Rework of Raspberry platform architecture for upcoming lab course.

refs 3079

org.fortiss.af3.platform.raspberry.ui/trunk/plugin.xml

@@ -48,12 +48,87 @@
       <modelElementClass
             modelElementClass="org.fortiss.af3.platform.raspberry.model.CanConnector">
       </modelElementClass>
+   </editPartFactory>
+</extension>
+<extension
+      point="org.fortiss.tooling.kernel.ui.modelElementHandler">
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.PWMActuatorHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.ActuatorPWM">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
       <modelElementClass
-            modelElementClass="org.fortiss.af3.platform.raspberry.model.SensorConnector">
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.Button1">
       </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
       <modelElementClass
-            modelElementClass="org.fortiss.af3.platform.raspberry.model.ActuatorConnector">
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.Button2">
       </modelElementClass>
-   </editPartFactory>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.Button3">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.Button4">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.ButtonL1">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.ButtonL2">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.ButtonR1">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.ButtonR2">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.Left_StickX_Position">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.Left_StickY_Position">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.Right_StickX_Position">
+      </modelElementClass>
+   </modelElementHandler>
+   <modelElementHandler
+         handler="org.fortiss.af3.platform.raspberry.ui.handler.GamepadReceiverHandler">
+      <modelElementClass
+            modelElementClass="org.fortiss.af3.platform.raspberry.model.gamepad.Right_StickY_Position">
+      </modelElementClass>
+   </modelElementHandler>
 </extension>
 </plugin>

org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/editpart/EditPartFactory.java

@@ -20,11 +20,9 @@ package org.fortiss.af3.platform.raspberry.ui.editpart;
 import org.eclipse.gef.EditPart;
 import org.eclipse.swt.graphics.Color;
 import org.fortiss.af3.platform.model.PlatformConnectorUnit;
-import org.fortiss.af3.platform.raspberry.model.ActuatorConnector;
 import org.fortiss.af3.platform.raspberry.model.CanBus;
 import org.fortiss.af3.platform.raspberry.model.CanConnector;
 import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
-import org.fortiss.af3.platform.raspberry.model.SensorConnector;
 import org.fortiss.af3.platform.ui.DefaultStyle;
 import org.fortiss.af3.platform.ui.editpart.generic.ExecutionUnitEditPart;
 import org.fortiss.af3.platform.ui.editpart.generic.StickyPlatformConnectorUnitEditPart;
@@ -59,8 +57,7 @@ public class EditPartFactory implements IEditPartFactory {
 			};
 		} else if(model instanceof CanBus) {
 			return new TransmissionUnitDefaultEditPart((CanBus)model);
-		} else if(model instanceof CanConnector || model instanceof SensorConnector ||
-				model instanceof ActuatorConnector) {
+		} else if(model instanceof CanConnector) {
 			return new StickyPlatformConnectorUnitEditPart((PlatformConnectorUnit)model);
 		}
 		return null;

org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/handler/CanBusHandler.java

@@ -17,12 +17,13 @@ $Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
 +--------------------------------------------------------------------------*/
 package org.fortiss.af3.platform.raspberry.ui.handler;
 
+import static org.fortiss.af3.platform.raspberry.ui.AF3PlatformRaspberryUIActivator.getImageDescriptor;
+
 import java.util.List;
 
 import org.eclipse.emf.ecore.EObject;
 import org.eclipse.jface.resource.ImageDescriptor;
 import org.fortiss.af3.platform.raspberry.model.CanBus;
-import org.fortiss.af3.platform.raspberry.ui.AF3PlatformRaspberryUIActivator;
 import org.fortiss.tooling.kernel.ui.extension.IModelElementHandler;
 import org.fortiss.tooling.kernel.ui.extension.base.ModelElementHandlerBase;
 
@@ -46,7 +47,7 @@ public class CanBusHandler extends ModelElementHandlerBase<CanBus> {
 	/** {@inheritDoc} */
 	@Override
 	public ImageDescriptor getIconImageDescriptor() {
-		return AF3PlatformRaspberryUIActivator.getImageDescriptor("icons/can-logo.jpeg");
+		return getImageDescriptor("icons/can-logo.jpeg");
 	}
 
 	/** {@inheritDoc} */

org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/WheelEncoderExecutable.java → org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/handler/GamepadReceiverHandler.java

