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ab22a939d7 | ||
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01bcd66594 |
1
.gitignore
vendored
1
.gitignore
vendored
@@ -1,4 +1,3 @@
|
||||
build
|
||||
*.log
|
||||
mdt
|
||||
*.out
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||||
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21
README.md
21
README.md
@@ -20,6 +20,13 @@ Few additional features have been added to the standard MARTe configuration lang
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- Doc-strings support
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- Pragmas for warning suppression / documentation
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|
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## Documentation
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- [Step-by-Step Tutorial](docs/TUTORIAL.md)
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- [Editor Integration Guide](docs/EDITOR_INTEGRATION.md)
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- [Configuration Guide](docs/CONFIGURATION_GUIDE.md)
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- [Examples Readme](/examples/README.md)
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||||
|
||||
## Installation
|
||||
|
||||
### From Source
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@@ -34,13 +41,17 @@ go install github.com/marte-community/marte-dev-tools/cmd/mdt@latest
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### CLI Commands
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- **Init**: Initialize a MARTe project.
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```bash
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mdt init project_name
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```
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- **Check**: Run validation on a file or project.
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```bash
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mdt check path/to/project
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```
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- **Build**: Merge project files into a single output.
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```bash
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mdt build -o output.marte main.marte
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mdt build [-o output.marte] main.marte ...
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```
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- **Format**: Format configuration files.
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```bash
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@@ -92,10 +103,10 @@ package schema
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||||
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||||
Use comments starting with `//!` to control validation behavior:
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||||
- `//!unused: Reason` - Suppress "Unused GAM" or "Unused Signal" warnings.
|
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- `//!implicit: Reason` - Suppress "Implicitly Defined Signal" warnings.
|
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- `//!cast(DefinedType, UsageType)` - Allow type mismatch between definition and usage (e.g. `//!cast(uint32, int32)`).
|
||||
- `//!allow(unused)` - Global suppression for the file.
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- `//! unused: Reason` - Suppress "Unused GAM" or "Unused Signal" warnings.
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- `//! implicit: Reason` - Suppress "Implicitly Defined Signal" warnings.
|
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- `//! cast(DefinedType, UsageType)` - Allow type mismatch between definition and usage (e.g. `//!cast(uint32, int32)`).
|
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- `//! allow(unused)` - Global suppression for the file.
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|
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## Development
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||||
@@ -16,7 +16,11 @@ import (
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func main() {
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if len(os.Args) < 2 {
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logger.Println("Usage: mdt <command> [arguments]")
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logger.Println("Commands: lsp, build, check, fmt")
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logger.Println("Commands: lsp, build, check, fmt, init")
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logger.Println(" build [-o output_file] <input_files...>")
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logger.Println(" check <input_files...>")
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logger.Println(" fmt <input_files...>")
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logger.Println(" init <project_name>")
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os.Exit(1)
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}
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|
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@@ -30,6 +34,8 @@ func main() {
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runCheck(os.Args[2:])
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case "fmt":
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runFmt(os.Args[2:])
|
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case "init":
|
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runInit(os.Args[2:])
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default:
|
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logger.Printf("Unknown command: %s\n", command)
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os.Exit(1)
|
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@@ -42,12 +48,45 @@ func runLSP() {
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|
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func runBuild(args []string) {
|
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if len(args) < 1 {
|
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logger.Println("Usage: mdt build <input_files...>")
|
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logger.Println("Usage: mdt build [-o output_file] <input_files...>")
|
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os.Exit(1)
|
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}
|
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|
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b := builder.NewBuilder(args)
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err := b.Build(os.Stdout)
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var outputFilePath string
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var inputFiles []string
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|
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for i := 0; i < len(args); i++ {
|
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if args[i] == "-o" {
|
||||
if i+1 < len(args) {
|
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outputFilePath = args[i+1]
|
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i++
|
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} else {
|
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logger.Println("Error: -o requires a file path")
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os.Exit(1)
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}
|
||||
} else {
|
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inputFiles = append(inputFiles, args[i])
|
||||
}
|
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}
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|
||||
if len(inputFiles) < 1 {
|
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logger.Println("Usage: mdt build [-o output_file] <input_files...>")
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os.Exit(1)
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}
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|
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output := os.Stdout
|
||||
if outputFilePath != "" {
|
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f, err := os.Create(outputFilePath)
|
||||
if err != nil {
|
||||
logger.Printf("Error creating output file %s: %v\n", outputFilePath, err)
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os.Exit(1)
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||||
}
|
||||
defer f.Close()
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output = f
|
||||
}
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||||
|
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b := builder.NewBuilder(inputFiles)
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err := b.Build(output)
|
||||
if err != nil {
|
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logger.Printf("Build failed: %v\n", err)
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os.Exit(1)
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@@ -61,7 +100,6 @@ func runCheck(args []string) {
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}
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tree := index.NewProjectTree()
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// configs := make(map[string]*parser.Configuration) // We don't strictly need this map if we just build the tree
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|
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for _, file := range args {
|
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content, err := os.ReadFile(file)
|
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@@ -80,13 +118,9 @@ func runCheck(args []string) {
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tree.AddFile(file, config)
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}
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|
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// idx.ResolveReferences() // Not implemented in new tree yet, but Validator uses Tree directly
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v := validator.NewValidator(tree, ".")
