Merge branch 'master' into feature/V2V

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

@@ -5,10 +5,9 @@
  * which accompanies this distribution, and is available at
  * http://www.eclipse.org/legal/epl-v20.html
  *
- *  Created on: 05.06.2018
- *      Author: Constantin
- */
-
+ * Contributors:
+ *    Constantin Dresel - initial API and implementation
+ *******************************************************************************/
 #ifndef INC_CONTROL_CENTER_DOWNSTREAM_H_
 #define INC_CONTROL_CENTER_DOWNSTREAM_H_
 

org.fortiss.af3.platform.raspberry/code-gen-hal/inc/af3pihal/v2v_message_handlers.h

+/** @file v2v_msg_handlers.h
+ * \brief Handler functions for received vehicle 2 vehicle messages.
+ *
+ *  Created on: 13.05.2018
+ *  Author: Constantin
+ */
+
+#ifndef V2V_MESSAGE_HANDLERS_H_
+#define V2V_MESSAGE_HANDLERS_H_
+
+#include "v2v_message_types.h"
+#include "v2v_udp_basic.h"
+#include <stdint.h>
+#include <unistd.h>
+#include <pthread.h>
+
+///**
+// * \brief Generic monitoring handler for vehicle 2 vehicle messages.
+// * This function accepts pointers to arbitrary vehicle 2 vehicle messages and
+// * processes the message content for communication monitoring - i.e. it prints
+// * the message content to the console in a userfriendly augmented formatting.
+// * CAUTION: global_debug_print_level has to be set to DEBUG_PRINT_LEVEL_FEW or
+// * something more verbose for this function to produce any output.
+// * @param p_msg A pointer to the message to handle.
+// */
+//void v2v_msg_handler_debug_monitor_generic(af3_v2v_generic_message_t* p_msg);
+/**
+ * \brief Monitoring handler for the vehicle 2 vehicle message type DELETEME.
+ * DELETEME is a sample message type created for testing purposes.
+ * This function accepts pointers to received messages of the type DELETEME and
+ * processes the message content for communication monitoring - i.e. it prints
+ * the message content to the console in a userfriendly augmented formatting.
+ * CAUTION: global_debug_print_level has to be set to DEBUG_PRINT_LEVEL_FEW or
+ * something more verbose for this function to produce any output.
+ * @param p_msg A pointer to the received message.
+ * @param msg_len The length of the message pointed to given in bytes.
+ */
+void v2v_msg_handler_debug_monitor_deleteme(uint8_t* p_msg, size_t msg_len);
+
+/**
+ * \brief Monitoring handler for the vehicle 2 vehicle message type PLATOON.
+ * This function accepts pointers to received messages of the type PLATOON and
+ * processes the message content for communication monitoring - i.e. it prints
+ * the message content to the console in a userfriendly augmented formatting.
+ * CAUTION: global_debug_print_level has to be set to DEBUG_PRINT_LEVEL_FEW or
+ * something more verbose for this function to produce any output.
+ * @param p_msg A pointer to the received message.
+ * @param msg_len The length of the message pointed to given in bytes.
+ */
+void v2v_msg_handler_debug_monitor_platoon(uint8_t* p_msg, size_t msg_len);
+
+/**
+ * \brief Monitoring handler for the vehicle2vehicle msg type LEADER HEARTBEAT.
+ * This function accepts pointers to received messages of the type LEADER
+ * HEARTBEAT and processes the message content for communication monitoring -
+ * i.e. it prints the message content to the console in a userfriendly augmented
+ * formatting. CAUTION: global_debug_print_level has to be set to
+ * DEBUG_PRINT_LEVEL_FEW or something more verbose for this function to produce
+ * any output.
+ * @param p_msg A pointer to the received message.
+ * @param msg_len The length of the message pointed to given in bytes.
+ */
+void v2v_msg_handler_debug_monitor_leader_heartbeat(uint8_t* p_msg,
+		size_t msg_len);
+
+/**
+ * \brief Monitoring handler for the vehicle 2 vehicle message type FOLLOWER.
+ * This function accepts pointers to received messages of the type FOLLOWER and
+ * processes the message content for communication monitoring - i.e. it prints
+ * the message content to the console in a userfriendly augmented formatting.
+ * CAUTION: global_debug_print_level has to be set to DEBUG_PRINT_LEVEL_FEW or
+ * something more verbose for this function to produce any output.
+ * @param p_msg A pointer to the received message.
+ * @param msg_len The length of the message pointed to given in bytes.
+ */
+void v2v_msg_handler_debug_monitor_follower(uint8_t* p_msg, size_t msg_len);