 /*--------------------------------------------------------------------------+
-$Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
+$Id$
 |                                                                          |
-| Copyright 2017 fortiss GmbH                     |
+| Copyright 2011 ForTISS GmbH                     |
 |                                                                          |
 | Licensed under the Apache License, Version 2.0 (the "License");          |
 | you may not use this file except in compliance with the License.         |
@@ -15,25 +15,27 @@ $Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
 | See the License for the specific language governing permissions and      |
 | limitations under the License.                                           |
 +--------------------------------------------------------------------------*/
-package org.fortiss.af3.platform.raspberry.generator.executable;
+package org.fortiss.af3.platform.raspberry.ui.handler;
 
-import org.fortiss.af3.platform.generic.generator.executable.GenericReceiverExecutable;
-import org.fortiss.af3.platform.raspberry.model.SensorLaserRangeFinder;
-import org.fortiss.af3.platform.raspberry.model.WheelEncoder;
+import static org.fortiss.af3.platform.raspberry.ui.AF3PlatformRaspberryUIActivator.getImageDescriptor;
+
+import org.eclipse.jface.resource.ImageDescriptor;
+import org.fortiss.af3.platform.model.Receiver;
+import org.fortiss.af3.platform.model.generic.GenericReceiver;
+import org.fortiss.tooling.kernel.ui.extension.base.NamedCommentedModelElementHandlerBase;
 
 /**
- * Executable for {@link SensorLaserRangeFinder}.
+ * Handler for {@link GenericReceiver}s.
  * 
- * @author eder
- * @author $Author: hoelzl $
- * @version $Rev: 18709 $
- * @ConQAT.Rating RED Hash:
+ * @author hoelzl
+ * @author $Author$
+ * @version $Rev$
+ * @ConQAT.Rating GREEN Hash: D80CF94CBBADB4627AAEDA1F34ABF0A5
  */
-public class WheelEncoderExecutable extends GenericReceiverExecutable {
-
-	/** Constructor. */
-	public WheelEncoderExecutable(WheelEncoder modelElement) {
-		super(modelElement);
+public class GamepadReceiverHandler extends NamedCommentedModelElementHandlerBase<Receiver> {
+	/** {@inheritDoc} */
+	@Override
+	public ImageDescriptor getIconImageDescriptor() {
+		return getImageDescriptor("icons/gamepad.png");
 	}
-
 }

org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/generator/executable/IMUSensorExecutable.java → org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/handler/PWMActuatorHandler.java

 /*--------------------------------------------------------------------------+
-$Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
+$Id$
 |                                                                          |
-| Copyright 2017 fortiss GmbH                     |
+| Copyright 2011 ForTISS GmbH                     |
 |                                                                          |
 | Licensed under the Apache License, Version 2.0 (the "License");          |
 | you may not use this file except in compliance with the License.         |
@@ -15,50 +15,27 @@ $Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
 | See the License for the specific language governing permissions and      |
 | limitations under the License.                                           |
 +--------------------------------------------------------------------------*/
-package org.fortiss.af3.platform.raspberry.generator.executable;
+package org.fortiss.af3.platform.raspberry.ui.handler;
 
-import org.fortiss.af3.component.model.InputPort;
-import org.fortiss.af3.expression.model.terms.IExpressionTerm;
-import org.fortiss.af3.platform.generic.generator.executable.GenericReceiverExecutable;
+import static org.fortiss.af3.platform.raspberry.ui.AF3PlatformRaspberryUIActivator.getImageDescriptor;
+
+import org.eclipse.jface.resource.ImageDescriptor;
 import org.fortiss.af3.platform.model.generic.GenericReceiver;
-import org.fortiss.af3.platform.raspberry.model.SensorIMU;
+import org.fortiss.af3.platform.raspberry.model.ActuatorPWM;
+import org.fortiss.tooling.kernel.ui.extension.base.NamedCommentedModelElementHandlerBase;
 
