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fix everything

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This commit is contained in:
Joeri Exelmans 2025-06-04 17:43:29 +02:00
parent e8f246cfa5
commit 675efff85c
8 changed files with 71 additions and 41 deletions
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1
robot_cdt/Makefile
View file

@ -2,6 +2,7 @@ SRCS = \
src/controller.c \ src/controller.c \
src/pid.c \ src/pid.c \
src/sc_rxc.c \ src/sc_rxc.c \
src/sc_rxc_int32_t.c \
src/sc_timer_service.c \ src/sc_timer_service.c \
src-gen/Statechart.c \ src-gen/Statechart.c \

2
robot_cdt/Statechart.ysc
View file

@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?> <?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"> <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="_jCYoMD-lEfCA8aDVRFe8Eg" specification="@EventDriven&#xA;@SuperSteps(no)&#xA;&#xA;import: &quot;./src/data_types.h&quot;&#xA;&#xA;interface:&#xA;&#x9;in event sensor: int32_t&#xA;&#xA;&#x9;in event buttonPressed&#xA;&#x9;in event buttonReleased&#xA;&#x9;&#xA;&#x9;out event setMotorR: int32_t&#xA;&#x9;out event setMotorL: int32_t&#xA;&#xA;&#x9;operation pid(sensor: int32_t, pid_vars: pid_vars_t): int32_t&#xA;&#xA;internal:&#xA;&#x9;var speed: real&#xA;&#x9;var pid_vars: pid_vars_t" name="Statechart" domainID="com.yakindu.domain.c"> <sgraph:Statechart xmi:id="_jCYoMD-lEfCA8aDVRFe8Eg" specification="@EventDriven&#xA;@SuperSteps(no)&#xA;&#xA;import: &quot;./src/data_types.h&quot;&#xA;&#xA;interface:&#xA;&#x9;in event sensor: int32_t&#xA;&#xA;&#x9;in event buttonPressed&#xA;&#x9;in event buttonReleased&#xA;&#x9;&#xA;&#x9;out event setMotorR: int32_t&#xA;&#x9;out event setMotorL: int32_t&#xA;&#xA;&#x9;operation pid(sensor: int32_t, pid_vars: pid_vars_t): int32_t&#xA;&#xA;internal:&#xA;&#x9;var speed: int32_t&#xA;&#x9;var pid_vars: pid_vars_t" name="Statechart" domainID="com.yakindu.domain.c">
<regions xmi:id="_jCcSkz-lEfCA8aDVRFe8Eg" name="main region"> <regions xmi:id="_jCcSkz-lEfCA8aDVRFe8Eg" name="main region">
<vertices xsi:type="sgraph:State" xmi:id="_IsdxcD-yEfCA8aDVRFe8Eg" name="on" incomingTransitions="_ff2psD-yEfCA8aDVRFe8Eg"> <vertices xsi:type="sgraph:State" xmi:id="_IsdxcD-yEfCA8aDVRFe8Eg" name="on" incomingTransitions="_ff2psD-yEfCA8aDVRFe8Eg">
<regions xmi:id="_IseYgD-yEfCA8aDVRFe8Eg" name="r1"> <regions xmi:id="_IseYgD-yEfCA8aDVRFe8Eg" name="r1">

