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Commit eae910d5 authored by Florian Hölzl's avatar Florian Hölzl
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Added auxiliary function generation and ultrasonic brick sensor. 


Signed-off-by: default avatarFlorian Hoelzl <hoelzl@fortiss.org>
parent b4d96d06
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org.fortiss.af3.platform.raspberry/plugin.xml
+ 13
− 0
View file @ eae910d5
......@@ -169,6 +169,19 @@
</objectClass>
</target>
</transformationProvider>
<transformationProvider
transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.brick.UltraSonicTransformation">
<source>
<objectClass
objectClass="org.fortiss.af3.platform.raspberry.model.brick.UltraSonicSensor">
</objectClass>
</source>
<target>
<objectClass
objectClass="org.fortiss.af3.platform.raspberry.generator.executable.brick.UltraSonicSensorExecutable">
</objectClass>
</target>
</transformationProvider>
<transformationProvider
transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.PWMActuatorTransformation">
<source>
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/.ratings
+ 1
− 1
View file @ eae910d5
......@@ -6,4 +6,4 @@ HeaderCopyGenerator.java 18239a3adae35256e32dad19df9d8f38acbf7e66 RED
MultiUnitMainGenerator.java 458754b89c2d79db3fee08baa444424772e40fb7 RED
PWMActuatorExecutable.java d5d75c70ec12a3e008f744ff15b3c103b5d57f6c YELLOW
RaspberryPIExecutable.java cafff8199da9cc59688289c9c26097e6872e9702 RED
SingleUnitMainGenerator.java fe13cbffac938bb7d93b3eece4ff7884c3878075 YELLOW
SingleUnitMainGenerator.java 1b9e47102a2a938e2f41fbb9f171d06d140ac86c RED
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/SingleUnitMainGenerator.java
+ 60
− 74
View file @ eae910d5
......@@ -83,11 +83,43 @@ class SingleUnitMainGenerator {
/** Creates the main.c file for deployments with a single execution units. */
public AbstractUnit createSingleUnitMain() {
String includes = createIncludes();
String auxFuns = createAuxiliaryFunctions();
String initCode = createInitCode();
String sensorVariables = createVariables();
String workerCode = createWorkerCode(deployedComponents, deployedPorts);
return getSingleUnitMainCFile(executionUnit.getName(), executionUnit.getCycleTime(),
includes, initCode, workerCode, sensorVariables);
includes, initCode, auxFuns, workerCode, sensorVariables);
}
/** Creates the code for auxiliary functions. */
private String createAuxiliaryFunctions() {
StringBuilder sb = new StringBuilder();
Set<String> singletonInitDone = new HashSet<>();
for(PlatformConnectorUnit pcu : platformConnector2ExecutableBase.keySet()) {
ExecutableBase<?> exec = platformConnector2ExecutableBase.get(pcu);
String sPostfix = null;
if(exec instanceof ISingletonInitializationExecutable) {
ISingletonInitializationExecutable singletonExec =
(ISingletonInitializationExecutable)exec;
// check if function definition was already included
String ident = singletonExec.getSingletonIdentifier();
sPostfix = singletonPostfixMap.get(ident);
if(!singletonInitDone.contains(ident)) {
singletonInitDone.add(ident);
String def = singletonExec.getSingletonAuxiliaryFunctions(sPostfix);
sb.append(def != null ? def : "");
}
}
// sPostfix is set by first if-block or remains null
if(exec instanceof IInstanceInitializationExecutable) {
IInstanceInitializationExecutable initExec =
(IInstanceInitializationExecutable)exec;