+
+/**
+ * \brief Monitoring handler for the vehicle 2 vehicle msg type LEAVE PLATOON.
+ * This function accepts pointers to received messages of the type LEAVE PLATOON
+ * and processes the message content for communication monitoring - i.e. it
+ * prints the message content to the console in a userfriendly augmented
+ * formatting. CAUTION: global_debug_print_level has to be set to
+ * DEBUG_PRINT_LEVEL_FEW or something more verbose for this function to produce
+ * any output.
+ * @param p_msg A pointer to the received message.
+ * @param msg_len The length of the message pointed to given in bytes.
+ */
+void v2v_msg_handler_debug_monitor_leave_platoon(uint8_t* p_msg, size_t msg_len)
+;
+
+/**
+ * \brief Monitoring handler for the vehicle 2 vehicle message type SPLIT.
+ * This function accepts pointers to received messages of the type SPLIT and
+ * processes the message content for communication monitoring - i.e. it prints
+ * the message content to the console in a userfriendly augmented formatting.
+ * CAUTION: global_debug_print_level has to be set to DEBUG_PRINT_LEVEL_FEW or
+ * something more verbose for this function to produce any output.
+ * @param p_msg A pointer to the received message.
+ * @param msg_len The length of the message pointed to given in bytes.
+ */
+void v2v_msg_handler_debug_monitor_split(uint8_t* p_msg, size_t msg_len);
+
+/**
+ * \brief Monitoring handler for the vehicle 2 vehicle message type NEW LEADER.
+ * This function accepts pointers to received messages of the type NEW LEADER
+ * and processes the message content for communication monitoring - i.e. it
+ * prints the message content to the console in a userfriendly augmented
+ * formatting.CAUTION: global_debug_print_level has to be set to
+ * DEBUG_PRINT_LEVEL_FEW or something more verbose for this function to produce
+ * any output.
+ * @param p_msg A pointer to the received message.
+ * @param msg_len The length of the message pointed to given in bytes.
+ */
+void v2v_msg_handler_debug_monitor_new_leader(uint8_t* p_msg, size_t msg_len);
+
+/**
+ * \brief Monitoring handler for the vehicle 2 vehicle msg type FUSE PLATOON.
+ * This function accepts pointers to received messages of the type FUSE PLATOON
+ * and processes the message content for communication monitoring - i.e. it
+ * prints the message content to the console in a userfriendly augmented
+ * formatting.CAUTION: global_debug_print_level has to be set to
+ * DEBUG_PRINT_LEVEL_FEW or something more verbose for this function to produce
+ * any output.
+ * @param p_msg A pointer to the received message.
+ * @param msg_len The length of the message pointed to given in bytes.
+ */
+void v2v_msg_handler_debug_monitor_fuse_platoon(uint8_t* p_msg, size_t msg_len);
+
+void v2v_msg_handler_debug_monitor_handshake(uint8_t* p_msg, size_t msg_len);
+
+typedef struct v2v_msg_handler_list_entry_t {
+	size_t actual_message_length;
+	uint8_t is_new; //TODO remove when list exists
+	uint8_t message[V2V_MAX_UDP_PAYLOAD_BYTES]; //TODO adapt len
+}v2v_msg_handler_list_entry_t;
+
+typedef struct v2v_msg_handler_buffers_t {
+	v2v_msg_handler_list_entry_t deleteme_buffer;
+	v2v_msg_handler_list_entry_t platoon_buffer;
+	v2v_msg_handler_list_entry_t leader_heartbeat_buffer;
+	v2v_msg_handler_list_entry_t follower_buffer;
+	v2v_msg_handler_list_entry_t leave_platoon_buffer;
+	v2v_msg_handler_list_entry_t split_buffer;
+	v2v_msg_handler_list_entry_t new_leader_buffer;
+	v2v_msg_handler_list_entry_t fuse_platoon_buffer;
+	v2v_msg_handler_list_entry_t handshake_buffer;
+}v2v_msg_handler_buffers_t;
+
+void v2v_msg_handler_setup(v2v_msg_handler_buffers_t* p_buffers,
+		pthread_mutex_t* p_mutex);
+
+void v2v_msg_handler_store_deleteme(uint8_t* p_msg, size_t msg_len);
+void v2v_msg_handler_store_platoon(uint8_t* p_msg, size_t msg_len);
+void v2v_msg_handler_store_leader_heartbeat(uint8_t* p_msg, size_t msg_len);
+void v2v_msg_handler_store_follower(uint8_t* p_msg, size_t msg_len);
+void v2v_msg_handler_store_leave_platoon(uint8_t* p_msg, size_t msg_len);
+void v2v_msg_handler_store_split(uint8_t* p_msg, size_t msg_len);
+void v2v_msg_handler_store_new_leader(uint8_t* p_msg, size_t msg_len);
+void v2v_msg_handler_store_fuse_platoon(uint8_t* p_msg, size_t msg_len);
+void v2v_msg_handler_store_handshake(uint8_t* p_msg, size_t msg_len);
+
+#endif /* V2V_MESSAGE_HANDLERS_H_ */