34
robot_cdt/src-gen/Statechart.c
View file

@ -68,7 +68,7 @@ static void run_cycle(Statechart* handle);
static void statechart_internal_set_speed(Statechart* handle, sc_real value) static void statechart_internal_set_speed(Statechart* handle, int32_t value)
; ;
static void statechart_internal_set_pid_vars(Statechart* handle, pid_vars_t value) static void statechart_internal_set_pid_vars(Statechart* handle, pid_vars_t value)
; ;
@ -100,11 +100,11 @@ void statechart_init(Statechart* handle)
clear_in_events(handle); clear_in_events(handle);
sc_observable_sc_real_init(&handle->iface.setMotorR); sc_observable_int32_t_init(&handle->iface.setMotorR);
sc_observable_sc_real_init(&handle->iface.setMotorL); sc_observable_int32_t_init(&handle->iface.setMotorL);
/* Default init sequence for statechart Statechart */ /* Default init sequence for statechart Statechart */
statechart_internal_set_speed(handle, 0.0); statechart_internal_set_speed(handle, 0);
handle->isExecuting = bool_false; handle->isExecuting = bool_false;
statechart_eventqueue_init(&handle->in_event_queue, handle->in_buffer, STATECHART_IN_EVENTQUEUE_BUFFERSIZE); statechart_eventqueue_init(&handle->in_event_queue, handle->in_buffer, STATECHART_IN_EVENTQUEUE_BUFFERSIZE);
@ -287,7 +287,7 @@ static void run_cycle(Statechart* handle)
} }
void statechart_raise_sensor(Statechart* handle, sc_real value) void statechart_raise_sensor(Statechart* handle, int32_t value)
{ {
statechart_add_value_event_to_queue(&(handle->in_event_queue), Statechart_sensor, &value); statechart_add_value_event_to_queue(&(handle->in_event_queue), Statechart_sensor, &value);
run_cycle(handle); run_cycle(handle);
@ -306,17 +306,17 @@ void statechart_raise_buttonReleased(Statechart* handle)
} }
sc_observable_sc_real* statechart_get_setMotorR(Statechart* handle) sc_observable_int32_t* statechart_get_setMotorR(Statechart* handle)
{ {
return &handle->iface.setMotorR; return &handle->iface.setMotorR;
} }
sc_observable_sc_real* statechart_get_setMotorL(Statechart* handle) sc_observable_int32_t* statechart_get_setMotorL(Statechart* handle)
{ {
return &handle->iface.setMotorL; return &handle->iface.setMotorL;
} }
static void statechart_internal_set_speed(Statechart* handle, sc_real value) static void statechart_internal_set_speed(Statechart* handle, int32_t value)
{ {
handle->internal.speed = value; handle->internal.speed = value;
} }
@ -334,12 +334,12 @@ static void enact_main_region_on_r1_responding(Statechart* handle)
/* Entry action for state 'responding'. */ /* Entry action for state 'responding'. */
statechart_internal_set_speed(handle, statechart_pid(handle,handle->iface.sensor_value, handle->internal.pid_vars)); statechart_internal_set_speed(handle, statechart_pid(handle,handle->iface.sensor_value, handle->internal.pid_vars));
{ {
sc_real iface_setMotorL_value = handle->internal.speed; int32_t iface_setMotorL_value = handle->internal.speed;
sc_observable_sc_real_next(&handle->iface.setMotorL, iface_setMotorL_value); sc_observable_int32_t_next(&handle->iface.setMotorL, iface_setMotorL_value);
}; };
{ {
sc_real iface_setMotorR_value = handle->internal.speed; int32_t iface_setMotorR_value = handle->internal.speed;
sc_observable_sc_real_next(&handle->iface.setMotorR, iface_setMotorR_value); sc_observable_int32_t_next(&handle->iface.setMotorR, iface_setMotorR_value);
}; };
} }
@ -348,12 +348,12 @@ static void enact_main_region_on_r1_sensor_error(Statechart* handle)
{ {
/* Entry action for state 'sensor_error'. */ /* Entry action for state 'sensor_error'. */
{ {
sc_real iface_setMotorL_value = 1; int32_t iface_setMotorL_value = 1;
sc_observable_sc_real_next(&handle->iface.setMotorL, iface_setMotorL_value); sc_observable_int32_t_next(&handle->iface.setMotorL, iface_setMotorL_value);
}; };
{ {
sc_real iface_setMotorR_value = -(1); int32_t iface_setMotorR_value = -(1);
sc_observable_sc_real_next(&handle->iface.setMotorR, iface_setMotorR_value); sc_observable_int32_t_next(&handle->iface.setMotorR, iface_setMotorR_value);
}; };
} }
@ -858,7 +858,7 @@ static void statechart_event_value_init(statechart_event * ev, StatechartEventID
switch(name) switch(name)
{ {
case Statechart_sensor: case Statechart_sensor:
ev->value.Statechart_sensor_value = *((sc_real*)value); ev->value.Statechart_sensor_value = *((int32_t*)value);
break; break;
default: default:
/* do nothing */ /* do nothing */

