HTTP¶
The HTTP service (see HttpService) enables the interaction with MARTe2 based applications using the HTTP protocol. In particular it allows to query live information (using JSON) about any Object through the ExportData method.
HttpDataExportI¶
In order to be able to interact directly with an HttpService instance, a class must implement the HttpDataExportI interface. Depending on the type of request, the HttpService will either call the GetAsStructuredData or the GetAsText function. The former is expected to return data structured using a StructuredDataI interface, while the latter is aimed at writing free text (e.g. HTML).
The type of request can be set by including in the URL query string the parameter TextMode=0 or TextMode=1.
virtual bool GetAsStructuredData(MARTe::StreamStructuredDataI &data, MARTe::HttpProtocol &protocol) {
bool ok = HttpDataExportI::GetAsStructuredData(data, protocol);
...
ok = data.Write("Counter", counter);
...
virtual bool GetAsText(MARTe::StreamI &stream, MARTe::HttpProtocol &protocol) {
bool ok = HttpDataExportI::GetAsText(stream, protocol);
MARTe::StreamString txt;
...
ok = txt.Printf("<html><body><h1>Counter = %d</h1></body></html>\n", counter);
...
ok = stream.Write(txt.Buffer(), nBytes);
...
Warning
The data model and the data presentation layers should be as decoupled as possible. As a consequence, for the majority of use-cases, objects should not implement the HTTPDataExportI interface. Instead, objects should expose data using the ExportData method. It is assumed that all the data visualisation features are delegated to the HTTP client.
HttpObjectBrowser¶
The HttpObjectBrowser enables the HTTP browsing of any ReferenceContainer. Using such feature one can query information about any component in a given MARTe application instance.
The HttpObjectBrowser can be configured to point at its own childs Root=., at the root of the application Root=/ or at any given MARTe object Root=Path.To.Obj. By setting the Realm option (see HttpRealmI), the access to resources will be constrained to users that have valid credentials.
When accessing to an HttpObjectBrowser with text mode, the instance will check if there is an HttpDirectoryResource child instance capable of handling the request and if so forwards the request to it. This mechanism can be used, e.g. to return an index.html page.
+WebRoot = {
Class = HttpObjectBrowser
Root = "." //Navigation w.r.t. to this object
+ObjectBrowse = {
Class = HttpObjectBrowser
Root = "/" //Navigation w.r.t. to the ObjectRegistryDatabase root
}
+ResourcesHtml = {
Class = HttpDirectoryResource //If TextMode=1 will try to see if the component can resolve the request
BaseDir = "../../../../../Resources/HTTP/"
}
HttpMessageInterface¶
Using the HttpMessageInterface it is possible to send command to a MARTe application using the URL query string. These commands are interpreted and forward as MARTe messages.
...
+HttpMessageInterface = {
Class = HttpMessageInterface
+GOTOIDLE = { //Trigger the message GOTOIDLE if the URL contains msg=GOTOIDLE
Class = Message
Destination = StateMachine
Function = GOTOIDLE
Mode = ExpectsReply
}
...
JavaScript client¶
MARTe2 ships with a simple JavaScript based client framework that aims at easing the development of graphical user-interfaces.
Note
For more complex client applications, users should use the JSON interface and design their own client applications.
The MARTe2 JavaScript client (see Resources/HTTP on the project folder) is based on a plug-in mechanism which retrieves data from the server (using JSON) and offers it to a given class that inherits from the MARTeObject JavaScript class.
...
class HttpPendulumEx1 extends MARTeObject {
...
displayData(jsonData) {
var angle = parseFloat(jsonData["angle"]);
var width = this.canvas.clientWidth;
var height = this.canvas.clientHeight;
...
These classes can be instantiated and associated to a given JSON data stream using the MARTeLoader singleton. In particular the load method allows to allocate a given instance of the provided class to an HTML element and later associated to a JSON data source.
...
var mainTargetContainer = document.getElementById("mainTarget");
//Associate the HttpPendulumEx1P2.js to an HTML element identified by the id "table0x1" and load with data coming from http://.../Pendulum
MARTeLoader.instance().load("Pendulum", "HttpPendulumEx1P2", "table0x1");
...