String iPostfix = instancePostfixMap.get(initExec);
String def = initExec.getInstanceAuxiliaryFunctions(iPostfix, sPostfix);
sb.append(def != null ? def : "");
}
}
return sb.toString();
}
/** Creates the includes of the system headers. */
......@@ -137,24 +169,26 @@ class SingleUnitMainGenerator {
Set<String> singletonInitDone = new HashSet<>();
for(PlatformConnectorUnit pcu : platformConnector2ExecutableBase.keySet()) {
ExecutableBase<?> exec = platformConnector2ExecutableBase.get(pcu);
String sPrefix = null;
String sPostfix = null;
if(exec instanceof ISingletonInitializationExecutable) {
ISingletonInitializationExecutable singletonExec =
(ISingletonInitializationExecutable)exec;
// check if variable declaration was already included
String ident = singletonExec.getSingletonIdentifier();
sPrefix = singletonPostfixMap.get(ident);
sPostfix = singletonPostfixMap.get(ident);
if(!singletonInitDone.contains(ident)) {
singletonInitDone.add(ident);
sb.append(singletonExec.getSingletonVariableDeclarationCode(sPrefix));
String def = singletonExec.getSingletonVariableDeclarationCode(sPostfix);
sb.append(def != null ? def : "");
}
}
// sPrefix is set by first if-block or remains null
// sPostfix is set by first if-block or remains null
if(exec instanceof IInstanceInitializationExecutable) {
IInstanceInitializationExecutable initExec =
(IInstanceInitializationExecutable)exec;
String iPrefix = instancePostfixMap.get(initExec);
sb.append(initExec.getVariableDeclaration(iPrefix, sPrefix));
String iPostfix = instancePostfixMap.get(initExec);
String def = initExec.getVariableDeclaration(iPostfix, sPostfix);
sb.append(def != null ? def : "");
}
}
return sb.toString();
......@@ -192,22 +226,6 @@ class SingleUnitMainGenerator {
// // extractRGBforLEDButton(p);
// // }
// }
// if(useUS) {
// sb.append("uint16_t ultra_sonic_A;\n");
// sb.append("uint64_t us_A_last_cb_time = 0;\n");
// sb.append("char* uid_us_A = \"zpW\";\n");
// sb.append("void us_A_callback(uint16_t distance, void *data) {\n");
// sb.append("ultra_sonic_A = distance;\n");
// sb.append("us_A_last_cb_time = time_util_get_current_micros();\n");
// sb.append("}\n");
// sb.append("uint16_t ultra_sonic_B;\n");
// sb.append("uint64_t us_B_last_cb_time = 0;\n");
// sb.append("char* uid_us_B = \"zqN\";\n");
// sb.append("void us_B_callback(uint16_t distance, void *data) {\n");
// sb.append("ultra_sonic_B = distance;\n");
// sb.append("us_B_last_cb_time = time_util_get_current_micros();\n");
// sb.append("}\n\n");
// }
// if(useLaser) {
// sb.append("int16_t laser_distance;\n");
// sb.append("uint64_t laser_last_cb_time = 0;\n");
......@@ -296,17 +314,17 @@ class SingleUnitMainGenerator {
/** Creates the read code for the given receiver and port. */
private String createWriteCode(Transmitter transmitter, OutputPort outport) {
ExecutableBase<?> exec = platformConnector2ExecutableBase.get(transmitter);
String sPrefix = null;
String sPostfix = null;
if(exec instanceof ISingletonExecutable) {
sPrefix =
sPostfix =
singletonPostfixMap.get(((ISingletonExecutable)exec).getSingletonIdentifier());
}
String iPrefix = instancePostfixMap.get(exec);
String iPostfix = instancePostfixMap.get(exec);
if(exec instanceof IWriteableExecutable) {
IWriteableExecutable wexec = (IWriteableExecutable)exec;
String sourceVariable = getPortIdentifier(outport);
String writeCode = wexec.getWriteCode(iPrefix, sPrefix, outport, sourceVariable);
