From c536254e6a5d2087e896d1fae7c4948ee888d4c5 Mon Sep 17 00:00:00 2001
From: Florian Hoelzl <hoelzl@fortiss.org>
Date: Tue, 10 Oct 2017 10:00:55 +0000
Subject: [PATCH] Generating main.c works for an initial version. refs 3079
---
.../executable/HeaderCopyGenerator.java | 68 +++++++++++++
.../generator/executable/MainGenerator.java | 51 ++++++++++
.../executable/RaspberryPIExecutable.java | 14 ++-
.../generator/templates/ConfigureFile.stg | 4 +-
.../generator/templates/MainFile.stg | 97 +++++++++++++++++++
.../generator/templates/MakedefsFile.stg | 5 +-
.../generator/templates/ProjectFile.stg | 4 +-
.../generator/templates/RasPiCTemplates.java | 21 +++-
8 files changed, 256 insertions(+), 8 deletions(-)
create mode 100644 org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/HeaderCopyGenerator.java
create mode 100644 org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/MainGenerator.java
create mode 100644 org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/MainFile.stg
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/HeaderCopyGenerator.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/HeaderCopyGenerator.java
new file mode 100644
index 00000000..91c0ca31
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/HeaderCopyGenerator.java
@@ -0,0 +1,68 @@
+/*--------------------------------------------------------------------------+
+$Id$
+| |
+| 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.generator.common.utils.SourceModelElementFactory.createByteContentUnitForPluginFile;
+
+import org.fortiss.af3.generator.common.model.c.CSourcePackage;
+import org.fortiss.af3.generator.common.model.source.ByteContentUnit;
+import org.fortiss.af3.platform.raspberry.AF3PlatformRaspberryActivator;
+
+/**
+ * Class for copying the header files to the target folder.
+ *
+ * @author hoelzl
+ * @author $Author$
+ * @version $Rev$
+ * @ConQAT.Rating RED Hash:
+ */
+final class HeaderCopyGenerator {
+ /** Adds the header files to the given target {@link CSourcePackage}. */
+ public static void copyHeaderFiles(CSourcePackage incLibPack) throws Exception {
+ incLibPack.addUnit(copyAF3Hal("af3.h"));
+ incLibPack.addUnit(copyAF3Hal("cancatalog.h"));
+ incLibPack.addUnit(copyAF3Hal("caninbox.h"));
+ incLibPack.addUnit(copyAF3Hal("canoutbox.h"));
+ incLibPack.addUnit(copyAF3Hal("cansocket.h"));
+ incLibPack.addUnit(copyAF3Hal("canthread.h"));
+ incLibPack.addUnit(copyAF3Hal("debugprint.h"));
+ incLibPack.addUnit(copyAF3Hal("gamepad.h"));
+ incLibPack.addUnit(copyAF3Hal("protocol_can.h"));
+ incLibPack.addUnit(copyAF3Hal("protocol_control_center.h"));
+ incLibPack.addUnit(copyAF3Hal("protocol_coordinator.h"));
+ incLibPack.addUnit(copyAF3Hal("protocol_factory.h"));
+ incLibPack.addUnit(copyAF3Hal("protocol_worker.h"));
+ incLibPack.addUnit(copyAF3Hal("timeutil.h"));
+ }
+
+ /** Copies the AF3 HAL header file. */
+ private static ByteContentUnit copyAF3Hal(String header) throws Exception {
+ return copyHeader("af3pihal/", header);
+ }
+
+ /** Copies the brick header file. */
+ private static ByteContentUnit copyBrick(String header) throws Exception {
+ return copyHeader("brick/", header);
+ }
+
+ /** Copies the header file from the plugin path. */
+ private static ByteContentUnit copyHeader(String subDir, String headerName) throws Exception {
+ return createByteContentUnitForPluginFile(AF3PlatformRaspberryActivator.PLUGIN_ID,
+ "code-gen-hal/inc/" + subDir, headerName, false);
+ }
+}
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/MainGenerator.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/MainGenerator.java
new file mode 100644
index 00000000..a8a8c444
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/MainGenerator.java
@@ -0,0 +1,51 @@
+/*--------------------------------------------------------------------------+
+$Id$
+| |
+| 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.platform.raspberry.generator.templates.RasPiCTemplates.getMainCFile;
+
+import java.util.List;
+
+import org.conqat.lib.commons.collections.Pair;
+import org.fortiss.af3.component.model.Component;
+import org.fortiss.af3.component.model.Port;
+import org.fortiss.af3.generator.common.model.source.AbstractUnit;
+import org.fortiss.af3.platform.model.ExecutionUnit;
+import org.fortiss.af3.platform.model.PlatformConnectorUnit;
+import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
+import org.fortiss.tooling.kernel.extension.data.ITransformationContext;
+
+/**
+ * Separate class for generating the main.c file.
