Introspection

The MARTe2 Introspection and IntrospectionT allow to register in the ClassRegistryDatabase members of a class or a C struct.

This allows to develop components that query and adapt in runtime to the properties of a given class or structure. Examples are the configuration of Objects using structures and the interchange of real-time data between GAMs.

Class/struct register

Note

See the following link for a full data-driven alternative on how to create and register structures.

In order to automatically register a MARTe Object or a C struct into the ClassRegistryDatabase, the following macros must be used:

  • DECLARE_CLASS_MEMBER(className, memberName, type, modifierString, attributeString ), where:

    • className is the name of the class or structure;

    • memberName is the name of the member to be registered;

    • type is the member type (a basic type or a structure);

    • modifierStrubg are the possible member modifiers as described in the documentation of the method GetMemberModifiers of IntrospectionEntry;

    • attributeString is a list of attributes as specified in the documentation of the method GetMemberAtributes of IntrospectionEntry.

  • DECLARE_CLASS_INTROSPECTION(className, introEntryArray) or, in the case of C structs, DECLARE_STRUCT_INTROSPECTION(structName, introEntryArray), where:

    • className is the name of the class and structName is the name of the struct;

    • introEntryArray is a zero terminated array of all the previously declared IntrospectionEntry elements for this class or structure. The entries in the array shall be named &className_memberName_introspectionEntry, where className is the name of the struct of class and memberName is the name of the member to be registered.

struct A {
   MARTe::float32 f1;
   MARTe::float32 f2;
};
struct B {
   struct A a1;
   struct A a2;
};
...
DECLARE_CLASS_MEMBER(A, f1, float32, "", "");
DECLARE_CLASS_MEMBER(A, f2, float32, "", "");
static const MARTe::IntrospectionEntry* AStructEntries[] = { &A_f1_introspectionEntry, &A_f2_introspectionEntry, 0 };
DECLARE_STRUCT_INTROSPECTION(A, AStructEntries)
...
DECLARE_CLASS_MEMBER(B, a1, A, "", "");
DECLARE_CLASS_MEMBER(B, a2, A, "", "");
static const MARTe::IntrospectionEntry* BStructEntries[] = { &B_a1_introspectionEntry, &B_a2_introspectionEntry, 0 };
DECLARE_STRUCT_INTROSPECTION(B, BStructEntries)

Note

This introspection infrastructure is expected to be mostly used by higher level tools, which will automatically generate the required code.

Query instrospection

The introspection information is accessible by querying the ClassRegistryDatabase against the relevant struct/class name and by calling the method GetIntrospection on the retrieved ClassRegistryItem (see example below).

Examples

The following example show how to register a structure, a MARTe object and to how to query their properties in runtime.