String novalCode = wexec.getNoValWriteCode(iPrefix, sPrefix, outport);
String writeCode = wexec.getWriteCode(iPostfix, sPostfix, outport, sourceVariable);
String novalCode = wexec.getNoValWriteCode(iPostfix, sPostfix, outport);
if(novalCode != null) {
String novalVariable = getPortNoValIdentifier(sourceVariable);
return "if (" + novalVariable + ") {\n" + novalCode + "}\n else {\n" + writeCode +
......@@ -321,23 +339,23 @@ class SingleUnitMainGenerator {
/** Creates the read code for the given receiver and port. */
private String createReadCode(Receiver receiver, InputPort inport) {
ExecutableBase<?> exec = platformConnector2ExecutableBase.get(receiver);
String sPrefix = null;
String sPostfix = null;
if(exec instanceof ISingletonExecutable) {
sPrefix =
sPostfix =
singletonPostfixMap.get(((ISingletonExecutable)exec).getSingletonIdentifier());
}
String iPrefix = instancePostfixMap.get(exec);
String iPostfix = instancePostfixMap.get(exec);
if(exec instanceof IReadableExecutable) {
IReadableExecutable rexec = (IReadableExecutable)exec;
String targetVariable = getPortIdentifier(inport);
String readCode = rexec.getReadCode(iPrefix, sPrefix, inport, targetVariable);
String novalCode = rexec.getNoValReadCode(iPrefix, sPrefix, inport);
String readCode = rexec.getReadCode(iPostfix, sPostfix, inport, targetVariable);
String novalCode = rexec.getNoValReadCode(iPostfix, sPostfix, inport);
if(novalCode != null) {
return "if (" + novalCode + ") {\n" + readCode + "}\"";
}
return readCode;
}
return "FIXME\"No executable available to read " + inport.getName() + " from " +
return "FIXME(\"No executable available to read " + inport.getName() + " from " +
receiver.getName() + "\");\n";
}
......@@ -347,23 +365,25 @@ class SingleUnitMainGenerator {
Set<String> singletonInitDone = new HashSet<>();
for(PlatformConnectorUnit pcu : platformConnector2ExecutableBase.keySet()) {
ExecutableBase<?> exec = platformConnector2ExecutableBase.get(pcu);
String sPrefix = null;
String sPostfix = null;
if(exec instanceof ISingletonInitializationExecutable) {
ISingletonInitializationExecutable singletonExec =
(ISingletonInitializationExecutable)exec;
String ident = singletonExec.getSingletonIdentifier();
sPrefix = singletonPostfixMap.get(ident);
sPostfix = singletonPostfixMap.get(ident);
if(!singletonInitDone.contains(ident)) {
singletonInitDone.add(ident);
sb.append(singletonExec.getSingletonInitializationCode(sPrefix));
String code = singletonExec.getSingletonInitializationCode(sPostfix);
sb.append(code != null ? code : "");
}
}
// sPrefix is set in the first if-block or is null
// sPostfix is set in the first if-block or is null
if(exec instanceof IInstanceInitializationExecutable) {
IInstanceInitializationExecutable initExec =
(IInstanceInitializationExecutable)exec;
String iPrefix = instancePostfixMap.get(initExec);
sb.append(initExec.getInitializationCode(iPrefix, sPrefix));
String iPostfix = instancePostfixMap.get(initExec);
String code = initExec.getInitializationCode(iPostfix, sPostfix);
sb.append(code != null ? code : "");
}
}
return sb.toString();
......@@ -400,40 +420,6 @@ class SingleUnitMainGenerator {
// String port = executionUnit.getCameraServerPort();
// sb.append("camera_client_initialize(\"" + addr + "\", \"" + port + "\");\n");
// }
// if(useUS || useLaser || useDigits || useACC) {
// sb.append("IPConnection brick_connection;\n");
