Example project with arduino lib created

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/.project

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>org.yakindu.sct.examples.c.arduinoTrafficLightLib</name>
+	<comment></comment>
+	<projects>
+		<project>ArduinoCore</project>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.xtext.ui.shared.xtextBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.yakindu.sct.builder.SCTBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+		<nature>de.innot.avreclipse.core.avrnature</nature>
+		<nature>org.eclipse.xtext.ui.shared.xtextNature</nature>
+		<nature>org.yakindu.sct.builder.SCTNature</nature>
+	</natures>
+</projectDescription>

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/.settings/de.innot.avreclipse.core.prefs

@@ -0,0 +1,49 @@
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+avrtarget/perConfig=true
+eclipse.preferences.version=1

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/.settings/org.eclipse.cdt.codan.core.prefs

@@ -0,0 +1,67 @@
+eclipse.preferences.version=1
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+org.eclipse.cdt.codan.checkers.errreturnvalue=Error
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examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/.settings/org.eclipse.core.resources.prefs

@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+encoding//model/TrafficLight.sct=UTF-8

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/.settings/org.eclipse.ltk.core.refactoring.prefs

@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+org.eclipse.ltk.core.refactoring.enable.project.refactoring.history=false

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/model/TrafficLight.sct

@@ -0,0 +1,551 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xmi:XMI xmi:version="2.0" xmlns:xmi="http://www.omg.org/XMI" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:notation="http://www.eclipse.org/gmf/runtime/1.0.2/notation" xmlns:sgraph="http://www.yakindu.org/sct/sgraph/2.0.0">
+  <sgraph:Statechart xmi:id="_wn6McNmpEeKW8uGfYfOYLw" specification="interface TrafficLight:&#xA;var red:boolean&#xA;var yellow:boolean&#xA;var green:boolean&#xA;&#xA;interface PedestrianLight:&#xA;var red:boolean&#xA;var green:boolean&#xA;var wait:boolean&#xA;&#xA;interface:&#xA;&#x9;in event pedestrianRequest&#x9;&#xA;&#x9;in event onOff" name="Trafficlight">
+    <regions xmi:id="_wn6zgtmpEeKW8uGfYfOYLw" name="main region">
+      <vertices xsi:type="sgraph:State" xmi:id="_TqNXsN8zEeKZg70HbF_LxQ" name="on" incomingTransitions="_fsT3oN8zEeKZg70HbF_LxQ _w8GkcN8zEeKZg70HbF_LxQ">
+        <outgoingTransitions xmi:id="_wRFRgN8zEeKZg70HbF_LxQ" specification="onOff" target="_tRFEMN8zEeKZg70HbF_LxQ"/>
+        <regions xmi:id="_TqTeUN8zEeKZg70HbF_LxQ" name="r1">
+          <vertices xsi:type="sgraph:State" xmi:id="_y4V-ANmpEeKW8uGfYfOYLw" specification="entry/ TrafficLight.red=false;&#xA;TrafficLight.yellow = false;&#xA;TrafficLight.green = true;&#xA;PedestrianLight.wait =false" name="StreetGreen" incomingTransitions="_1hZD4NmpEeKW8uGfYfOYLw">
+            <outgoingTransitions xmi:id="_rW4KkOMTEeK0GJsVgKoTBg" specification="pedestrianRequest" target="_jAa18OMTEeK0GJsVgKoTBg"/>
+          </vertices>
+          <vertices xsi:type="sgraph:State" xmi:id="_yAoS4NmpEeKW8uGfYfOYLw" specification="entry/ TrafficLight.red=true;&#xA;TrafficLight.yellow = true;&#xA;TrafficLight.green = false;&#xA;PedestrianLight.wait =false" name="StreetRedYellow" incomingTransitions="_7tKpEOL-EeKfCYBq4Lxlzw">
+            <outgoingTransitions xmi:id="_1hZD4NmpEeKW8uGfYfOYLw" specification="after 2s" target="_y4V-ANmpEeKW8uGfYfOYLw"/>
+          </vertices>
+          <vertices xsi:type="sgraph:State" xmi:id="_wn8Bp9mpEeKW8uGfYfOYLw" specification="entry/ TrafficLight.red=true;&#xA;TrafficLight.yellow = false;&#xA;TrafficLight.green = false;&#xA;PedestrianLight.wait =false" name="StreetRed" incomingTransitions="_h6ctYOMIEeKfCYBq4Lxlzw">
+            <outgoingTransitions xmi:id="_2Sl2wOL-EeKfCYBq4Lxlzw" specification="after 2s" target="_nd3eMOL-EeKfCYBq4Lxlzw"/>
+          </vertices>
+          <vertices xsi:type="sgraph:State" xmi:id="_nd3eMOL-EeKfCYBq4Lxlzw" specification="entry/ PedestrianLight.red=false;&#xA;PedestrianLight.green=true;&#xA;PedestrianLight.wait =false" name="PedestrianGreen" incomingTransitions="_2Sl2wOL-EeKfCYBq4Lxlzw">
+            <outgoingTransitions xmi:id="_mIOEcOL_EeKfCYBq4Lxlzw" specification="after 7s" target="_uVsRoOL-EeKfCYBq4Lxlzw"/>
+          </vertices>
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examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/model/TrafficLight.sgen