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v.ValidateProject()
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|
||||
// Legacy loop removed as ValidateProject covers it via recursion
|
||||
|
||||
|
||||
for _, diag := range v.Diagnostics {
|
||||
level := "ERROR"
|
||||
if diag.Level == validator.LevelWarning {
|
||||
@@ -133,3 +167,32 @@ func runFmt(args []string) {
|
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logger.Printf("Formatted %s\n", file)
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}
|
||||
}
|
||||
|
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func runInit(args []string) {
|
||||
if len(args) < 1 {
|
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logger.Println("Usage: mdt init <project_name>")
|
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os.Exit(1)
|
||||
}
|
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|
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projectName := args[0]
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if err := os.MkdirAll("src", 0755); err != nil {
|
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logger.Fatalf("Error creating project directories: %v", err)
|
||||
}
|
||||
|
||||
files := map[string]string{
|
||||
"Makefile": "MDT=mdt\n\nall: check build\n\ncheck:\n\t$(MDT) check src/*.marte\n\nbuild:\n\t$(MDT) build -o app.marte src/*.marte\n\nfmt:\n\t$(MDT) fmt src/*.marte\n",
|
||||
".marte_schema.cue": "package schema\n\n#Classes: {\n // Add your project-specific classes here\n}\n",
|
||||
"src/app.marte": "#package " + projectName + "\n\n+App = {\n Class = RealTimeApplication\n +Data = {\n Class = ReferenceContainer\n }\n +Functions = {\n Class = ReferenceContainer\n }\n +States = {\n Class = ReferenceContainer\n }\n +Scheduler = {\n Class = GAMScheduler\n TimingDataSource = TimingDataSource\n }\n}\n",
|
||||
"src/data.marte": "#package " + projectName + ".App.Data\n\n// Define your DataSources here\nDefaultDataSource = DDB\n//# Default DB\n+DDB = {\n Class=GAMDataSource\n}\n//# Timing Data Source to track threads timings\n+TimingDataSource = {\n Class = TimingDataSource\n}",
|
||||
"src/functions.marte": "#package " + projectName + ".App.Functions\n\n// Define your GAMs here\n",
|
||||
}
|
||||
|
||||
for path, content := range files {
|
||||
if err := os.WriteFile(path, []byte(content), 0644); err != nil {
|
||||
logger.Fatalf("Error creating file %s: %v", path, err)
|
||||
}
|
||||
logger.Printf("Created %s\n", path)
|
||||
}
|
||||
|
||||
logger.Printf("Project '%s' initialized successfully.\n", projectName)
|
||||
}
|
||||
|
||||
106
docs/CODE_DOCUMENTATION.md
Normal file
106
docs/CODE_DOCUMENTATION.md
Normal file
@@ -0,0 +1,106 @@
|
||||
# mdt Internal Code Documentation
|
||||
|
||||
This document provides a detailed overview of the `mdt` codebase architecture and internal components.
|
||||
|
||||
## Architecture Overview
|
||||
|
||||
`mdt` is built as a modular system where core functionalities are separated into internal packages. The data flow typically follows this pattern:
|
||||
|
||||
1. **Parsing**: Source code is parsed into an Abstract Syntax Tree (AST).
|
||||
2. **Indexing**: ASTs from multiple files are aggregated into a unified `ProjectTree`.
|
||||
3. **Processing**: The `ProjectTree` is used by the Validator, Builder, and LSP server to perform their respective tasks.
|
||||
|
||||
## Package Structure
|
||||
|
||||
```
|
||||
cmd/
|
||||
mdt/ # Application entry point (CLI)
|
||||
internal/
|
||||
builder/ # Logic for merging and building configurations
|
||||
formatter/ # Code formatting engine
|
||||
index/ # Symbol table and project structure management
|
||||
logger/ # Centralized logging
|
||||
lsp/ # Language Server Protocol implementation
|
||||
parser/ # Lexer, Parser, and AST definitions
|
||||
schema/ # CUE schema loading and integration
|
||||
validator/ # Semantic analysis and validation logic
|
||||
```
|
||||
|
||||
## Core Packages
|
||||
|
||||
### 1. `internal/parser`
|
||||
|
||||
Responsible for converting MARTe configuration text into structured data.
|
||||
|
||||
* **Lexer (`lexer.go`)**: Tokenizes the input stream. Handles MARTe specific syntax like `#package`, `//!` pragmas, and `//#` docstrings. Supports standard identifiers and `#`-prefixed identifiers.
|
||||
* **Parser (`parser.go`)**: Recursive descent parser. Converts tokens into a `Configuration` object containing definitions, comments, and pragmas.
|
||||
* **AST (`ast.go`)**: Defines the node types (`ObjectNode`, `Field`, `Value`, etc.). All nodes implement the `Node` interface providing position information.
