From f33edd8db991447b16f82e7036fded9d90424726 Mon Sep 17 00:00:00 2001
From: Florian Hoelzl <hoelzl@fortiss.org>
Date: Fri, 13 Oct 2017 11:43:39 +0000
Subject: [PATCH] First working RasPi deployment. refs 3079
---
.../inc/{ => af3pihal}/temp_actuator.h | 0
.../trunk/code-gen-hal/lib/libaf3pihal.a | Bin 1392302 -> 1392298 bytes
.../executable/HeaderCopyGenerator.java | 1 +
.../generator/executable/MainGenerator.java | 63 +++++++++++++-----
.../executable/RaspberryPIExecutable.java | 5 +-
.../generator/templates/MainFile.stg | 3 +-
.../generator/templates/RasPiCTemplates.java | 9 +--
7 files changed, 59 insertions(+), 22 deletions(-)
rename org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/{ => af3pihal}/temp_actuator.h (100%)
diff --git a/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/temp_actuator.h b/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/af3pihal/temp_actuator.h
similarity index 100%
rename from org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/temp_actuator.h
rename to org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/inc/af3pihal/temp_actuator.h
diff --git a/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/lib/libaf3pihal.a b/org.fortiss.af3.platform.raspberry/trunk/code-gen-hal/lib/libaf3pihal.a
index 3d6219dbd5f7d4fd2e36ff267d21144e75bbfbd9..4ade60d14cacc596134c09ac0aae68d3c07f27e6 100644
GIT binary patch
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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
index 91c0ca31..c3eda109 100644
--- 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
@@ -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"));
}
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
index 87dd2ae0..7ffc80ed 100644
--- 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
@@ -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));
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 ff4a7bb3..070ede94 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
@@ -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. */
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
index 1c7db896..62dd488c 100644
--- 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
@@ -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
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 d3f470c0..d55a37e6 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
@@ -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);
--
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