+ *
+ * @author hoelzl
+ * @author $Author$
+ * @version $Rev$
+ * @ConQAT.Rating RED Hash:
+ */
+class MainGenerator {
+ /** Creates the main.c file. */
+ public AbstractUnit createMain(RaspberryPi executionUnit,
+ List<Pair<ExecutionUnit, Component>> deployedComponents,
+ List<Pair<PlatformConnectorUnit, Port>> deployedPorts, ITransformationContext context) {
+ // TODO: generate worker and syncbox code
+ return getMainCFile(executionUnit.getName(), executionUnit.isCoordinatorUnit(),
+ executionUnit.getCanCoordinationID(), executionUnit.getCycleTime(), 250,
+ "// TODO\n", "// TODO\n");
+ }
+}
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
index b1ee77a3..80041c8c 100644
--- 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
@@ -21,6 +21,7 @@ import static org.fortiss.af3.expression.utils.ExpressionModelElementFactory.cre
import static org.fortiss.af3.generator.common.utils.CLanguageModelElementFacade.addUserHeaderInclude;
import static org.fortiss.af3.generator.common.utils.CLanguageModelElementFactory.createCSourcePackage;
import static org.fortiss.af3.generator.common.utils.SourceModelElementFactory.createByteContentUnitForPluginFile;
+import static org.fortiss.af3.platform.raspberry.generator.executable.HeaderCopyGenerator.copyHeaderFiles;
import static org.fortiss.af3.platform.raspberry.generator.templates.RasPiCTemplates.getConfigureFile;
import static org.fortiss.af3.platform.raspberry.generator.templates.RasPiCTemplates.getEclipseProjectFile;
import static org.fortiss.af3.platform.raspberry.generator.templates.RasPiCTemplates.getMakedefsFile;
@@ -64,7 +65,7 @@ public class RaspberryPIExecutable extends ExecutionUnitExecutableBase<Raspberry
/** Folder name for library source files. */
private static final String SRC_LIB_SUB_PACKAGE_NAME = "src-lib";
/** Folder name for library include files. */
- private static final String INC_LIB_SUB_PACKAGE_NAME = "inc-lib";
+ public static final String INC_LIB_SUB_PACKAGE_NAME = "inc-lib";
/** Folder name for linkable static library files. */
private static final String LIB_SUB_PACKAGE_NAME = "lib";
@@ -87,6 +88,7 @@ public class RaspberryPIExecutable extends ExecutionUnitExecutableBase<Raspberry
addEclipseCProjectFiles(sourcePackage, modelElement.getName());
addStaticLibraries(sourcePackage);
addConfigureAndMakedefsFiles(sourcePackage, modelElement.getName());
+ addMainFile(sourcePackage, deployedComponents, deployedPorts, context);
} catch(Exception ex) {
error(AF3PlatformRaspberryActivator.getDefault(), ex.getMessage(), ex);
ex.printStackTrace();
@@ -94,6 +96,15 @@ public class RaspberryPIExecutable extends ExecutionUnitExecutableBase<Raspberry
return sourcePackage;
}
+ /** Creates the main file by using the {@link MainGenerator} helper class. */
+ private void addMainFile(CSourcePackage sourcePackage,
+ List<Pair<ExecutionUnit, Component>> deployedComponents,
+ List<Pair<PlatformConnectorUnit, Port>> deployedPorts, ITransformationContext context) {
+ CSourcePackage srcGenPack = (CSourcePackage)sourcePackage.getSrcGenPackage();
+ MainGenerator mg = new MainGenerator();
+ srcGenPack.addUnit(mg.createMain(modelElement, deployedComponents, deployedPorts, context));
+ }
+
/** Adds the build process files: configure and Makedefs. */
private void addConfigureAndMakedefsFiles(CSourcePackage sourcePackage, String binaryName) {
sourcePackage.addUnit(getConfigureFile(binaryName));
@@ -117,6 +128,7 @@ public class RaspberryPIExecutable extends ExecutionUnitExecutableBase<Raspberry
sourcePackage.getSubPackages().add(lib);
lib.addUnit(getStaticLibraryUnit("libbrick.a"));
lib.addUnit(getStaticLibraryUnit("libaf3pihal.a"));
+ copyHeaderFiles(incLib);
}
/** Creates a {@link ByteContentUnit} for the given static library. */
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/ConfigureFile.stg b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/ConfigureFile.stg
index b218b7ba..9357649f 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/ConfigureFile.stg
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/ConfigureFile.stg
@@ -1,10 +1,10 @@
group ConfigureFile;
