Rework of Raspberry platform architecture for upcoming lab course.

refs 3079

org.fortiss.af3.platform.raspberry/trunk/lib/inc/libcansocket.h

-#ifndef __LIBCANSOCKET_H
-#define __LIBCANSOCKET_H
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <unistd.h>
-
-#include <net/if.h>
-#include <sys/ioctl.h>
-
-#include <linux/can.h>
-#include <linux/can/raw.h>
-
-#define SR_ERR -1
-
-struct can_socket {
-    int s;
-    struct sockaddr_can addr;
-    struct ifreq ifr;
-};
-
-/**
- * Opens a can socket on the given interface
- */
-struct can_socket* can_socket_open(const char *if_name);
-
-/**
- * Closes a given socket
- */
-void can_socket_close(struct can_socket* sock);
-
-/**
- * Sends a can frame on the specified socket
- */
-ssize_t can_socket_send(struct can_socket* sock, struct can_frame* frame);
-
-/**
- * 
- */
-ssize_t can_socket_receive(struct can_socket* sock, struct can_frame* frame);
-
-#endif // __LIBCANSOCKET_H

org.fortiss.af3.platform.raspberry/trunk/lib/inc/libmaestro.h

-#ifndef __LIBMAESTRO_H
-#define __LIBMAESTRO_H
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <termios.h>
-
-int maestroRead(int fd, unsigned char channel);
-int maestroWrite(int fd, unsigned char channel, unsigned short target);
-
-#endif // __LIBMAESTRO_H

org.fortiss.af3.platform.raspberry/trunk/lib/inc/libuart.h

-/**
- * @file uart.h
- * @author Bianca Forkel
- */
-
-#ifndef MBSE_UART_H
-#define MBSE_UART_H
-
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <termios.h>
-#include <errno.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <sys/select.h>
-
-extern int  uart_filestream;
-
-char port[13];
-
-int uart_setup(const char*);
-
-int uart_send_byte(char, int);
-
-int uart_send_string(char*, int, int);
-
-int uart_receive(char*, int, int);
-
-void uart_close();
-
-void uart_flush();
-
-#endif

org.fortiss.af3.platform.raspberry/trunk/lib/src-gen/data_dictionary.c

-/* generated by AutoFOCUS 3 (2.11.0) on Tue May 16 17:42:09 CEST 2017 */
-#include "inc-gen/data_dictionary.h"
-
-/*GEN_TYPE_double abs(GEN_TYPE_double _V){
-	return _V * sgn(_V);
-}
-
-GEN_TYPE_double arctan(GEN_TYPE_double _V){
-	if (abs(_V) <= 1.0) {
-		return _V / (1 + (0.28 * _V) * _V);
-	}
-	else {
-		if (_V > 1) {
-			return pi() / 2.0 - _V / (_V * _V + 0.28);
-		}
-		else {
-			return -(pi() / 2.0) - _V / (_V * _V + 0.28);
-		}
-	}
-}
-
-GEN_TYPE_double cos(GEN_TYPE_double _V){
-	return sin((_V + pi() / 2.0));
-}
-
-GEN_TYPE_double cot(GEN_TYPE_double _V){
-	return cos(_V) / sin(_V);
-}
-
-GEN_TYPE_double e(){
-	return 2.718281828459;
-}
-
-GEN_TYPE_double exp(GEN_TYPE_double _V){
-	return ((((1 + _V) + (_V * _V) / 2) + ((_V * _V) * _V) / 6) + (((_V * _V) * _V) * _V) / 24) + ((((_V * _V) * _V) * _V) * _V) / 120;
-}
-
-GEN_TYPE_double ln(GEN_TYPE_double _V){
-	if (_V <= 0) {
-		return 0;
-	}
-	else {
-		return ((((_V - 1.0) - ((_V - 1.0) * (_V - 1.0)) / 2.0) + (((_V - 1) * (_V - 1)) * (_V - 1)) / 3.0) - ((((_V - 1) * (_V - 1)) * (_V - 1)) * (_V - 1)) / 4.0) + (((((_V - 1) * (_V - 1)) * (_V - 1)) * (_V - 1)) * (_V - 1)) / 5.0;
-	}
-}
-
-GEN_TYPE_double pi(){
-	return 3.14159265;
-}
-
-GEN_TYPE_double sgn(GEN_TYPE_double _V){
-	if (_V < 0) {
-		return -1;
-	}
-	else {
-		if (_V == 0) {
-			return 0;
-		}
-		else {
-			return 1;
-		}
-	}
-}
-
-GEN_TYPE_double sin(GEN_TYPE_double _V){
-	if (_V % (2 * pi()) < 0) {
-		return -sin((-_V));
-	}
-	else {
-		if (_V % (2 * pi()) > pi()) {
-			return -sin((_V % (2 * pi()) - pi()));
-		}
-		else {
-			if (_V % (2 * pi()) < 0) {
-				if (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())) < 0) {
-					return 0.225 * ((1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) * -(1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) - (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())))) + (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())));
-				}
-				else {
-					return 0.225 * ((1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) * (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) - (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())))) + (1.27323954 * (_V % (2 * pi())) + (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())));
-				}
-			}
-			else {
-				if (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())) < 0) {
-					return 0.225 * ((1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) * -(1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) - (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())))) + (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())));
-				}
-				else {
-					return 0.225 * ((1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) * (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi()))) - (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())))) + (1.27323954 * (_V % (2 * pi())) - (0.405284735 * (_V % (2 * pi()))) * (_V % (2 * pi())));
-				}
-			}
-		}
-	}
-}
-
-GEN_TYPE_double sqrt(GEN_TYPE_double _V){
-	if (_V <= 0) {
-		return 0;
-	}
-	else {
-		return _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, _sqrt(_V, ((_V + 1.0) / 2.0)))))))))));
-	}
-}
-
-GEN_TYPE_double tan(GEN_TYPE_double _V){
-	return sin(_V) / cos(_V);
-}
-
-GEN_TYPE_double _sqrt(GEN_TYPE_double _X,GEN_TYPE_double _V){
-	return 0.5 * (_V + _X / _V);
-}
-
-GEN_TYPE_double pow(GEN_TYPE_double _V,GEN_TYPE_double _N){
-	if (_N == 0) {
-		return 1;
-	}
-	else {
-		if (_N < 0) {
-			if (_V == 0) {
-				return 0;
-			}
-			else {
-				return 1.0 / pow(_V, (-_N));
-			}
-		}
-		else {
-			if (_N == 1) {
-				return _V;
-			}
-			else {
-				return _V * pow(_V, (_N - 1));
-			}
-		}
-	}
-}
-
-GEN_TYPE_double factorial(GEN_TYPE_double _V){
-	if (_V % 1 != 0) {
-		return factorial((_V - _V % 1));
-	}
-	else {
-		if (_V == 0 || _V == 1) {
-			return 1;
-		}
-		else {
-			return factorial((_V - 1)) * _V;
-		}
-	}
-}
-
-GEN_TYPE_double min(GEN_TYPE_double _a,GEN_TYPE_double _b){
-	if (_a < _b) {
-		return _a;
-	}
-	return _b;
-}
-
-GEN_TYPE_double max(GEN_TYPE_double _a,GEN_TYPE_double _b){
-	if (_a > _b) {
-		return _a;
-	}
-	return _b;
-}
-
-GEN_TYPE_double rad2deg(GEN_TYPE_double _A){
-	return (_A / pi()) * 180.0;
-}
-
-GEN_TYPE_double deg2rad(GEN_TYPE_double _A){
-	return (_A / 180.0) * pi();
-}*/
-