@@ -0,0 +1,10 @@
+GeneratorModel for yakindu::c {
+
+	statechart Trafficlight {
+
+		feature Outlet {
+			targetProject = "arduinoAmpel"
+			targetFolder = "src-gen"
+		}
+	}
+}

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/src/arduino.h

@@ -0,0 +1,32 @@
+extern "C" void __cxa_pure_virtual()
+{
+  cli();
+  for (;;);
+}
+
+__extension__ typedef int __guard __attribute__((mode (__DI__)));
+
+void * operator new(size_t size)
+{
+  return malloc(size);
+}
+
+void operator delete(void * ptr)
+{
+  free(ptr);
+}
+
+void * operator new[](size_t size)
+{
+    return malloc(size);
+}
+
+void operator delete[](void * ptr)
+{
+	if (ptr)
+		free(ptr);
+}
+
+int __cxa_guard_acquire(__guard *g) {return !*(char *)(g);}
+void __cxa_guard_release (__guard *g) {*(char *)g = 1;}
+void __cxa_guard_abort (__guard *) {}

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/src/license

@@ -0,0 +1,4 @@
+All rights reserved. This program and the accompanying materials
+are made available under the terms of the Eclipse Public License v1.0
+which accompanies this distribution, and is available at
+http://www.eclipse.org/legal/epl-v10.html