-ConfigureFile(binary) ::= <<
+ConfigureFile(UNIT_NAME) ::= <<
#!/bin/sh
# The application's name.
-APPL="$binary$";
+APPL="$UNIT_NAME$";
# The root path for this script.
if [ -z "\$ROOT" ]; then ROOT="."; fi;
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/MainFile.stg b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/MainFile.stg
new file mode 100644
index 00000000..4eeca49f
--- /dev/null
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/MainFile.stg
@@ -0,0 +1,97 @@
+group MainFile;
+
+MainFile(UNIT_NAME,
+ COORDINATOR_OR_WORKER,
+ CAN_ID_UNIT_DONE,
+ CYCLE_TIME_IN_MILLIS,
+ WAITING_SLEEPTIME_IN_MICROS,
+ SYNC_BOX_SETUP_CODE,
+ WORKER_CODE) ::= <<
+#include <stdbool.h>
+#include <stddef.h>
+#include <unistd.h>
+
+#include <af3.h>
+#include <cancatalog.h>
+#include <caninbox.h>
+#include <canoutbox.h>
+#include <debugprint.h>
+#include <protocol_control_center.h>
+#include <protocol_coordinator.h>
+#include <protocol_factory.h>
+
+#define WAITING_SLEEPTIME_IN_MICROS (uint64_t)$WAITING_SLEEPTIME_IN_MICROS$
+
+#define STOP_AT_LOGICAL_CLOCK (uint64_t)0 // run infinitely
+
+#define BRICK_HOST "localhost"
+#define BRICK_PORT 4223
+
+#define CAN_ID_GLOBAL_SHUTDOWN 0x00
+#define CAN_ID_COORDINATOR_CLOCK 0x01
+#define CAN_ID_UNIT_DONE $CAN_ID_UNIT_DONE$
+
+static const char* can_device = "can0";
+static can_inbox_t* app_inbox = NULL;
+static can_inbox_t* sync_inbox= NULL;
+static can_outbox_t* app_outbox = NULL;
+
+static uint64_t step = 0;
+
+static void worker() {
+ step++;
+ $WORKER_CODE$
+}
+
+int main(int argc, char** argv) {
+ // initialize CAN interface with catalog implementation
+ can_catalog_initialize(can_device, $WAITING_SLEEPTIME_IN_MICROS$);
+
+ // set AF3 unit name used when communicating with CC
+ af3_set_execution_unit_identifier("$UNIT_NAME$");
+ // TODO: initialize ControlCenter connection
+
+ // snychronization message box
+ sync_inbox = can_inbox_create("$UNIT_NAME$_sync_inbox", 2);
+ $SYNC_BOX_SETUP_CODE$
+
+ // application message boxes
+ app_inbox = can_inbox_create("$UNIT_NAME$_app_inbox", 1);
+ app_outbox = can_outbox_create("$UNIT_NAME$_sensor_app_outbox");
+
+ protocol_can_config_t* can_config = protocol_can_config_create(
+ $CAN_ID_UNIT_DONE$,
+ CAN_ID_COORDINATOR_CLOCK,
+ CAN_ID_GLOBAL_SHUTDOWN);
+
+ protocol_worker_clock_config_t* clock_config = protocol_worker_clock_config_create(
+ $CYCLE_TIME_IN_MILLIS$,
+ STOP_AT_LOGICAL_CLOCK,
+ $WAITING_SLEEPTIME_IN_MICROS$);
+
+ protocol_worker_computation_config_t* computation_config = protocol_worker_computation_config_create(
+ "$UNIT_NAME$",
+ worker,
+ sync_inbox,
+ app_inbox,
+ app_outbox,
+ 0);
+
+#if $COORDINATOR_OR_WORKER$
+ int result = protocol_coordinator_main(can_config, clock_config, computation_config);
+#else
+ int result = protocol_worker_main(can_config, clock_config, computation_config);
+#endif
+ debug_print(DEBUG_PRINT_LEVEL_NONE, "$UNIT_NAME$ main() returned %i.\n", result);
+
+ // clean up
+ can_inbox_destroy(sync_inbox);
+ can_inbox_destroy(app_inbox);
+ can_outbox_destroy(app_outbox);
+ free(can_config);
+ free(clock_config);
+ free(computation_config);
+
+ return result;
+}
+>>
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/MakedefsFile.stg b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/MakedefsFile.stg
index 8ac69bc8..6d2f56de 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/MakedefsFile.stg
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/MakedefsFile.stg
@@ -48,5 +48,8 @@ clean:
\${BPATH}/%.run:
@echo "linking application '\${@}' ..."