org.fortiss.af3.platform.raspberry/trunk/lib/src/CanConnector.c

-
-#include "inc/CanConnector.h"
-
-// constants
-const char* CAN_DEVICE_NAME = "can0";
-
-// variables
-struct can_socket* can_sock;
-
-// send and receive
-void can_send() {
-    // TODO send and empty buffer
-}
-
-void can_send_clock(CAN_CLK_T counter) {
-    // TODO send clock message with clock counter
-}
-
-void can_receive() {
-    // TODO fill buffer
-}
-
-CAN_CLK_T can_receive_clock() {
-    // TODO receive clock message and return clock counter
-}
-
-// init, terminate
-void can_init() {
-    printf("initializing CAN\n");
-
-    can_sock = can_socket_open(CAN_DEVICE_NAME);
-
-    // TODO init buffers
-}
-
-void can_term() {
-    printf("terminating CAN\n");
-
-    can_socket_close(can_sock);
-}
-
-void prepare_input_CanConnector() {}
-
-void finish_input_CanConnector() {}
-
-void prepare_output_CanConnector() {}
-
-void finish_output_CanConnector() {}
-
-// noval
-GEN_TYPE_boolean can_is_noval(CAN_MSG_T msg) {
-    return false;
-}
-
-GEN_TYPE_boolean can_set_noval(CAN_MSG_T msg) {
-    return false;
-}
-
-// readers
-GEN_TYPE_boolean can_read_bool(CAN_MSG_T msg) {
-    return false; // TODO
-}
-
-GEN_TYPE_double can_read_double(CAN_MSG_T msg) {
-    return 0.0; // TODO
-}
-
-GEN_TYPE_int can_read_int(CAN_MSG_T msg) {
-    return 0; // TODO
-}
-
-// writers
-void can_write_bool(CAN_MSG_T msg, GEN_TYPE_boolean value) {
-    // TODO
-}
-
-void can_write_double(CAN_MSG_T msg, GEN_TYPE_double value) {
-    // TODO
-}
-
-void can_write_int(CAN_MSG_T msg, GEN_TYPE_int value) {
-    // TODO
-}
-

org.fortiss.af3.platform.raspberry/trunk/lib/src/GPIO.c

-#include "inc/GPIO.h"
-
-// init, term
-GEN_TYPE_boolean gpio_initialized = false;
-GEN_TYPE_boolean gpio_terminated = false;
-
-void gpio_init(GPIO_PIN_T pin) {
-    // important, since all pins are accessing the same method
-    if(gpio_initialized) return;
-
-    if(wiringPiSetup() == -1) {
-        perror("cannot setup wiring pi\n");
-	return;
-    }
-
-    gpio_initialized = true;
-}
-
-void gpio_init_in(GPIO_PIN_T pin) {
-    gpio_init(pin);
-
-    pinMode(pin, INPUT);
-}
-
-void gpio_init_out(GPIO_PIN_T pin) {
-    gpio_init(pin);
-
-    pinMode(pin, OUTPUT);
-}
-
-void gpio_term(GPIO_PIN_T pin) {
-    // important, since all pins are accessing the same method
-    if(gpio_terminated) return;
-
-    gpio_terminated = false;
-}
-
-// noval
-GEN_TYPE_boolean gpio_is_noval(GPIO_PIN_T pin) {
-    return false;
-}
-
-void gpio_set_noval(GPIO_PIN_T pin) {
-    // do nothing
-}
-
-// readers
-GEN_TYPE_boolean gpio_read(GPIO_PIN_T pin) {
-    return digitalRead(pin);
-}
-
-// writers
-void gpio_write(GPIO_PIN_T pin, GEN_TYPE_boolean value) {
-    digitalWrite(pin, value);
-}
-

