def _genComponentHeader(self, fp, component):
ws = component.swc.rootWS()
assert(ws is not None)
hfile=C.hfile(None, guard='RTE_%s_H'%(component.swc.name.upper()))
hfile.code.append(C.include('Rte.h'))
hfile.code.append(C.include('Rte_Type.h'))
lines = self._genInitValues(ws, component.swc.requirePorts+component.swc.providePorts)
if len(lines)>0:
hfile.code.extend([C.line(x) for x in _genCommentHeader('Init Values')])
hfile.code.extend(lines)
#Write API
hfile.code.append(C.blank())
hfile.code.extend([C.line(x) for x in _genCommentHeader('API Prototypes')])
for proto in component.clientAPI.get_all():
hfile.code.append(C.statement(proto.func))
if len(component.clientAPI.final['read'])>0:
hfile.code.append(C.blank())
hfile.code.extend([C.line(x) for x in _genCommentHeader('Rte_Read_<p>_<d>')])
hfile.code.extend([C.define(proto.shortname, proto.func.name) for proto in component.clientAPI.final['read']])
if len(component.clientAPI.final['write'])>0:
hfile.code.append(C.blank())
hfile.code.extend([C.line(x) for x in _genCommentHeader('Rte_Write_<p>_<d>')])
hfile.code.extend([C.define(proto.shortname, proto.func.name) for proto in component.clientAPI.final['write']])
if len(component.clientAPI.final['receive'])>0:
hfile.code.append(C.blank())
hfile.code.extend([C.line(x) for x in _genCommentHeader('Rte_Receive_<p>_<d>')])
hfile.code.extend([C.define(proto.shortname, proto.func.name) for proto in component.clientAPI.final['receive']])
if len(component.clientAPI.final['send'])>0:
hfile.code.append(C.blank())
hfile.code.extend([C.line(x) for x in _genCommentHeader('Rte_Send_<p>_<d>')])
hfile.code.extend([C.define(proto.shortname, proto.func.name) for proto in component.clientAPI.final['send']])
if len(component.clientAPI.final['mode'])>0:
hfile.code.append(C.blank())
hfile.code.extend([C.line(x) for x in _genCommentHeader('Rte_Mode_<p>_<d>')])
hfile.code.extend([C.define(proto.shortname, proto.func.name) for proto in component.clientAPI.final['mode']])
if len(component.clientAPI.final['mode'])>0:
hfile.code.append(C.blank())
hfile.code.extend([C.line(x) for x in _genCommentHeader('Rte_Mode_<mode>')])
hfile.code.extend([C.define(proto.shortname, proto.func.name) for proto in component.clientAPI.final['mode']])
if len(component.clientAPI.final['calprm'])>0:
hfile.code.append(C.blank())
hfile.code.extend([C.line(x) for x in _genCommentHeader('Rte_Calprm_<name>')])
hfile.code.extend([C.define(proto.shortname, proto.func.name) for proto in component.clientAPI.final['calprm']])
if len(component.clientAPI.final['call'])>0:
hfile.code.append(C.blank())
hfile.code.extend([C.line(x) for x in _genCommentHeader('Rte_Call_<p>_<o> ')])
hfile.code.extend([C.define(proto.shortname, proto.func.name) for proto in component.clientAPI.final['call']])
if len(component.rte_runnables)>0:
for name in sorted(component.rte_runnables):
runnable = component.rte_runnables[name]
tmp = self._writeRunnableProto(runnable)
hfile.code.extend(tmp)
fp.write('\n'.join(hfile.lines()))
fp.write('\n')
def __init__(self, tasks):
self.decl = C.variable('os_task_cfg', 'os_task_elem_t', static=True, const=True, array='OS_NUM_TASKS')
self.body = C.block(innerIndent=innerIndentDefault)
for task in tasks:
fmt='{0: >25},{1: >15},{2: >30},{3: >30}'
if len(task.timer_events)>0:
self.body.append(C.line('{'+fmt.format(
'&m_os_task_'+task.name, task.name, '&os_alarm_cfg_%s[0]'%task.name, 'OS_NUM_ALARMS_%s'%task.name)+'},'))
else:
self.body.append(C.line('{'+fmt.format(
'&m_os_task_'+task.name, task.name, '(os_alarm_cfg_t*) 0', '0')+'},'))
def _genCommentHeader(comment):
code = C.sequence()
code.append(
C.line(
'/*********************************************************************************************************************'