// sb.append("ipcon_create(&brick_connection);\n");
// sb.append("if(ipcon_connect(&brick_connection, BRICK_HOST, BRICK_PORT) < 0) {\n");
// sb.append("perror(\"Failed to connect to brick sub-system.\");\n");
// sb.append("return 1;\n");
// sb.append("}\n\n");
// }
// if(useUS) {
// System.out.println("useUs");
// for(Pair<PlatformConnectorUnit, Port> p : deployedPorts) {
// if(createdUsSensors >= 2)
// break;
// if(p.getFirst() instanceof UltraSonicSensor) {
// UltraSonicSensor sensor = (UltraSonicSensor)p.getFirst();
// if(createdUsSensors == 0) {
// sb.append("DistanceUS DistanceUS_A;\n");
// sb.append("uid_us_A = \"" + sensor.getUniqueBrickletID() + "\";\n");
// sb.append("distance_us_create(&DistanceUS_A, \"" +
// sensor.getUniqueBrickletID() + "\", &brick_connection);\n");
// sb.append("distance_us_register_callback(&DistanceUS_A, DISTANCE_US_CALLBACK_DISTANCE, (void*)us_A_callback, NULL);\n");
// sb.append("distance_us_set_distance_callback_period(&DistanceUS_A, 10);\n");
// } else if(createdUsSensors == 1) {
// sb.append("DistanceUS DistanceUS_B;\n");
// sb.append("uid_us_B = \"" + sensor.getUniqueBrickletID() + "\";\n");
// sb.append("distance_us_create(&DistanceUS_B, \"" +
// sensor.getUniqueBrickletID() + "\", &brick_connection);\n");
// sb.append("distance_us_register_callback(&DistanceUS_B, DISTANCE_US_CALLBACK_DISTANCE, (void*)us_B_callback, NULL);\n");
// sb.append("distance_us_set_distance_callback_period(&DistanceUS_B, 10);\n");
// }
// createdUsSensors++;
// }
// }
// }
// if(useLaser) {
// for(Pair<PlatformConnectorUnit, Port> p : deployedPorts) {
// if(p.getFirst() instanceof LaserRangeSensor) {
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/.ratings
+ 2
− 2
View file @ eae910d5
BrickExecutableBase.java d2a673b444a431747e479c92c2e880c2c5b95251 RED
UltraSonicSensorExecutable.java 118f81db427f895bc447dbb5c57aab47a0c1a1d7 RED
BrickExecutableBase.java e50fae1024e2f95953ff5cb2b56eb0250918021c YELLOW
UltraSonicSensorExecutable.java 7e121aa85b389b04f4e30fa54d695331082cb4b6 YELLOW
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/BrickExecutableBase.java
+ 2
− 2
View file @ eae910d5
......@@ -41,7 +41,7 @@ abstract class BrickExecutableBase<T extends EObject> extends BrickLibraryExecut
/** {@inheritDoc} */
@Override
public String getSingletonVariableDeclarationCode(String singletonPostfix) {
return "IPConnection " + getConnectionVariable(singletonPostfix) + ";\n";
return "static IPConnection " + getConnectionVariable(singletonPostfix) + ";\n";
}
/** {@inheritDoc} */
......@@ -65,6 +65,6 @@ abstract class BrickExecutableBase<T extends EObject> extends BrickLibraryExecut
/** Returns the connection variable name. */
protected final String getConnectionVariable(String postfix) {
return "brick_connection" + postfix;
return "brick_connection_" + postfix;
}
}
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/brick/UltraSonicSensorExecutable.java
+ 25
− 13
View file @ eae910d5
......@@ -42,34 +42,46 @@ public class UltraSonicSensorExecutable extends BrickExecutableBase<UltraSonicSe
/** {@inheritDoc} */
@Override
public String getVariableDeclaration(String postfix, String singletonPostfix) {
return null;
StringBuilder sb = new StringBuilder();
sb.append("static DistanceUS ultra_sonic_device_" + postfix + ";\n");
sb.append("static uint16_t ultra_sonic_value_" + postfix + " = 0;\n");
sb.append("static uint64_t ultra_sonic_last_cb_time_" + postfix + " = 0;\n");