org.fortiss.af3.platform.raspberry/code-gen-hal/inc/af3pihal/v2v_message_types.h

+/** @file v2v_message_types.h
+ * \brief Message types and type info for vehicle 2 vehicle communication.
+ *
+ * Created on: 12.05.2018
+ * Author: Constantin
+ */
+
+#ifndef V2V_MESSAGE_TYPES_H_
+#define V2V_MESSAGE_TYPES_H_
+
+//#include <stdint.h>
+
+#define V2V_MSG_TYPE_DELETEME 0x00  //!< type identifier for DELETEME
+#define V2V_MSG_TYPE_PLATOON 0x01  //!< type identifier for platoon Message
+#define V2V_MSG_TYPE_LEADER_HEARTBEAT 0x02  /*!< type identifier for leader
+											heartbeat */
+#define V2V_MSG_TYPE_FOLLOWER 0x03  //!< type identifier for follower
+#define V2V_MSG_TYPE_LEAVE_PLATOON 0x04  //!< type identifier for leave platoon
+#define V2V_MSG_TYPE_SPLIT 0x05  //!< type identifier for split
+#define V2V_MSG_TYPE_NEW_LEADER 0x06  //!< type identifier for new leader
+#define V2V_MSG_TYPE_FUSE_PLATOON 0x07  //!< type identifier for fuse platoon
+#define V2V_MSG_TYPE_HANDSHAKE 0x08 //!< type identifier for handshake
+
+///** Template msg type - just a spacer*/
+//typedef struct v2v_msg_deleteme_t {
+//	uint8_t first_spacer_field;
+//	uint16_t second_spacer_field;
+//	uint32_t third_spacer_field;
+//}__attribute__ ((packed)) v2v_msg_deleteme_t;  //!< the DELETEME message type
+//#define V2V_MSG_SIZE_DELETEME sizeof(v2v_msg_deleteme_t)  //!< DELETEME msg len
+
+
+///** Platoon msg type */
+//typedef struct v2v_msg_platoon_t {
+//	int platoon_id;
+//	int leader_id;
+//	int tail_id;
+//}__attribute__ ((packed)) v2v_msg_platoon_t;  //!< the platoon message type
+//#define V2V_MSG_SIZE_PLATOON sizeof(v2v_msg_platoon_t)  //!< platoon msg len
+
+
+///** Leader heartbeat msg type*/
+//typedef struct v2v_msg_leader_heartbeat_t {
+//	uint8_t is_leader;
+//	uint16_t vehicle_id;
+//	uint8_t number_participants;
+//	uint16_t list_of_participant_ids[UINT8_MAX];
+//	uint8_t brake_status;
+//}__attribute__ ((packed)) v2v_msg_leader_heartbeat_t;  /*!< the leader heartbeat
+//														message type */
+//#define V2V_MSG_SIZE_LEADER_HEARTBEAT sizeof(v2v_msg_leader_heartbeat_t)  /*!< leader
+//																	heartbeat
+//																	msg len */
+///** Follower msg type*/
+//typedef struct v2v_msg_follower_t {
+//	uint16_t vehicle_id;
+//	double heading_angle;
+//	double steering_angle;
+//	double vehicle_speed;
+//	double vehicle_longitudinal_acc;
+//	double acc_pedal_position;
+//	double jaw_rate;
+//	uint8_t brake_status;
+//	uint8_t flags; //TODO check whether 8bit are enough
+//}__attribute__ ((packed)) v2v_msg_follower_t;  //!< the follower message type
+//#define V2V_MSG_SIZE_FOLLOWER sizeof(v2v_msg_follower_t)  //!< follower msg len
+
+
+///** Leave platoon msg type */
+//typedef struct v2v_msg_leave_paltoon_t {
+//	uint16_t vehicle_id;
+//}__attribute__ ((packed)) v2v_msg_leave_platoon_t;  /*!< the leave paltoon
+//													message type */
+//#define V2V_MSG_SIZE_LEAVE_PLATOON sizeof(v2v_msg_leave_platoon_t)  /*!< leave
+//																	platoon msg
+//																	len */
+///** Split msg type */
+//typedef struct v2v_msg_split_t {
+//	uint16_t new_leader_id;
+//}__attribute__ ((packed)) v2v_msg_split_t;  //!< the split message type
+//#define V2V_MSG_SIZE_SPLIT sizeof(v2v_msg_split_t)  //!< split msg len
+
+
+///** New leader msg type*/
+//typedef struct v2v_msg_new_leader_t {
+//	uint16_t new_leader_id;
+//	uint16_t sender_id;
+//	uint16_t old_leader_id;
+//}__attribute__ ((packed)) v2v_msg_new_leader_t;  /*!< the new leader message
+//												type */
+//#define V2V_MSG_SIZE_NEW_LEADER sizeof(v2v_msg_new_leader_t)  /*!< new leader
+//																msg len */
+
+///** Fuse platoon msg type */
+//typedef struct v2v_msg_fuse_platoon_t {
+//	uint16_t sender_leader_id;
+//	uint16_t target_leader_id;
+//	uint8_t number_sender_participants;
+//	uint16_t list_of_sender_participant_ids[UINT8_MAX];
+//}__attribute__ ((packed)) v2v_msg_fuse_platoon_t;  /*!< the fuse platoon message
+//													type */
+//#define V2V_MSG_SIZE_FUSE_PLATOON sizeof(v2v_msg_fuse_platoon_t)  /*!< fuse
+//																	platoon msg
+//																	len */
+#endif /* V2V_MESSAGE_TYPES_H_ */