|
||||
|
||||
### 2. `internal/index`
|
||||
|
||||
The brain of the system. It maintains a holistic view of the project.
|
||||
|
||||
* **ProjectTree**: The central data structure. It holds the root of the configuration hierarchy (`Root`), references, and isolated files.
|
||||
* **ProjectNode**: Represents a logical node in the configuration. Since a node can be defined across multiple files (fragments), `ProjectNode` aggregates these fragments.
|
||||
* **NodeMap**: A hash map index (`map[string][]*ProjectNode`) for $O(1)$ symbol lookups, optimizing `FindNode` operations.
|
||||
* **Reference Resolution**: The `ResolveReferences` method links `Reference` objects to their target `ProjectNode` using the `NodeMap`.
|
||||
|
||||
### 3. `internal/validator`
|
||||
|
||||
Ensures configuration correctness.
|
||||
|
||||
* **Validator**: Iterates over the `ProjectTree` to check rules.
|
||||
* **Checks**:
|
||||
* **Structure**: Duplicate fields, invalid content.
|
||||
* **Schema**: Unifies nodes with CUE schemas (loaded via `internal/schema`) to validate types and mandatory fields.
|
||||
* **Signals**: Verifies that signals referenced in GAMs exist in DataSources and match types.
|
||||
* **Threading**: Checks `checkDataSourceThreading` to ensure non-multithreaded DataSources are not shared across threads in the same state.
|
||||
* **Unused**: Detects unused GAMs and Signals (suppressible via pragmas).
|
||||
|
||||
### 4. `internal/lsp`
|
||||
|
||||
Implements the Language Server Protocol.
|
||||
|
||||
* **Server (`server.go`)**: Handles JSON-RPC messages over stdio.
|
||||
* **Incremental Sync**: Supports `textDocumentSync: 2`. `HandleDidChange` applies patches to the in-memory document buffers using `offsetAt` logic.
|
||||
* **Features**:
|
||||
* `HandleCompletion`: Context-aware suggestions (Schema fields, Signal references, Class names).
|
||||
* `HandleHover`: Shows documentation, signal types, and usage analysis (e.g., "Used in GAMs: Controller (Input)").
|
||||
* `HandleDefinition` / `HandleReferences`: specific lookup using the `index`.
|
||||
|
||||
### 5. `internal/builder`
|
||||
|
||||
Merges multiple MARTe files into a single output.
|
||||
|
||||
* **Logic**: It parses all input files, builds a temporary `ProjectTree`, and then reconstructs the source code.
|
||||
* **Merging**: It interleaves fields and subnodes from different file fragments to produce a coherent single-file configuration, respecting the `#package` hierarchy.
|
||||
|
||||
### 6. `internal/schema`
|
||||
|
||||
Manages CUE schemas.
|
||||
|
||||
* **Loading**: Loads the embedded default schema (`marte.cue`) and merges it with any user-provided `.marte_schema.cue`.
|
||||
* **Metadata**: Handles the `#meta` field in schemas to extract properties like `direction` and `multithreaded` support for the validator.
|
||||
|
||||
## Key Data Flows
|
||||
|
||||
### Reference Resolution
|
||||
1. **Scan**: Files are parsed and added to the `ProjectTree`.
|
||||
2. **Index**: `RebuildIndex` populates `NodeMap`.
|
||||
3. **Resolve**: `ResolveReferences` iterates all recorded references (values) and calls `FindNode`.
|
||||
4. **Link**: If found, `ref.Target` is set to the `ProjectNode`.
|
||||
|
||||
### Validation Lifecycle
|
||||
1. `mdt check` or LSP `didChange` triggers validation.
|
||||
2. A new `Validator` is created with the current `Tree`.
|
||||
3. `ValidateProject` is called.
|
||||
4. It walks the tree, runs checks, and populates `Diagnostics`.
|
||||
5. Diagnostics are printed (CLI) or published via `textDocument/publishDiagnostics` (LSP).
|
||||
|
||||
### Threading Check Logic
|
||||
1. Finds the `RealTimeApplication` node.
|
||||
2. Iterates through `States` and `Threads`.
|
||||
3. For each Thread, resolves the `Functions` (GAMs).
|
||||
4. For each GAM, resolves connected `DataSources` via Input/Output signals.
|
||||
5. Maps `DataSource -> Thread` within the context of a State.
|
||||
6. If a DataSource is seen in >1 Thread, it checks the `#meta.multithreaded` property. If false (default), an error is raised.
|
||||
162
docs/CONFIGURATION_GUIDE.md
Normal file
162
docs/CONFIGURATION_GUIDE.md
Normal file
@@ -0,0 +1,162 @@
|
||||
# MARTe Configuration Guide
|
||||
|
||||
This guide explains the syntax, features, and best practices for writing MARTe configurations using `mdt`.
|
||||
|
||||
## 1. Syntax Overview
|
||||
|
||||
MARTe configurations use a hierarchical object-oriented syntax.
|
||||
|
||||
### Objects (Nodes)
|
||||
Objects are defined using `+` (public/instantiated) or `$` (template/class-like) prefixes. Every object **must** have a `Class` field.