))
code.append(C.line('* %s' % comment))
code.append(
C.line(
'*********************************************************************************************************************/'
))
return code
def _genCommentHeader2(comment):
"""
Same as _genCommentHeader but returns a C sequence instead of raw strings
"""
code = C.sequence()
code.append(
C.line(
'/*********************************************************************************************************************'
))
code.append(C.line('* %s' % comment))
code.append(
C.line(
'*********************************************************************************************************************/'
))
return code
def __init__(self, task):
init_delay=0 #FIXME: allow users to select this at a later time
self.decl = C.variable('os_alarm_cfg_%s'%task.name, 'os_alarm_cfg_t', static=True, const=True, array='OS_NUM_ALARMS_%s'%task.name)
self.body = C.block(innerIndent=innerIndentDefault)
self.body.append(C.linecomment('OS Task, Event ID, Init Delay (ms), Period (ms)'))
for event in task.timer_events:
self.body.append(C.line('{'+'{0: >10},{1: >50},{2: >5},{3: >5}'.format(
'&m_os_task_'+task.name, 'EVENT_MASK_%s_%s'%(task.name,event.name), init_delay, event.inner.period)+'},'))
def _writeRunnableProto(self, runnable):
lines = []
lines.extend([
C.line(x) for x in _genCommentHeader('Runnable %s' % runnable.name)
])
lines.append(C.statement(runnable.prototype))
lines.append(C.blank())
return lines
def _generate_task_cfg_source(self, dest_dir, header_file, file_name = 'os_task_cfg.c'):
source = C.cfile(os.path.join(dest_dir, file_name))
code = source.code
code.extend(_genCommentHeader('INCLUDES'))
code.append(C.include(header_file))
code.append(C.include('os_event_cfg.h'))
code.append('')
code.extend(_genCommentHeader('PRIVATE VARIABLES'))
for static_var in sorted(self.static_vars.values(), key=lambda x: x.name):
code.append(C.statement(static_var))
code.append('')
for alarm_var in self.alarm_vars:
code.append(C.line(str(alarm_var.decl)+' ='))
code.append(C.statement(alarm_var.body))
code.append(C.line(str(self.os_task_var.decl)+' ='))
code.append(C.statement(self.os_task_var.body))
code.append('')
code.extend(_genCommentHeader('PUBLIC VARIABLES'))
code.append(C.line('os_cfg_t g_os_cfg ='))
body = C.block(innerIndent = innerIndentDefault)
body.append(C.line('&os_task_cfg[0],'))
body.append(C.line('OS_NUM_TASKS,'))
body.append(C.line('0,'))
body.append(C.line('0'))
code.append(C.statement(body))
code.append('')
code.extend(_genCommentHeader('PUBLIC FUNCTIONS'))
for elem in self.cfg.partition.mode_switch_functions.values():
for callback_name in sorted(elem.calls.keys()):
code.extend(self._generate_mode_switch_func(callback_name, elem.calls[callback_name]))
code.append('')
with io.open(source.path, 'w', newline='\n') as fp:
for line in source.lines():
fp.write(line+'\n')
def _write_source_global_funcs(self):
code = C.sequence()
code.extend(_genCommentHeader2('GLOBAL FUNCTIONS'))
code.append(C.blank())
for task in sorted(self.os_cfg.tasks, key=lambda x: x.name):
code.append(C.line('OS_TASK_HANDLER({0.name}, arg)'.format(task)))
code.append(self._generate_task_body(task))
code.append(C.blank(2))
return code
def generate_on_exit_code(self, event, callback_name):
code = C.sequence()
else_str = 'else ' if len(self.calls) > 0 else ''
code.append(C.line(else_str+'if ( (previousMode == RTE_MODE_{0}) && (newMode != RTE_MODE_{0}) )'.format(event.mode+'_'+event.modeDeclaration)))
block = C.block(innerIndent = innerIndentDefault)
block.append(C.statement(C.fcall(callback_name)))
code.append(block)
self.add_event_to_call(event, callback_name)
self.body.extend(code)
def __init__(self, tasks):
self.decl = C.variable('os_task_cfg',
