* Add AADL driver for StarDundee Mk3

        For openaadl/ocarina#170

src/drivers/po_hi_driver_stardundee.c

+/*
+ * This is a part of PolyORB-HI-C distribution, a minimal
+ * middleware written for generated code from AADL models.
+ * You should use it with the Ocarina toolsuite.
+ *
+ * For more informations, please visit http://taste.tuxfamily.org/wiki
+ *
+ * Copyright (C) 2018 ESA & ISAE.
+ */
+
+#include <deployment.h>
+/* Generated code header */
+
+#include <string.h> // for memcpy
+#include <activity.h>
+#include <marshallers.h>
+#include <deployment.h>
+
+#include <po_hi_debug.h>
+#include <po_hi_transport.h>
+#include <po_hi_gqueue.h>
+#include <po_hi_messages.h>
+#include <po_hi_returns.h>
+
+#include <po_hi_driver_drvmgr_common.h>
+/* Common drvmgr initialization */
+
+#include <start_dundee_api.h>
+
+__po_hi_request_t    __po_hi_c_driver_stardundee_request;
+__po_hi_msg_t        __po_hi_c_driver_stardundee_poller_msg;
+int                  po_hi_c_driver_stardundee_fd[__PO_HI_NB_DEVICES];
+char                 __po_hi_c_driver_stardundee_sndbuf[__PO_HI_MESSAGES_MAX_SIZE + 1];
+
+/*****************************************************************************/
+/* Body of the poller task */
+
+void __po_hi_c_driver_stardundee_poller (const __po_hi_device_id dev_id) {
+  int len;
+  int ts;
+
+  while (true) {
+    __PO_HI_DEBUG_DEBUG ("[STAR DUNDEE MK3] Poller task activated \n");
+
+    /* Prepare the message for reading */
+
+    __po_hi_msg_reallocate (&__po_hi_c_driver_stardundee_poller_msg);
+
+    /* Call Stardundee driver wrapper */
+
+    len = dundee_receiving
+      (&__po_hi_c_driver_stardundee_poller_msg.content[0],
+       1); // XXX hard coded
+
+    __PO_HI_DEBUG_DEBUG
+      ("[STAR DUNDEE MK3] Poller received a message, len=%d\n", len);
+
+    if (len <= 0) {
+      __PO_HI_DEBUG_CRITICAL ("[STAR DUNDEE MK3] Error while reading\n");
+
+    } else {
+
+#if __PO_HI_DEBUG_LEVEL >= __PO_HI_DEBUG_LEVEL_DEBUG
+      __PO_HI_DEBUG_DEBUG ("Message content: |0x");
+      for (ts = 0 ; ts < __PO_HI_MESSAGES_MAX_SIZE ; ts++) {
+        __PO_HI_DEBUG_DEBUG
+          ("%x", __po_hi_c_driver_stardundee_poller_msg.content[ts]);
+      }
+      __PO_HI_DEBUG_DEBUG ("|\n");
+#endif
+
+      /* Unmarshall request and do the upcall to the receiving thread */
+
+      __po_hi_c_driver_stardundee_poller_msg.length = __PO_HI_MESSAGES_MAX_SIZE;
+      __po_hi_unmarshall_request (&__po_hi_c_driver_stardundee_request,
+                                  &__po_hi_c_driver_stardundee_poller_msg);
+
+      __PO_HI_DEBUG_DEBUG ("[STAR DUNDEE MK3] Destination port: %d\n",
+                           __po_hi_c_driver_stardundee_request.port);
+
+      __po_hi_main_deliver (&__po_hi_c_driver_stardundee_request);
+    }
+  }
+}
+
+/******************************************************************************/
+/* Sender function */
+
+__po_hi_msg_t           __po_hi_c_driver_stardundee_sender_msg;
+
+int __po_hi_c_driver_stardundee_sender
+(const __po_hi_task_id task_id,
+ const __po_hi_port_t port)
+{
+   int len = -1;
+   int i;
+   int ts;
+
+   __po_hi_c_spacewire_conf_t* sender_conf;
+   __po_hi_c_spacewire_conf_t* receiver_conf;
+