The HttpObjectBrowser is a plug-in implementation that offers a navigation tree and that allows to display the selected class instance in a given display pane.
Note
Objects, such as the ThreadsInformationQuery, can be used to easily export live information about a running system.
The HttpClient allows to develop HTTP clients and is used as a core class for many of the HTTP service tests.
Examples¶
This example shows how to instantiate an HttpService and how to interface directly to an HttpDataExportI. After starting the application, point a browser at http://localhost:8084/
Introspection of live objects using HTTP.¶
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 | /**
* @file HttpExample1.cpp
* @brief Source file for class HttpExample1
* @date 26/10/2018
* @author Andre Neto
*
* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
* the Development of Fusion Energy ('Fusion for Energy').
* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
* by the European Commission - subsequent versions of the EUPL (the "Licence")
* You may not use this work except in compliance with the Licence.
* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
*
* @warning Unless required by applicable law or agreed to in writing,
* software distributed under the Licence is distributed on an "AS IS"
* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
* or implied. See the Licence permissions and limitations under the Licence.
* @details This source file contains the definition of all the methods for
* the class HttpExample1 (public, protected, and private). Be aware that some
* methods, such as those inline could be defined on the header file, instead.
*/
#define DLL_API
/*---------------------------------------------------------------------------*/
/* Standard header includes */
/*---------------------------------------------------------------------------*/
#include <math.h>
#include <signal.h>
/*---------------------------------------------------------------------------*/
/* Project header includes */
/*---------------------------------------------------------------------------*/
#include "AdvancedErrorManagement.h"
#include "BasicConsole.h"
#include "ClassRegistryDatabase.h"
#include "ClassRegistryItemT.h"
#include "ConfigurationDatabase.h"
#include "ErrorLoggerExample.h"
#include "HighResolutionTimer.h"
#include "HttpDataExportI.h"
#include "HttpDefinition.h"
#include "HttpService.h"
#include "Object.h"
#include "ObjectRegistryDatabase.h"
#include "Reference.h"
#include "ReferenceT.h"
#include "StandardParser.h"
#include "StreamString.h"
#include "StructuredDataI.h"
/*---------------------------------------------------------------------------*/
/* Static definitions */
/*---------------------------------------------------------------------------*/
static bool keepRunning = true;
static MARTe::float32 timeStepPeriod = 1e-2;
static void StopApp(int sig) {
keepRunning = false;
}
/*---------------------------------------------------------------------------*/
/* Method definitions */
/*---------------------------------------------------------------------------*/
namespace MARTe2Tutorial {
/**
* @brief A MARTe::Object class that will expose its properties using the DataExportI interface.
*/
class HttpObjectEx1: public MARTe::Object {
public:
CLASS_REGISTER_DECLARATION()
/**
* @brief NOOP.
*/
HttpObjectEx1() : Object() {
counter = 10u;
}
virtual ~HttpObjectEx1 () {
if (GetName() != NULL_PTR(const MARTe::char8 *)) {
REPORT_ERROR_STATIC(MARTe::ErrorManagement::Information, "No more references pointing at %s [%s]. "
"The Object will be safely deleted.", GetName(), GetClassProperties()->GetName());
}
}
virtual bool ExportData(MARTe::StructuredDataI & data) {
bool ok = Object::ExportData(data);
counter++;
if (counter == 30u) {
counter = 10u;
}
if (ok) {
ok = data.Write("Counter", counter);
}
return ok;
}
private:
MARTe::uint32 counter;
};
CLASS_REGISTER(HttpObjectEx1, "1.0")
/**
* @brief A MARTe::Object class that will expose its properties using the HttpDataExportI interface.
*/
class HttpObjectEx2: public MARTe::Object, public MARTe::HttpDataExportI {
public:
CLASS_REGISTER_DECLARATION()
/**
* @brief NOOP.
