Added untested pwm code and fixed some bugs

refs 7890

org.fortiss.af3.platform.raspberry/trunk/META-INF/MANIFEST.MF

@@ -8,9 +8,6 @@ Bundle-Vendor: fortiss GmbH
 Bundle-Localization: plugin
 Bundle-RequiredExecutionEnvironment: JavaSE-1.8
 Export-Package: org.fortiss.af3.platform.raspberry.model,
- org.fortiss.af3.platform.raspberry.model.annotation,
- org.fortiss.af3.platform.raspberry.model.annotation.impl,
- org.fortiss.af3.platform.raspberry.model.annotation.util,
  org.fortiss.af3.platform.raspberry.model.gamepad,
  org.fortiss.af3.platform.raspberry.model.gamepad.impl,
  org.fortiss.af3.platform.raspberry.model.gamepad.util,

org.fortiss.af3.platform.raspberry/trunk/lib/inc/PWM.h

+#ifndef __PWM_H
+#define __PWM_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <termios.h>
+#include <fcntl.h>
+#include <sys/stat.h>
+
+#include "inc-gen/data_dictionary.h"
+#include "inc/libmaestro.h"
+
+// macros
+#define PWM_ADJUST_VALUE(x) (6000 + 4 * x / 66)
+
+// types
+typedef unsigned char PWM_CHANNEL_T;
+
+// constants
+extern const int PWM_SLEEP_TIME;
+extern const char* PWM_DEVICE_NAME;
+extern const size_t PWM_MAX_NO_CHANNELS;
+
+// worker
+void* pwm_worker(void* pt_args);
+
+// init, term
+void pwm_init(PWM_CHANNEL_T channel);
+void pwm_term(PWM_CHANNEL_T channel);
+
+// writers
+void pwm_write(PWM_CHANNEL_T channel, GEN_TYPE_int value);
+void pwm_set_noval(PWM_CHANNEL_T channel);
+
+#endif // __PWM_H

org.fortiss.af3.platform.raspberry/trunk/lib/inc/libmaestro.h

+#ifndef __LIBMAESTRO_H
+#define __LIBMAESTRO_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <termios.h>
+
+int maestroRead(int fd, unsigned char channel);
+int maestroWrite(int fd, unsigned char channel, unsigned short target);
+
+#endif // __LIBMAESTRO_H

org.fortiss.af3.platform.raspberry/trunk/lib/src/Gamepad.c

@@ -56,6 +56,8 @@ void* gp_worker(void* pt_args) {
         }
     }
 
+    close(fd);
+
     return NULL;
 }
 
@@ -67,6 +69,7 @@ void gp_init() {
     // important, since all btns are accessing the same method
     if(gp_initialized) return;
 
