devices.aadl 12.5 KB
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package ocarina_drivers
public

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  with deployment;
  
  with ocarina_buses;
  
  with Data_Model;
  with Base_Types;
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  with ocarina_drivers_leon_serial;
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  with ocarina_drivers_rasta_1553;
  with ocarina_drivers_rasta_serial;
  with ocarina_drivers_rasta_spacewire;
  with ocarina_drivers_rtems_ne2000;
  
  with ocarina_drivers_udp_exarm;
  with ocarina_drivers_serial;
  
  with ocarina_drivers_ip_pohic;
  
  with ocarina_drivers_exarm_ni_6071e_analog;
  with ocarina_drivers_exarm_ni_6071e_digital;
  
  with ocarina_drivers_generic_keyboard;
  
  with GRUART;
  with GRSPW;
  with TCP_IP_Protocol;

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  with TASTE;

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  ------------------------
  -- Configuration Type --
  ------------------------

   data configuration_type_ip
   properties
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      Type_Source_Name  => "IP-Conf-T";
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      Deployment::Module_Name => "POHICDRIVER-IP";
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      Source_Language   => ASN1;
      Source_Text       => ("OCARINA_INCLUDE_PATH/ocarina/runtime/polyorb-hi-c/src/drivers/configuration/ip.asn" , "drivers/configuration/ip.h");
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   end configuration_type_ip;

   data configuration_type_serial
   properties
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      Type_Source_Name  => "Serial-Conf-T";
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      Deployment::Module_Name => "POHICDRIVER-UART";
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      Source_Language   => ASN1;
      Source_Text       => ("OCARINA_INCLUDE_PATH/ocarina/runtime/polyorb-hi-c/src/drivers/configuration/serial.asn", "drivers/configuration/serial.h");
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   end configuration_type_serial;

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  --------------
  -- Keyboard --
  --------------
  
  device generic_keyboard
  features
    key_pressed  : out data port Base_Types::Character;
  properties
    Deployment::Driver_Name    => "generic_keyboard";
    Device_Driver              => classifier (ocarina_drivers_generic_keyboard::generic_keyboard_driver.i);
    Initialize_Entrypoint      => classifier (ocarina_drivers_generic_keyboard::spg_generic_keyboard_init);
  end generic_keyboard;
  
  device implementation generic_keyboard.linux
  end generic_keyboard.linux;

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  ------------------
  -- RASTA SERIAL --
  ------------------
  
  device leon_serial
  features
    serialaccess : requires bus access ocarina_buses::serial.generic;
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   properties
    TASTE::Help                           => "help leon serial";
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  end leon_serial;
  
  device implementation leon_serial.raw
  properties
    Deployment::Driver_Name    => "serial_leon";
    Device_Driver              => classifier (ocarina_drivers_leon_serial::serial_driver.leon);
    Initialize_Entrypoint      => classifier (ocarina_drivers_leon_serial::spg_serial_init_leon);
    Provided_Virtual_Bus_Class => (classifier (ocarina_buses::raw.i));
  end leon_serial.raw;

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  device implementation leon_serial.raw_sender
  properties
    Deployment::Driver_Name    => "serial_leon_sender";
    Device_Driver              => classifier (ocarina_drivers_leon_serial::serial_driver.leon_sender);
    Initialize_Entrypoint      => classifier (ocarina_drivers_leon_serial::spg_serial_init_leon_sender);
    Provided_Virtual_Bus_Class => (classifier (ocarina_buses::raw.i));
  end leon_serial.raw_sender;

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  ----------------
  -- RASTA 1553 --
  ----------------
  
  device rasta_1553
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  properties
    TASTE::Help                           => "help rasta 1553";
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  end rasta_1553;
  
  device implementation rasta_1553.terminal
  properties
    Deployment::Driver_Name    => "1553_rasta";
    Device_Driver              => classifier (ocarina_drivers_rasta_1553::if1553_driver.rasta_terminal);
    Initialize_Entrypoint      => classifier (ocarina_drivers_rasta_1553::spg_1553_init_rasta_terminal);
    Provided_Virtual_Bus_Class => (classifier (ocarina_buses::pohi.c));
  end rasta_1553.terminal;
  
  device implementation rasta_1553.controller_sender_only
  properties
    Deployment::Driver_Name    => "1553_rasta";
    Device_Driver              => classifier (ocarina_drivers_rasta_1553::if1553_driver.rasta_controller_sender_only);
    Initialize_Entrypoint      => classifier (ocarina_drivers_rasta_1553::spg_1553_init_rasta_controller);
    Provided_Virtual_Bus_Class => (classifier (ocarina_buses::pohi.c));
  end rasta_1553.controller_sender_only;
  