 /**
- * Executable for {@link SensorIMU}.
+ * Handler for {@link GenericReceiver}s.
  * 
- * @author eder
- * @author $Author: hoelzl $
- * @version $Rev: 18709 $
- * @ConQAT.Rating RED Hash:
+ * @author hoelzl
+ * @author $Author$
+ * @version $Rev$
+ * @ConQAT.Rating GREEN Hash: D80CF94CBBADB4627AAEDA1F34ABF0A5
  */
-public class IMUSensorExecutable extends GenericReceiverExecutable {
-
-	/** Constructor. */
-	public IMUSensorExecutable(GenericReceiver modelElement) {
-		super(modelElement);
-	}
-
-	/** {@inheritDoc} */
-	@Override
-	public IExpressionTerm getInitialization() {
-		return super.getInitialization();
-	}
-
-	/** {@inheritDoc} */
-	@Override
-	public IExpressionTerm getNoValGuardAccessor(InputPort logicalSignal) {
-		return super.getNoValGuardAccessor(logicalSignal);
-	}
-
-	/** {@inheritDoc} */
-	@Override
-	public IExpressionTerm getTermination() {
-		return super.getTermination();
-	}
-
+public class PWMActuatorHandler extends NamedCommentedModelElementHandlerBase<ActuatorPWM> {
 	/** {@inheritDoc} */
 	@Override
-	public IExpressionTerm getValueReadAccessor(InputPort logicalSignal) {
-		return super.getValueReadAccessor(logicalSignal);
+	public ImageDescriptor getIconImageDescriptor() {
+		return getImageDescriptor("icons/unknown.png");
 	}
 }

org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/handler/RaspberryPiHandler.java

@@ -17,12 +17,13 @@ $Id: codetemplates.xml 1 2011-01-01 00:00:01Z hoelzl $
 +--------------------------------------------------------------------------*/
 package org.fortiss.af3.platform.raspberry.ui.handler;
 
+import static org.fortiss.af3.platform.raspberry.ui.AF3PlatformRaspberryUIActivator.getImageDescriptor;
+
 import java.util.List;
 
 import org.eclipse.emf.ecore.EObject;
 import org.eclipse.jface.resource.ImageDescriptor;
 import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
-import org.fortiss.af3.platform.raspberry.ui.AF3PlatformRaspberryUIActivator;
 import org.fortiss.tooling.kernel.ui.extension.IModelElementHandler;
 import org.fortiss.tooling.kernel.ui.extension.base.ModelElementHandlerBase;
 
@@ -46,7 +47,7 @@ public class RaspberryPiHandler extends ModelElementHandlerBase<RaspberryPi> {
 	/** {@inheritDoc} */
 	@Override
 	public ImageDescriptor getIconImageDescriptor() {
-		return AF3PlatformRaspberryUIActivator.getImageDescriptor("icons/raspberry-pi-logo.png");
+		return getImageDescriptor("icons/raspberry-pi-logo.png");
 	}
 
 	/** {@inheritDoc} */
@@ -54,5 +55,4 @@ public class RaspberryPiHandler extends ModelElementHandlerBase<RaspberryPi> {
 	public List<EObject> getConnectors(RaspberryPi element) {
 		return (List)element.getConnectors();
 	}
-
 }

org.fortiss.af3.platform.raspberry.ui/trunk/src/org/fortiss/af3/platform/raspberry/ui/prototype/ProtoypeProvider.java

@@ -27,13 +27,7 @@ import static org.fortiss.tooling.base.utils.LayoutModelElementFactory.createRec
 import org.fortiss.af3.platform.raspberry.model.ActuatorPWM;
 import org.fortiss.af3.platform.raspberry.model.CanBus;
 import org.fortiss.af3.platform.raspberry.model.CanConnector;
-import org.fortiss.af3.platform.raspberry.model.GPI;
-import org.fortiss.af3.platform.raspberry.model.GPO;
 import org.fortiss.af3.platform.raspberry.model.RaspberryPi;
-import org.fortiss.af3.platform.raspberry.model.SensorIMU;
-import org.fortiss.af3.platform.raspberry.model.SensorLaserRangeFinder;
-import org.fortiss.af3.platform.raspberry.model.SensorLaserScanner;
-import org.fortiss.af3.platform.raspberry.model.WheelEncoder;
 import org.fortiss.af3.platform.raspberry.model.gamepad.Button1;
 import org.fortiss.af3.platform.raspberry.model.gamepad.Button2;
 import org.fortiss.af3.platform.raspberry.model.gamepad.Button3;
@@ -82,41 +76,11 @@ public class ProtoypeProvider extends PrototypeProviderBase {
 		setConnectorPosition(con, 0, 0);
 		registerPrototype("CanConnector", con, CATEGORY_NAME);
 
