Re: [taste-users] [cordet2] Problems with Device Drivers for Sensor/Actuators

["Maxime Perrotin" <Maxime.Perrotin@xxxxxxx>]

Dear Francisco,

Can you send me the project that does not work ?

I have tried to reproduce what you describe and it seems to work well.

I created a system with two functions, one in Ada, one in Blackbox Device

the BBDevice has a single unprotected interface with two IN params and two OUT params, one of each being encoded in ACN, the other one in UPER

(I also tried in Native)

The caller does this:

package body function0 is
i1:aliased asn1sccMyInteger := 0;
i2:aliased asn1SccMyInteger := 1;
o1:aliased asn1SccMyInteger;
o2:aliased asn1SccMyInteger;

---------------------------------------------------------
-- Provided interface "pulse"
---------------------------------------------------------
procedure pulse is
begin
RunDriver(i1'access, i2'access,o1'access,o2'access);
system.io.put("i1=");
system.io.put(standard.long_long_integer'image(i1));
system.io.put(" i2=");
system.io.put(standard.long_long_integer'image(i2));
system.io.put(" o1=");
system.io.put(standard.long_long_integer'image(o1));
system.io.put(" o2=");
system.io.put_line(standard.long_long_integer'image(o2));
i1 := i1 + 1;
i2 := i2 + 1;

end pulse;

So I create global variables for the input and output, I call the BBDevice (function is called RunDriver),

and I display right after the input and the output. 

The BB Device code is:

void function1_RunDriver(void *IN_inp1_uper, size_t size_IN_inp1_uper, void *IN_inp2_native, size_t size_IN_inp2_native, void *OUT_outp1_native, size_t *size_OUT_outp1_native, void *OUT_outp2_uper, size_t *size_OUT_outp2_uper)
{
  memcpy(OUT_outp1_native, IN_inp2_native, size_IN_inp2_native);
  memcpy(OUT_outp2_uper, IN_inp1_uper, size_IN_inp1_uper);
 *size_OUT_outp1_native = size_IN_inp2_native;
 *size_OUT_outp2_uper = size_IN_inp1_uper;
}

So, directly copying the input to the output.

I build the system and I get:

i1= 0 i2= 1 o1= 1 o2= 0
i1= 1 i2= 2 o1= 2 o2= 1
i1= 2 i2= 3 o1= 3 o2= 2
i1= 3 i2= 4 o1= 4 o2= 3
i1= 4 i2= 5 o1= 5 o2= 4
i1= 5 i2= 6 o1= 6 o2= 5

.. Output is properly copied.

Let me know if your configuration is different...

In the meantime have a nice week-end!

Maxime

0 Mar 2012 15:27:58 +0200, Francisco Ferrero Mateos <fferrero@xxxxxxx> wrote:

Dear all,

 

We are experiencing some problems when developing device drivers for sensor/actuators.  

 

1.       When declaring unprotected interfaces with the black box function, it seems that the output parameters are not decoded by the ACN decoding function (dataview-uniq.c). The calling service always receives data initialized by 0. In our case the calling interface is implemented in Ada.

2.       When using the required interface within the black box function, we have linkage problems as the reference to the extern function is undefined.

 

Regarding the first point, is it possible declaring provided interfaces in the black box function that output parameters? In the documentation about the exo-arm, the provided interface seems to accept only input parameters. Please, correct me if I am wrong.

 

Our Ocarina version is 2.0w r3731.

 

Kind regards,

 

---

Francisco Ferrero Mateos
Jefe de proyecto /
Project Manager

GMV
Isaac Newton, 11
P.T.M. Tres Cantos
E-28760 Madrid
Tel. +34 91 807 21 00
Fax +34 91 807 21 99
www.gmv.com

 

 

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ESA - European Space Agency

Maxime Perrotin

TASTE Project manager

PROBA V - PROBA 3 Software engineer

System, Software and Technology Department

ESTEC

Keplerlaan 1, PO Box 299

NL-2200 AG Noordiwjk, The Netherlands

maxime.perrotin@xxxxxxx | www.esa.int

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