|
||||
|
||||
```marte
|
||||
+MyObject = {
|
||||
Class = MyClass
|
||||
Field1 = 100
|
||||
Field2 = "Hello"
|
||||
}
|
||||
```
|
||||
|
||||
### Fields and Values
|
||||
- **Fields**: Alphanumeric identifiers (e.g., `Timeout`, `CycleTime`).
|
||||
- **Values**:
|
||||
- Integers: `10`, `-5`, `0xFA`
|
||||
- Floats: `3.14`, `1e-3`
|
||||
- Strings: `"Text"`
|
||||
- Booleans: `true`, `false`
|
||||
- References: `MyObject`, `MyObject.SubNode`
|
||||
- Arrays: `{ 1 2 3 }` or `{ "A" "B" }`
|
||||
|
||||
### Comments and Documentation
|
||||
- Line comments: `// This is a comment`
|
||||
- Docstrings: `//# This documents the following node`. These appear in hover tooltips.
|
||||
|
||||
```marte
|
||||
//# This is the main application
|
||||
+App = { ... }
|
||||
```
|
||||
|
||||
## 2. Signals and Data Flow
|
||||
|
||||
Signals define how data moves between DataSources (drivers) and GAMs (algorithms).
|
||||
|
||||
### Defining Signals
|
||||
Signals are typically defined in a `DataSource`. They must have a `Type`.
|
||||
|
||||
```marte
|
||||
+MyDataSource = {
|
||||
Class = GAMDataSource
|
||||
Signals = {
|
||||
Signal1 = { Type = uint32 }
|
||||
Signal2 = { Type = float32 }
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### Using Signals in GAMs
|
||||
GAMs declare inputs and outputs. You can refer to signals directly or alias them.
|
||||
|
||||
```marte
|
||||
+MyGAM = {
|
||||
Class = IOGAM
|
||||
InputSignals = {
|
||||
Signal1 = {
|
||||
DataSource = MyDataSource
|
||||
Type = uint32 // Must match DataSource definition
|
||||
}
|
||||
MyAlias = {
|
||||
Alias = Signal2
|
||||
DataSource = MyDataSource
|
||||
Type = float32
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### Threading Rules
|
||||
**Validation Rule**: A DataSource that is **not** marked as multithreaded (default) cannot be used by GAMs running in different threads within the same State.
|
||||
|
||||
To allow sharing, the DataSource class in the schema must have `#meta: multithreaded: true`.
|
||||
|
||||
## 3. Schemas and Validation
|
||||
|
||||
`mdt` validates your configuration against CUE schemas.
|
||||
|
||||
### Built-in Schema
|
||||
Common classes (`RealTimeApplication`, `StateMachine`, `IOGAM`, etc.) are built-in.
|
||||
|
||||
### Custom Schemas
|
||||
You can extend the schema by creating a `.marte_schema.cue` file in your project root.
|
||||
|
||||
**Example: Adding a custom GAM**
|
||||
|
||||
```cue
|
||||
package schema
|
||||
|
||||
#Classes: {
|
||||
MyCustomGAM: {
|
||||
// Metadata for Validator/LSP
|
||||
#meta: {
|
||||
direction: "INOUT" // "IN", "OUT", "INOUT"
|
||||
multithreaded: false
|
||||
}
|
||||
|
||||
// Fields
|
||||
Gain: float
|
||||
Offset?: float // Optional
|
||||
InputSignals: {...}
|
||||
OutputSignals: {...}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## 4. Multi-file Projects
|
||||
|
||||
You can split your configuration into multiple files.
|
||||
|
||||
### Namespaces
|
||||
Use `#package` to define where the file's content fits in the hierarchy.
|
||||
|
||||
**file1.marte**
|
||||
```marte
|
||||
#package MyApp.Controller
|
||||
+MyController = { ... }
|
||||
```
|
||||
|
||||
This places `MyController` under `MyApp.Controller`.
|
||||
|
||||
### Building
|
||||
The `build` command merges all files.
|
||||
|
||||
```bash
|
||||
mdt build -o final.marte src/*.marte
|
||||
```
|
||||
|
||||
## 5. Pragmas (Suppressing Warnings)
|
||||
|
||||
If validation is too strict, you can suppress warnings using pragmas (`//!`).