org.fortiss.af3.platform.raspberry/code-gen-hal/inc/af3pihal/v2v_udp_basic.h

+/** @file v2v_udp_basic.h
+ * \brief Abstraction layer for vehicle 2 vehicle communication via UDP.
+ *
+ * Basic UDP broadcast functionality made more comfortable to use for vehicle 2
+ * vehicle communication by wrappers etc..
+ * Created on: 11.05.2018
+ * Author: Constantin
+ */
+
+#ifndef V2V_UDP_BASIC_H_
+#define V2V_UDP_BASIC_H_
+
+#include <unistd.h>
+
+/** Define the maximum permitted payload size - see:
+ * https://stackoverflow.com/questions/1098897/
+ * what-is-the-largest-safe-udp-packet-size-on-the-internet (12.05.2018)
+ */
+#define V2V_MAX_UDP_PAYLOAD_BYTES 576 //IPv4
+
+/**
+ * \brief Prints the given error msg combined with the an error description.
+ * Prints an error message containing the given message string and the error
+ * description from errno.
+ * @param p_text a pointer to the string to print
+ * @return number of characters printed, negative in case of error
+ */
+int v2v_print_error_msg(char* p_text);
+
+/**
+ * \brief Initialize socket communication for v2v data exchange.
+ * Initializes socket communication for data exchange using udp broadcasts.
+ * @param p_local_sockaddr_in pointer to a sockaddr_in struct specifying the
+ * specifying the address and port to use for the local device.
+ * @return The socket file descriptor on success a negative value otherwise.
+ */
+int v2v_comm_init(struct sockaddr_in* p_local_sockaddr_in);
+
+/**
+ * \brief Closes the socket used for v2v communication.
+ * Closes the specified socket specified by the given file descriptor using
+ * close().
+ * @param socket_fd_to_exit The file descriptor of the socket to close.
+ * @return Zero on success, negative otherwise.
+ */
+int v2v_comm_exit(int socket_fd_to_exit);
+
+/**
+ * \brief Broadcast the given arbitrary raw msg via udp.
+ * Sends the specified length from the given buffer as payload of a udp
+ * broadcast packet.
+ * @param tx_buffer The buffer containing the message to transmit.
+ * @param tx_len The number of Bytes to transmit from tx_buffer.
+ * @param p_remote_sockaddr_in A pointer to a sockaddr_in struct specifying the
+ * remote target to send packets to (may be setup to broadcast address).
+ * @param socket_fd The file descriptor of the socket to use for transmitting.
+ * @return The number of bytes transmitted on success, negative otherwise.
+ */
+ssize_t v2v_comm_tx_raw(void* tx_buffer, size_t tx_len, struct sockaddr_in*
+		p_remote_sockaddr_in, int socket_fd);
+
+/**
+ * \brief Receives arbitrary raw udp messages.
+ * Receives arbitrary raw udp messages and writes them to the specified
+ * rx_buffer.
+ * @param rx_buffer The buffer to write received messages to
+ * @param rx_buffer_size The capacity of the rx_buffer specified in bytes.
+ * @param p_remote_sockaddr_in A pointer to a sockaddr_in struct specifying the
+ * remote target to receive packets from (may be setup to receive any message).
+ * @param p_remote_sockaddr_in_len A pointer to a socklen_t variable where the
+ * length of the remote transmitters address will be stored.
+ * @param socket_fd The file descriptor of the socket to use for receiving.
+ * @return The number of bytes received on success, 0 if the socket was closed,
+ * negative otherwise.
+ */
+ssize_t v2v_comm_rx_raw(void* rx_buffer, size_t rx_buffer_size,
+		struct sockaddr_in* p_remote_sockaddr_in,
+		socklen_t* p_remote_sockaddr_in_len, int socket_fd);
+
+#endif /*V2V_UDP_BASIC_H_*/