'os_task_elem_t',
static=True,
const=True,
array='OS_NUM_TASKS')
self.body = C.block(innerIndent=innerIndentDefault)
for task in tasks:
fmt = '{0: >25},{1: >15},{2: >30},{3: >30}'
if len(task.timer_events) > 0:
self.body.append(
C.line('{' + fmt.format('&m_os_task_' + task.name,
task.name, '&os_alarm_cfg_%s[0]' %
task.name, 'OS_NUM_ALARMS_%s' %
task.name) + '},'))
else:
self.body.append(
C.line('{' +
fmt.format('&m_os_task_' + task.name, task.name,
'(os_alarm_cfg_t*) 0', '0') + '},'))
def _generate_runnable_calls(self, code, matching_runnables):
events = matching_runnables[0].event_triggers
if len(events) == 1:
event = events[0]
if not isinstance(event, autosar.rte.base.OperationInvokedEvent):
code.append(C.line('if (eventMask & %s)' % event.symbol))
block = C.block(innerIndent=innerIndentDefault)
for runnable in matching_runnables:
block.append(C.statement(C.fcall(runnable.symbol)))
code.append(block)
elif len(events) > 1:
raise NotImplementedError('multiple events')
def _createHeaderLines(self, filepath):
hfile = C.hfile(filepath)
code = hfile.code
code.extend([C.line(x) for x in _genCommentHeader('Includes')])
code.append(C.include("Std_Types.h"))
code.append(C.include("Rte_Type.h"))
code.append(C.include("Rte.h"))
code.append(C.blank())
code.extend(_genCommentHeader('Constants and Types'))
for key in sorted(self.typedefs.keys()):
code.append(C.statement(self.typedefs[key]))
code.append(C.blank())
code.extend([
C.line(x)
for x in _genCommentHeader('Public Function Declarations')
])
code.append(C.blank())
code.append(
C.statement(C.function('%s_Start' % self.api_prefix, 'void')))
for func in sorted(self.partition.upperLayerAPI.final['get'],
key=lambda x: x.shortname):
assert func.proto is not None
hfile.code.append(C.statement(func.proto))
for func in sorted(self.partition.upperLayerAPI.final['setReadData'],
key=lambda x: x.shortname):
assert func.proto is not None
hfile.code.append(C.statement(func.proto))
for func in sorted(self.partition.upperLayerAPI.final['setReadResult'],
key=lambda x: x.shortname):
assert func.proto is not None
hfile.code.append(C.statement(func.proto))
for func in sorted(self.extra_public_functions.values(),
key=lambda x: x.shortname):
assert func.proto is not None
hfile.code.append(C.statement(func.proto))
hfile.code.append(C.blank())
return hfile.lines()
def _generate_task_body(self, task):
code = C.block(innerIndent=innerIndentDefault)
isRunning = C.variable('isRunning', 'boolean')
code.append(C.statement('{0} = TRUE'.format(str(isRunning))))
code.append(C.statement('os_task_t *self = (os_task_t*)arg'))
code.append('')
code.append(C.line('if (self == 0)'))
body = C.block(innerIndent=innerIndentDefault)
body.append(C.statement('THREAD_RETURN(1)'))
code.append(body)
code.append('')
code.append(C.line('while (isRunning == TRUE)'))
while_block = C.block(innerIndent=innerIndentDefault)
while_block.append(C.statement('uint32 eventMask'))
while_block.append(
C.statement('int8_t result = os_task_waitEvent(self, &eventMask)'))
while_block.append(C.line('if (result == 0)'))
if_block = C.block(innerIndent=innerIndentDefault)
if_block.extend(self._generate_event_mask_triggers(task))
while_block.append(if_block)
while_block.append(C.line('else if(result > 0)'))
if_block = C.block(innerIndent=innerIndentDefault)
if_block.append(C.statement('printf("%s_QuitEvent\\n")' % task.name))
if_block.append(C.statement('isRunning = false'))
while_block.append(if_block)
while_block.append(C.line('else'))
if_block = C.block(innerIndent=innerIndentDefault)
if_block.append(
C.statement(r'fprintf(stderr, "os_task_waitEvent failed\n")'))
while_block.append(if_block)
code.append(while_block)
code.append('')
code.append(C.statement('THREAD_RETURN(0)'))