+    gp_initialized = true;
     // TODO initialize...
 }
 

org.fortiss.af3.platform.raspberry/trunk/lib/src/PWM.c

+#include "inc/PWM.h"
+
+// constants
+const int PWM_SLEEP_TIME = 50000;
+const char* PWM_DEVICE_NAME = "/dev/ttyACM0";
+const size_t PWM_MAX_NO_CHANNELS = 4;
+
+// worker
+GEN_TYPE_boolean pwm_is_running = true;
+
+GEN_TYPE_int* pwm_channel_values;
+GEN_TYPE_boolean* pwm_channel_enabled;
+
+void pwm_send(int fd) {
+    size_t i;
+
+    for(i = 0; i < PWM_MAX_NO_CHANNELS; i++) {
+        if(pwm_channel_enabled[i]) {
+            maestroWrite(fd, i, pwm_channel_values[i]);
+        }
+    }
+}
+
+void* pwm_worker(void* pt_args) {
+    int fd = open(PWM_DEVICE_NAME, O_RDWR | O_NOCTTY);
+
+    if (fd == -1) {
+        perror("Error while connecting to pwm device");
+        return NULL;
+    }
+
+    struct termios options;
+    tcgetattr(fd, &options);
+    options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
+    options.c_oflag &= ~(ONLCR | OCRNL);
+    tcsetattr(fd, TCSANOW, &options);
+
+    while(pwm_is_running) {
+        pwm_send(fd);
+        usleep(PWM_SLEEP_TIME);
+    }
+
+    close(fd);
+    
+    return NULL;
+}
+
+// init, term
+GEN_TYPE_boolean pwm_initialized = false;
+GEN_TYPE_boolean pwm_terminated = false;
+
+void pwm_init(PWM_CHANNEL_T channel) {
+    // important, since all btns are accessing the same method
+    if(!pwm_initialized) {
+        pwm_channel_values = calloc(sizeof(GEN_TYPE_int), PWM_MAX_NO_CHANNELS);
+        pwm_channel_enabled = calloc(sizeof(GEN_TYPE_boolean), PWM_MAX_NO_CHANNELS);
+
+        pwm_initialized = true;
+    }
+    
+    pwm_channel_enabled[channel] = true;
+}
+
+void pwm_term(PWM_CHANNEL_T channel) {
+    // important, since all pwms are accessing the same method
+    if(!pwm_terminated) return;
+
+    free(pwm_channel_values);
+    free(pwm_channel_enabled);
+
+    pwm_is_running = false;
+    pwm_terminated = true;
+}
+
+// writers
+void pwm_write(PWM_CHANNEL_T channel, GEN_TYPE_int value) {
+    pwm_channel_values[channel] = PWM_ADJUST_VALUE(value);
+}
+
+void pwm_set_noval(PWM_CHANNEL_T channel) {
+    // do nothing, not used
+}
+

org.fortiss.af3.platform.raspberry/trunk/lib/src/libmaestro.c

+#include "inc/libmaestro.h"
+
+// read from channel given a file descriptor
+int maestroRead(int fd, unsigned char channel) {
+    unsigned char command[] = {0x90, channel};
+
+    if(write(fd, command, sizeof(command)) == -1)
+    {
+        perror("error writing");
+        return -1;
+    }
+   
+    unsigned char response[2];
+
+    if(read(fd,response,2) != 2)
+    {
+        perror("Error reading from maestro");
+        return -1;
+    }
+
+    return response[0] + 256*response[1];
+}
+
+// write target to a channel given a file descriptor
+// the units of 'target' are quarter-microseconds
+int maestroWrite(int fd, unsigned char channel, unsigned short target) {
+    unsigned char command[] = {0x84, channel, (target & 0x7F), (target >> 7 & 0x7F)};
+
+    if (write(fd, command, sizeof(command)) == -1)
+    {
+        perror("Error writing to maestro");
+        return -1;
+    }
+
+    return 0;
+}

org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c

@@ -8,6 +8,7 @@
 
 #include "inc-gen/system.h"
 #include "inc/Gamepad.h"
+#include "inc/PWM.h"
 
 int main(int argc, char* argv[]) {
     // start a gamepad thread
@@ -15,8 +16,8 @@ int main(int argc, char* argv[]) {
     pthread_create(&pt_gamepad, NULL, gp_worker, NULL);
 
     // start a rover thread
-    //pthread_t pt_rover;
-    //pthread_create(&pt_rover, NULL, rover_main, NULL);
+    pthread_t pt_pwm;
+    pthread_create(&pt_pwm, NULL, pwm_worker, NULL);
 
     // run endlessly
     while(1) {

org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/PWMActuatorExecutable.java

@@ -17,10 +17,12 @@ $Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
 +--------------------------------------------------------------------------*/
 package org.fortiss.af3.platform.raspberry.generator.executable;
 