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/.ratings

-CanBusGeneratorExtension.java 4bed3c88e71923515d7d9dc9235bc40a49ce237f RED
-CanConnectorGeneratorExtension.java 6ca987deb8c2ba4d47609691563570bf6e3d7306 RED
-CanTransmissionCatalog.java 959d488ebec4ae6a50c3f699d42aad535b1ae0c3 YELLOW
-ConsoleOutputGeneratorExtension.java 031444f629b6027f07f1d91db3e6f49563b27612 YELLOW
-MultiUnitMainGenerator.java 458754b89c2d79db3fee08baa444424772e40fb7 RED
-PWMActuatorGeneratorExtension.java edc94d4cdd6a0c2da7a3c0e9b314e50ca087443c YELLOW
-RaspberryPIGeneratorExtension.java 2cd95ddc54d7562bd9fa0b8a4018c25eda01b5a8 RED
-SingleUnitMainGenerator.java 44096a99b4bfc46f24f893487fad206a94d512e9 RED
+CanBusGeneratorExtension.java 4bed3c88e71923515d7d9dc9235bc40a49ce237f RED
+CanConnectorGeneratorExtension.java 6ca987deb8c2ba4d47609691563570bf6e3d7306 RED
+CanTransmissionCatalog.java 959d488ebec4ae6a50c3f699d42aad535b1ae0c3 YELLOW
+ConsoleOutputGeneratorExtension.java 031444f629b6027f07f1d91db3e6f49563b27612 YELLOW
+MultiUnitMainGenerator.java 458754b89c2d79db3fee08baa444424772e40fb7 RED
+PWMActuatorGeneratorExtension.java 579e41d5702f06aa764b11e43cde2c0687a73c9a YELLOW
+RaspberryPIGeneratorExtension.java f57eea852f3c8e0c1df03fc2b623aef97ad3fa09 RED
+SingleUnitMainGenerator.java 44096a99b4bfc46f24f893487fad206a94d512e9 RED

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/PWMActuatorGeneratorExtension.java

@@ -15,6 +15,10 @@
 +--------------------------------------------------------------------------*/
 package org.fortiss.af3.platform.raspberry.generator.extension;
 
+import static java.util.Arrays.asList;
+
+import java.util.List;
+
 import org.fortiss.af3.component.model.OutputPort;
 import org.fortiss.af3.platform.raspberry.generator.extension.library.PiHALLibraryGeneratorExtensionBase;
 import org.fortiss.af3.platform.raspberry.generator.framework.ISingletonGeneratorExtension;
@@ -31,15 +35,15 @@ public class PWMActuatorGeneratorExtension extends PiHALLibraryGeneratorExtensio
 
 	/** {@inheritDoc} */
 	@Override
-	public String getHeaderFileName() {
-		return "temp_actuator.h";
+	public List<String> getHeaderFileNames() {
+		return asList("temp_actuator.h");
 	}
 
 	/** {@inheritDoc} */
 	@Override
 	public String getSingletonIdentifier() {
 		// Using header file as unique ID
-		return getHeaderFileName();
+		return "temp_actuator.h";
 	}
 
 	/** {@inheritDoc} */
@@ -58,7 +62,7 @@ public class PWMActuatorGeneratorExtension extends PiHALLibraryGeneratorExtensio
 	@Override
 	public String getSingletonInitializationCode() {
 		return "actuator_pwm_" + getSingletonPostfix() +
-				" = temp_actuator_initialize(\"/dev/ttyACM0\");\n";
+				" = temp_actuator_initialize(\"/dev/Maestro0\");\n";
 	}
 
 	/** {@inheritDoc} */

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/RaspberryPIGeneratorExtension.java

@@ -18,6 +18,7 @@ package org.fortiss.af3.platform.raspberry.generator.extension;
 import static org.fortiss.af3.component.utils.ComponentArchitectureUtils.isAtomicComponent;
 import static org.fortiss.af3.expression.utils.ExpressionModelElementFactory.createDataDictionary;
 import static org.fortiss.af3.generator.common.utils.CLanguageModelElementFactory.createCSourcePackage;
+import static org.fortiss.af3.generator.common.utils.SourceModelElementFactory.createByteContentUnitForPluginFileInRCP;
 import static org.fortiss.af3.platform.raspberry.generator.templates.RasPiCTemplates.getConfigureFile;
 import static org.fortiss.af3.platform.raspberry.generator.templates.RasPiCTemplates.getEclipseCDTProjectFile;
 import static org.fortiss.af3.platform.raspberry.generator.templates.RasPiCTemplates.getEclipseProjectFile;
@@ -122,12 +123,29 @@ public class RaspberryPIGeneratorExtension extends
 		return generatorResult;
 	}
 