19
robot_cdt/src-gen/Statechart.h
View file

@ -34,6 +34,9 @@ typedef struct StatechartTimeEvents StatechartTimeEvents;
#include "../src/data_types.h" #include "../src/data_types.h"
#include "../src/sc_types.h" #include "../src/sc_types.h"
#include "../src/sc_rxc.h" #include "../src/sc_rxc.h"
#include "../src/sc_rxc_int32_t.h"
#include "../src/sc_rxc_int32_t.h"
#include "../src/sc_rxc_int32_t.h"
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
@ -72,7 +75,7 @@ Header of the state machine 'Statechart'.
* Union of all possible event value types. * Union of all possible event value types.
*/ */
typedef union { typedef union {
sc_real Statechart_sensor_value; int32_t Statechart_sensor_value;
} statechart_event_value; } statechart_event_value;
/* /*
@ -125,11 +128,11 @@ typedef enum
struct StatechartIface struct StatechartIface
{ {
sc_boolean sensor_raised; sc_boolean sensor_raised;
sc_real sensor_value; int32_t sensor_value;
sc_boolean buttonPressed_raised; sc_boolean buttonPressed_raised;
sc_boolean buttonReleased_raised; sc_boolean buttonReleased_raised;
sc_observable_sc_real setMotorR; sc_observable_int32_t setMotorR;
sc_observable_sc_real setMotorL; sc_observable_int32_t setMotorL;
}; };
@ -137,7 +140,7 @@ struct StatechartIface
/*! Type declaration of the data structure for the StatechartInternal interface scope. */ /*! Type declaration of the data structure for the StatechartInternal interface scope. */
struct StatechartInternal struct StatechartInternal
{ {
sc_real speed; int32_t speed;
pid_vars_t pid_vars; pid_vars_t pid_vars;
}; };
@ -192,16 +195,16 @@ extern void statechart_trigger_without_event(Statechart* handle);
extern void statechart_raise_time_event(Statechart* handle, sc_eventid evid); extern void statechart_raise_time_event(Statechart* handle, sc_eventid evid);
/*! Raises the in event 'sensor' that is defined in the default interface scope. */ /*! Raises the in event 'sensor' that is defined in the default interface scope. */
extern void statechart_raise_sensor(Statechart* handle, sc_real value); extern void statechart_raise_sensor(Statechart* handle, int32_t value);
/*! Raises the in event 'buttonPressed' that is defined in the default interface scope. */ /*! Raises the in event 'buttonPressed' that is defined in the default interface scope. */
extern void statechart_raise_buttonPressed(Statechart* handle); extern void statechart_raise_buttonPressed(Statechart* handle);
/*! Raises the in event 'buttonReleased' that is defined in the default interface scope. */ /*! Raises the in event 'buttonReleased' that is defined in the default interface scope. */
extern void statechart_raise_buttonReleased(Statechart* handle); extern void statechart_raise_buttonReleased(Statechart* handle);
/*! Returns the observable for the out event 'setMotorR' that is defined in the default interface scope. */ /*! Returns the observable for the out event 'setMotorR' that is defined in the default interface scope. */
extern sc_observable_sc_real* statechart_get_setMotorR(Statechart* handle); extern sc_observable_int32_t* statechart_get_setMotorR(Statechart* handle);
/*! Returns the observable for the out event 'setMotorL' that is defined in the default interface scope. */ /*! Returns the observable for the out event 'setMotorL' that is defined in the default interface scope. */
extern sc_observable_sc_real* statechart_get_setMotorL(Statechart* handle); extern sc_observable_int32_t* statechart_get_setMotorL(Statechart* handle);
/*! /*!

2
robot_cdt/src-gen/Statechart_required.h
View file

@ -27,7 +27,7 @@ There are some constraints that have to be considered for the implementation of
- make sure that the execution time is as short as possible. - make sure that the execution time is as short as possible.
*/ */
extern sc_real statechart_pid( Statechart* handle, const sc_real sensor, const pid_vars_t pid_vars); extern int32_t statechart_pid( Statechart* handle, const int32_t sensor, const pid_vars_t pid_vars);