|
||||
|
||||
- **Suppress Unused Warning**:
|
||||
```marte
|
||||
+MyGAM = {
|
||||
Class = IOGAM
|
||||
//! ignore(unused): This GAM is triggered externally
|
||||
}
|
||||
```
|
||||
|
||||
- **Suppress Implicit Signal Warning**:
|
||||
```marte
|
||||
InputSignals = {
|
||||
//! ignore(implicit)
|
||||
ImplicitSig = { Type = uint32 }
|
||||
}
|
||||
```
|
||||
|
||||
- **Type Casting**:
|
||||
```marte
|
||||
Sig1 = {
|
||||
//! cast(uint32, int32): Intentional mismatch
|
||||
DataSource = DS
|
||||
Type = int32
|
||||
}
|
||||
```
|
||||
158
docs/EDITOR_INTEGRATION.md
Normal file
158
docs/EDITOR_INTEGRATION.md
Normal file
@@ -0,0 +1,158 @@
|
||||
# Editor Integration Guide
|
||||
|
||||
`mdt` includes a Language Server Protocol (LSP) implementation that provides features like:
|
||||
|
||||
- Syntax highlighting and error reporting
|
||||
- Auto-completion
|
||||
- Go to Definition / References
|
||||
- Hover documentation
|
||||
- Symbol renaming
|
||||
|
||||
The LSP server is started via the command:
|
||||
|
||||
```bash
|
||||
mdt lsp
|
||||
```
|
||||
|
||||
It communicates via **stdio**.
|
||||
|
||||
## VS Code
|
||||
|
||||
You can use a generic LSP extension like [Generic LSP Client](https://marketplace.visualstudio.com/items?itemName=summne.vscode-generic-lsp-client) or configure a custom task.
|
||||
|
||||
**Using "Run on Save" or similar extensions is an option, but for true LSP support:**
|
||||
|
||||
1. Install the **"glspc"** (Generic LSP Client) extension or similar.
|
||||
2. Configure it in your `settings.json`:
|
||||
|
||||
```json
|
||||
"glspc.languageServer configurations": [
|
||||
{
|
||||
"languageId": "marte",
|
||||
"command": "mdt",
|
||||
"args": ["lsp"],
|
||||
"rootUri": "${workspaceFolder}"
|
||||
}
|
||||
]
|
||||
```
|
||||
|
||||
3. Associate `.marte` files with the language ID:
|
||||
|
||||
```json
|
||||
"files.associations": {
|
||||
"*.marte": "marte"
|
||||
}
|
||||
```
|
||||
|
||||
## Neovim (Native LSP)
|
||||
|
||||
Add the following to your `init.lua` or `init.vim` (using `nvim-lspconfig`):
|
||||
|
||||
```lua
|
||||
local lspconfig = require'lspconfig'
|
||||
local configs = require'lspconfig.configs'
|
||||
|
||||
if not configs.marte then
|
||||
configs.marte = {
|
||||
default_config = {
|
||||
cmd = {'mdt', 'lsp'},
|
||||
filetypes = {'marte'},
|
||||
root_dir = lspconfig.util.root_pattern('.git', 'go.mod', '.marte_schema.cue'),
|
||||
settings = {},
|
||||
},
|
||||
}
|
||||
end
|
||||
|
||||
lspconfig.marte.setup{}
|
||||
|
||||
-- Add filetype detection
|
||||
vim.cmd([[
|
||||
autocmd BufNewFile,BufRead *.marte setfiletype marte
|
||||
]])
|
||||
```
|
||||
|
||||
## Helix
|
||||
|
||||
Add this to your `languages.toml` (usually in `~/.config/helix/languages.toml`):
|
||||
|
||||
```toml
|
||||
[[language]]
|
||||
name = "marte"
|
||||
scope = "source.marte"
|
||||
injection-regex = "marte"
|
||||
file-types = ["marte"]
|
||||
roots = [".git", ".marte_schema.cue"]
|
||||
comment-token = "//"
|
||||
indent = { tab-width = 2, unit = " " }
|
||||
language-servers = [ "mdt-lsp" ]
|
||||
|
||||
[language-server.mdt-lsp]
|
||||
command = "mdt"
|
||||
args = ["lsp"]
|
||||
```
|
||||
|
||||
## Vim
|
||||
|
||||
### Using `vim-lsp`
|
||||
|
||||
```vim
|
||||
if executable('mdt')
|
||||
au User lsp_setup call lsp#register_server({
|
||||
\ 'name': 'mdt-lsp',
|
||||
\ 'cmd': {server_info->['mdt', 'lsp']},
|
||||
\ 'whitelist': ['marte'],
|
||||
\ })
|
||||
endif
|
||||
|
||||
au BufRead,BufNewFile *.marte set filetype=marte
|
||||
```
|
||||
|
||||
### Using `ALE`
|
||||
|
||||
```vim
|
||||
call ale#linter#define('marte', {
|
||||
\ 'name': 'mdt',
|
||||
\ 'lsp': 'stdio',
|
||||
\ 'executable': 'mdt',
|
||||
\ 'command': '%e lsp',
|
||||
\ 'project_root': function('ale#handlers#python#FindProjectRoot'),
|
||||
\})
|
||||
```
|
||||
|
||||
## Zed
|
||||
|
||||
Add to your `settings.json`:
|
||||
|
||||
```json
|
||||
"lsp": {
|
||||
"marte": {
|
||||
"binary": {
|
||||
"path": "mdt",
|
||||
"arguments": ["lsp"]
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## Kakoune (kak-lsp)
|
||||
|
||||
In your `kak-lsp.toml`:
|
||||
|
||||
```toml
|
||||
[language.marte]
|
||||
filetypes = ["marte"]
|
||||
roots = [".git", ".marte_schema.cue"]
|
||||
command = "mdt"
|
||||
args = ["lsp"]
|
||||
```
|
||||
|
||||
## Eclipse
|
||||
|
||||
1. Install **LSP4E** plugin.
|
||||
2. Go to **Preferences > Language Servers**.
|
||||
3. Add a new Language Server:
|
||||
- **Content Type**: Text / Custom (Associate `*.marte` with a content type).