return code
def _createMockServerCallFunction(self, proto, var_name):
body = C.block(innerIndent=innerIndentDefault)
body.append(C.line('if (%s != 0)' % (var_name)))
inner = C.block(innerIndent=innerIndentDefault)
fcall = C.fcall(var_name)
for arg in proto.args:
fcall.add_param(arg.name)
if proto.typename != 'void':
inner.append(C.statement('return %s' % str(fcall)))
else:
inner.append(C.statement(fcall))
body.append(inner)
if proto.typename != 'void':
body.append(C.statement('return RTE_E_OK'))
return body
def __init__(self, task):
init_delay = 0 #FIXME: allow users to select this at a later time
self.decl = C.variable('os_alarm_cfg_%s' % task.name,
'os_alarm_cfg_t',
static=True,
const=True,
array='OS_NUM_ALARMS_%s' % task.name)
self.body = C.block(innerIndent=innerIndentDefault)
self.body.append(
C.linecomment(
'OS Task, Event ID, Init Delay (ms), Period (ms)'
))
for event in task.timer_events:
self.body.append(
C.line('{' + '{0: >10},{1: >50},{2: >5},{3: >5}'.format(
'&m_os_task_' + task.name, 'EVENT_MASK_%s_%s' %
(task.name, event.name), init_delay, event.inner.period) +
'},'))
def _generate_task_cfg_source(self,
dest_dir,
header_file,
file_name='os_task_cfg.c'):
source = C.cfile(os.path.join(dest_dir, file_name))
code = source.code
code.extend(_genCommentHeader('INCLUDES'))
code.append(C.include(header_file))
code.append(C.include('os_event_cfg.h'))
code.append('')
code.extend(_genCommentHeader('PRIVATE VARIABLES'))
for static_var in sorted(self.static_vars.values(),
key=lambda x: x.name):
code.append(C.statement(static_var))
code.append('')
for alarm_var in self.alarm_vars:
code.append(C.line(str(alarm_var.decl) + ' ='))
code.append(C.statement(alarm_var.body))
code.append(C.line(str(self.os_task_var.decl) + ' ='))
code.append(C.statement(self.os_task_var.body))
code.append('')
code.extend(_genCommentHeader('PUBLIC VARIABLES'))
code.append(C.line('os_cfg_t g_os_cfg ='))
body = C.block(innerIndent=innerIndentDefault)
body.append(C.line('&os_task_cfg[0],'))
body.append(C.line('OS_NUM_TASKS,'))
body.append(C.line('0,'))
body.append(C.line('0'))
code.append(C.statement(body))
code.append('')
code.extend(_genCommentHeader('PUBLIC FUNCTIONS'))
for elem in self.cfg.partition.mode_switch_functions.values():
for callback_name in sorted(elem.calls.keys()):
code.extend(
self._generate_mode_switch_func(callback_name,
elem.calls[callback_name]))
code.append('')
with io.open(source.path, 'w', newline='\n') as fp:
for line in source.lines():
fp.write(line + '\n')
def generate(self, dest_dir='.', file_name='Rte_Type.h'):
"""
Generates Rte_Type.h
Note: The last argument has been deprecated and is no longer in use
"""
if self.partition.isFinalized == False:
self.partition.finalize()
file_path = os.path.join(dest_dir, file_name)
with io.open(file_path, 'w', newline='\n') as fp:
hfile = C.hfile(file_name)
hfile.code.extend(
[C.line(x) for x in _genCommentHeader('Includes')])
hfile.code.append(C.include("Std_Types.h"))
hfile.code.append(C.blank())
(basicTypes, complexTypes,
modeTypes) = self.partition.types.getTypes()
hfile.code.extend([
C.line(x) for x in _genCommentHeader('Data Type Definitions')
])
hfile.code.append(C.blank())
ws = self.partition.ws
unusedDefaultTypes = self._findUnusedDefaultTypes(ws, basicTypes)
first = True
for ref in sorted(basicTypes) + sorted(complexTypes):
dataType = ws.find(ref)
if dataType is not None:
typedef = None
if first:
first = False
else:
hfile.code.append(C.blank())
hfile.code.append('#define Rte_TypeDef_%s' % dataType.name)
if isinstance(dataType, autosar.datatype.BooleanDataType):
typedef = C.typedef('boolean', dataType.name)
hfile.code.append(C.statement(typedef))
elif isinstance(dataType,
autosar.datatype.IntegerDataType):