  ------------------
  -- RASTA SERIAL --
  ------------------
  
  device rasta_serial
  features
    serialaccess : requires bus access ocarina_buses::serial.generic;
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  properties
    TASTE::Help                           => "help rasta serial";
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  end rasta_serial;
  
  device implementation rasta_serial.raw
  properties
    Deployment::Driver_Name    => "serial_rasta";
    Device_Driver              => classifier (ocarina_drivers_rasta_serial::serial_driver.rasta);
    Initialize_Entrypoint      => classifier (ocarina_drivers_rasta_serial::spg_serial_init_rasta);
    Provided_Virtual_Bus_Class => (classifier (ocarina_buses::raw.i));
  end rasta_serial.raw;

  device implementation rasta_serial.pohiada
  properties
    Deployment::Driver_Name    => "serial_rasta";
    Implemented_As =>  classifier (GRUART::Driver_GRUART_Protocol.impl);
    Initialize_Entrypoint => classifier (GRUART::Initialize);
    Provided_Virtual_Bus_Class => (classifier (ocarina_buses::raw.i));
  end rasta_serial.pohiada;

  ---------------------
  -- RASTA SPACEWIRE --
  ---------------------

  device rasta_spacewire
  features
    spwaccess : requires bus access ocarina_buses::spacewire.generic;
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  properties
    TASTE::Help                           => "help rasta spw";
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  end rasta_spacewire;
  
  device implementation rasta_spacewire.pohic
  properties
    Deployment::Driver_Name       => "spacewire_rasta";
    Device_Driver                 => classifier (ocarina_drivers_rasta_spacewire::spacewire_driver.rasta);
    Initialize_Entrypoint         => classifier (ocarina_drivers_rasta_spacewire::spg_spacewire_init_rasta);
    Provided_Virtual_Bus_Class    => (classifier (ocarina_buses::pohi.c));
  end rasta_spacewire.pohic;

  device implementation rasta_spacewire.pohiada
  properties
    Deployment::Driver_Name       => "spacewire_rasta";
    Implemented_As =>  classifier (GRSPW::Driver_GRSPW_Protocol.impl);
    Initialize_Entrypoint => classifier (GRSPW::Initialize);
    Provided_Virtual_Bus_Class    => (classifier (ocarina_buses::pohi.c));
  end rasta_spacewire.pohiada;

  ---------------------------
  -- Generic serial driver --
  ---------------------------

  device generic_serial
  features
    serialaccess : requires bus access ocarina_buses::serial.generic;
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  properties
    TASTE::Help                           => "help generic serial";
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  end generic_serial;
  
  device implementation generic_serial.raw
  properties
    Deployment::Driver_Name       => "serial_linux";
    Device_Driver                 => classifier (ocarina_drivers_serial::serial_driver.linux);
    Initialize_Entrypoint         => classifier (ocarina_drivers_serial::spg_serial_init_linux);
    Provided_Virtual_Bus_Class    => (classifier (ocarina_buses::raw.i));
  end generic_serial.raw;

  device implementation generic_serial.raw_sender
  properties
    Deployment::Driver_Name       => "serial_linux_sender";
    Device_Driver                 => classifier (ocarina_drivers_serial::serial_driver.linux_sender);
    Initialize_Entrypoint         => classifier (ocarina_drivers_serial::spg_serial_init_linux_sender);
    Provided_Virtual_Bus_Class    => (classifier (ocarina_buses::raw.i));
  end generic_serial.raw_sender;
  
  device implementation generic_serial.raw_receiver
  properties
    Deployment::Driver_Name       => "serial_linux_receiver";
    Device_Driver                 => classifier (ocarina_drivers_serial::serial_driver.linux_receiver);
    Initialize_Entrypoint         => classifier (ocarina_drivers_serial::spg_serial_init_linux_receiver);
    Provided_Virtual_Bus_Class    => (classifier (ocarina_buses::raw.i));
  end generic_serial.raw_receiver;

  -------------------------------
  -- Generic sockets/ip driver --
  -------------------------------

  device generic_sockets_ip
  features
    thebus : requires bus access ocarina_buses::ip.i;
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  properties
    TASTE::Help                           => "help generic sockets";
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  end generic_sockets_ip;
  
