Generation working and Compilation of MARTe components
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ferrog
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/**
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* @file JAMessageGAM.h
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* @brief Header file for class JAMessageGAM
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* @date Jan, 2019
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* @author rhari
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*
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* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
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* the Development of Fusion Energy ('Fusion for Energy').
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* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
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* by the European Commission - subsequent versions of the EUPL (the "Licence")
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* You may not use this work except in compliance with the Licence.
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* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
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*
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* @warning Unless required by applicable law or agreed to in writing,
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* software distributed under the Licence is distributed on an "AS IS"
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* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
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* or implied. See the Licence permissions and limitations under the Licence.
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* @details This header file contains the declaration of the class JAMessageGAM
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* with all of its public, protected and private members. It may also include
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* definitions for inline methods which need to be visible to the compiler.
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*/
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#ifndef GAMS_JAMESSAGEGAM_H_
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#define GAMS_JAMESSAGEGAM_H_
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/*---------------------------------------------------------------------------*/
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/* Standard header includes */
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/*---------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------*/
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/* Project header includes */
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/*---------------------------------------------------------------------------*/
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#include "GAM.h"
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#include "Message.h"
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/*---------------------------------------------------------------------------*/
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/* Class declaration */
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/*---------------------------------------------------------------------------*/
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/**
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* @brief GAM that sends a message when input signals have expected values. Message will not be sent multiple
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* times without first changing the application state.
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*
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* The configuration syntax is (names and signal quantity are only given as an example):
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* <pre>
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* +MessageGAM = {
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* Class = JAMessageGAM
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* Operation = AND // Accepted values are: AND, OR, XOR, NOR. Default value is AND.
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* ExpectedIntValues = {1 10} // Expected values for input signals of integral type.
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* ExpectedFloatValues = {3.5} // Expected values for float signals of floting point type.
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* Comparators = {EQUALS GREATER NOT} // Accepted values are: EQUALS, NOT, GREATER, EQUALS_OR_GREATER, LESS, EQUALS_OR_LESS
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* // Comparators element is optional. Default comparator is EQUALS.
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* InputSignals = {
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* Sig1 = {
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* DataSource = EPICSCAInput
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* Type = uint32
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* }
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* Sig2 = {
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* DataSource = EPICSCAInput
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* Type = float32
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* }
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* Sig3 = {
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* DataSource = EPICSCAInput
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* Type = uint32
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* }
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* }
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* +Event = { // Message to be sent when condition is true.
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* Class = Message
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* Destination = StateMachine
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* Function = GoDisabled
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* }
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* }
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* </pre>
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* This example will send Event message when Sig1 == 1 && Sig2 > 3.5 && Sig3 != 10
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*/
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class JAMessageGAM : public MARTe::GAM, public MARTe::StatefulI {
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public:
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CLASS_REGISTER_DECLARATION()
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JAMessageGAM();
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virtual ~JAMessageGAM();
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virtual bool Initialise(MARTe::StructuredDataI & data);
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virtual bool Setup();
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virtual bool Execute();
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virtual bool PrepareNextState(const MARTe::char8 * const currentStateName,
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const MARTe::char8 * const nextStateName);
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enum ComparisonMode {
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Equals, Not, Greater, EqualsOrGreater, Less, EqualsOrLess
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};
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private:
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/**
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* @brief Does the input signal at provided index have the expected value.
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* @param[in] index of the signal.
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* @param[out] floatValueIndex lookup index for expected float values array.
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* @param[out] intValueIndex lookup index for expected integer values array.
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* @return true if the signal has expected value.
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*/
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bool Compare(MARTe::uint32 index, MARTe::uint32 &floatValueIndex, MARTe::uint32 &intValueIndex);
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enum OperationMode {
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And, Or, Xor, Nor
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};
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// Input signals
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void **inputSignals;
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MARTe::TypeDescriptor *inputSignalTypes;
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// Condition operation.
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OperationMode operation;
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// Message to be sent when conditions are met.
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MARTe::ReferenceT<MARTe::Message> eventMsg;
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// Was the message already sent and we are waiting for a state change before next message can be sent.