*/
HttpObjectEx2() : Object() {
counter = 10u;
}
virtual ~HttpObjectEx2 () {
if (GetName() != NULL_PTR(const MARTe::char8 *)) {
REPORT_ERROR_STATIC(MARTe::ErrorManagement::Information, "No more references pointing at %s [%s]. "
"The Object will be safely deleted.", GetName(), GetClassProperties()->GetName());
}
}
virtual bool GetAsStructuredData(MARTe::StreamStructuredDataI &data, MARTe::HttpProtocol &protocol) {
bool ok = HttpDataExportI::GetAsStructuredData(data, protocol);
if (ok) {
ok = MARTe::Object::ExportData(data);
}
counter++;
if (counter == 30u) {
counter = 10u;
}
if (ok) {
ok = data.Write("Counter", counter);
}
return ok;
}
virtual bool GetAsText(MARTe::StreamI &stream, MARTe::HttpProtocol &protocol) {
bool ok = HttpDataExportI::GetAsText(stream, protocol);
MARTe::StreamString txt;
if (ok) {
ok = txt.Printf("<html><body><h1>Counter = %d</h1></body></html>\n", counter);
}
if (ok) {
MARTe::uint32 nBytes = txt.Size();
ok = stream.Write(txt.Buffer(), nBytes);
}
return ok;
}
private:
MARTe::uint32 counter;
};
CLASS_REGISTER(HttpObjectEx2, "1.0")
/**
* @brief A MARTe::Object class that will expose its properties using the DataExportI interface.
*/
class HttpPendulumEx1: public MARTe::Object {
public:
CLASS_REGISTER_DECLARATION()
/**
* @brief NOOP.
*/
HttpPendulumEx1() : Object() {
velocity = 0;
angle = 3.1415 / 3;
gravity = -9.8;
length = 1;
timeStepCounter = 0;
}
virtual ~HttpPendulumEx1 () {
if (GetName() != NULL_PTR(const MARTe::char8 *)) {
REPORT_ERROR_STATIC(MARTe::ErrorManagement::Information, "No more references pointing at %s [%s]. "
"The Object will be safely deleted.", GetName(), GetClassProperties()->GetName());
}
}
virtual bool ExportData(MARTe::StructuredDataI & data) {
bool ok = Object::ExportData(data);
if (ok) {
ok = data.Write("angle", angle);
}
return ok;
}
void Execute() {
MARTe::float32 acceleration = gravity / length * sinf(angle);
velocity += acceleration * timeStepPeriod;
angle += velocity * timeStepPeriod;
timeStepCounter++;
//REPORT_ERROR_STATIC(MARTe::ErrorManagement::Debug, "Time = %f Angle = %f", timeStepPeriod, angle);
}
private:
MARTe::float32 length;
MARTe::float32 velocity;
MARTe::float32 angle;
MARTe::float32 gravity;
MARTe::uint32 timeStepCounter;
};
CLASS_REGISTER(HttpPendulumEx1, "1.0")
}
int main(int argc, char **argv) {
using namespace MARTe;
using namespace MARTe2Tutorial;
SetErrorProcessFunction(&ErrorProcessExampleFunction);
StreamString config = ""
"+WebRoot = {"
" Class = HttpObjectBrowser"
" Root = \".\""
" +TheRoot = {"
" Root = \"/\""
" Class = HttpObjectBrowser"
" }"
" +ARootObj1 = {"
" Class = HttpObjectBrowser"
" Root = \".\""
" +AChildObj1 = {"
" Class = HttpObjectEx1"
" }"
" +Obj2 = {"
" Class = HttpObjectEx1"
" }"
" }"
" +ARootObj2 = {"
" Class = HttpObjectEx1"
" }"
" +ARootObj3 = {"
" Class = HttpObjectEx1"
" }"
" +Pendulum = {"
" Class = HttpPendulumEx1"
" }"
" +ResourcesHtml = {"
" Class = HttpDirectoryResource"
" BaseDir = \"../../../../../../Resources/HTTP/\""
" }"
" +ResourcesJS = {"
" Class = HttpDirectoryResource"
" BaseDir = \"../../../../../../Resources/HTTP/JS/\""
" }"
" +ResourcesJS2 = {"
" Class = HttpDirectoryResource"
" BaseDir = \"../Resources/HTTP/\""
" }"
" +ThreadsInformationQuery = {"
" Class = ThreadsInformationQuery"
" }"
"}"
"+WebServer = {"
" Class = HttpService"
" Port = 8084"
" WebRoot = WebRoot"
" Timeout = 0"
" ListenMaxConnections = 255"
" AcceptTimeout = 1000"
" MaxNumberOfThreads = 64"
" MinNumberOfThreads = 1"
"}";
REPORT_ERROR_STATIC(ErrorManagement::Information, "Loading CFG:\n%s", config.Buffer());
ConfigurationDatabase cdb;
StreamString err;
//Force the string to be seeked to the beginning.