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  device implementation generic_sockets_ip.pohic
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  properties
    Deployment::Driver_Name       => "sockets";
    Device_Driver                 => classifier (ocarina_drivers_ip_pohic::sockets_impl.i);
    Initialize_Entrypoint         => classifier (ocarina_drivers_ip_pohic::spg_sockets_init);
    Provided_Virtual_Bus_Class    => (classifier (ocarina_buses::pohi.c));
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    TASTE::Help                           => "help generic sockets";
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  end generic_sockets_ip.pohic;

  device implementation generic_sockets_ip.pohiada
  properties
    Deployment::Driver_Name       => "socketsnew";
    Implemented_As => classifier (TCP_IP_Protocol::Driver_TCP_IP_Protocol.impl);
    Initialize_Entrypoint => classifier (TCP_IP_Protocol::Initialize);
    Provided_Virtual_Bus_Class    => (classifier (ocarina_buses::pohi.c));
  end generic_sockets_ip.pohiada;
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  ------------------
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  -- RTEMS NE2000 --
  ------------------

  device rtems_ne2000
  features
    thebus : requires bus access ocarina_buses::ip.i;
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  properties
    TASTE::Help                           => "help ne2000 sockets";
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  end rtems_ne2000;
  
  device implementation rtems_ne2000.ip_pohic
  properties
    Deployment::Driver_Name       => "rtems_ne2000_sockets";
    Device_Driver                 => classifier (ocarina_drivers_rtems_ne2000::driver.i);
    Initialize_Entrypoint         => classifier (ocarina_drivers_rtems_ne2000::init);
    Provided_Virtual_Bus_Class    => (classifier (ocarina_buses::pohi.c));
  end rtems_ne2000.ip_pohic;

  ------------------------------------------
  --            Exarm UDP driver          --
  ------------------------------------------
  --  This driver is used to communicate  --
  --  with the exarm robot and also       --
  --  the Matlab simulator.               --
  ------------------------------------------
  
  device exarm_ip
  features
    thebus : requires bus access ocarina_buses::ip.i;
  end exarm_ip;
  
  device implementation exarm_ip.vr_udp
  properties
    Deployment::Driver_Name    => "exarm";
    Device_Driver              => classifier (ocarina_drivers_udp_exarm::driver.i);
    Initialize_Entrypoint      => classifier (ocarina_drivers_udp_exarm::init);
  end exarm_ip.vr_udp;
  
  data exarm_protocol_data
  end exarm_protocol_data;
  
  data implementation exarm_protocol_data.vr extends ocarina_drivers_udp_exarm::protocol.vr
  properties
    Data_Model::Data_Representation => Struct;
  end exarm_protocol_data.vr;
  
  data implementation exarm_protocol_data.robot extends ocarina_drivers_udp_exarm::protocol.robot
  properties
    Data_Model::Data_Representation => Struct;
  end exarm_protocol_data.robot;

  ---------------------------------------
  --   Devices for the Exo skeleton    --
  --  National Instruments PCI-6071E   --
  ---------------------------------------
  --  This device is used to make data --
  --  acquisition of the EXARM robot.  --
  ---------------------------------------
  
  device exarm_ni_6071e_analog
  features
    data1  : out data port Base_Types::Float_64;
    data2  : out data port Base_Types::Float_64;
    data3  : out data port Base_Types::Float_64;
    data4  : out data port Base_Types::Float_64;
    data5  : out data port Base_Types::Float_64;
    data6  : out data port Base_Types::Float_64;
    data7  : out data port Base_Types::Float_64;
    data8  : out data port Base_Types::Float_64;
    data9  : out data port Base_Types::Float_64;
    data10 : out data port Base_Types::Float_64;
    data11 : out data port Base_Types::Float_64;
    data12 : out data port Base_Types::Float_64;
    data13 : out data port Base_Types::Float_64;
    data14 : out data port Base_Types::Float_64;
    data15 : out data port Base_Types::Float_64;
    data16 : out data port Base_Types::Float_64;
  end exarm_ni_6071e_analog;

  device implementation exarm_ni_6071e_analog.i
  properties
    Deployment::Driver_Name    => "exarm_ni_6071e_analog";
    Device_Driver              => classifier (ocarina_drivers_exarm_ni_6071e_analog::driver.i);
    Initialize_Entrypoint      => classifier (ocarina_drivers_exarm_ni_6071e_analog::spg_init);
  end exarm_ni_6071e_analog.i;

  device exarm_ni_6071e_digital
  features
    data1  : out data port Base_Types::Unsigned_8;
    data2  : out data port Base_Types::Unsigned_8;
  end exarm_ni_6071e_digital;

  device implementation exarm_ni_6071e_digital.i
  properties
    Deployment::Driver_Name    => "exarm_ni_6071e_digital";
    Device_Driver              => classifier (ocarina_drivers_exarm_ni_6071e_digital::driver.i);
    Initialize_Entrypoint      => classifier (ocarina_drivers_exarm_ni_6071e_digital::spg_init);
  end exarm_ni_6071e_digital.i;
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end ocarina_drivers;