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bool needsReset;
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// Array of expected integer values of input signals.
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MARTe::uint64* expectedValuesInt;
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// Array of expected float values for input signals.
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MARTe::float64* expectedValuesFloat;
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// Expected integer values count (must be equal to numberOfInputSignals - floatValuesCount)
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MARTe::uint32 intValuesCount;
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// Expected integer values count (must be equal to numberOfInputSignals - floatValuesCount)
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MARTe::uint32 floatValuesCount;
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// Array of comparators
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ComparisonMode* comparators;
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};
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/*---------------------------------------------------------------------------*/
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/* Inline method definitions */
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/*---------------------------------------------------------------------------*/
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#endif /* GAMS_JAMESSAGEGAM_H_ */
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@@ -0,0 +1,59 @@
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TOP=../..
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include $(TOP)/configure/CONFIG
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#----------------------------------------
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# ADD MACRO DEFINITIONS AFTER THIS LINE
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#========================================
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#========================================
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# Build the IOC application
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PROD_IOC = CUB
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# CUB.dbd will be created and installed
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DBD += CUB.dbd
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# CUB.dbd will be made up from these files:
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-include $(EPICS_ROOT)/mk/codac-common.mk
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# Add all the support libraries needed by this IOC
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-include $(EPICS_ROOT)/mk/asyn.mk
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-include $(EPICS_ROOT)/mk/s7PLCAsyn.mk
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CUB_DBD += $(CODAC_DBD)
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CUB_LIBS += $(CODAC_LIBS)
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# # SNCSEQ
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# <sncProgram>_SNCFLAGS += +r -c +d
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# CUB_DBD += <sncProgram>.dbd
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# CUB_SRCS += <sncProgram>.stt
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# CUB_LIBS += seq pv
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# CUB_registerRecordDeviceDriver.cpp derives from CUB.dbd
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CUB_SRCS += CUB_registerRecordDeviceDriver.cpp
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# Build the main IOC entry point on workstation OSs.
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CUB_SRCS_DEFAULT += CUBMain.cpp
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CUB_SRCS_vxWorks += -nil-
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# Add support from base/src/vxWorks if needed
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#CUB_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary
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#=============================
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# Include SNL program makefile snippets
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-include ../*.snlprog
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#=============================
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# Finally link to the EPICS Base libraries
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CUB_LIBS += $(EPICS_BASE_IOC_LIBS)
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#===========================
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include $(TOP)/configure/RULES
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#----------------------------------------
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# ADD RULES AFTER THIS LINE
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#----------------------------------------
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ECPCSubscriber.cfg is a configuration for testing ECPC simulator (JAECPCSimulator.cfg).
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Setup:
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1) Run softIoc. In qst-gyrotron-fast-controller/Configurations execute command:
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softIoc -d ECPC_IOC.db
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2) Run ECPC simulator. In qst-gyrotron-fast-controller/Startup execute command:
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./Main.sh -f ../Configurations/JAECPCSimulator.cfg -l RealTimeLoader -m StateMachine:Start
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3) Run ECPC subscriber. In qst-gyrotron-fast-controller/Startup execute command:
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./Main.sh -f ../Configurations/tests/ECPCSubscriber.cfg -l RealTimeLoader -m StateMachine:Start
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The ECPC simulator should automatically start sending waveforms, which will be printed by the ECPC subscriber every 10 milliseconds.
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The ECPC simulator will also be sending command, which is printed by the ECPC subscriber every millisecond.
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To change command that is being sent, you have to caput 1 to one of following PVs:
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MHVPS_ON (command 1)
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GYA_BPS_SWON (command 2)
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GYA_APS_SWON (command 3)
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GYB_BPS_SWON (command 4)
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GYB_APS_SWON (command 5)
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GYA_BPS_SWOFF (command 6)
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GYA_APS_SWOFF (command 7)
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GYB_BPS_SWOFF (command 8)
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GYB_APS_SWOFF (command 9)
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RF_OFF (command 10)
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To stop sending that command, caput 0 to that PV.
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