org.fortiss.af3.platform.raspberry/trunk/lib/src/Gamepad.c

-
-#include "inc/Gamepad.h"
-
-// constants
-const char* GP_DEVICE_NAME = "/dev/input/js0";
-
-// variables
-volatile union input_events ie; // stores the button values
-
-// worker
-GEN_TYPE_boolean gp_is_running = true;
-
-void* gp_worker(void* pt_args) {
-    int fd;
-    fd = open(GP_DEVICE_NAME, O_RDONLY);
-
-    if(fd <= 0) {
-        perror("Error while connecting to gamepad device. Aborting");
-        return NULL;
-    }
-
-    struct timeval timeout;
-    struct js_event jse;
-    fd_set read_fds, write_fds, except_fds;
-
-    // loop until terminated...
-    while(gp_is_running) {
-        FD_ZERO(&read_fds);
-        FD_ZERO(&write_fds);
-        FD_ZERO(&except_fds);
-        FD_SET(fd, &read_fds);
-
-        timeout.tv_sec = 0;
-        timeout.tv_usec = 25000;
-
-        if (select(fd + 1, &read_fds, &write_fds, &except_fds, &timeout) == 1) {
-            if(read(fd,&jse,sizeof(jse)) == sizeof(jse)) {
-                jse.type &= ~JS_EVENT_INIT;
-
-                if(jse.type == JS_EVENT_AXIS) {
-                    ie.inps[jse.number] = jse.value;
-
-                    #ifdef DEBUG
-                    printf("Axis %d %d\n", jse.number, jse.value);
-                    #endif // DEBUG
-                }
-
-                if(jse.type == JS_EVENT_BUTTON) {
-                    ie.inps[jse.number + 6] = jse.value;
-
-                    #ifdef DEBUG
-                    printf("Button %d %d\n",jse.number, jse.value);
-                    #endif // DEBUG
-                }
-            }
-        }
-    }
-
-    close(fd);
-
-    return NULL;
-}
-
-// init, term
-GEN_TYPE_boolean gp_initialized = false;
-GEN_TYPE_boolean gp_terminated = false;
-
-void gp_init() {
-    // important, since all btns are accessing the same method
-    if(gp_initialized) return;
-	
-	// Initialize Joystick Inputs to 0
-	ie.btns.js1_ud = 0;
-	ie.btns.js2_lr = 0;
-	ie.btns.js2_ud = 0;
-	
-	// Initialize Button inputs to NoVal
-	ie.btns.bt_tri = 2;
-	ie.btns.bt_cir = 2;
-	ie.btns.bt_x = 2;
-	ie.btns.bt_sqr = 2;
-	ie.btns.bt_l1 = 2;
-	ie.btns.bt_l2 = 2;
-	ie.btns.bt_r1 = 2;
-	ie.btns.bt_r2 = 2;
-	
-    gp_initialized = true;
-}
-
-void gp_term() {
-    // important, since all btns are accessing the same method
-    if(gp_terminated) return;
-
-    gp_terminated = false;
-    gp_is_running = false;
-}
-
-// readers: Return button values (1 is true, 0 is false, 2 is NoVal)
-// important: Reset button values to NoVal after reading
-GEN_TYPE_boolean gp_btn1_read() {
-    if (ie.btns.bt_tri == 1)
-	{
-		ie.btns.bt_tri = 2;
-		return 1;
-	}
-	else
-	{
-		ie.btns.bt_tri = 2;
-		return 0;
-	}
-}
-
-GEN_TYPE_boolean gp_btn2_read() {
-    if (ie.btns.bt_cir == 1)
-	{
-		ie.btns.bt_cir = 2;
-		return 1;
-	}
-	else
-	{
-		ie.btns.bt_cir = 2;
-		return 0;
-	}
-}
-
-GEN_TYPE_boolean gp_btn3_read() {
-    if (ie.btns.bt_x == 1)
-	{
-		ie.btns.bt_x = 2;
-		return 1;
-	}
-	else
-	{
-		ie.btns.bt_x = 2;
-		return 0;
-	}
-}
-
-GEN_TYPE_boolean gp_btn4_read() {
-    if (ie.btns.bt_sqr == 1)
-	{
-		ie.btns.bt_sqr = 2;
-		return 1;
-	}
-	else
-	{
-		ie.btns.bt_sqr = 2;
-		return 0;
-	}
-}
-
-GEN_TYPE_boolean gp_btnL1_read() {
-    if (ie.btns.bt_l1 == 1)
-	{
-		ie.btns.bt_l1 = 2;
-		return 1;
-	}
-	else
-	{
-		ie.btns.bt_l1 = 2;
-		return 0;
-	}
-}
-
-GEN_TYPE_boolean gp_btnL2_read() {
-    if (ie.btns.bt_l2 == 1)
-	{
-		ie.btns.bt_l2 = 2;
-		return 1;
-	}
-	else
-	{
-		ie.btns.bt_l2 = 2;
-		return 0;
-	}
-}
-
-GEN_TYPE_boolean gp_btnR1_read() {
-    if (ie.btns.bt_r1 == 1)
-	{
-		ie.btns.bt_r1 = 2;
-		return 1;
-	}
-	else
-	{
-		ie.btns.bt_r1 = 2;
-		return 0;
-	}
-}
-
-GEN_TYPE_boolean gp_btnR2_read() {
-    if (ie.btns.bt_r2 == 1)
-	{
-		ie.btns.bt_r2 = 2;
-		return 1;
-	}
-	else
-	{
-		ie.btns.bt_r2 = 2;
-		return 0;
-	}
-}
-
-GEN_TYPE_double gp_btnLX_read() {
-    return ie.btns.js1_lr;
-}
-
-GEN_TYPE_double gp_btnLY_read() {
-    return -ie.btns.js1_ud;
-}
-
-GEN_TYPE_double gp_btnRX_read() {
-    return ie.btns.js2_lr;
-}
-
-GEN_TYPE_double gp_btnRY_read() {
-    return -ie.btns.js2_ud;
-}
-
-// noval
-GEN_TYPE_boolean gp_btn1_is_noval() {
-    if (ie.btns.bt_tri == 2) return 1;
-	return 0;
-}
-
-GEN_TYPE_boolean gp_btn2_is_noval() {
-    if (ie.btns.bt_cir == 2) return 1;
-	return 0;
-}
-
-GEN_TYPE_boolean gp_btn3_is_noval() {
-    if (ie.btns.bt_x == 2) return 1;
-	return 0;
-}
-
-GEN_TYPE_boolean gp_btn4_is_noval() {
-    if (ie.btns.bt_sqr == 2) return 1;
-	return 0;
-}
-
-GEN_TYPE_boolean gp_btnL1_is_noval() {
-    if (ie.btns.bt_l1 == 2) return 1;
-	return 0;
-}
-
-GEN_TYPE_boolean gp_btnL2_is_noval() {
-    if (ie.btns.bt_l2 == 2) return 1;
-	return 0;
-}
-
-GEN_TYPE_boolean gp_btnR1_is_noval() {
-    if (ie.btns.bt_r1 == 2) return 1;
-	return 0;
-}
-
-GEN_TYPE_boolean gp_btnR2_is_noval() {
-    if (ie.btns.bt_r2 == 2) return 1;
-	return 0;
-}
-
-GEN_TYPE_boolean gp_btnLX_is_noval() {
-    return false;
-}
-
-GEN_TYPE_boolean gp_btnLY_is_noval() {
-    return false;
-}
-
-GEN_TYPE_boolean gp_btnRX_is_noval() {
-    return false;
-}
-
-GEN_TYPE_boolean gp_btnRY_is_noval() {
-    return false;
-}
-