config.Seek(0LLU);
StandardParser parser(config, cdb, &err);
bool ok = parser.Parse();
if (ok) {
//After parsing the tree is pointing at the last leaf
cdb.MoveToRoot();
ok = ObjectRegistryDatabase::Instance()->Initialise(cdb);
}
else {
StreamString errPrint;
errPrint.Printf("Failed to parse %s", err.Buffer());
REPORT_ERROR_STATIC(ErrorManagement::ParametersError, errPrint.Buffer());
}
if (ok) {
REPORT_ERROR_STATIC(ErrorManagement::Information, "Successfully loaded the configuration file");
}
ReferenceT<HttpService> service = ObjectRegistryDatabase::Instance()->Find("WebServer");
if (ok) {
ok = service.IsValid();
}
if (ok) {
ok = service->Start();
}
StreamString msg = "Type Ctrl + C to exit\n";
BasicConsole con;
con.Open(BasicConsoleMode::PerformCharacterInput);
con.SetSceneSize(64, 1);
uint32 msgSize = msg.Size();
con.Write(msg.Buffer(), msgSize);
ReferenceT<HttpPendulumEx1> pendulum = ObjectRegistryDatabase::Instance()->Find("WebRoot.Pendulum");
signal(SIGTERM, StopApp);
signal(SIGINT, StopApp);
if (ok) {
ok = pendulum.IsValid();
}
if (ok) {
while (keepRunning) {
pendulum->Execute();
Sleep::Sec(timeStepPeriod);
}
}
if (ok) {
ok = service->Stop();
}
return 0;
}
|
For the example above, the Pendulum JavaScript class was coded as below:
Development of JavaScript plugins that can be integrated into client applications.¶
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 | /**
* @file HttpPendulumEx1.js
* @date 28/03/2019
* @author Andre' Neto
*
* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
* the Development of Fusion Energy ('Fusion for Energy').
* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
* by the European Commission - subsequent versions of the EUPL (the "Licence")
* You may not use this work except in compliance with the Licence.
* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
* Unless required by applicable law or agreed to in writing,
* software distributed under the Licence is distributed on an "AS IS"
* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
* or implied. See the Licence permissions and limitations under the Licence.
*/
/**
* Default plugin renderer for a pendulum.
*/
class HttpPendulumEx1 extends MARTeObject {
/**
* NOOP
*/
constructor() {
super();
this.pcolor = "yellow";
}
/**
* Creates the canvas.
*
* @param {obj} target the target HTML container where to display the data.
*/
prepareDisplay(target) {
this.canvas = document.createElement("canvas");
this.canvas.setAttribute("class", "pendulumCanvas");
this.context = this.canvas.getContext("2d");
target.innerHTML = "";
target.appendChild(this.canvas);
this.refresh(100);
}
/**
* Updates the pendulum with the new angle position.
*
* @param {obj} jsonData the data as received by the server and which should contain the angle.
*/
displayData(jsonData) {
var angle = parseFloat(jsonData["angle"]);
var width = this.canvas.clientWidth;
var height = this.canvas.clientHeight;
var length = Math.min(width, height);
var rPend = length * 0.4;
var rBall = length * 0.04;
var rBar = length * 0.004;
var ballX = Math.sin(angle) * rPend;
var ballY = Math.cos(angle) * rPend;
this.context.fillStyle = "white";
this.context.fillRect(0, 0, width, height);
this.context.save();
this.context.translate(width/2, 10);
this.context.rotate(angle);
this.context.beginPath();
this.context.rect(-rBar, -rBar, rBar*2, rPend+rBar*2);
this.context.strokeStyle = "black";
this.context.fillStyle = "black";
this.context.fill();
this.context.stroke();
this.context.beginPath();
this.context.arc(0, rPend, rBall, 0, Math.PI*2, false);
this.context.fillStyle = this.pcolor;
this.context.fill();
this.context.stroke();
this.context.restore();
}
/**
* Sets the pendulum color.