-		SensorIMU imu = RaspberryModelElementFactory.createSensorIMU();
-		setNodePosition(imu, 0, 0);
-		setConnectorPosition(imu, 0, 0);
-		registerPrototype("IMU_Sensor", imu, CATEGORY_NAME);
-
-		SensorLaserRangeFinder slrf = RaspberryModelElementFactory.createSensorLaserRangeFinder();
-		setNodePosition(slrf, 0, 0);
-		setConnectorPosition(slrf, 0, 0);
-		registerPrototype("LaserRangeFinder_Sensor", slrf, CATEGORY_NAME);
-
-		SensorLaserScanner sls = RaspberryModelElementFactory.createSensorLaserScanner();
-		setNodePosition(sls, 0, 0);
-		setConnectorPosition(sls, 0, 0);
-		registerPrototype("LaserScanner_Sensor", sls, CATEGORY_NAME);
-
 		ActuatorPWM pwm = RaspberryModelElementFactory.createActuatorPWM();
 		setNodePosition(pwm, 0, 0);
 		setConnectorPosition(pwm, 0, 0);
 		registerPrototype("PWM_Actuator", pwm, CATEGORY_NAME);
 
-		GPI gpi = RaspberryModelElementFactory.createGPI();
-		setNodePosition(gpi, 0, 0);
-		setConnectorPosition(gpi, 0, 0);
-		registerPrototype("GPI", gpi, CATEGORY_NAME);
-
-		GPO gpo = RaspberryModelElementFactory.createGPO();
-		setNodePosition(gpo, 0, 0);
-		setConnectorPosition(gpo, 0, 0);
-		registerPrototype("GPO", gpo, CATEGORY_NAME);
-
-		WheelEncoder wEncoder = RaspberryModelElementFactory.createWheelEncoder();
-		setNodePosition(wEncoder, 0, 0);
-		setConnectorPosition(wEncoder, 0, 0);
-		registerPrototype("WheelEncoder", wEncoder, CATEGORY_NAME);
-
 		Button1 button1 = RaspberryModelElementFactory.createButton1();
 		setNodePosition(button1, 0, 0);
 		setConnectorPosition(button1, 0, 0);
@@ -176,6 +140,5 @@ public class ProtoypeProvider extends PrototypeProviderBase {
 		setNodePosition(Right_StickY, 0, 0);
 		setConnectorPosition(Right_StickY, 0, 0);
 		registerPrototype(Right_StickY.getName(), Right_StickY, GAMEPAD);
-
 	}
 }

org.fortiss.af3.platform.raspberry/trunk/.classpath

@@ -2,7 +2,7 @@
 <classpath>
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.6"/>
 	<classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
-	<classpathentry kind="src" path="src"/>
 	<classpathentry kind="src" path="generated-src"/>
+	<classpathentry kind="src" path="src"/>
 	<classpathentry kind="output" path="build"/>
 </classpath>

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+#ifndef INC_AF3_H_
+#define INC_AF3_H_
+
+#include <canthread.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+// Make sure "data_dictionary.h" is included before "autofocus3_layer.h" for generated code
+#ifndef __HEADER_data_dictionary_h
+typedef bool	GEN_TYPE_boolean;
+typedef int		GEN_TYPE_int;
+typedef double	GEN_TYPE_double;
+#endif
+
+/** Sets the unit identifier of this execution unit (mostly used when communicating with the control center. */
+void af3_set_execution_unit_identifier(char* identifier);
+
+/** Create a message containing a boolean value for this id. */
+struct can_thread_message* af3_create_message_bool(uint8_t id, GEN_TYPE_boolean value);
+/** Create a message containing an integer value for this id. */
+struct can_thread_message* af3_create_message_int(uint8_t id, GEN_TYPE_int value);
+/** Create a message containing a double value for this id. */
+struct can_thread_message* af3_create_message_double(uint8_t id, GEN_TYPE_double value);
+
+/** Returns whether the message represents a NoVal value. */
+GEN_TYPE_boolean af3_is_noval(can_thread_message_t* message);
+/** Returns the boolean value contained in the message. */
+GEN_TYPE_boolean af3_get_boolean(can_thread_message_t* message);
+/** Returns the integer value contained in the message. */
+GEN_TYPE_int af3_get_int(can_thread_message_t* message);
+/** Returns the double value contained in the message. */
+GEN_TYPE_double af3_get_double(can_thread_message_t* message);
+
+/** Activates the control center connection. */
+void af3_cc_activate(char* server_ip_address, uint16_t server_port);
+/** Sends a NoVal signal with the given name to the control center. */
+void af3_cc_send_noval(char* signal, uint64_t timestamp);
+/** Sends a boolean signal with the given name to the control center. */
+void af3_cc_send_boolean(char* signal, GEN_TYPE_boolean value, uint64_t timestamp);
+/** Sends an int signal with the given name to the control center. */
+void af3_cc_send_int(char* signal, GEN_TYPE_int value, uint64_t timestamp);
+/** Sends a double signal with the given name to the control center. */
+void af3_cc_send_double(char* signal, GEN_TYPE_double value, uint64_t timestamp);
+/** Deactivates the control center connection. */
+void af3_cc_deactivate();
+
+#endif /* INC_AF3_H_ */