valrange = dataType.maxVal - dataType.minVal
bitcount = valrange.bit_length()
typename = dataType.name
basetype = self._typename(bitcount, dataType.minVal)
typedef = C.typedef(basetype, typename)
hfile.code.append(C.statement(typedef))
isUnsigned = True if basetype in ('uint8', 'uint16',
'uint32') else False
if isUnsigned:
minval = str(dataType.minVal) + 'u'
maxval = str(dataType.maxVal) + 'u'
else:
minval = str(dataType.minVal)
maxval = str(dataType.maxVal)
hfile.code.append('#define %s_LowerLimit ((%s)%s)' %
(typename, typename, minval))
hfile.code.append('#define %s_UpperLimit ((%s)%s)' %
(typename, typename, maxval))
if dataType.compuMethodRef is not None:
compuMethod = ws.find(dataType.compuMethodRef)
if compuMethod is not None:
lines1 = []
lines2 = []
if isinstance(
compuMethod,
autosar.datatype.CompuMethodConst):
for elem in compuMethod.elements:
if isUnsigned:
value = str(elem.upperLimit) + 'u'
else:
value = str(elem.upperLimit)
lines1.append(
'#define RTE_CONST_%s (%s)' %
(elem.textValue, value))
lines2.append(
'#define %s ((%s)%s)' %
(elem.textValue, typename, value))
if len(lines2) > 0:
tmp = lines1 + [C.blank()] + lines2
else:
tmp = lines1
for line in tmp:
hfile.code.append(line)
else:
raise ValueError(dataType.compuMethodRef)
elif isinstance(dataType, autosar.datatype.RecordDataType):
body = C.block(innerIndent=innerIndentDefault)
for elem in dataType.elements:
childType = ws.find(elem.typeRef, role='DataType')
body.append(
C.statement(
C.variable(elem.name, childType.name)))
struct = C.struct(None, body, typedef=dataType.name)
hfile.code.append(C.statement(struct))
elif isinstance(dataType, autosar.datatype.StringDataType):
hfile.code.append('typedef uint8 %s[%d];' %
(dataType.name, dataType.length + 1))
elif isinstance(dataType, autosar.datatype.ArrayDataType):
childType = ws.find(dataType.typeRef, role='DataType')
if childType is None:
raise ValueError('invalid type reference: ' +
dataType.typeRef)
hfile.code.append(
'typedef %s %s[%d];' %
(childType.name, dataType.name, dataType.length))
elif isinstance(dataType, autosar.datatype.RealDataType):
if dataType.encoding == 'DOUBLE':
platform_typename = 'float64'
else:
platform_typename = 'float32'
hfile.code.append('typedef %s %s;' %
(platform_typename, dataType.name))
else:
raise NotImplementedError(type(dataType))
#sys.stderr.write('not implemented: %s\n'%str(type(dataType)))
else:
raise ValueError(ref)
if len(modeTypes) > 0:
lines = _genCommentHeader('Mode Types')
tmp = []
hfile.code.extend(lines)
first = True
for ref in modeTypes:
if first:
first = False
else:
tmp.append(C.blank())
modeType = ws.find(ref)
hfile.code.append(
C.statement(
C.typedef('uint8',
'Rte_ModeType_' + modeType.name)))
for i, elem in enumerate(modeType.modeDeclarations):
# define RTE_MODE_EcuM_Mode_POST_RUN ((Rte_ModeType_EcuM_Mode)0)
tmp.append(
C.define(
'RTE_MODE_%s_%s' % (modeType.name, elem.name),
'((Rte_ModeType_EcuM_Mode)%d)' % i))
hfile.code.append(C.blank())
hfile.code.extend(tmp)
if len(unusedDefaultTypes) > 0:
hfile.code.append(C.blank(2))
hfile.code.append(
C.line('#ifndef RTE_SUPPRESS_UNUSED_DATATYPES'))
for name in sorted(unusedDefaultTypes):
hfile.code.append(C.blank())
hfile.code.extend(self.defaultTypes[name])
hfile.code.append(C.blank())
hfile.code.append(C.line('#endif'))
fp.write('\n'.join(hfile.lines()))
fp.write('\n')
def _genCommentHeader(comment):
code = C.sequence()
code.append(C.line('/*********************************************************************************************************************'))
code.append(C.line('* %s'%comment))
code.append(C.line('*********************************************************************************************************************/'))
return code