|
||||
- **Launch configuration**: Program.
|
||||
- **Command**: `mdt`
|
||||
- **Arguments**: `lsp`
|
||||
- **Input/Output**: Standard Input/Output.
|
||||
173
docs/TUTORIAL.md
Normal file
173
docs/TUTORIAL.md
Normal file
@@ -0,0 +1,173 @@
|
||||
# Creating a MARTe Application with mdt
|
||||
|
||||
This tutorial will guide you through creating, building, and validating a complete MARTe application using the `mdt` toolset.
|
||||
|
||||
## Prerequisites
|
||||
|
||||
- `mdt` installed and available in your PATH.
|
||||
- `make` (optional but recommended).
|
||||
|
||||
## Step 1: Initialize the Project
|
||||
|
||||
Start by creating a new project named `MyControlApp`.
|
||||
|
||||
```bash
|
||||
mdt init MyControlApp
|
||||
cd MyControlApp
|
||||
```
|
||||
|
||||
This command creates a standard project structure:
|
||||
|
||||
- `Makefile`: For building and checking the project.
|
||||
- `.marte_schema.cue`: For defining custom schemas (if needed).
|
||||
- `src/app.marte`: The main application definition.
|
||||
- `src/components.marte`: A placeholder for defining components (DataSources).
|
||||
|
||||
## Step 2: Define Components
|
||||
|
||||
Open `src/components.marte`. This file uses the `#package App.Data` namespace, meaning all definitions here will be children of `App.Data`.
|
||||
|
||||
Let's define a **Timer** (input source) and a **Logger** (output destination).
|
||||
|
||||
```marte
|
||||
#package MyContollApp.App.Data
|
||||
|
||||
+DDB = {
|
||||
Class = GAMDataSource
|
||||
}
|
||||
+TimingDataSource = {
|
||||
Class = TimingDataSource
|
||||
}
|
||||
+Timer = {
|
||||
Class = LinuxTimer
|
||||
Signals = {
|
||||
Counter = {
|
||||
Type = uint32
|
||||
}
|
||||
Time = {
|
||||
Type = uint32
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
+Logger = {
|
||||
Class = LoggerDataSource
|
||||
Signals = {
|
||||
LogValue = {
|
||||
Type = float32
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## Step 3: Implement Logic (GAM)
|
||||
|
||||
Open `src/app.marte`. This file defines the `App` node.
|
||||
|
||||
We will add a GAM that takes the time from the Timer, converts it, and logs it.
|
||||
|
||||
Add the GAM definition inside the `+Main` object (or as a separate object if you prefer modularity). Let's modify `src/app.marte`:
|
||||
|
||||
```marte
|
||||
#package MyContollApp
|
||||
+App = {
|
||||
Class = RealTimeApplication
|
||||
+Functions = {
|
||||
Class = RefenceContainer
|
||||
// Define the GAM
|
||||
+Converter = {
|
||||
Class = IOGAM
|
||||
InputSignals = {
|
||||
TimeIn = {
|
||||
DataSource = Timer
|
||||
Type = uint32
|
||||
Frequency = 100 //Hz
|
||||
Alias = Time // Refers to 'Time' signal in Timer
|
||||
}
|
||||
}
|
||||
OutputSignals = {
|
||||
LogOut = {
|
||||
DataSource = Logger
|
||||
Type = float32
|
||||
Alias = LogValue
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
+States = {
|
||||
Class = ReferenceContainer
|
||||
+Run = {
|
||||
Class = RealTimeState
|
||||
+MainThread = {
|
||||
Class = RealTimeThread
|
||||
Functions = { Converter } // Run our GAM
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
+Data = {
|
||||
Class = ReferenceContainer
|
||||
DefaultDataSource = DDB
|
||||
}
|
||||
+Scheduler = {
|
||||
Class = GAMScheduler
|
||||
TimingDataSource = TimingDataSource
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## Step 4: Validate
|
||||
|
||||
Run the validation check to ensure everything is correct (types match, references are valid).
|
||||
|
||||
```bash
|
||||
mdt check src/*.marte
|
||||
```
|
||||
|
||||
Or using Make:
|
||||
|
||||
```bash
|
||||
make check
|
||||
```
|
||||
|
||||
If you made a mistake (e.g., mismatched types), `mdt` will report an error.
|
||||
|
||||
## Step 5: Build
|
||||
|
||||
Merge all files into a single configuration file.
|
||||
|
||||
```bash
|
||||
mdt build -o final_app.marte src/*.marte
|
||||
```
|
||||
|
||||
Or using Make:
|
||||
|
||||
```bash
|
||||
make build
|
||||
```
|
||||
|
||||
This produces `app.marte` (or `final_app.marte`), which contains the flattened, merged configuration ready for the MARTe framework.
|
||||
|
||||
## Step 6: Advanced - Custom Schema
|
||||
|
||||
Suppose you want to enforce that your DataSources support multithreading. You can modify `.marte_schema.cue`.
|
||||
|
||||
```cue
|
||||
package schema
|
||||
|
||||
#Classes: {
|
||||
// Enforce that LinuxTimer must be multithreaded (example)
|
||||
LinuxTimer: {
|
||||
#meta: {
|
||||
multithreaded: true
|
||||
}
|
||||
...