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+#ifndef INC_CANCATALOG_H_
+#define INC_CANCATALOG_H_
+
+#include <stdint.h>
+
+#include "canthread.h"
+#include "caninbox.h"
+
+/** Type of catalog entry receivers, which must reclaim the memory of the message after using it. */
+typedef void (*can_catalog_receive_handler_t)(can_thread_message_t* message);
+
+/** Initializes the cancatalog sub-system registering it with the canthreadsub-system. */
+void can_catalog_initialize(const char* if_name, uint64_t can_thread_sleep_in_micros);
+
+/** Sets name and handler function for the CAN message with the given id. */
+void can_catalog_set_entry(uint8_t entry_id, char* signal_name, can_inbox_t* inbox);
+
+/** Returns the catalog entry name for the CAN message with the given id. */
+char* can_catalog_entry_name(uint8_t entry_id);
+
+/** Unsets the catalog entry with the given id. */
+void can_catalog_unset_entry(uint8_t entry_id);
+
+/** Destroys the cancatalog and frees its resources. */
+void can_catalog_destroy();
+
+#endif /* INC_CANCATALOG_H_ */

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+#ifndef INC_CANINBOX_H_
+#define INC_CANINBOX_H_
+
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <pthread.h>
+
+#include "canthread.h"
+
+typedef struct can_inbox can_inbox_t;
+typedef bool (*can_inbox_acceptance_callback_t)(uint8_t message_id, uint64_t payload);
+
+/** Creates an inbox with the given number of slots. */
+can_inbox_t* can_inbox_create(char* name, int slots);
+
+/** Adds the slot identifier to the next inbox slot and configures the blocking behavior for the pull and push requests. */
+void can_inbox_add_slot(can_inbox_t* inbox, uint8_t message_id, char* signal_name);
+
+/** Sets the synchronization option for the given inbox slot. */
+void can_inbox_set_slot_synchronization(can_inbox_t* inbox, bool blocking_push, bool blocking_pull);
+
+/** Set the acceptance callback for this inbox. */
+void can_inbox_set_acceptance_callback(can_inbox_t* inbox, can_inbox_acceptance_callback_t callback);
+
+/** Returns whether all slots in the inbox are filled. */
+bool can_inbox_is_full(can_inbox_t* inbox);
+
+/** Returns whether all slots in the inbox are empty. */
+bool can_inbox_is_empty(can_inbox_t* inbox);
+
+/** Pushes the message into inbox slots. Blocks if the slot is not empty and block flag is set. Returns true upon success. */
+bool can_inbox_push_message(can_inbox_t* inbox, uint8_t slot_id, can_thread_message_t* message);
+
+/** Pulls the message from the inbox. Blocks if the slot is not empty and block flag is set. */
+struct can_thread_message* can_inbox_pull_message(can_inbox_t* inbox, uint8_t slot_id);
+
+/** Clears all remaining messages in the inbox and frees their memory. */
+void can_inbox_clear(can_inbox_t* inbox);
+
+/** Frees the memory used by the inbox, its slots, and any message still contained therein. */
+void can_inbox_destroy(can_inbox_t* inbox);
+
+#endif /* INC_CANINBOX_H_ */