return sb.toString();
}
/** {@inheritDoc} */
@Override
public String getInstanceAuxiliaryFunctions(String postfix, String singletonPostfix) {
// TODO Auto-generated method stub
return null;
StringBuilder sb = new StringBuilder();
sb.append("void ultra_sonic_callback_" + postfix + "(uint16_t distance, void *data) {\n");
sb.append("ultra_sonic_value_" + postfix + " = distance;\n");
sb.append("ultra_sonic_last_cb_time_" + postfix + " = time_util_get_current_micros();\n");
sb.append("}\n\n");
return sb.toString();
}
/** {@inheritDoc} */
@Override
public String getInitializationCode(String postfix, String singletonPostfix) {
// TODO Auto-generated method stub
return null;
StringBuilder sb = new StringBuilder();
sb.append("distance_us_create(&ultra_sonic_device_" + postfix + ", \"" +
modelElement.getUniqueBrickletID() + "\", &" +
getConnectionVariable(singletonPostfix) + ");\n");
sb.append("distance_us_register_callback(&ultra_sonic_device_" + postfix +
", DISTANCE_US_CALLBACK_DISTANCE, (void*)ultra_sonic_callback_" + postfix +
", NULL);\n");
sb.append("distance_us_set_distance_callback_period(&ultra_sonic_device_" + postfix +
", 10);\n");
return sb.toString();
}
/** {@inheritDoc} */
@Override
public String getReadCode(String prefix, String singletonPrefix, InputPort logicalSignal,
public String getReadCode(String postfix, String singletonPostfix, InputPort logicalSignal,
String targetVariable) {
// sb.append("DistanceUS DistanceUS_A;\n");
// sb.append("uid_us_A = \"" + sensor.getUniqueBrickletID() + "\";\n");
// sb.append("distance_us_create(&DistanceUS_A, \"" +
// sensor.getUniqueBrickletID() + "\", &brick_connection);\n");
// sb.append("distance_us_register_callback(&DistanceUS_A, DISTANCE_US_CALLBACK_DISTANCE, (void*)us_A_callback, NULL);\n");
// sb.append("distance_us_set_distance_callback_period(&DistanceUS_A, 10);\n");
return null;
StringBuilder sb = new StringBuilder();
sb.append(targetVariable + " = " + "ultra_sonic_value_" + postfix + ";\n");
return sb.toString();
}
/** {@inheritDoc} */
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/.ratings
+ 1
− 1
View file @ eae910d5
......@@ -20,6 +20,6 @@ Left_StickYExecutable.java cc2b36f9bca913dc1956f34495cf9c77acb13c88 YELLOW
R2PositionExecutable.java 19f778392841d02d281fd856564b75e1333dffaa YELLOW
Right_StickXExecutable.java 97656a2ae56a70eac88153b123f2cd9c584af967 YELLOW
Right_StickYExecutable.java f3d942123ca47d0ddbf32f4f46bfaf2b21732653 YELLOW
RumblepadExecutableBase.java be65c6bb0b4d6a86123c616787fe4bf2ddcc68a1 YELLOW
RumblepadExecutableBase.java 39b4d75bed6526d82f5baa420b2415b271157df9 YELLOW
SimpleRumbleFeatureExecutable.java 413b6fb3f5847f0d09f52341c98b95f74c352016 YELLOW
StickExecutableBase.java 4e1188b3e3a3b6d53a6387d2cf472c89c27b7449 YELLOW
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/executable/rumblepad/RumblepadExecutableBase.java
+ 2
− 2
View file @ eae910d5
......@@ -35,7 +35,7 @@ abstract class RumblepadExecutableBase<T extends EObject> extends PiHALLibraryEx
/** {@inheritDoc} */
@Override
public final String getSingletonVariableDeclarationCode(String singletonPostfix) {
return "static gamepad_configuration_t rumblepad_config_" + singletonPostfix + ";\n";
return "static rumblepad_configuration_t rumblepad_config_" + singletonPostfix + ";\n";
}
/** {@inheritDoc} */