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
Now, if you use `LinuxTimer` in multiple threads, `mdt check` will allow it (because of `#meta.multithreaded: true`). By default, it would disallow it.
|
||||
|
||||
## Conclusion
|
||||
|
||||
You have successfully initialized, implemented, validated, and built a MARTe application using `mdt`.
|
||||
44
examples/README.md
Normal file
44
examples/README.md
Normal file
@@ -0,0 +1,44 @@
|
||||
# Examples
|
||||
|
||||
This directory contains example projects demonstrating different features and usage patterns of `mdt`.
|
||||
|
||||
## Directory Structure
|
||||
|
||||
```
|
||||
examples/
|
||||
simple/ # A basic, single-file application
|
||||
complex/ # A multi-file project with custom schema
|
||||
README.md # This file
|
||||
```
|
||||
|
||||
## Running Examples
|
||||
|
||||
Prerequisite: `mdt` must be built (or installed). The Makefiles in the examples assume `mdt` is available at `../../build/mdt`.
|
||||
|
||||
### Simple Project
|
||||
|
||||
Demonstrates a minimal setup:
|
||||
- Single `main.marte` file.
|
||||
- Basic Thread and GAM definition.
|
||||
|
||||
**Run:**
|
||||
```bash
|
||||
cd simple
|
||||
make check
|
||||
make build
|
||||
```
|
||||
|
||||
### Complex Project
|
||||
|
||||
Demonstrates advanced features:
|
||||
- **Multi-file Structure**: `src/app.marte` (Logic) and `src/components.marte` (Data).
|
||||
- **Namespaces**: Use of `#package` to organize nodes.
|
||||
- **Custom Schema**: `.marte_schema.cue` defines a custom class (`CustomController`) with specific metadata (`#meta.multithreaded`).
|
||||
- **Validation**: Enforces strict typing and custom rules.
|
||||
|
||||
**Run:**
|
||||
```bash
|
||||
cd complex
|
||||
make check
|
||||
make build
|
||||
```
|
||||
12
examples/complex/.marte_schema.cue
Normal file
12
examples/complex/.marte_schema.cue
Normal file
@@ -0,0 +1,12 @@
|
||||
package schema
|
||||
|
||||
#Classes: {
|
||||
CustomController: {
|
||||
#meta: {
|
||||
multithreaded: false
|
||||
}
|
||||
Gain: float
|
||||
InputSignals: {...}
|
||||
OutputSignals: {...}
|
||||
}
|
||||
}
|
||||
12
examples/complex/Makefile
Normal file
12
examples/complex/Makefile
Normal file
@@ -0,0 +1,12 @@
|
||||
MDT=../../build/mdt
|
||||
|
||||
all: check build
|
||||
|
||||
check:
|
||||
$(MDT) check src/*.marte
|
||||
|
||||
build:
|
||||
$(MDT) build -o app_full.marte src/*.marte
|
||||
|
||||
fmt:
|
||||
$(MDT) fmt src/*.marte
|
||||
42
examples/complex/src/app.marte
Normal file
42
examples/complex/src/app.marte
Normal file
@@ -0,0 +1,42 @@
|
||||
#package complex_ex
|
||||
|
||||
+App = {
|
||||
Class = RealTimeApplication
|
||||
+States = {
|
||||
Class = ReferenceContainer
|
||||
+Run = {
|
||||
Class = RealTimeState
|
||||
+ControlThread = {
|
||||
Class = RealTimeThread
|
||||
Functions = { Controller }
|
||||
}
|
||||
}
|
||||
}
|
||||
+Functions = {
|
||||
Class = ReferenceContainer
|
||||
+Controller = {
|
||||
Class = CustomController // Defined in .marte_schema.cue
|
||||
Gain = 10.5
|
||||
InputSignals = {
|
||||
Ref = {
|
||||
DataSource = App.Data.References
|
||||
Type = float32
|
||||
}
|
||||
}
|
||||
OutputSignals = {
|
||||
Actuation = {
|
||||
DataSource = App.Data.Actuators
|
||||
Type = float32
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
+Data = {
|
||||
Class = ReferenceContainer
|
||||
DefaultDataSource = DDB1
|
||||
}
|
||||
+Scheduler = {
|
||||
Class = GAMScheduler
|
||||
TimingDataSource = TimingDS
|
||||
}
|
||||
}
|
||||
24
examples/complex/src/components.marte
Normal file
24
examples/complex/src/components.marte
Normal file
@@ -0,0 +1,24 @@
|
||||
#package complex_ex.App.Data
|
||||
|
||||
+References = {
|
||||
Class = GAMDataSource
|
||||
Signals = {
|
||||
Ref = {
|
||||
Type = float32
|
||||
}
|
||||
}
|
||||
}
|
||||
+Actuators = {
|
||||
Class = GAMDataSource
|
||||
Signals = {
|
||||
Actuation = {
|
||||
Type = float32
|
||||
}
|
||||