+	/** Adds default header from af3pihal library. */
+	private void addDefaultHeader(String headerName) {
+		if(includedHeaders.add(headerName)) {
+			generatorResult.getSubPackage(INC_LIB_SUB_PACKAGE_NAME).addUnit(
+					createByteContentUnitForPluginFileInRCP(
+							AF3PlatformRaspberryActivator.PLUGIN_ID, "code-gen-hal/inc/af3pihal",
+							headerName, false));
+		}
+	}
+
 	/**
 	 * Adds the libraries and header files required by the used platform elements and returns the
 	 * set of header file names.
 	 */
 	private void analyzePlatformElementsAndCopyCode(
 			List<Pair<PlatformConnectorUnit, Port>> deployedPorts) {
+		// these headers are included by the main file template.
+		addDefaultHeader("af3.h");
+		addDefaultHeader("debugprint.h");
+		addDefaultHeader("timeutil.h");
+		addDefaultHeader("canthread.h");
+		addDefaultHeader("cansocket.h");
+		// add headers from platform elements
 		for(Pair<PlatformConnectorUnit, Port> pair : deployedPorts) {
 			PlatformConnectorUnit pcu = pair.getFirst();
 			ExecutableBase<?> extension =
@@ -136,12 +154,14 @@ public class RaspberryPIGeneratorExtension extends
 			if(extension instanceof IRasPiCopiedHeaderGeneratorExtension) {
 				IRasPiCopiedHeaderGeneratorExtension headerExt =
 						(IRasPiCopiedHeaderGeneratorExtension)extension;
-				if(!includedHeaders.contains(headerExt.getHeaderFileName())) {
-					generatorResult.getSubPackage(INC_LIB_SUB_PACKAGE_NAME).addUnit(
-							headerExt.getHeaderFileContent());
-					includedHeaders.add(headerExt.getHeaderFileName());
+				for(String headerFileName : headerExt.getHeaderFileNames()) {
+					if(!includedHeaders.contains(headerExt.getHeaderFileNames())) {
+						generatorResult.getSubPackage(INC_LIB_SUB_PACKAGE_NAME).addUnit(
+								headerExt.getHeaderFileContent(headerFileName));
+						includedHeaders.add(headerFileName);
+					}
+					// ignore header file, since it is already included
 				}
-				// ignore header file, since it is already included
 			}
 			if(extension instanceof IRasPiCopiedSourceBasedGeneratorExtension) {
 				IRasPiCopiedSourceBasedGeneratorExtension srcExt =

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/brick/.ratings

-AccelerationXSensorGeneratorExtension.java bec067ce2eca52eefd0784b98b65bed1a14586d9 YELLOW
-AccelerationYSensorGeneratorExtension.java 7cc64233a3d64ae2fb6bd4fa0f454350c4a2b1c3 YELLOW
-AccelerationZSensorGeneratorExtension.java f904dee91a67b1c02e9e57b1e3464ba2eaba183d YELLOW
-ActuatorDigitsGeneratorExtension.java 05e766dc4b4c6954ceabadad10b6a77a739ca3ae YELLOW
-AngularVelocityXSensorGeneratorExtension.java 4244f6442ff0602b56a0460b8bf8cbac5d4739aa YELLOW
-AngularVelocityYSensorGeneratorExtension.java a34c53831a41d0ded9d34c1817b0ca592e46272b YELLOW
-AngularVelocityZSensorGeneratorExtension.java fe7b0e7306c5399d39b0bb84968c22cfda4d5402 YELLOW
-BrickGeneratorExtensionBase.java 36cad3503e58775fb400509dde40f1f243e8db7a YELLOW
-IMUSensorGeneratorExtensionBase.java fe33a00e8017dae1ea9a35d9db3316d7af896e01 YELLOW
-InstanceBrickGeneratorExtensionBase.java 571bdb29a3b2289232764286043e05f5ee8ee837 YELLOW
-LEDButtonBActuatorGeneratorExtension.java d63faa3841e5105adec981d21d64efbc4894f526 RED
-LEDButtonGActuatorGeneratorExtension.java 6eb9850b477fcf06a2ce50f4610141e0f9ad42a5 RED
-LEDButtonGeneratorExtensionBase.java ca553bcb601e2d0d44fe81dd264946ab8fba854b RED
-LEDButtonRActuatorGeneratorExtension.java 3de7cf630a7711f3f14085e5579c20f612fae77c RED
-LaserRangeSensorGeneratorExtension.java d80d10ec1fa183005191829ec96eb6acbdb6865f YELLOW
-SharedInstanceBrickGeneratorExtensionBase.java a70c20a1211f9c305634e44247c2dbe47c645382 YELLOW
-UIDUnitSharedInstanceBrickGeneratorExtensionBase.java 60dbf2d1563b5adecc57cd6bf5120e90d3b2c84d YELLOW
-UltraSonicSensorGeneratorExtension.java 96344faaeaab0b9ed3fd8c90be5fdad31257e6ea YELLOW
+AccelerationXSensorGeneratorExtension.java bec067ce2eca52eefd0784b98b65bed1a14586d9 YELLOW
+AccelerationYSensorGeneratorExtension.java 7cc64233a3d64ae2fb6bd4fa0f454350c4a2b1c3 YELLOW
+AccelerationZSensorGeneratorExtension.java f904dee91a67b1c02e9e57b1e3464ba2eaba183d YELLOW
+ActuatorDigitsGeneratorExtension.java a12c664b129aadaa2808efe5c6cf07bc8ba71aa9 YELLOW
+AngularVelocityXSensorGeneratorExtension.java 4244f6442ff0602b56a0460b8bf8cbac5d4739aa YELLOW
+AngularVelocityYSensorGeneratorExtension.java a34c53831a41d0ded9d34c1817b0ca592e46272b YELLOW
+AngularVelocityZSensorGeneratorExtension.java fe7b0e7306c5399d39b0bb84968c22cfda4d5402 YELLOW
+BrickGeneratorExtensionBase.java 770c58a93099a19bee8f0dcb65b58c69f969dd55 YELLOW
+IMUSensorGeneratorExtensionBase.java e97a6dfb2939c00fcff6b95bbbc77c619f0bbd03 YELLOW
+InstanceBrickGeneratorExtensionBase.java 571bdb29a3b2289232764286043e05f5ee8ee837 YELLOW
+LEDButtonBActuatorGeneratorExtension.java d63faa3841e5105adec981d21d64efbc4894f526 RED
+LEDButtonGActuatorGeneratorExtension.java 6eb9850b477fcf06a2ce50f4610141e0f9ad42a5 RED
+LEDButtonGeneratorExtensionBase.java 4b7163bc3f5c8957cf2044db73e8550cd3e1b69a YELLOW
+LEDButtonRActuatorGeneratorExtension.java 3de7cf630a7711f3f14085e5579c20f612fae77c RED
+LaserRangeSensorGeneratorExtension.java 141b0e58c06e26afc2833fd7ccead3d1caade2da YELLOW
+SharedInstanceBrickGeneratorExtensionBase.java a70c20a1211f9c305634e44247c2dbe47c645382 YELLOW
+UIDUnitSharedInstanceBrickGeneratorExtensionBase.java 60dbf2d1563b5adecc57cd6bf5120e90d3b2c84d YELLOW
+UltraSonicSensorGeneratorExtension.java 062b69bbc5aa5360f180801faeacb9df8e966856 YELLOW