org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c

-
-#include "inc/LaserRangeFinder.h"
-
-int timeout;
-
-/** Initialize the laser range finder. */
-void lrf_init() {
-    timeout = 0;
-
-    char port[100];
-    FILE* fp = popen("ls -d /dev/serial/by-id/* | grep \"Arduino_Micro\" | tr -d \"\n\"", "r");
-    fgets(port, sizeof(port), fp);
-
-
-    printf("lrf port=%s\n", port);
-    pclose(fp);
-
-    uart_setup(port);
-}
-
-/** Terminate the session. */
-void lrf_term() {
-    uart_close();
-}
-
-/** Checking for noVal. */
-GEN_TYPE_boolean lrf_is_noval() {
-    return false;
-}
-
-/** Get one distance measurement from the laser range finder. */
-GEN_TYPE_int lrf_read() {
-
-    if(timeout>1000)
-        lrf_init();
-
-    if (uart_filestream == -1) {
-        timeout++;
-        printf("-1: no filestream\n");
-        return -1;
-    }
-
-    //empty buffer
-    uart_flush();
-
-    //initialize arrays
-    int sizeB = 10;
-    int sizeV = 4;
-
-    int i;
-    char bytes[sizeB];
-    for (i = 0; i < sizeB; i++) {
-        bytes[i] = 0;
-    }
-    int n_read = 0;
-
-    char value[sizeV];
-    for (i = 0; i < sizeV; i++) {
-        value[i] = 0;
-    }
-
-    int n = 0;
-    int d;
-
-    //receive values
-    while (1) {
-        n_read = uart_receive(bytes, sizeB, 0);
-
-        if(n_read <= 0) {
-            timeout++;
-            printf("-1: n_read=%d\n",n_read);
-            return -1;
-        }
-
-        for (i = 0; i < n_read; i++) {
-            if (bytes[i] != 0xd && bytes[i] != 0xa) {
-                if(n < sizeV)
-                    value[n++] = bytes[i];
-                else {
-                    timeout++;
-                    printf("-1: too many bytes\n");
-                    return -1;
-                }
-            } else {
-                d = atoi(value);
-                if (d == 0) {
-                    timeout++;
-                    printf("-1: zero value\n");
-                    return -1;
-                } else if(d == 1061) { //strange behaviour of one lrf
-                    printf("-1: 1061\n");
-                    return -1;
-                }
-                else {
-                    printf("%d\n", d);
-                    timeout = 0;
-                    return d;
-                }
-            }
-        }
-    }
-}

org.fortiss.af3.platform.raspberry/trunk/lib/src/PWM.c

-#include "inc/PWM.h"
-
-// constants
-const int PWM_SLEEP_TIME = 50000;
-const char* PWM_DEVICE_NAME = "/dev/ttyACM0";
-const size_t PWM_MAX_NO_CHANNELS = 4;
-
-// worker
-GEN_TYPE_boolean pwm_is_running = true;
-
-GEN_TYPE_int* pwm_channel_values;
-GEN_TYPE_boolean* pwm_channel_enabled;
-
-void pwm_send(int fd) {
-    size_t i;
-
-    for(i = 0; i < PWM_MAX_NO_CHANNELS; i++) {
-        if(pwm_channel_enabled[i]) {
-            maestroWrite(fd, i, pwm_channel_values[i]);
-        }
-    }
-}
-
-void* pwm_worker(void* pt_args) {
-    int fd = open(PWM_DEVICE_NAME, O_RDWR | O_NOCTTY);
-
-    if (fd == -1) {
-        perror("Error while connecting to pwm device");
-        return NULL;
-    }
-
-    struct termios options;
-    tcgetattr(fd, &options);
-    options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);
-    options.c_oflag &= ~(ONLCR | OCRNL);
-    tcsetattr(fd, TCSANOW, &options);
-
-    while(pwm_is_running) {
-        pwm_send(fd);
-        usleep(PWM_SLEEP_TIME);
-    }
-
-    close(fd);
-
-    return NULL;
-}
-
-// init, term
-GEN_TYPE_boolean pwm_initialized = false;
-GEN_TYPE_boolean pwm_terminated = false;
-
-void pwm_init(PWM_CHANNEL_T channel) {
-    // important, since all pwms are accessing the same method
-    if(!pwm_initialized) {
-        pwm_channel_values = calloc(sizeof(GEN_TYPE_int), PWM_MAX_NO_CHANNELS);
-        pwm_channel_enabled = calloc(sizeof(GEN_TYPE_boolean), PWM_MAX_NO_CHANNELS);
-
-    	// start a pwm thread
-    	//pthread_t pt_pwm;
-    	//pthread_create(&pt_pwm, NULL, pwm_worker, NULL);
-
-        pwm_initialized = true;
-    }
-
-    pwm_channel_enabled[channel] = true;
-}
-
-void pwm_term(PWM_CHANNEL_T channel) {
-    // important, since all pwms are accessing the same method
-    if(pwm_terminated) return;
-
-    free(pwm_channel_values);
-    free(pwm_channel_enabled);
-
-    pwm_is_running = false;
-    pwm_terminated = true;
-}
-
-// writers
-void pwm_write(PWM_CHANNEL_T channel, GEN_TYPE_int value) {
-    pwm_channel_values[channel] = PWM_ADJUST_VALUE(value);
-}
-
-void pwm_set_noval(PWM_CHANNEL_T channel) {
-    // do nothing, not used
-}
-