*
* @param {color} c the new pendulum color.
*/
setColor(c) {
this.pcolor = c;
}
}
|
Adding an HttpService to an existent MARTe application can be used to query live information about GAM signals and to change the StateMachine status. After starting the application, point a browser at http://localhost:8084 and navigate to the different GAMs. Also change the state machine state by interacting with the HttpMessageInterface component.
Integration of an HttpService into an existent application (Run with MESSAGE=StateMachine:START and NAME_OF_THE_CONFIGURATION_FILE=RTApp-5.cfg)¶
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 | +WebRoot = {
Class = HttpObjectBrowser
Root = "."
+ObjectBrowse = {
Class = HttpObjectBrowser
Root = "/"
}
+ResourcesHtml = {
Class = HttpDirectoryResource
BaseDir = "../../../../../Resources/HTTP/"
}
+HttpMessageInterface = {
Class = HttpMessageInterface
+GOTOIDLE = {
Class = Message
Destination = StateMachine
Function = GOTOIDLE
Mode = ExpectsReply
}
+GOTORUN = {
Class = Message
Destination = StateMachine
Function = GOTORUN
Mode = ExpectsReply
}
+GOTOERR = {
Class = Message
Destination = StateMachineError
Function = GOTOERR
Mode = ExpectsReply
}
}
}
+WebServer = {
Class = HttpService
Port = 8084
WebRoot = WebRoot
Timeout = 0
ListenMaxConnections = 255
AcceptTimeout = 1000
MaxNumberOfThreads = 8
MinNumberOfThreads = 1
}
+StateMachine = {
Class = StateMachine
+INITIAL = {
Class = ReferenceContainer
+START = {
Class = StateMachineEvent
NextState = "IDLE"
NextStateError = "IDLE"
Timeout = 0
+StartHttpServer = {
Class = Message
Destination = "WebServer"
Function = "Start"
Mode = ExpectsReply
}
+ChangeToStateIdleMsg = {
Class = Message
Destination = TestApp
Mode = ExpectsReply
Function = PrepareNextState
+Parameters = {
Class = ConfigurationDatabase
param1 = Idle
}
}
+StartNextStateExecutionMsg = {
Class = Message
Destination = TestApp
Function = StartNextStateExecution
Mode = ExpectsReply
}
}
}
+IDLE = {
Class = ReferenceContainer
+GOTORUN = {
Class = StateMachineEvent
NextState = "RUN"
NextStateError = "IDLE"
Timeout = 0
+ChangeToRunMsg = {
Class = Message
Destination = TestApp
Mode = ExpectsReply
Function = PrepareNextState
+Parameters = {
Class = ConfigurationDatabase
param1 = Run
}
}
+StopCurrentStateExecutionMsg = {
Class = Message
Destination = TestApp
Function = StopCurrentStateExecution
Mode = ExpectsReply
}
+StartNextStateExecutionMsg = {
Class = Message
Destination = TestApp
Function = StartNextStateExecution
Mode = ExpectsReply
}
}
}
+RUN = {
Class = ReferenceContainer
+GOTOIDLE = {
Class = StateMachineEvent
NextState = "IDLE"
NextStateError = "IDLE"
Timeout = 0
+ChangeToIdleMsg = {
Class = Message
Destination = TestApp
Mode = ExpectsReply
Function = PrepareNextState
+Parameters = {
Class = ConfigurationDatabase
param1 = Idle
}
}
+StopCurrentStateExecutionMsg = {
Class = Message
Destination = TestApp
Function = StopCurrentStateExecution
Mode = ExpectsReply
}
+StartNextStateExecutionMsg = {
Class = Message
Destination = TestApp
Function = StartNextStateExecution
Mode = ExpectsReply
}
}
}
}
$TestApp = {
Class = RealTimeApplication
+Functions = {
Class = ReferenceContainer
+GAMTimer = {
Class = IOGAM
InputSignals = {
Counter = {
DataSource = Timer
Type = uint32
}
Time = {