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/brick/ActuatorDigitsGeneratorExtension.java

@@ -35,7 +35,7 @@ public class ActuatorDigitsGeneratorExtension extends
 
 	/** {@inheritDoc} */
 	@Override
-	public String getHeaderFileName() {
+	public String getBrickUnitHeader() {
 		return "bricklet_segment_display_4x7.h";
 	}
 

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/brick/BrickGeneratorExtensionBase.java

@@ -15,6 +15,10 @@
 +--------------------------------------------------------------------------*/
 package org.fortiss.af3.platform.raspberry.generator.extension.brick;
 
+import static java.util.Arrays.asList;
+
+import java.util.List;
+
 import org.eclipse.emf.ecore.EObject;
 import org.fortiss.af3.platform.raspberry.generator.extension.library.BrickLibraryGeneratorExtensionBase;
 import org.fortiss.af3.platform.raspberry.generator.framework.ISingletonGeneratorExtension;
@@ -34,6 +38,15 @@ abstract class BrickGeneratorExtensionBase<T extends EObject> extends
 		super(modelElement);
 	}
 
+	/** {@inheritDoc} */
+	@Override
+	public List<String> getHeaderFileNames() {
+		return asList("ip_connection.h", getBrickUnitHeader());
+	}
+
+	/** Returns the header file of the specific brick unit. */
+	protected abstract String getBrickUnitHeader();
+
 	/** {@inheritDoc} */
 	@Override
 	public final void setSingletonPostfix(String singletonPostfix) {

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/brick/IMUSensorGeneratorExtensionBase.java

@@ -32,7 +32,7 @@ abstract class IMUSensorGeneratorExtensionBase<T extends UIDUnit> extends
 
 	/** {@inheritDoc} */
 	@Override
-	public String getHeaderFileName() {
+	public String getBrickUnitHeader() {
 		return "brick_imu_v2.h";
 	}
 

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/brick/LEDButtonGeneratorExtensionBase.java

@@ -32,7 +32,7 @@ abstract class LEDButtonGeneratorExtensionBase<T extends UIDUnit> extends
 
 	/** {@inheritDoc} */
 	@Override
-	public String getHeaderFileName() {
+	public String getBrickUnitHeader() {
 		return "bricklet_rgb_led_button.h";
 	}
 

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/brick/LaserRangeSensorGeneratorExtension.java

@@ -34,7 +34,7 @@ public class LaserRangeSensorGeneratorExtension extends
 
 	/** {@inheritDoc} */
 	@Override
-	public String getHeaderFileName() {
+	public String getBrickUnitHeader() {
 		return "bricklet_laser_range_finder.h";
 	}
 

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/brick/UltraSonicSensorGeneratorExtension.java

@@ -34,7 +34,7 @@ public class UltraSonicSensorGeneratorExtension extends
 
 	/** {@inheritDoc} */
 	@Override
-	public String getHeaderFileName() {
+	public String getBrickUnitHeader() {
 		return "bricklet_distance_us.h";
 	}
 