org.fortiss.af3.platform.raspberry/trunk/lib/src/io.c

-#include "inc/io.h"
-
-// init, terminate
-void init_left_stick() {
-
-}
-
-void term_left_stick() {
-
-}
-
-void init_right_stick() {
-
-}
-
-void term_right_stick() {
-
-}
-
-// NOVAL
-GEN_TYPE_boolean is_noval_left_stick() {
-	return false;
-}
-
-GEN_TYPE_boolean is_noval_right_stick() {
-	return false;
-}
-
-// readers
-GEN_TYPE_double read_left_stick() {
-	return 0.0;
-}
-
-GEN_TYPE_double read_right_stick() {
-	return 0.0;
-}
-
-// writers
-void write_left_stick(GEN_TYPE_double value) {
-
-}
-
-void write_right_stick(GEN_TYPE_double value) {
-
-}

org.fortiss.af3.platform.raspberry/trunk/lib/src/libcansocket.c

-#include "inc/libcansocket.h"
-
-struct can_socket* can_socket_open(const char *if_name) {
-    struct can_socket* sock = malloc(sizeof(struct can_socket));
-
-    /* open socket */
-    if ((sock->s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
-        perror("socket");
-        return NULL;
-    }
-
-    sock->addr.can_family = AF_CAN;
-
-    /* map if name to interface index -> will fail if interface does not exist */
-    strcpy(sock->ifr.ifr_name, if_name);
-    if (ioctl(sock->s, SIOCGIFINDEX, &sock->ifr) < 0) {
-        perror("SIOCGIFINDEX");
-        return NULL;
-    }
-    sock->addr.can_ifindex = sock->ifr.ifr_ifindex;
-
-    /* bind socket to interface -> will fail if interface is not up */
-    if (bind(sock->s, (struct sockaddr *)&sock->addr, sizeof(sock->addr)) < 0) {
-        perror("bind");
-        return NULL;
-    }
-
-    return sock;
-}
-
-void can_socket_close(struct can_socket* sock) {
-    close(sock->s);
-}
-
-ssize_t can_socket_send(struct can_socket* sock, struct can_frame* frame) {
-    ssize_t nbytes;
-
-    /* send frame */
-    if ((nbytes = write(sock->s, &frame, sizeof(*frame))) != sizeof(*frame)) {
-        perror("write");
-        return SR_ERR;
-    }
-
-    return nbytes;
-}
-
-ssize_t can_socket_receive(struct can_socket* sock, struct can_frame* frame) {
-    ssize_t nbytes;
-
-    if ((nbytes = read(sock->s, frame, sizeof(struct can_frame))) != sizeof(*frame)) {
-        perror("read");
-        return SR_ERR;
-    }
-
-    return nbytes;
-}

org.fortiss.af3.platform.raspberry/trunk/lib/src/libmaestro.c

-#include "inc/libmaestro.h"
-
-// read from channel given a file descriptor
-int maestroRead(int fd, unsigned char channel) {
-    unsigned char command[] = {0x90, channel};
-
-    if(write(fd, command, sizeof(command)) == -1)
-    {
-        perror("error writing");
-        return -1;
-    }
-   
-    unsigned char response[2];
-
-    if(read(fd,response,2) != 2)
-    {
-        perror("Error reading from maestro");
-        return -1;
-    }
-
-    return response[0] + 256*response[1];
-}
-
-// write target to a channel given a file descriptor
-// the units of 'target' are quarter-microseconds
-int maestroWrite(int fd, unsigned char channel, unsigned short target) {
-    unsigned char command[] = {0x84, channel, (target & 0x7F), (target >> 7 & 0x7F)};
-
-    if (write(fd, command, sizeof(command)) == -1)
-    {
-        perror("Error writing to maestro");
-        return -1;
-    }
-
-    return 0;
-}

