First working RasPi deployment.

refs 3079

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

@@ -47,6 +47,7 @@ final class HeaderCopyGenerator {
 		incLibPack.addUnit(copyAF3Hal("protocol_coordinator.h"));
 		incLibPack.addUnit(copyAF3Hal("protocol_factory.h"));
 		incLibPack.addUnit(copyAF3Hal("protocol_worker.h"));
+		incLibPack.addUnit(copyAF3Hal("temp_actuator.h"));
 		incLibPack.addUnit(copyAF3Hal("timeutil.h"));
 	}
 

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

@@ -51,17 +51,44 @@ import org.fortiss.tooling.kernel.extension.data.ITransformationContext;
  * @ConQAT.Rating RED Hash:
  */
 class MainGenerator {
-	/** Creates the main.c file. */
-	public AbstractUnit createMain(RaspberryPi executionUnit,
+	private static final int WAITING_SLEEP_IN_MICROS = 250;
+	private RaspberryPi executionUnit;
+	private List<Pair<ExecutionUnit, Component>> deployedComponents;
+	private List<Pair<PlatformConnectorUnit, Port>> deployedPorts;
+	private ITransformationContext context;
+
+	private boolean useGamepad;
+	private boolean usePWM;
+
+	/** Constructor. */
+	public MainGenerator(RaspberryPi executionUnit,
 			List<Pair<ExecutionUnit, Component>> deployedComponents,
 			List<Pair<PlatformConnectorUnit, Port>> deployedPorts, ITransformationContext context) {
+		this.executionUnit = executionUnit;
+		this.deployedComponents = deployedComponents;
+		this.deployedPorts = deployedPorts;
+		this.context = context;
+		for(Pair<PlatformConnectorUnit, Port> p : deployedPorts) {
+			if(!useGamepad && p.getFirst() instanceof GamepadReceiverBase) {
+				useGamepad = true;
+			}
+			if(!usePWM && p.getFirst() instanceof ActuatorPWM) {
+				usePWM = true;
+			}
+		}
+	}
+
+	/** Creates the main.c file. */
+	public AbstractUnit createMain() {
 		String includes = createIncludes(deployedComponents, deployedPorts);
+		// TODO: compute syncBox size
+		int syncBoxSize = 0;
 		// TODO: syncbox code
 		String initCode = createInitCode(deployedComponents);
 		String workerCode = createWorkerCode(deployedComponents, deployedPorts);
 		return getMainCFile(executionUnit.getName(), executionUnit.isCoordinatorUnit(),
-				executionUnit.getCanCoordinationID(), executionUnit.getCycleTime(), 250, includes,
-				"// TODO\n", initCode, workerCode);
+				executionUnit.getCanCoordinationID(), executionUnit.getCycleTime(),
+				WAITING_SLEEP_IN_MICROS, includes, syncBoxSize, "// TODO\n", initCode, workerCode);
 	}
 