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/camera/.ratings

@@ -5,7 +5,7 @@ CameraDetectionStateLeftGeneratorExtension.java 00c3e17b789b25feacc28386b29f213a
 CameraDetectionStateRightGeneratorExtension.java a6d2ba8e161006e4e65a2fa83d819e719de9f506 YELLOW
 CameraDistanceLeftGeneratorExtension.java 48c435769863d66bdfb3e97942c1535537b31a2a YELLOW
 CameraDistanceRightGeneratorExtension.java bd3c980a3ea79f725210f4d1b2648af22c72bca0 YELLOW
-CameraGeneratorExtensionBase.java 0113df2ccb0577d3f5f7a1053a71b034f30abfad YELLOW
+CameraGeneratorExtensionBase.java d23ef25dfbb3554bef8ad5b75d8a64f41d51ab78 YELLOW
 CameraLastUpdateGeneratorExtension.java f8c6ed891b50e44d3be2ecfee7e81217278f057a YELLOW
 CameraRoverDistanceGeneratorExtension.java ca8328c1796854a33c364cdfa57c2e78b2f631f4 YELLOW
 CameraRoverIDGeneratorExtension.java f03bf8ebe9ae77ebcd42d5c8534437171a7532b2 YELLOW

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/camera/CameraGeneratorExtensionBase.java

@@ -15,6 +15,10 @@
 +--------------------------------------------------------------------------*/
 package org.fortiss.af3.platform.raspberry.generator.extension.camera;
 
+import static java.util.Arrays.asList;
+
+import java.util.List;
+
 import org.eclipse.emf.ecore.EObject;
 import org.fortiss.af3.component.model.InputPort;
 import org.fortiss.af3.platform.raspberry.generator.extension.library.PiHALLibraryGeneratorExtensionBase;
@@ -69,13 +73,13 @@ abstract class CameraGeneratorExtensionBase<T extends EObject> extends
 	@Override
 	public final String getSingletonIdentifier() {
 		// use header file as singleton identifier
-		return getHeaderFileName();
+		return "camera_client.h";
 	}
 
 	/** {@inheritDoc} */
 	@Override
-	public final String getHeaderFileName() {
-		return "camera_client.h";
+	public final List<String> getHeaderFileNames() {
+		return asList("camera_client.h");
 	}
 
 	/** {@inheritDoc} */

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/controlcenter/.ratings

-ControlCenterDownstreamInputGeneratorExtension.java 45a1b46d3b5e49a37dc2382cdc92f4ef52d1514a YELLOW
+ControlCenterDownstreamInputGeneratorExtension.java eed6e72efaed9bcf5faa2e4d1f2a60ab70beff78 YELLOW
 ControlCenterUpstreamOutputGeneratorExtension.java f1f22c116611ed555ade855befd37484ca333856 YELLOW
-ControlcenterGeneratorExtensionBase.java 462d841179d95c07608326ed3cc7860932e31df4 YELLOW
+ControlcenterGeneratorExtensionBase.java 64ea9eeaa6f17d7de720674550835b5c769a7e87 YELLOW

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/controlcenter/ControlcenterGeneratorExtensionBase.java

@@ -15,6 +15,10 @@
 +--------------------------------------------------------------------------*/
 package org.fortiss.af3.platform.raspberry.generator.extension.controlcenter;
 
+import static java.util.Arrays.asList;
+
+import java.util.List;
+
 import org.eclipse.emf.ecore.EObject;
 import org.fortiss.af3.platform.raspberry.generator.extension.library.PiHALLibraryGeneratorExtensionBase;
 import org.fortiss.af3.platform.raspberry.generator.framework.ISharedInstanceGeneratorExtension;
@@ -107,13 +111,13 @@ abstract class ControlcenterGeneratorExtensionBase<T extends EObject> extends
 	@Override
 	public final String getSingletonIdentifier() {
 		// use header file as singleton identifier
-		return getHeaderFileName();
+		return "control_center_downstream.h";
 	}
 
 	/** {@inheritDoc} */
 	@Override
-	public final String getHeaderFileName() {
-		return "control_center_downstream.h";
+	public final List<String> getHeaderFileNames() {
+		return asList("control_center_downstream.h");
 	}
 
 	/** {@inheritDoc} */

org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/extension/gamepad/.ratings

@@ -7,7 +7,7 @@ ButtonL1GeneratorExtension.java c367e0a10069041b80e14409aaa70ca68c01509b YELLOW
 ButtonL2GeneratorExtension.java 035d2462b09d581a7be10d199bc011d8953bc082 YELLOW
 ButtonR1GeneratorExtension.java d82887e00d4bbc2938f7a89057460f109f0ddcf3 YELLOW
 ButtonR2GeneratorExtension.java d35159fef36179780b2cf5406de64ce75dd4facf YELLOW
-GamepadGeneratorExtensionBase.java 669663e1c43ba44ce717af465c56de1a3c8904aa YELLOW
+GamepadGeneratorExtensionBase.java cad7b0d750d105450f978b1ff61c1b45515c81bf YELLOW
 Left_StickXGeneratorExtension.java 809953003e0e24908e17183aa86cc74f0e5078ab YELLOW
 Left_StickYGeneratorExtension.java 5cb4c657e7b1baa6b6162a957912cb40209e53a2 YELLOW
 Right_StickXGeneratorExtension.java f3d0096b369a2e8226f9a158a958bd581f2cad67 YELLOW