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/src/main.c

@@ -0,0 +1,169 @@
+/*
+ * TrafficLight example for YAKINDU SCT
+ *
+ * based on official example: org.yakindu.sct.examples.c.arduinoTrafficLight
+ *
+ * Changes:
+ * - use the Arduino core library for pin and time handling
+ * - enable debugging with printf() (see uart.c; it uses the Arduino HardwareSerial)
+ * - new implementation for timers based on Arduinos millis() function -> no extra timer is used
+ * - call runCylce in every iteration of the main loop
+ *
+ * Author:
+ * Axel Utech <axel.utech@gmail.com>
+ *
+ * Notes:
+ * Arduino Core library is from https://github.com/allgood38/Arduino-Blink-Eclipse-Project
+ * notes about the original example:
+ * 	http://scholtyssek.blogspot.de/2013/10/yakindu-statechart-tools-arduino.html
+ */
+
+#include <stdio.h>
+#include <wiring.h>
+
+#include "statetimer.h"
+#include "uart.h"
+
+#include "sc_types.h"
+#include "TrafficlightRequired.h"
+#include "Trafficlight.h"
+
+const uint8_t ledPinTrafficRed = 13;      	// the number of the red LED pin
+const uint8_t ledPinTrafficYellow = 12;		// the number of the yellow LED pin
+const uint8_t ledPinTrafficGreen = 11;		// the number of the green LED pin
+
+const uint8_t ledPinPedestrianRed = 9;		// the number of the red LED pin
+const uint8_t ledPinPedestrianGreen = 8;	// the number of the green LED pin
+const uint8_t ledPinPedestrianWaitLight = 10;
+
+const uint8_t btnOnOff = 3;
+/*
+ * Interrupt ID for the pin
+ * see http://arduino.cc/en/Reference/AttachInterrupt
+ */
+const uint8_t btnOnOffIsrID = 1;
+
+const uint8_t btnPedestrian = 2;
+const uint8_t btnPedestrianIsrId = 0;
+
+volatile uint8_t raiseOnOffEventFlag = 0;
+volatile uint8_t raisePedestrianRequestFlag = 0;
+
+Trafficlight handle;
+
+// helper to call setTimer()
+void trafficlight_setTimer(const sc_eventid evid, sc_integer time_ms,
+		const sc_boolean periodic) {
+	printf("set timer id: %p timeout: %i periodic: %i\n", evid, time_ms, periodic);
+
+	setTimer(&handle, evid, time_ms, periodic,
+			(raiseEventCallback_t)trafficlight_raiseTimeEvent);
+}
+
+void trafficlight_unsetTimer(const sc_eventid evid) {
+	printf("unset timer id: %p\n", evid);
+	unsetTimer(evid);
+}
+
+static void setTrafficLights() {
+	/*
+	 * pedestrian waiting light
+	 */
+	digitalWrite(ledPinPedestrianWaitLight,
+			trafficlightIfacePedestrianLight_get_wait(&handle));
+
+	/**
+	 * Pedestrian light
+	 */
+	digitalWrite(ledPinPedestrianGreen,
+			trafficlightIfacePedestrianLight_get_green(&handle));
+	digitalWrite(ledPinPedestrianRed,
+			trafficlightIfacePedestrianLight_get_red(&handle));
+
+	/*
+	 *  traffic light
+	 */
+	digitalWrite(ledPinTrafficRed,
+			trafficlightIfaceTrafficLight_get_red(&handle));
+	digitalWrite(ledPinTrafficYellow,
+			trafficlightIfaceTrafficLight_get_yellow(&handle));
+	digitalWrite(ledPinTrafficGreen,
+			trafficlightIfaceTrafficLight_get_green(&handle));
+}
+
+static void btnOnOffISR(void) {
+	raiseOnOffEventFlag = 1;
+}
+
+static void btnPedestrianISR(void) {
+	raisePedestrianRequestFlag = 1;
+}
+
+int main(void) {
+	init();
+
+	setup();
+
+	for (;;)
+		loop();
+
+	return 0;
+}
+
+
+void setup() {
+	uartInit(9600);
+	printf("Setup begin!\n");
+
+	pinMode(ledPinPedestrianWaitLight, OUTPUT);
+	pinMode(ledPinPedestrianGreen, OUTPUT);
+	pinMode(ledPinPedestrianRed, OUTPUT);
+	pinMode(ledPinTrafficRed, OUTPUT);
+	pinMode(ledPinTrafficYellow, OUTPUT);
+	pinMode(ledPinTrafficGreen, OUTPUT);
+
+	pinMode(btnOnOff, INPUT);
+	digitalWrite(btnOnOff, HIGH);
+	attachInterrupt(btnOnOffIsrID, btnOnOffISR, FALLING);
+
+	pinMode(btnPedestrian, INPUT);
+	digitalWrite(btnPedestrian, HIGH);
+	attachInterrupt(btnPedestrianIsrId, btnPedestrianISR, FALLING);
+
+	initTimers();
+
+	trafficlight_init(&handle);
+	trafficlight_enter(&handle);
+
+	printf("Setup ready!\n");
+}
+
+static void checkTimersWrapper(void){
+	static unsigned long lastCallTime = 0;
+	unsigned long now = millis();
+
+	int deltaT_ms = now - lastCallTime;
+	lastCallTime = now;
+
+	if(deltaT_ms)
+		checkTimers(deltaT_ms);
+}
+
+void loop() {
+	if(raiseOnOffEventFlag){
+		raiseOnOffEventFlag = 0;
+		printf("Raise onOff\n");
+		trafficlightIface_raise_onOff(&handle);
+	}
+	if(raisePedestrianRequestFlag){
+		raisePedestrianRequestFlag = 0;
+		printf("raise pedestrian request\n");
+		trafficlightIface_raise_pedestrianRequest(&handle);
+	}
+
+	checkTimersWrapper();
+
+	trafficlight_runCycle(&handle);
+	setTrafficLights();
+}
+