 	/** Creates the includes of the system headers. */
@@ -72,17 +99,11 @@ class MainGenerator {
 			Component c = p.getSecond();
 			sb.append("#include <" + c.getName() + "_ID_" + c.getId() + ".h>\n");
 		}
-		boolean useGamepad = false;
-		boolean usePWM = false;
-		for(Pair<PlatformConnectorUnit, Port> p : deployedPorts) {
-			if(!useGamepad && p.getFirst() instanceof GamepadReceiverBase) {
-				sb.append("#include <gamepad.h>\n");
-				useGamepad = true;
-			}
-			if(!usePWM && p.getFirst() instanceof ActuatorPWM) {
-				sb.append("#include <temp_actuator.h>\n");
-				usePWM = true;
-			}
+		if(useGamepad) {
+			sb.append("#include <gamepad.h>\n");
+		}
+		if(usePWM) {
+			sb.append("#include <temp_actuator.h>\n");
 		}
 		return sb.toString();
 	}
@@ -162,6 +183,18 @@ class MainGenerator {
 	/** Create the initialize code. */
 	private String createInitCode(List<Pair<ExecutionUnit, Component>> deployedComponents) {
 		StringBuilder sb = new StringBuilder();
+		if(usePWM) {
+			sb.append("temp_actuator_initialize(\"/dev/ttyACM0\");\n\n");
+		}
+		if(useGamepad) {
+			sb.append("gamepad_configuration_t* gamepad_config = malloc(sizeof(gamepad_configuration_t));\n");
+			sb.append("gamepad_config->device_id = \"/dev/input/js0\";\n");
+			sb.append("gamepad_config->waiting_sleep_in_micros = " + WAITING_SLEEP_IN_MICROS +
+					";\n");
+			sb.append("gamepad_config->axis_callback = NULL;\n");
+			sb.append("gamepad_config->button_callback = NULL;\n");
+			sb.append("gamepad_initialize(gamepad_config);\n\n");
+		}
 		for(Pair<ExecutionUnit, Component> p : deployedComponents) {
 			Component c = p.getSecond();
 			sb.append(makeCall("init", c));

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

@@ -107,8 +107,9 @@ public class RaspberryPIExecutable extends ExecutionUnitExecutableBase<Raspberry
 			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));
+		MainGenerator mg =
+				new MainGenerator(modelElement, deployedComponents, deployedPorts, context);
+		srcGenPack.addUnit(mg.createMain());
 	}
 
 	/** Adds the build process files: configure and Makedefs. */

org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/MainFile.stg

@@ -6,6 +6,7 @@ MainFile(UNIT_NAME,
 	CYCLE_TIME_IN_MILLIS,
 	WAITING_SLEEPTIME_IN_MICROS,
 	SYSTEM_INCLUDES,
+	SYNC_BOX_SIZE,
 	SYNC_BOX_SETUP_CODE,
 	SYSTEM_INIT_CODE,
 	WORKER_CODE) ::= <<
@@ -61,7 +62,7 @@ int main(int argc, char** argv) {
 	// TODO: initialize ControlCenter connection
 
 	// snychronization message box
-	sync_inbox = can_inbox_create("$UNIT_NAME$_sync_inbox", 2);
+	sync_inbox = can_inbox_create("$UNIT_NAME$_sync_inbox", $SYNC_BOX_SIZE$);
 	$SYNC_BOX_SETUP_CODE$
 
 	// application message boxes

org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/templates/RasPiCTemplates.java

@@ -40,10 +40,10 @@ import org.fortiss.af3.generator.common.model.source.StaticContentSourceUnit;
  */
 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 systemIncludes,
-					String syncBoxSetupCode, String systemInitCode, String workerCode) {
+	public static AbstractUnit getMainCFile(String unitName, boolean coordinatorOrWorker,
+			int canIdUnitDone, int cycletimeInMillis, int waitingSleepInMicros,
+			String systemIncludes, int syncBoxSize, String syncBoxSetupCode, String systemInitCode,
+			String workerCode) {
 		StringTemplate template = makeTemplate("MainFile.stg", "MainFile");
 		template.setAttribute("UNIT_NAME", unitName);
 		template.setAttribute("COORDINATOR_OR_WORKER", coordinatorOrWorker ? 1 : 0);
@@ -51,6 +51,7 @@ public final class RasPiCTemplates {
 		template.setAttribute("CYCLE_TIME_IN_MILLIS", cycletimeInMillis);
 		template.setAttribute("WAITING_SLEEPTIME_IN_MICROS", waitingSleepInMicros);
 		template.setAttribute("SYSTEM_INCLUDES", systemIncludes);
+		template.setAttribute("SYNC_BOX_SIZE", syncBoxSize);
 		template.setAttribute("SYNC_BOX_SETUP_CODE", syncBoxSetupCode);
 		template.setAttribute("SYSTEM_INIT_CODE", systemInitCode);
 		template.setAttribute("WORKER_CODE", workerCode);