org.fortiss.af3.platform.raspberry/trunk/lib/src/libuart.c

-/**
- * @file uart.c
- * @author Bianca Forkel
- */
-
-#include "inc/libuart.h"
-
-int uart_filestream = -1;
-
-/** Initializing the UART connection. */
-int uart_setup(const char *porta) {
-    strcpy(port, porta);
-    uart_filestream = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
-    if (uart_filestream < 0) {
-        fprintf(stderr, "[%s] Error opening port: %s\n", port, strerror(errno));
-    }
-
-    struct termios tty;
-    memset(&tty, 0, sizeof tty);
-    if (tcgetattr(uart_filestream, &tty) != 0) {
-        fprintf(stderr, "[%s] Error from tcgetattr: %s\n", port, strerror(errno));
-    }
-
-    // Baud Rate
-    cfsetospeed(&tty, (speed_t) B115200);
-    cfsetispeed(&tty, (speed_t) B115200);
-
-    // TTY settings: 8N1
-    tty.c_cflag &= ~PARENB; //no parity
-    tty.c_cflag &= ~CSTOPB; // 1 stop bit
-    tty.c_cflag &= ~CSIZE;
-    tty.c_cflag |= CS8; // 8 data bits
-
-    tty.c_cflag &= ~CRTSCTS;
-    tty.c_cc[VMIN] = 1;
-    tty.c_cc[VTIME] = 5;
-    tty.c_cflag |= CREAD | CLOCAL;
-
-    cfmakeraw(&tty);
-
-    uart_flush();
-
-    if (tcsetattr(uart_filestream, TCSANOW, &tty) != 0) {
-        fprintf(stderr, "[%s] Error from tcsetattr: %s\n", port, strerror(errno));
-    }
-    return uart_filestream;
-}
-
-/** Sending one byte via UART. */
-int uart_send_byte(char data, int printt) {
-    if (uart_filestream != -1) {
-        int n_written = 0;
-        n_written = write(uart_filestream, &data, 1);
-        if (n_written < 0) {
-            if (printt)
-                fprintf(stderr, "[%s] Error sending byte: %s\n", port, strerror(errno));
-        } else {
-            if (printt)
-                printf("[%s] Sent byte %#02x\n", port, data);
-            return 0;
-        }
-    }
-    return -1;
-}
-
-/** Receive from the UART stream. */
-int uart_receive(char *c, int bufLen, int printt) {
-    fd_set set;
-    struct timeval timeout;
-    int rv;
-    int n_read = -1;
-
-    if (uart_filestream != -1) {
-        FD_ZERO(&set);
-        FD_SET(uart_filestream, &set);
-
-        timeout.tv_sec = 0;
-        timeout.tv_usec = 10000;
-
-        rv = select(uart_filestream + 1, &set, NULL, NULL, &timeout);
-        if (rv == -1) {
-            if (printt)
-                perror("select");
-        } else if (rv == 0) {
-            if (printt)
-                perror("timeout");
-        } else {
-            n_read = read(uart_filestream, (void *) c, bufLen);
-        }
-
-        if (n_read < 0) {
-            if (printt)
-                fprintf(stderr, "[%s] Error receiving byte: %s\n", port, strerror(errno));
-            n_read = 0;
-        } else if (n_read == 0) {
-            if (printt)
-                printf("[%s] No data to receive \n", port);
-        } else {
-            if (printt) {
-                printf("[%s] %i Bytes received: 0x", port, n_read);
-                int i;
-                for (i = 0; i < n_read; i++)
-                    printf("%02x", c[i]);
-                printf("\n");
-            }
-        }
-    }
-    return n_read;
-}
-
-/** Close the UART connection. */
-void uart_close() {
-    close(uart_filestream);
-}
-
-/** Flush the UART buffer. */
-void uart_flush() {
-    tcflush(uart_filestream, TCIFLUSH);
-}

org.fortiss.af3.platform.raspberry/trunk/lib/src/main.c

-/*
- * The main function and everything related to starting the application
- */
-
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <pthread.h>
-
-#include "inc-gen/system.h"
-#include "inc/CanConnector.h"
-#include "inc/Gamepad.h"
-#include "inc/PWM.h"
-
-#define PARAM_MAXCMP 5
-#define PARAM_MASTER "master"
-#define PARAM_SLAVE "slave"
-
-int main(int argc, char* argv[]) {
-    // init the system
-    initialize_system();
-
-    // start a gamepad thread
-    pthread_t pt_gamepad;
-    pthread_create(&pt_gamepad, NULL, gp_worker, NULL);
-
-    // start a pwm thread
-    pthread_t pt_pwm;
-    pthread_create(&pt_pwm, NULL, pwm_worker, NULL);
-
-    // MASTER MODE (master as parameter)
-    if(argc >= 2 && strncmp(argv[1], PARAM_MASTER, PARAM_MAXCMP) == 0) {
-        // TODO do master stuff
-    }
-
-    // SLAVE MODE (slave as parameter)
-    else if(argc >= 2 && strncmp(argv[1], PARAM_SLAVE, PARAM_MAXCMP) == 0) {
-        // TODO do slave stuff
-    }
-
-    // DEFAULT MODE (no parameter)
-    else {
-        // run endlessly
-        while(1) {
-            run_system();
-            usleep(1000);
-        }
-    }
-
-    
-}