Frequency = 1
DataSource = Timer
Type = uint32
}
}
OutputSignals = {
Counter = {
DataSource = DDB1
Type = uint32
}
Time = {
DataSource = DDB1
Type = uint32
}
}
}
+GAMFixed1 = {
Class = FixedGAMExample1
Gain = 2
InputSignals = {
Counter = {
DataSource = DDB1
Type = uint32
}
}
OutputSignals = {
GainCounter = {
DataSource = DDB1
Type = uint32
}
}
}
+GAMGroup1 = {
Class = ParentGAMGroupExample1
Model = {{2, 0, 0}, {0, 3, 0}, {1, 0, 4}}
+GAMChild1 = {
Class = ChildGAMGroupExample1
InputSignals = {
Signal3 = {
DataSource = DDB1
Type = uint32
NumberOfDimensions = 1
NumberOfElements = 3
}
}
OutputSignals = {
Signal1 = {
DataSource = DDB1
Type = uint32
NumberOfDimensions = 1
NumberOfElements = 3
Default = {1, 1, 1}
}
}
}
+GAMChild2 = {
Class = ChildGAMGroupExample2
InputSignals = {
Signal1 = {
DataSource = DDB1
Type = uint32
NumberOfDimensions = 1
NumberOfElements = 3
}
}
OutputSignals = {
Signal2 = {
DataSource = DDB1
Type = uint32
NumberOfDimensions = 1
NumberOfElements = 3
Default = {1, 1, 1}
}
}
}
+GAMChild3 = {
Class = ChildGAMGroupExample1
InputSignals = {
Signal2 = {
DataSource = DDB1
Type = uint32
NumberOfDimensions = 1
NumberOfElements = 3
}
}
OutputSignals = {
Signal3 = {
DataSource = DDB1
Type = uint32
NumberOfDimensions = 1
NumberOfElements = 3
Default = {1, 1, 1}
}
}
}
}
+GAMDisplay = {
Class = IOGAM
InputSignals = {
Counter = {
DataSource = DDB1
Type = uint32
Default = 100
}
GainCounter = {
DataSource = DDB1
Type = uint32
}
Signal1 = {
DataSource = DDB1
Type = uint32
}
Signal2 = {
DataSource = DDB1
Type = uint32
}
//Print only the first and the last element of Signal 3
Signal3 = {
DataSource = DDB1
Type = uint32
Ranges = {{0,0}, {2, 2}}
NumberOfElements = 3
NumberOfDimensions = 1
}
}
OutputSignals = {
Counter = {
DataSource = LoggerDataSource
Type = uint32
}
GainCounter = {
DataSource = LoggerDataSource
Type = uint32
}
Signal1 = {
DataSource = LoggerDataSource
Type = uint32
NumberOfElements = 3
NumberOfDimensions = 1
}
Signal2 = {
DataSource = LoggerDataSource
Type = uint32
NumberOfElements = 3
NumberOfDimensions = 1
}
Signal3FirstAndLast = {
DataSource = LoggerDataSource
Type = uint32
NumberOfElements = 2
NumberOfDimensions = 1
}
}
}
}
+Data = {
Class = ReferenceContainer
DefaultDataSource = DDB1
+DDB1 = {
Class = GAMDataSource
}
+LoggerDataSource = {
Class = LoggerDataSource
}
+Timings = {
Class = TimingDataSource
}
+Timer = {
Class = LinuxTimer
SleepNature = "Default"
Signals = {
Counter = {
Type = uint32
}
Time = {
Type = uint32
}
}
}
}
+States = {
Class = ReferenceContainer
+Idle = {
Class = RealTimeState
+Threads = {
Class = ReferenceContainer
+Thread1 = {
Class = RealTimeThread
CPUs = 0x1
//Note that only the GAMGroup1 has to be scheduled for execution (all the GAMGroup child GAMs will be automatically executed)
Functions = {GAMTimer }
}
}
}
+Run = {
Class = RealTimeState
+Threads = {
Class = ReferenceContainer
+Thread1 = {
Class = RealTimeThread
CPUs = 0x1
//Note that only the GAMGroup1 has to be scheduled for execution (all the GAMGroup child GAMs will be automatically executed)
Functions = {GAMTimer GAMFixed1 GAMGroup1 GAMDisplay}
}
}
}
}
+Scheduler = {
Class = GAMScheduler
TimingDataSource = Timings
}
}
|
Instructions on how to compile and execute the examples can be found here.