+import static org.fortiss.af3.expression.utils.ExpressionModelElementFactory.funcCall;
+import static org.fortiss.af3.expression.utils.ExpressionModelElementFactory.intConst;
+
 import org.fortiss.af3.component.model.OutputPort;
 import org.fortiss.af3.expression.model.terms.IExpressionTerm;
 import org.fortiss.af3.platform.generic.generator.executable.GenericTransmitterExecutable;
-import org.fortiss.af3.platform.model.generic.GenericReceiver;
 import org.fortiss.af3.platform.model.generic.GenericTransmitter;
 import org.fortiss.af3.platform.raspberry.model.ActuatorPWM;
 import org.fortiss.af3.platform.raspberry.model.annotation.Channel;
@@ -44,28 +46,28 @@ public class PWMActuatorExecutable extends GenericTransmitterExecutable {
 	/** {@inheritDoc} */
 	@Override
 	public IExpressionTerm getInitialization() {
-		return super.getInitialization();
+		return funcCall("pwm_init", intConst(getPWMChannelFromModelElement(modelElement)));
 	}
 
 	/** {@inheritDoc} */
 	@Override
 	public IExpressionTerm getNoValWriteAccessor(OutputPort logicalSignal) {
-		return super.getNoValWriteAccessor(logicalSignal);
+		return funcCall("pwm_set_noval", intConst(getPWMChannelFromModelElement(modelElement)));
 	}
 
 	/** {@inheritDoc} */
 	@Override
 	public IExpressionTerm getTermination() {
-		return super.getTermination();
+		return funcCall("pwm_term", intConst(getPWMChannelFromModelElement(modelElement)));
 	}
 
 	/** {@inheritDoc} */
 	@Override
 	public IExpressionTerm getValueWriteAccessor(OutputPort logicalSignal, IExpressionTerm value) {
-		return super.getValueWriteAccessor(logicalSignal, value);
+		return funcCall("pwm_write", intConst(getPWMChannelFromModelElement(modelElement)), value);
 	}
 
-	private int getPWMChannelFromModelElement(GenericReceiver modelElement) {
+	private int getPWMChannelFromModelElement(GenericTransmitter modelElement) {
 		return AnnotationUtils.getAnnotation(modelElement, Channel.class).getChannel();
 	}
 }

org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/RaspberryPIExecutable.java

@@ -79,21 +79,8 @@ public class RaspberryPIExecutable extends GenericExecutionUnitExecutable {
 				super.createExecutionUnitSourcePackage(name, deployedComponents, deployedPorts,
 						context);
 
-		// TODO: doesn't work since not recognized by configure script
-
-		// add src-lib/inc-lib sub packages (= folders in deployment)
-		// CSourcePackage sub =
-		// AF3GeneratorCommonLanguagesCFactory.eINSTANCE.createCSourcePackage();
-		// sub.setBaseLocation(SRC_LIB_SUB_PACKAGE_NAME);
-		// pkg.getSubPackages().add(sub);
-
-		// sub = AF3GeneratorCommonLanguagesCFactory.eINSTANCE.createCSourcePackage();
-		// sub.setBaseLocation(INC_LIB_SUB_PACKAGE_NAME);
-		// pkg.getSubPackages().add(sub);
-
 		// get system.h to add references to self-defined inc files
 		SourceUnit system = pkg.getSrcGenPackage().findSourceUnitByName("system.c");
-		// pkg.getIncGenPackage().findSourceUnitByName("system.h");
 
 		// Add source/header files here to be copied into the deployment directory
 		try {
@@ -116,13 +103,11 @@ public class RaspberryPIExecutable extends GenericExecutionUnitExecutable {
 
 			/** LIBRARIES **/
 
-			// TODO: will fail during a build since not defined in Makefile
-
 			// add UART lib
-			// addFile(pkg, "inc-lib/uart.h");
-			// addFile(pkg, "src-lib/uart.c");
 			addFile(pkg, "inc/libuart.h");
 			addFile(pkg, "src/libuart.c");
+			addFile(pkg, "inc/libmaestro.h");
+			addFile(pkg, "src/libmaestro.c");
 
 			/** FIXES AND PATCHES **/