org.fortiss.af3.platform.raspberry/trunk/model/raspberry.ecore

@@ -2,33 +2,24 @@
 <ecore:EPackage xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
     xmlns:ecore="http://www.eclipse.org/emf/2002/Ecore" name="model" nsURI="http://www.fortiss.org/af3/platform/raspberry"
     nsPrefix="org-fortiss-af3-platform-raspberry">
-  <eClassifiers xsi:type="ecore:EClass" name="RaspberryPi" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericExecutionUnit"/>
-  <eClassifiers xsi:type="ecore:EClass" name="CanBus" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransmissionUnit"/>
-  <eClassifiers xsi:type="ecore:EClass" name="CanConnector" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransceiver"/>
-  <eClassifiers xsi:type="ecore:EClass" name="SensorConnector" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-  <eClassifiers xsi:type="ecore:EClass" name="ActuatorConnector" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransmitter"/>
-  <eClassifiers xsi:type="ecore:EClass" name="SensorGamepad" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-  <eClassifiers xsi:type="ecore:EClass" name="SensorIMU" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-  <eClassifiers xsi:type="ecore:EClass" name="SensorLaserRangeFinder" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-  <eClassifiers xsi:type="ecore:EClass" name="SensorLaserScanner" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-  <eClassifiers xsi:type="ecore:EClass" name="ActuatorPWM" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransmitter"/>
-  <eClassifiers xsi:type="ecore:EClass" name="GPI" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-  <eClassifiers xsi:type="ecore:EClass" name="GPO" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericTransmitter"/>
-  <eClassifiers xsi:type="ecore:EClass" name="WheelEncoder" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
+  <eClassifiers xsi:type="ecore:EClass" name="RaspberryPi" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//ExecutionUnit"/>
+  <eClassifiers xsi:type="ecore:EClass" name="CanBus" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//TransmissionUnit"/>
+  <eClassifiers xsi:type="ecore:EClass" name="CanConnector" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Transceiver"/>
+  <eClassifiers xsi:type="ecore:EClass" name="ActuatorPWM" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Transmitter"/>
   <eSubpackages name="gamepad" nsURI="http://www.fortiss.org/af3/platform/raspberry/gamepad"
       nsPrefix="org-fortiss-af3-platform-raspberry-gamepad">
-    <eClassifiers xsi:type="ecore:EClass" name="Button1" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="Button2" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="Button3" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="Button4" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="ButtonL1" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="ButtonR2" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="ButtonL2" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="ButtonR1" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="Left_StickX_Position" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="Left_StickY_Position" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="Right_StickX_Position" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
-    <eClassifiers xsi:type="ecore:EClass" name="Right_StickY_Position" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//generic/GenericReceiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="Button1" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="Button2" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="Button3" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="Button4" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="ButtonL1" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="ButtonR2" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="ButtonL2" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="ButtonR1" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="Left_StickX_Position" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="Left_StickY_Position" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="Right_StickX_Position" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
+    <eClassifiers xsi:type="ecore:EClass" name="Right_StickY_Position" eSuperTypes="platform:/resource/org.fortiss.af3.platform/model/platform.ecore#//Receiver"/>
   </eSubpackages>
   <eSubpackages name="annotation" nsURI="http://www.fortiss.org/af3/platform/raspberry/annotation"
       nsPrefix="org-fortiss-af3-platform-raspberry-annotation">

org.fortiss.af3.platform.raspberry/trunk/model/raspberry.genmodel

@@ -10,16 +10,7 @@
     <genClasses ecoreClass="raspberry.ecore#//RaspberryPi"/>
     <genClasses ecoreClass="raspberry.ecore#//CanBus"/>
     <genClasses ecoreClass="raspberry.ecore#//CanConnector"/>
-    <genClasses ecoreClass="raspberry.ecore#//SensorConnector"/>
-    <genClasses ecoreClass="raspberry.ecore#//ActuatorConnector"/>
-    <genClasses ecoreClass="raspberry.ecore#//SensorGamepad"/>
-    <genClasses ecoreClass="raspberry.ecore#//SensorIMU"/>
-    <genClasses ecoreClass="raspberry.ecore#//SensorLaserRangeFinder"/>
-    <genClasses ecoreClass="raspberry.ecore#//SensorLaserScanner"/>
     <genClasses ecoreClass="raspberry.ecore#//ActuatorPWM"/>
-    <genClasses ecoreClass="raspberry.ecore#//GPI"/>
-    <genClasses ecoreClass="raspberry.ecore#//GPO"/>
-    <genClasses ecoreClass="raspberry.ecore#//WheelEncoder"/>
     <nestedGenPackages prefix="Gamepad" basePackage="org.fortiss.af3.platform.raspberry.model"
         disposableProviderFactory="true" ecorePackage="raspberry.ecore#//gamepad">
       <genClasses ecoreClass="raspberry.ecore#//gamepad/Button1"/>