}
|
||||
}
|
||||
+TimingDS = {
|
||||
Class = TimingDataSource
|
||||
}
|
||||
+DDB1 = {
|
||||
Class = GAMDataSource
|
||||
}
|
||||
@@ -1,27 +0,0 @@
|
||||
//!allow(unused): Ignore unused GAMs in this file
|
||||
//!allow(implicit): Ignore implicit signals in this file
|
||||
|
||||
+Data = {
|
||||
Class = ReferenceContainer
|
||||
+MyDS = {
|
||||
Class = FileReader
|
||||
Filename = "test"
|
||||
Signals = {}
|
||||
}
|
||||
}
|
||||
|
||||
+MyGAM = {
|
||||
Class = IOGAM
|
||||
InputSignals = {
|
||||
// Implicit signal (not in MyDS)
|
||||
ImplicitSig = {
|
||||
DataSource = MyDS
|
||||
Type = uint32
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Unused GAM
|
||||
+UnusedGAM = {
|
||||
Class = IOGAM
|
||||
}
|
||||
12
examples/simple/Makefile
Normal file
12
examples/simple/Makefile
Normal file
@@ -0,0 +1,12 @@
|
||||
MDT=../../build/mdt
|
||||
|
||||
all: check build
|
||||
|
||||
check:
|
||||
$(MDT) check main.marte
|
||||
|
||||
build:
|
||||
$(MDT) build -o output.marte main.marte
|
||||
|
||||
fmt:
|
||||
$(MDT) fmt main.marte
|
||||
60
examples/simple/main.marte
Normal file
60
examples/simple/main.marte
Normal file
@@ -0,0 +1,60 @@
|
||||
//# Main Application
|
||||
+App = {
|
||||
Class = RealTimeApplication
|
||||
+Data = {
|
||||
Class = ReferenceContainer
|
||||
DefaultDataSource = DDB1
|
||||
+Timer = {
|
||||
Class = LinuxTimer
|
||||
Signals = {
|
||||
Counter = {
|
||||
Type = uint32
|
||||
}
|
||||
//! unused: Time variable is not used
|
||||
Time = {
|
||||
Type = uint32
|
||||
}
|
||||
}
|
||||
}
|
||||
+Logger = {
|
||||
Class = LoggerDataSource
|
||||
}
|
||||
+DDB1 = {
|
||||
Class = GAMDataSource
|
||||
}
|
||||
}
|
||||
+States = {
|
||||
Class = ReferenceContainer
|
||||
+Idle = {
|
||||
Class = RealTimeState
|
||||
+Thread1 = {
|
||||
Class = RealTimeThread
|
||||
CPUs = 0x1
|
||||
Functions = { MyGAM }
|
||||
}
|
||||
}
|
||||
}
|
||||
+Functions = {
|
||||
Class = ReferenceContainer
|
||||
+MyGAM = {
|
||||
Class = IOGAM
|
||||
InputSignals = {
|
||||
Counter = {
|
||||
DataSource = Timer
|
||||
Type = uint32
|
||||
Frequency = 100 //Hz
|
||||
}
|
||||
}
|
||||
OutputSignals = {
|
||||
CounterCopy = {
|
||||
DataSource = Logger
|
||||
Type = uint32
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
+Scheduler = {
|
||||
Class = GAMScheduler
|
||||
TimingDataSource = Timer
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -58,7 +58,7 @@ The LSP server should provide the following capabilities:
|
||||
- **Build Process**:
|
||||
- The build tool merges all files sharing the same base namespace into a **single output configuration**.
|
||||
- **Namespace Consistency**: The build tool must verify that all input files belong to the same project namespace (the first segment of the `#package` URI). If multiple project namespaces are detected, the build must fail with an error.
|
||||
- **Target**: The build output is written to a single target file (e.g., provided via CLI or API).
|
||||
- **Target**: The build output is written to standard output (`stdout`) by default. It can be written to a target file if the `-o` (or `--output`) argument is provided via CLI.
|
||||
- **Multi-File Definitions**: Nodes and objects can be defined across multiple files. The build tool, validator, and LSP must merge these definitions (including all fields and sub-nodes) from the entire project to create a unified view before processing or validating.
|
||||
- **Global References**: References to nodes, signals, or objects can point to definitions located in any file within the project. Support for dot-separated paths (e.g., `Node.SubNode`) is required.
|
||||
- **Merging Order**: For objects defined across multiple files, definitions are merged. The build tool must preserve the relative order of fields and sub-nodes as they appear in the source files, interleaving them correctly in the final output.
|
||||
|
||||
Reference in New Issue
Block a user