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+
+#ifndef INC_CANOUTBOX_H_
+#define INC_CANOUTBOX_H_
+
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <pthread.h>
+
+#include "canthread.h"
+
+typedef struct can_outbox can_outbox_t;
+
+/** Creates an outbox with the given name. */
+can_outbox_t* can_outbox_create(char* name);
+
+/** Pushes the message into outbox slots. Blocks if the slot is not empty and block flag is set. Returns true upon success. */
+bool can_outbox_push_message(can_outbox_t* outbox, can_thread_message_t* message);
+
+/** Pulls the message from the outbox. Blocks if the slot is not empty and block flag is set. */
+struct can_thread_message* can_outbox_pull_message(can_outbox_t* outbox);
+
+/** Clears all remaining messages in the outbox and frees their memory. */
+void can_outbox_clear(can_outbox_t* outbox);
+
+/** Frees the memory used by the outbox, its slots, and any message still contained therein. */
+void can_outbox_destroy(can_outbox_t* outbox);
+
+#endif /* INC_CANOUTBOX_H_ */

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+#ifndef __CANSOCKET_H
+#define __CANSOCKET_H
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <unistd.h>
+
+#include <sys/socket.h>
+
+#include <linux/if.h>
+#include <linux/can.h>
+
+#define LIBCANSOCKET_ERROR -1
+
+/** The CAN socket structure. */
+struct can_socket {
+    int number;						// socket number
+    struct sockaddr_can address;	// socket address
+    struct ifreq ifreq;				// socket ioctl interface
+};
+typedef struct can_socket can_socket_t;
+
+typedef struct can_frame can_frame_t;
+
+/**
+ * Opens a can socket on the interface (usually "can0") and returns the
+ * initialized socket structure.
+ */
+can_socket_t* can_socket_open(const char *if_name);
+
+/** Closes the socket and frees the socket structure pointer. */
+void can_socket_close(can_socket_t* can_socket);
+
+/** Sends a can frame via the socket. */
+size_t can_socket_send(can_socket_t* can_socket, can_frame_t* frame);
+
+/** Checks if some bytes are available on the can. */
+bool can_socket_available(can_socket_t* can_socket);
+
+/** Receives a can frame via the socket. */
+size_t can_socket_receive(can_socket_t* can_socket, can_frame_t* frame);
+
+#endif // __CANSOCKET_H

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+#ifndef __CANTHREAD_H
+#define __CANTHREAD_H
+
+#include <cansocket.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+/** The message structure for CAN threads. */
+struct can_thread_message {
+	uint8_t message_id;
+	uint8_t data[8];
+};
+typedef struct can_thread_message can_thread_message_t;
+
+/**
+ * Creates a sender thread and a receiver thread for the interface using
+ * the handler functions for submission acknowledgments and retrieval handling.
+ * Note that the message pointers are reclaimed after the acknowledge and
+ * retrieve functions are called.
+ */
+bool can_thread_create(
+		const char* if_name,
+		void (*acknowlege)(can_thread_message_t* message),
+		void (*retrieve)(can_thread_message_t* message));
+
+/**
+ * Creates a can message to be posted to the sender thread. Only up to
+ * 8 bytes from the variable argument list are used.
+ */
+can_thread_message_t* can_thread_message_create(uint8_t id, int vargsc, ...);
+
+/** Fills the message with the 64-bit int value (big-endian encoding). */
+void can_thread_message_set(can_thread_message_t* message, uint64_t value);
+
+/** Returns the 64-bit int value extracted from the message. */
+uint64_t can_thread_message_get(can_thread_message_t* message);
+
+/** Set the sleep time for sender and receiver thread. */
+void can_thread_set_thread_sleep_in_micros(uint32_t micros);
+
+/** Posts a message via the sender thread. */
+void can_thread_message_post(can_thread_message_t* message);
+
+/** Terminate the can threads and wait until they have shut down. */
+void can_thread_terminate();
+
+#endif // __CANTHREAD_H

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+#ifndef INC_DEBUGPRINT_H_
+#define INC_DEBUGPRINT_H_
+
+#define DEBUG_PRINT_LEVEL_NONE	0
+#define DEBUG_PRINT_LEVEL_FEW	1
+#define DEBUG_PRINT_LEVEL_MANY	2
+#define DEBUG_PRINT_LEVEL_ALL	3
+
+extern int global_debug_print_level;
+
+#ifdef DEBUG
+	#define USE_DEBUG_PRINTING 1
+#else
+	#define USE_DEBUG_PRINTING 0
+#endif
+
+#define debug_print(lvl, fmt, ...) \
+	if(USE_DEBUG_PRINTING) if(lvl <= global_debug_print_level) fprintf(stderr, fmt, ##__VA_ARGS__)
+
+#endif /* INC_DEBUGPRINT_H_ */