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

@@ -38,7 +38,7 @@
       <modelElementCompositor
             compositor="org.fortiss.af3.platform.raspberry.compose.RaspberryPiCompositor">
          <modelElementClass
-               modelElementClass="org.fortiss.af3.platform.raspberry.model.RaspberryPi">
+         	modelElementClass="org.fortiss.af3.platform.model.IPlatformArchitectureElement">
          </modelElementClass>
       </modelElementCompositor>
       <modelElementCompositor
@@ -105,84 +105,6 @@
             </objectClass>
          </target>
       </transformationProvider>
-      <transformationProvider
-            transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.IMUSensorTransformation">
-         <source>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.model.SensorIMU">
-            </objectClass>
-         </source>
-         <target>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.generator.executable.IMUSensorExecutable">
-            </objectClass>
-         </target>
-      </transformationProvider>
-      <transformationProvider
-            transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.LaserRangeFinderSensorTransformation">
-         <source>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.model.SensorLaserRangeFinder">
-            </objectClass>
-         </source>
-         <target>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.generator.executable.LaserRangeFinderSensorExecutable">
-            </objectClass>
-         </target>
-      </transformationProvider>
-      <transformationProvider
-            transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.LaserScannerSensorTransformation">
-         <source>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.model.SensorLaserScanner">
-            </objectClass>
-         </source>
-         <target>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.generator.executable.LaserScannerSensorExecutable">
-            </objectClass>
-         </target>
-      </transformationProvider>
-      <transformationProvider
-            transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.PWMActuatorTransformation">
-         <source>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.model.ActuatorPWM">
-            </objectClass>
-         </source>
-         <target>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.generator.executable.PWMActuatorExecutable">
-            </objectClass>
-         </target>
-      </transformationProvider>
-      <transformationProvider
-            transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.CanBusTransformation">
-         <source>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.model.CanBus">
-            </objectClass>
-         </source>
-         <target>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.generator.executable.CanBusExecutable">
-            </objectClass>
-         </target>
-      </transformationProvider>
-      <transformationProvider
-            transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.GamepadSensorTransformation">
-         <source>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.model.SensorGamepad">
-            </objectClass>
-         </source>
-         <target>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.generator.executable.GamepadSensorExecutable">
-            </objectClass>
-         </target>
-      </transformationProvider>
       <transformationProvider
             transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.CanBusTransmissionCatalogTransformation">
          <source>
@@ -209,32 +131,6 @@
             </objectClass>
          </target>
       </transformationProvider>
-      <transformationProvider
-            transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.GPITransformation">
-         <source>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.model.GPI">
-            </objectClass>
-         </source>
-         <target>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.generator.executable.GPIExecutable">
-            </objectClass>
-         </target>
-      </transformationProvider>
-      <transformationProvider
-            transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.GPOTransformation">
-         <source>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.model.GPO">
-            </objectClass>
-         </source>
-         <target>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.generator.executable.GPOExecutable">
-            </objectClass>
-         </target>
-      </transformationProvider>
       <transformationProvider
             transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.gamepad.Button1Transformation">
          <source>
@@ -391,34 +287,9 @@
             </objectClass>
          </target>
       </transformationProvider>
-      <transformationProvider
-            transformationProvider="org.fortiss.af3.platform.raspberry.generator.transform.WheelEncoderTransformation">
-         <source>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.model.WheelEncoder">
-            </objectClass>
-         </source>
-         <target>
-            <objectClass
-                  objectClass="org.fortiss.af3.platform.raspberry.generator.executable.WheelEncoderExecutable">
-            </objectClass>
-         </target>
-      </transformationProvider>
    </extension>
    <extension
          point="org.fortiss.tooling.base.annotation">
-      <annotation
-            binding="org.fortiss.af3.platform.annotation.valueprovider.GPIOPinNumberValueProvider">
-         <modelElementClass
-               modelElementClass="org.fortiss.af3.platform.raspberry.model.GPI">
-         </modelElementClass>
-      </annotation>
-      <annotation
-            binding="org.fortiss.af3.platform.annotation.valueprovider.GPIOPinNumberValueProvider">
-         <modelElementClass
-               modelElementClass="org.fortiss.af3.platform.raspberry.model.GPO">
-         </modelElementClass>
-      </annotation>
       <annotation
             binding="org.fortiss.af3.platform.raspberry.annotation.PWMChannelNumberValueProvider">
          <modelElementClass
@@ -426,8 +297,4 @@
          </modelElementClass>
       </annotation>
    </extension>
-
-   
-   
-
 </plugin>

org.fortiss.af3.platform.raspberry/trunk/src/org/fortiss/af3/platform/raspberry/compose/RaspberryPiCompositor.java

@@ -22,17 +22,9 @@ import static org.conqat.lib.commons.reflect.ReflectionUtils.isInstanceOfAny;
 import org.eclipse.emf.ecore.EObject;
 import org.fortiss.af3.platform.compose.PlatformArchitectureElementCompositorBase;
 import org.fortiss.af3.platform.model.IPlatformArchitectureElement;
-import org.fortiss.af3.platform.raspberry.model.ActuatorConnector;
 import org.fortiss.af3.platform.raspberry.model.ActuatorPWM;
 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.SensorConnector;
-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;
@@ -45,6 +37,8 @@ import org.fortiss.af3.platform.raspberry.model.gamepad.Left_StickX_Position;
 import org.fortiss.af3.platform.raspberry.model.gamepad.Left_StickY_Position;
 import org.fortiss.af3.platform.raspberry.model.gamepad.Right_StickX_Position;
 import org.fortiss.af3.platform.raspberry.model.gamepad.Right_StickY_Position;
+import org.fortiss.tooling.kernel.extension.data.IElementCompositionContext;
+import org.fortiss.tooling.kernel.extension.data.Prototype;
 
 /**
  * 
@@ -56,19 +50,29 @@ import org.fortiss.af3.platform.raspberry.model.gamepad.Right_StickY_Position;
 public class RaspberryPiCompositor extends
 		PlatformArchitectureElementCompositorBase<IPlatformArchitectureElement> {
 
+	/** {@inheritDoc} */
+	@Override
+	public boolean canComposePrototype(Prototype prototype) {
+		return super.canComposePrototype(prototype);
+	}
+
+	/** {@inheritDoc} */
+	@Override
+	public boolean canCompose(IPlatformArchitectureElement container, EObject contained,
+			IElementCompositionContext context) {
+		return super.canCompose(container, contained, context);
+	}
+
 	/** {@inheritDoc} */
 	@Override
 	protected boolean isCorrectElementClass(IPlatformArchitectureElement container,
 			EObject contained) {
-
 		final boolean instanceOfAny2 =
-				isInstanceOfAny(contained, CanConnector.class, SensorConnector.class,
-						ActuatorConnector.class, ActuatorPWM.class, SensorLaserRangeFinder.class,
-						SensorLaserScanner.class, SensorIMU.class, GPI.class, GPO.class,
-						Button1.class, Button2.class, Button3.class, Button4.class, ButtonL1.class,
+				isInstanceOfAny(contained, CanConnector.class, ActuatorPWM.class, Button1.class,
+						Button2.class, Button3.class, Button4.class, ButtonL1.class,
 						ButtonL2.class, ButtonR1.class, ButtonR2.class, Left_StickX_Position.class,
 						Left_StickY_Position.class, Right_StickX_Position.class,
-						Right_StickY_Position.class, WheelEncoder.class);
+						Right_StickY_Position.class);
 		if(container != null) {
 			final boolean instanceOfAny = isInstanceOfAny(container, RaspberryPi.class);
 			return instanceOfAny && instanceOfAny2;