29
robot_cdt/src/controller.c
View file

@ -15,18 +15,18 @@ static sc_timer_t timers[MAX_TIMERS];
static sc_timer_service_t timer_service; static sc_timer_service_t timer_service;
// Observers are stateless (they just link to callbacks) so it's safe to use global variables here // Observers are stateless (they just link to callbacks) so it's safe to use global variables here
static sc_single_subscription_observer_sc_integer observer_motorL; static sc_single_subscription_observer_int32_t observer_motorL;
static sc_single_subscription_observer_sc_integer observer_motorR; static sc_single_subscription_observer_int32_t observer_motorR;
static sc_integer motor_left_speed; static int32_t motor_left_speed;
static sc_integer motor_right_speed; static int32_t motor_right_speed;
// event handler callback functions // event handler callback functions
void on_motorL(Statechart* sc, sc_integer value) { void on_motorL(Statechart* sc, int32_t value) {
fprintf(stderr, "got event motorL: %f\n", value); fprintf(stderr, "got event motorL: %f\n", value);
motor_left_speed = value; motor_left_speed = value;
} }
void on_motorR(Statechart* sc, sc_integer value) { void on_motorR(Statechart* sc, int32_t value) {
fprintf(stderr, "got event motorR: %f\n", value); fprintf(stderr, "got event motorR: %f\n", value);
motor_right_speed = value; motor_right_speed = value;
} }
@ -42,16 +42,16 @@ void controller_init(Statechart* sc) {
// subscribe to output events: // subscribe to output events:
// motorL observer // motorL observer
sc_single_subscription_observer_sc_integer_init(&observer_motorL, sc, (sc_observer_next_sc_integer_fp) on_motorL); sc_single_subscription_observer_int32_t_init(&observer_motorL, sc, (sc_observer_next_int32_t_fp) on_motorL);
sc_single_subscription_observer_sc_integer_subscribe(&observer_motorL, statechart_get_setMotorL(sc)); sc_single_subscription_observer_int32_t_subscribe(&observer_motorL, statechart_get_setMotorL(sc));
// motorR observer // motorR observer
sc_single_subscription_observer_sc_integer_init(&observer_motorR, sc, (sc_observer_next_sc_integer_fp) on_motorR); sc_single_subscription_observer_int32_t_init(&observer_motorR, sc, (sc_observer_next_int32_t_fp) on_motorR);
sc_single_subscription_observer_sc_integer_subscribe(&observer_motorR, statechart_get_setMotorR(sc)); sc_single_subscription_observer_int32_t_subscribe(&observer_motorR, statechart_get_setMotorR(sc));
} }
// to be called every 10 ms // to be called every 10 ms
void controller_poll(sc_integer* _motor_left_speed, sc_integer* _motor_right_speed) { void controller_poll(int32_t* _motor_left_speed, int32_t* _motor_right_speed) {
sc_time elapsed = 10; // ms sc_time elapsed = 10; // ms
sc_timer_service_proceed(&timer_service, elapsed); sc_timer_service_proceed(&timer_service, elapsed);
fprintf(stderr, "made 10ms step\n"); fprintf(stderr, "made 10ms step\n");
@ -61,13 +61,13 @@ void controller_poll(sc_integer* _motor_left_speed, sc_integer* _motor_right_spe
} }
// finally, we need to implemented these functions (defined in "Statechart_required.h") // finally, we need to implemented these functions (defined in "Statechart_required.h")
sc_integer statechart_pid(Statechart* handle, const sc_integer sensor, pid_vars_t pid_vars) { int32_t statechart_pid(Statechart* handle, const int32_t sensor, pid_vars_t pid_vars) {
sc_integer error = TARGET_DIST - sensor; // is this correct? int32_t error = TARGET_DIST - sensor; // is this correct?
return pid(pid_vars, error); return pid(pid_vars, error);
} }
// here you see the reason we need global variables for the timer service: // here you see the reason we need global variables for the timer service:
// the signature of these functions is mandated by YAKINDU, and there is no 'timer service' parameter // the signature of these functions is mandated by YAKINDU, and there is no 'timer service' parameter
void statechart_set_timer(Statechart *sc, const sc_eventid evid, const sc_integer time_ms, const sc_boolean periodic) { void statechart_set_timer(Statechart *sc, const sc_eventid evid, const int32_t time_ms, const sc_boolean periodic) {
sc_timer_set(&timer_service, sc, evid, time_ms, periodic); sc_timer_set(&timer_service, sc, evid, time_ms, periodic);
} }
void statechart_unset_timer(Statechart *sc, const sc_eventid evid) { void statechart_unset_timer(Statechart *sc, const sc_eventid evid) {
@ -76,5 +76,6 @@ void statechart_unset_timer(Statechart *sc, const sc_eventid evid) {
void main() { void main() {
// find out how big the Statechart-struct is:
fprintf(stderr, "%d", sizeof(Statechart)); fprintf(stderr, "%d", sizeof(Statechart));
} }

6
robot_cdt/src/sc_rxc_int32_t.c Normal file
View file

@ -0,0 +1,6 @@
/* Generated by itemis CREATE code generator. */
#include "sc_rxc_int32_t.h"
define_sc_reactive_extensions(int32_t)

19
robot_cdt/src/sc_rxc_int32_t.h Normal file
View file

@ -0,0 +1,19 @@
/* Generated by itemis CREATE code generator. */
#ifndef SC_RXC_INT32_T_H_
#define SC_RXC_INT32_T_H_
#include "sc_rxc.h"
#ifdef __cplusplus
extern "C" {
#endif
declare_sc_reactive_extensions(int32_t)
#ifdef __cplusplus
}
#endif
#endif /* SC_RXC_INT32_T_H_ */