+   __po_hi_local_port_t    local_port;
+   __po_hi_request_t*      request;
+   __po_hi_port_t          destination_port;
+
+   __po_hi_device_id       dev_id;
+
+   struct route_entry route; /* Routing table */
+
+   dev_id = __po_hi_get_device_from_port (port);
+
+   if (dev_id == invalid_device_id) {
+      __PO_HI_DEBUG_DEBUG ("[RASTA SPW] Invalid device id for sending\n");
+      return __PO_HI_UNAVAILABLE;
+   }
+
+   local_port = __po_hi_get_local_port_from_global_port (port);
+
+   request = __po_hi_gqueue_get_most_recent_value (task_id, local_port);
+
+   if (request->port == -1) {
+      __PO_HI_DEBUG_DEBUG
+        ("[STAR DUNDEE MK3] Send output task %d, port %d : no value to send\n",
+         task_id, port);
+      return __PO_HI_SUCCESS;
+   }
+
+   destination_port = __po_hi_gqueue_get_destination (task_id, local_port, 0);
+
+   __po_hi_msg_reallocate (&__po_hi_c_driver_stardundee_sender_msg);
+
+   request->port = destination_port;
+
+   sender_conf = (__po_hi_c_spacewire_conf_t*)
+     __po_hi_get_device_configuration (dev_id);
+
+   receiver_conf = (__po_hi_c_spacewire_conf_t*)
+     __po_hi_get_device_configuration
+     (__po_hi_get_device_from_port (destination_port));
+
+   __po_hi_marshall_request
+     (request, &__po_hi_c_driver_stardundee_sender_msg);
+
+   len = -1;
+
+   memset(&route, 0, sizeof(route));
+   route.dstadr[0]= 1;
+
+#if __PO_HI_DEBUG_LEVEL >= __PO_HI_DEBUG_LEVEL_DEBUG
+   __PO_HI_DEBUG_DEBUG ("Message content: |0x");
+   for (ts = 0 ; ts < __PO_HI_MESSAGES_MAX_SIZE ; ts++) {
+     __PO_HI_DEBUG_DEBUG
+       ("%x", __po_hi_c_driver_stardundee_sender_msg.content[ts]);
+   }
+   __PO_HI_DEBUG_DEBUG ("|\n");
+#endif
+
+   len = dundee_sending
+     (__po_hi_c_driver_stardundee_sender_msg.content,
+      __PO_HI_MESSAGES_MAX_SIZE, // XXX hard coded
+      0); // XXX hard coded
+
+   if (len < 0) {
+      __PO_HI_DEBUG_CRITICAL (" [STAR DUNDEE MK3] failed !\n");
+   } else
+     if((0 <= len)&(len < __PO_HI_MESSAGES_MAX_SIZE)) {
+      __PO_HI_DEBUG_CRITICAL (" [STAR DUNDEE MK3] Unable write !\n");
+     } else {
+       __PO_HI_DEBUG_DEBUG (" [STAR DUNDEE MK3] Send OK !\n");
+   }
+
+   request->port = __PO_HI_GQUEUE_INVALID_PORT;
+
+   return __PO_HI_SUCCESS;
+}
+
+/******************************************************************************/
+/* Driver initialization function */
+
+void __po_hi_c_driver_stardundee_init (__po_hi_device_id id)
+{
+   unsigned int node_addr;
+   __po_hi_c_spacewire_conf_t* drv_conf;
+
+   /* Initializes drvmgr subsystem */
+
+   __po_hi_c_driver_drvmgr_init ();
+
+   /* Set sending callback function */
+
+   __po_hi_transport_set_sending_func
+     (id, __po_hi_c_driver_stardundee_sender);
+
+   /* Set up current node address */
+
+   drv_conf = (__po_hi_c_spacewire_conf_t*)
+     __po_hi_get_device_configuration (id);
+   node_addr = drv_conf->nodeaddr;
+
+   __PO_HI_DEBUG_INFO ("[STAR DUNDEE MK3] Init, node address=%d\n", node_addr);
+
+   /* Setting up SpaceWire device */
+
+   __PO_HI_DEBUG_DEBUG ("[STAR DUNDEE MK3] Initializing driver \n");
+
+   /* Note: there is no init function for Star Dundee wrapper API */
+
+   __PO_HI_DEBUG_DEBUG
+     ("[STAR DUNDEE MK3] Initialization complete\n");
+
+}