Introspection example (ObjectsExample3)
  1/**
  2 * @file ObjectsExample3.cpp
  3 * @brief Source file for class ObjectsExample3
  4 * @date 14/03/2018
  5 * @author Andre' Neto
  6 *
  7 * @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
  8 * the Development of Fusion Energy ('Fusion for Energy').
  9 * Licensed under the EUPL, Version 1.1 or - as soon they will be approved
 10 * by the European Commission - subsequent versions of the EUPL (the "Licence")
 11 * You may not use this work except in compliance with the Licence.
 12 * You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
 13 *
 14 * @warning Unless required by applicable law or agreed to in writing, 
 15 * software distributed under the Licence is distributed on an "AS IS"
 16 * basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
 17 * or implied. See the Licence permissions and limitations under the Licence.
 18
 19 * @details This source file contains the definition of all the methods for
 20 * the class ObjectsExample3 (public, protected, and private). Be aware that some
 21 * methods, such as those inline could be defined on the header file, instead.
 22 */
 23
 24#define DLL_API
 25
 26/*---------------------------------------------------------------------------*/
 27/*                         Standard header includes                          */
 28/*---------------------------------------------------------------------------*/
 29
 30/*---------------------------------------------------------------------------*/
 31/*                         Project header includes                           */
 32/*---------------------------------------------------------------------------*/
 33#include "AdvancedErrorManagement.h"
 34#include "ClassRegistryDatabase.h"
 35#include "ErrorLoggerExample.h"
 36#include "IntrospectionT.h"
 37#include "IntrospectionEntry.h"
 38#include "Object.h"
 39#include "StreamString.h"
 40
 41/*---------------------------------------------------------------------------*/
 42/*                           Static definitions                              */
 43/*---------------------------------------------------------------------------*/
 44
 45/*---------------------------------------------------------------------------*/
 46/*                           Method definitions                              */
 47/*---------------------------------------------------------------------------*/
 48namespace MARTe2Tutorial {
 49/**
 50 * @brief A MARTe::Object class will be automatically registered
 51 * into the ClassRegistryDatabase.
 52 */
 53class ControllerEx1: public MARTe::Object {
 54public:
 55    CLASS_REGISTER_DECLARATION()
 56
 57    /**
 58     * @brief NOOP.
 59     */
 60ControllerEx1    () {
 61        gain = 0xffu;
 62    }
 63
 64    /**
 65     * A property.
 66     */
 67    MARTe::uint32 gain;
 68
 69    /**
 70     * Another property.
 71     */
 72    MARTe::float32 reference[6];
 73};
 74
 75CLASS_REGISTER(ControllerEx1, "")
 76//Register the member gain
 77DECLARE_CLASS_MEMBER(ControllerEx1, gain, uint32, "", "");
 78DECLARE_CLASS_MEMBER(ControllerEx1, reference, float32, "[6]", "");
 79//The array members must follow the naming convention CLASSNAME_MEMBERNAME_introspectionEntry
 80static const MARTe::IntrospectionEntry* ControllerEx1ClassEntries[] = { &ControllerEx1_gain_introspectionEntry,
 81        &ControllerEx1_reference_introspectionEntry, 0 };
 82//Finally declare the class as introspectable
 83DECLARE_CLASS_INTROSPECTION(ControllerEx1, ControllerEx1ClassEntries)
 84
 85//An introspectable structure
 86struct A {
 87    MARTe::float32 f1;
 88    MARTe::float32 f2;
 89};
 90struct B {
 91    struct A a1;
 92    struct A a2;
 93};
 94//The strategy is identical to the class registration
 95DECLARE_CLASS_MEMBER(A, f1, float32, "", "");
 96DECLARE_CLASS_MEMBER(A, f2, float32, "", "");
 97static const MARTe::IntrospectionEntry* AStructEntries[] = { &A_f1_introspectionEntry, &A_f2_introspectionEntry, 0 };
 98DECLARE_STRUCT_INTROSPECTION(A, AStructEntries)
 99DECLARE_CLASS_MEMBER(B, a1, A, "", "");
100DECLARE_CLASS_MEMBER(B, a2, A, "", "");
101static const MARTe::IntrospectionEntry* BStructEntries[] = { &B_a1_introspectionEntry, &B_a2_introspectionEntry, 0 };
102DECLARE_STRUCT_INTROSPECTION(B, BStructEntries)
103
104}
105
106static void PrintIntrospection(const MARTe::char8 * const structOrClassToSearch) {
107    using namespace MARTe;
108
109    ClassRegistryDatabase *crdSingleton = ClassRegistryDatabase::Instance();
110    const ClassRegistryItem *classRegistryItem = crdSingleton->Find(structOrClassToSearch);
111    if (classRegistryItem != NULL) {
112        //Get the object builder (which knows how to build classes of this type).
113        const Introspection *introspection = classRegistryItem->GetIntrospection();
114        //Print all the available information.
115        if (introspection != NULL) {
116            uint32 numberOfMembers = introspection->GetNumberOfMembers();
117            uint32 n;
118            REPORT_ERROR_STATIC(ErrorManagement::Information, "[%s] number of members: %d:", structOrClassToSearch, numberOfMembers);
119            for (n = 0u; n < numberOfMembers; n++) {
120                const IntrospectionEntry entry = introspection->operator [](n);
121                const char8 * const memberName = entry.GetMemberName();
122                const char8 * const memberType = entry.GetMemberTypeName();
123                const char8 * const memberModifiers = entry.GetMemberModifiers();
124                const char8 * const memberAttributes = entry.GetMemberAttributes();
125                REPORT_ERROR_STATIC(ErrorManagement::Information, "[%d] [name]: %s [type]: %s [mods]: %s [attrs]: %s", n, memberName, memberType, memberModifiers, memberAttributes);
126            }
127        }
128        else {
129            REPORT_ERROR_STATIC(ErrorManagement::FatalError, "No introspection available for struct or class "
130                    "with name: %s", structOrClassToSearch);
131        }
132    }
133    else {
134        REPORT_ERROR_STATIC(ErrorManagement::FatalError, "Could not find struct or class "
135                "with name: %s", structOrClassToSearch);
136    }
137}
138
139int main(int argc, char **argv) {
140    using namespace MARTe;
141    using namespace MARTe2Tutorial;
142    SetErrorProcessFunction(&ErrorProcessExampleFunction);
143
144    PrintIntrospection("ControllerEx1");
145    PrintIntrospection("A");
146    PrintIntrospection("B");
147
148    return 0;
149}

Instructions on how to compile and execute the examples can be found here.