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/src/statetimer.c

@@ -0,0 +1,129 @@
+/*
+ * Timer API for YAKINDU SCT
+ *
+ *
+ * Usage:
+ * The state machine calls *_setTimer() which must be provided by the main code.
+ * The code calls setTimer() to put the timer into the queue.
+ *
+ * The mainloop calls checkTimers() regularly and provides the time in milliseconds since
+ * the last call. If a timer has a timeout a callback function is raised. This callback can
+ * be a function of the state machine (*_raiseTimeEvent()).
+ *
+ * Author:
+ * Axel Utech <axel.utech@gmail.com>
+ *
+ */
+
+#include "sc_types.h"
+#include "statetimer.h"
+
+// internal representation for one timer
+struct timer {
+	// data from statemachines
+	void* statemachineHandle;
+	sc_eventid evid;
+	sc_integer time_ms;
+	sc_boolean periodic;
+	// pointer to callback function for raising the event
+	raiseEventCallback_t callback_fun;
+
+	// internal values
+	// current timeout time for the event
+	sc_integer timeout_ms;
+	// 1 if this timer is currently in use
+	uint8_t in_use;
+};
+
+#define NUM_MAX_TIMERS 10
+static struct timer timers[NUM_MAX_TIMERS];
+
+// must be called before all other timer functions
+void initTimers(void) {
+	uint8_t i;
+	for (i = 0; i < NUM_MAX_TIMERS; ++i) {
+		timers[i].in_use = 0;
+	}
+}
+
+// calculate new timeout for a timer
+static void setTimeout(struct timer *tim) {
+	tim->timeout_ms = tim->time_ms;
+	tim->in_use = 1;
+}
+
+/**
+ * Queue a timer event
+ *
+ * \param handle	Statemachine handle for the callback
+ * \param evid 		Event-ID for the timer
+ * \param time_ms 	timout time for the timer
+ * \param periodic	true if the timer should be repeated
+ * \param callback	Pointer to a callback functions with is called after each timeout
+ *
+ */
+void setTimer(void* handle, const sc_eventid evid, const sc_integer time_ms,
+		const sc_boolean periodic, raiseEventCallback_t callback) {
+	uint8_t i;
+	for (i = 0; i < NUM_MAX_TIMERS; ++i) {
+		if (timers[i].in_use)
+			continue;
+
+		timers[i].statemachineHandle = handle;
+		timers[i].evid = evid;
+		timers[i].time_ms = time_ms;
+		timers[i].periodic = periodic;
+		timers[i].callback_fun = callback;
+		setTimeout(&timers[i]);
+		return;
+	}
+	//error: no free timer
+}
+
+/**
+ * Dequeue a timer
+ *
+ * \param evid 		Event-ID for the timer
+ */
+void unsetTimer(const sc_eventid evid) {
+	int8_t i;
+	for (i = 0; i < NUM_MAX_TIMERS; ++i) {
+		if (timers[i].evid != evid || !(timers[i].in_use))
+			continue;
+		timers[i].in_use = 0;
+	}
+}
+
+// helper: called if the timer timed out
+static void dispatchTimerEvent(struct timer *tim) {
+	if (tim->callback_fun)
+		tim->callback_fun(tim->statemachineHandle, tim->evid);
+
+	if (tim->periodic)
+		setTimeout(tim);
+	else
+		tim->in_use = 0;
+}
+
+/**
+ * Checks if a timer has a timeout.
+ *
+ * \param deltaT_ms Time in milliseconds since the last call.
+ */
+void checkTimers(sc_integer deltaT_ms) {
+	uint8_t i;
+
+	if(deltaT_ms <= 0)
+		return;
+
+	for (i = 0; i < NUM_MAX_TIMERS; ++i) {
+		if (!timers[i].in_use)
+			continue;
+
+		timers[i].timeout_ms -= deltaT_ms;
+		if (timers[i].timeout_ms > 0)
+			continue;
+
+		dispatchTimerEvent(&timers[i]);
+	}
+}

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/src/statetimer.h

@@ -0,0 +1,26 @@
+
+#ifndef STATETIMER_H_
+#define STATETIMER_H_
+
+#include "sc_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef void (*raiseEventCallback_t)(void* handle, sc_eventid evid);
+
+void setTimer(void* handle, const sc_eventid evid, const sc_integer time_ms,
+		const sc_boolean periodic, raiseEventCallback_t callback);
+
+void unsetTimer(const sc_eventid evid);
+
+void checkTimers(sc_integer deltaT_ms);
+void initTimers(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* STATETIMER_H_ */

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/src/uart.cpp

@@ -0,0 +1,42 @@
+/*
+ * Wrapper to make printf() usable with the Arduino Serial implementation
+ *
+ * Author:
+ * Axel Utech <axel.utech@gmail.com>
+ *
+ */
+
+#include <stdio.h>
+//#include "arduino.h"
+#include <wiring.h>
+#include <HardwareSerial.h>
+
+static FILE uartout = {0};
+
+// create a output function
+// This works because Serial.write, although of
+// type virtual, already exists.
+static int uart_putchar(char c, FILE *stream) {
+	Serial.write(c);
+	return 0;
+}
+
+/**
+ * sets up the necessary pointers
+ *
+ * \warning Must be called before all printf statements!
+ *
+ * \param baud Baudrate for the communication (see Serial.begin())
+ */
+extern "C" void uartInit(long baud) {
+	// Start the UART
+	Serial.begin(baud);
+
+	// fill in the UART file descriptor with pointer to writer.
+	fdev_setup_stream(&uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE);
+//	fdev_setup_stream(&uartout, uart_putchar, NULL, _FDEV_SETUP_WRITE);
+
+	// The uart is the standard output device STDOUT.
+	stdout = &uartout;
+}
+

examples/org.yakindu.sct.examples.c.arduinoTrafficLightLib/src/uart.h

@@ -0,0 +1,20 @@
+
+#ifndef UART_H_
+#define UART_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <avr/pgmspace.h>
+
+// Macro to send strings stored in program memory space
+#define printf(format, ...) printf_P(PSTR(format), ## __VA_ARGS__)
+
+void uartInit(long baud);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* UART_H_ */