@\${CROSSLD} \${LDFLAGS} -o \${@} \$(filter %.o %.a, \${^})
-
+
+# The rule to clean and remove generated Makefile
+mrproper: clean
+ @rm -f Makefile
>>
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/ProjectFile.stg b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/ProjectFile.stg
index 743d23b1..cd3d18c3 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/ProjectFile.stg
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/ProjectFile.stg
@@ -1,9 +1,9 @@
group ProjectFile;
-ProjectFile(projectname) ::= <<
+ProjectFile(PROJECT_NAME) ::= <<
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
- <name>$projectname$</name>
+ <name>$PROJECT_NAME$</name>
<comment></comment>
<projects>
</projects>
diff --git a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java
index 6cf4b58d..7eeb36d8 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java
+++ b/org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java
@@ -39,10 +39,27 @@ import org.fortiss.af3.generator.common.model.source.StaticContentSourceUnit;
* @ConQAT.Rating RED Hash:
*/
public final class RasPiCTemplates {
+ /** Returns the 'main.c' file configured using the given arguments. */
+ public static AbstractUnit getMainCFile(String unitName, boolean coordinatorOrWorker,
+ int canIdUnitDone, int cycletimeInMillis, int waitingSleepInMicros,
+ String syncBoxSetupCode, String workerCode) {
+ StringTemplate template = makeTemplate("MainFile.stg", "MainFile");
+ template.setAttribute("UNIT_NAME", unitName);
+ template.setAttribute("COORDINATOR_OR_WORKER", coordinatorOrWorker ? 1 : 0);
+ template.setAttribute("CAN_ID_UNIT_DONE", canIdUnitDone);
+ template.setAttribute("CYCLE_TIME_IN_MILLIS", cycletimeInMillis);
+ template.setAttribute("WAITING_SLEEPTIME_IN_MICROS", waitingSleepInMicros);
+ template.setAttribute("SYNC_BOX_SETUP_CODE", syncBoxSetupCode);
+ template.setAttribute("WORKER_CODE", workerCode);
+ StaticContentSourceUnit unit =
+ createStaticContentSourceUnit("main.c", template.toString(), false);
+ return unit;
+ }
+
/** Returns the '.project' file used for Eclipse project. */
public static AbstractUnit getEclipseProjectFile(String projectName) {
StringTemplate template = makeTemplate("ProjectFile.stg", "ProjectFile");
- template.setAttribute("projectname", projectName);
+ template.setAttribute("PROJECT_NAME", projectName);
StaticContentSourceUnit unit =
createStaticContentSourceUnit(".project", template.toString(), false);
return unit;
@@ -51,7 +68,7 @@ public final class RasPiCTemplates {
/** Returns the 'configure' file used to create a Makefile. */
public static AbstractUnit getConfigureFile(String binaryName) {
StringTemplate template = makeTemplate("ConfigureFile.stg", "ConfigureFile");
- template.setAttribute("binary", binaryName);
+ template.setAttribute("UNIT_NAME", binaryName);
return createStaticContentSourceUnit("configure", template.toString(), true);
}
--
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