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Thomas Boehm, Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+#ifndef INC_GAMEPAD_H_
+#define INC_GAMEPAD_H_
+
+#include <stdint.h>
+
+#define GAMEPAD_AXIS_LEFT_STICK_HORIZONTAL	 0
+#define GAMEPAD_AXIS_LEFT_STICK_VERTICAL	 1
+#define GAMEPAD_AXIS_RIGHT_STICK_HORIZONTAL	 2
+#define GAMEPAD_AXIS_RIGHT_STICK_VERTICAL	 3
+#define GAMEPAD_AXIS_CROSS_PAD_HORIZONTAL	 4
+#define GAMEPAD_AXIS_CROSS_PAD_VERTICAL		 5
+
+#define GAMEPAD_BUTTON_1					 6
+#define GAMEPAD_BUTTON_2					 7
+#define GAMEPAD_BUTTON_3					 8
+#define GAMEPAD_BUTTON_4					 9
+#define GAMEPAD_BUTTON_L1					10
+#define GAMEPAD_BUTTON_R1					11
+#define GAMEPAD_BUTTON_L2					12
+#define GAMEPAD_BUTTON_R2					13
+#define GAMEPAD_BUTTON_SELECT				14
+#define GAMEPAD_BUTTON_START				15
+#define GAMEPAD_BUTTON_LEFT_STICK			16
+#define GAMEPAD_BUTTON_RIGHT_STICK			17
+
+struct gamepad_configuration {
+	const char* device_id;
+	uint64_t waiting_sleep_in_micros;
+	void (*axis_callback)(uint8_t axis, uint16_t value);
+	void (*button_callback)(uint8_t button, uint16_t old_value, uint16_t new_value);
+};
+typedef struct gamepad_configuration gamepad_configuration_t;
+
+/** Initializes the gamepad and starts its thread. */
+void gamepad_initialize(gamepad_configuration_t* configuration);
+
+/** Get the axis position for the given axis. */
+int16_t gamepad_get_axis_position(uint8_t axisID);
+
+/** Get the button state for the given button. */
+int16_t gamepad_get_button_state(uint8_t buttonID);
+
+/** Terminates the gamepad thread and frees its resources. */
+void gamepad_terminate();
+
+#endif /* INC_GAMEPAD_H_ */

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+
+#ifndef INC_PROTOCOL_CAN_H_
+#define INC_PROTOCOL_CAN_H_
+
+#include <stdint.h>
+
+struct protocol_can_config {
+	uint8_t can_id_worker_done;
+	uint8_t can_id_coordinator_clock;
+	uint8_t can_id_global_shutdown;
+};
+typedef struct protocol_can_config protocol_can_config_t;
+
+#endif /* INC_PROTOCOL_CAN_H_ */

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

+/*******************************************************************************
+ * Copyright (c) 2017 fortiss GmbH.
+ * All rights reserved. This program and the accompanying materials
+ * are made available under the terms of the Eclipse Public License v2.0
+ * which accompanies this distribution, and is available at
+ * http://www.eclipse.org/legal/epl-v20.html
+ *
+ * Contributors:
+ *    Florian Hoelzl - initial API and implementation
+ *******************************************************************************/
+
+#ifndef INC_PROTOCOL_CONTROL_CENTER_H_
+#define INC_PROTOCOL_CONTROL_CENTER_H_
+
+#include <stddef.h>
+#include <stdint.h>
+
+struct protocol_control_center_configuration {
+	char* server_ip_address;
+	uint16_t server_port;
+};
+typedef struct protocol_control_center_configuration protocol_control_center_configuration_t;
+
+/** Create the connection to the control center. */
+void protocol_control_center_create(protocol_control_center_configuration_t* config);
+
+/** Writes len bytes of the given text to the control center. */
+void protocol_control_center_write(char* text, size_t len);
+
+/** Terminates the connection to the control center. */
+void protocol_control_center_terminate();
+
+#endif /* INC_PROTOCOL_CONTROL_CENTER_H_ */