......@@ -54,7 +54,7 @@ abstract class RumblepadExecutableBase<T extends EObject> extends PiHALLibraryEx
sb.append(postfixedVar + "->device_id = \"/dev/input/js0\";\n");
sb.append(postfixedVar + "->waiting_sleep_in_micros = 50;\n");
sb.append(postfixedVar + "->axis_callback = NULL;\n");
sb.append(postfixedVar + "->button_callback = NULL;");
sb.append(postfixedVar + "->button_callback = NULL;\n");
sb.append("rumblepad_initialize(" + postfixedVar + ");\n\n");
return sb.toString();
}
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/.ratings
+ 1
− 1
View file @ eae910d5
RasPiCTemplates.java d9eeaef85fefbd705275be87b2be5aaa5f78c6f7 YELLOW
RasPiCTemplates.java 6a3abac9f5ac98e0162118e608562aa2a7a1953c YELLOW
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java
+ 4
− 3
View file @ eae910d5
......@@ -55,13 +55,14 @@ public final class RasPiCTemplates {
}
/** Returns the 'main.c' file configured using the given arguments. */
public static AbstractUnit
getSingleUnitMainCFile(String unitName, int cycletimeInMillis, String systemIncludes,
String systemInitCode, String workerCode, String sensorVariables) {
public static AbstractUnit getSingleUnitMainCFile(String unitName, int cycletimeInMillis,
String systemIncludes, String systemInitCode, String auxFunction, String workerCode,
String sensorVariables) {
StringTemplate template = makeTemplate("SingleUnitMainFile.stg", "MainFile");
template.setAttribute("UNIT_NAME", unitName);
template.setAttribute("CYCLE_TIME_IN_MILLIS", cycletimeInMillis);
template.setAttribute("SYSTEM_INCLUDES", systemIncludes);
template.setAttribute("AUXILIARY_FUNCTIONS", auxFunction);
template.setAttribute("SYSTEM_INIT_CODE", systemInitCode);
template.setAttribute("WORKER_CODE", workerCode);
template.setAttribute("SENSOR_VARIABLES", sensorVariables);
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/templates/SingleUnitMainFile.stg
+ 3
− 0
View file @ eae910d5
......@@ -4,6 +4,7 @@ MainFile(UNIT_NAME,
CYCLE_TIME_IN_MILLIS,
SYSTEM_INCLUDES,
SYSTEM_INIT_CODE,
AUXILIARY_FUNCTIONS,
WORKER_CODE,
SENSOR_VARIABLES) ::= <<
// due to current data dictionary declaration of GENTYPE_boolean
......@@ -29,6 +30,8 @@ const int cycle_time = $CYCLE_TIME_IN_MILLIS$;
$SENSOR_VARIABLES$
$AUXILIARY_FUNCTIONS$
static void worker() {
step++;
$WORKER_CODE$
......
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/.ratings 0 → 100644
+ 1
− 0
View file @ eae910d5
UltraSonicTransformation.java d4f9f72befdd6f8d89532826f761f59e6808f120 YELLOW
org.fortiss.af3.platform.raspberry/src/org/fortiss/af3/platform/raspberry/generator/transform/brick/UltraSonicTransformation.java 0 → 100644
+ 29
− 0
View file @ eae910d5
/*-------------------------------------------------------------------------+
| Copyright 2018 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.brick;
import org.fortiss.af3.platform.raspberry.generator.executable.brick.UltraSonicSensorExecutable;
import org.fortiss.af3.platform.raspberry.generator.transform.RasPiGeneratorTransformationBase;
import org.fortiss.af3.platform.raspberry.model.brick.UltraSonicSensor;
import org.fortiss.af3.platform.raspberry.model.gamepad.Button1;
/** Transformation for {@link Button1}. */
public class UltraSonicTransformation extends RasPiGeneratorTransformationBase {
/** Constructor. */
public UltraSonicTransformation() {
super(UltraSonicSensor.class, UltraSonicSensorExecutable.class);
}
}
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