfc2b5fda7e3c40a28105d7b29248524532c1c 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore
+++ b/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore
@@ -14,6 +14,7 @@
<eClassifiers xsi:type="ecore:EClass" name="ActuatorPWM" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransmitter"/>
<eClassifiers xsi:type="ecore:EClass" name="GPI" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
<eClassifiers xsi:type="ecore:EClass" name="GPO" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransmitter"/>
+ <eClassifiers xsi:type="ecore:EClass" name="WheelEncoder" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
<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="Button1" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
diff --git a/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel b/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel
index 65e79bd8480da88f79520beca8913996cc3a15a5..156f41bfdfb5f44cb8dd69a67e717a9d72a7cb8a 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel
+++ b/org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel
@@ -19,6 +19,7 @@
<genClasses ecoreClass="raspberry.ecore#//ActuatorPWM"/>
<genClasses ecoreClass="raspberry.ecore#//GPI"/>
<genClasses ecoreClass="raspberry.ecore#//GPO"/>
+ <genClasses ecoreClass="raspberry.ecore#//WheelEncoder"/>
<nestedGenPackages prefix="Gamepad" basePackage="org.fortiss.af3.platform.raspberry.model"
disposableProviderFactory="true" ecorePackage="raspberry.ecore#//gamepad">
<genClasses ecoreClass="raspberry.ecore#//gamepad/Button1"/>
diff --git a/org.fortiss.af3.platform.raspberry/trunk/plugin.xml b/org.fortiss.af3.platform.raspberry/trunk/plugin.xml
index e4206d22844b536bc95465d683b024d5772b9f7f..397e4f326c2aa0faf9f151f6d5bd948362ef4586 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/plugin.xml
+++ b/org.fortiss.af3.platform.raspberry/trunk/plugin.xml
@@ -391,6 +391,19 @@
</objectClass>
</target>
</transformationProvider>
+ <transformationProvider
+ transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.WheelEncoderTransformation">
+ <source>
+ <objectClass
+ objectClass="org.fortiss.af3.platform.raspberry.model.WheelEncoder">
+ </objectClass>
+ </source>
+ <target>
+ <objectClass
+ objectClass="org.fortiss.af3.platform.raspberry.generator.executable.WheelEncoderExecutable">
+ </objectClass>
+ </target>
+ </transformationProvider>
</extension>
<extension
point="org.fortiss.tooling.base.annotation">
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 4d7c81c26d18352d06e1686b0b96155c71538c20..7a6d8b6ec32dd6641f197dc0366610f89ed0c292 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
@@ -32,6 +32,7 @@ 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.model.WheelEncoder;
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;
@@ -67,7 +68,7 @@ public class RaspberryPiCompositor extends
Button1.class, Button2.class, Button3.class, Button4.class, ButtonL1.class,
ButtonL2.class, ButtonR1.class, ButtonR2.class, Left_StickX_Position.class,
Left_StickY_Position.class, Right_StickX_Position.class,
- Right_StickY_Position.class);
+ Right_StickY_Position.class, WheelEncoder.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/WheelEncoderExecutable.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/WheelEncoderExecutable.java
new file mode 100644
index 0000000000000000000000000000000000000000..5da6e0d0a515c476a402cb868e33039af5875b8f
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/WheelEncoderExecutable.java
@@ -0,0 +1,39 @@
+/*--------------------------------------------------------------------------+
+$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 org.fortiss.af3.platform.generic.generator.executable.GenericReceiverExecutable;
+import org.fortiss.af3.platform.raspberry.model.SensorLaserRangeFinder;
+import org.fortiss.af3.platform.raspberry.model.WheelEncoder;
+
+/**
+ * Executable for {@link SensorLaserRangeFinder}.
+ *
+ * @author eder
+ * @author $Author: hoelzl $
+ * @version $Rev: 18709 $
+ * @ConQAT.Rating RED Hash:
+ */
+public class WheelEncoderExecutable extends GenericReceiverExecutable {
+
+ /** Constructor. */
+ public WheelEncoderExecutable(WheelEncoder modelElement) {
+ super(modelElement);
+ }
+
+}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/transform/WheelEncoderTransformation.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/transform/WheelEncoderTransformation.java
new file mode 100644
index 0000000000000000000000000000000000000000..88dcfa11ac18d7acca87c62dfbc3d4b5a41df71f
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/transform/WheelEncoderTransformation.java
@@ -0,0 +1,61 @@
+/*--------------------------------------------------------------------------+
+$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.WheelEncoderExecutable;
+import org.fortiss.af3.platform.raspberry.model.SensorLaserRangeFinder;
+import org.fortiss.af3.platform.raspberry.model.WheelEncoder;
+import org.fortiss.tooling.kernel.extension.ITransformationProvider;
+import org.fortiss.tooling.kernel.extension.data.ITransformationContext;
+
+/**
+ * Transformation for {@link SensorLaserRangeFinder}.
+ *
+ * @author eder
+ * @author $Author: hoelzl $
+ * @version $Rev: 18709 $
+ * @ConQAT.Rating RED Hash:
+ */
+public class WheelEncoderTransformation implements ITransformationProvider {
+
+ /** {@inheritDoc} */
+ @Override
+ public Class<?> getTargetClass() {
+ return WheelEncoder.class;
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public boolean
+ canHandleChainTransformation(Class<?> sourceClass, ITransformationContext context) {
+ return WheelEncoder.class.isAssignableFrom(sourceClass);
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public boolean canTransform(Object source, ITransformationContext context) {
+ return source instanceof WheelEncoder;
+ }
+
+ /** {@inheritDoc} */
+ @Override
+ public Object transform(Object source, ITransformationContext context) {
+ return new WheelEncoderExecutable((WheelEncoder)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 f5b95a534cef56ce2ea7190593ff12b72517db32..9d7c2d5f1493ab5879f03ce21766045754f50455 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
@@ -32,6 +32,7 @@ import org.fortiss.af3.platform.raspberry.model.SensorGamepad;
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.model.WheelEncoder;
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;
@@ -249,4 +250,12 @@ public class RaspberryModelElementFactory {
return button;
}
+ /** Creates a {@link Right_StickY_Position}. */
+ public static WheelEncoder createWheelEncoder() {
+ WheelEncoder wEncoder = ModelFactory.eINSTANCE.createWheelEncoder();
+ wEncoder.setName("WheelEncoder");
+ createConnectorLayout(wEncoder);
+ return wEncoder;
+ }
+
}