/ - Diff - AMiRo-OS - Research for Cognitive Interaction

Revision d796dcdf

 .1  Adding a New Module
 .2  Handling a Custom I/O Event in the Main Thread
 .3  Implementing a New Low-Level Driver
 .4  Writing a Unit Test
 .4  Writing a Test
     ================================================================================
-...
     directory. Note that you will have to adapt the makefiles and scripts, and
     probably the operating system as well.
     AMiRo-BLT furthermore has its own required and recommended software tools as
     described in its README.txt file. Follow th instructions to initialize the
     described in its README.txt file. Follow the instructions to initialize the
     development environment manually or use the ./setup.sh script.
-...
     copy of it as well. For the sake of compatibility, it is included in AMiRo-OS as
     a Git submodule. It is highly recommended to use the ./setup.sh script for
     initialization. Moreover, you have to apply the patches to ChibiOS in order to
     make AMiRo-OS work properly. It is recommended to use the .setup.sh script for
     make AMiRo-OS work properly. It is recommended to use the ./setup.sh script for
     this purpose.
     If you would like to use a different kernel, you can add a subfolder in the
     ./kernel/ directory and adapt the scripts and operating system source code.
-...
     AMiRo-BLT, you can replace the port value by '/dev/ttyUSB0'.
     Advanced users can use several connections to multiple modules simultaneously.
     Each additional programmer will be available as '/dev/ttyAMiRo<N>' (and
     '/dev/USB<N>' respectively) with <N> being an integer number starting from zero.
     Please note: Those interfaces are ordered by the time when they have been
     detected by the operating system.
     '/dev/ttyUSB<N>' respectively) with <N> being an integer number starting from
     zero. Please note: Those interfaces are ordered by the time when they have been
     detected by the operating system, so detaching a cable and plugging it in again
     may result in a different port name.
 .2 - QtCreator IDE
     -------------------
     In order to setup QtCreator projects for the three AMiRo base modules, you can
     use the provided ./setup.sh script. Further instructions for a more advanced
     In order to setup QtCreator projects any supported module, you can use the
     provided ./setup.sh script. Further instructions for a more advanced
     configuration of the IDE are provided in the ./tools/qtcreator/README.txt file.
-...
     Each time you modify any part of AMiRo-OS, you need to recompile the whole
     project for the according AMiRo module. Therefore you can use the ./Makefile by
     simply executing 'make' and follow the instructions. Alternatively, you can
     either use the makefiles provided per module in ./os/modules/<ModuleToCompile>
     either use the makefiles provided per module in ./os/modules/<module_to_compile>
     or - if you want to compile all modules at once - the makefile in the
     ./os/modules folder. After the build process has finished successfully, you
     always have to flash the generated program to the robot. Therefore you need an
     always have to flash the generated program to the module. Therefore you need an
     appropriate tool, such as stm32flash (if you don't use a bootloader) or
     SerialBoot (highly recommended; provided by AMiRo-BLT). Similarly to the
     compilation procedure as described above, you can flash either each module
-...
     should be as unambiguous as possible (e.g. containing name and version number).
     All files, which directly depent on the hardware, and thus are not portable,
     belong here. Conversely, any code that can be reused on diferent hardware must
     not be put in the module folder.
     not be put in this module folder.
     In a second step you have to initialize all requried files (see below) in the
     newlly created module directory. It is recommended to use another module as
     newly created module directory. It is recommended to use another module as
     template for your configuration:
     - alldconf.h
       Configuration header for the AMiRo-LLD project, which is part of AMiRo-OS.
       There are probably only very few configurations done here, since most setting
       depend on the content of aosconf.h and are handled modue unspecifically in in
       modules/aos_alldconf.h
     - aosconf.h
       Configuration header for the AMiRo-OS project.
     - board.h & board.c
-...
       well as initialization functions.
     - chconf.h
       Configuration header for the ChibiOS/RT system kernel. There are probably only
       very few configurations one here, since most settings depend on the content of
       aosconf.h and are handled module unspecific in modules/aos_chconf.h
       very few configurations done here, since most settings depend on the content
       of aosconf.h and are handled module unspecifically in modules/aos_chconf.h
     - halconf.h
       Configuration header for ChibiOS/HAL (hardware abstraction layer).
     - Makefile
       The GNU make script to build and flash AMiRo-OS for the module.
     - mcuconf.h
       Configuration file for ChibiOS/JAL to initialize the microcontroller (MCU). It
       Configuration file for ChibiOS/HAL to initialize the microcontroller (MCU). It
       is recommended to check the kernel/ChibiOS/demos/ directory for an example
       using the according MCU and copy the mcuconf.h from there. Depending on your
       hardware you may have to modify it nevertheless, though.
-...
     settings are used in other modules.
     Finally, you need to build and flash the project. The compiler might even help
     you getting everything set up correctly. Take time to understand compilation
     errors and warning and get rid of all of those (warnings should not be ignored
     since they are hints that something might be amiss and the program will not act
     as intended).
     you getting everything set up correctly. Take the time needed to understand
     compilation errors and warnings and get rid of all of those (warnings should not
     be ignored since they are hints that something might be amiss and the program
     will not act as intended).
     Summing up, you have to
 ) create a module directory.
-...
     In order to handle custom I/O events in the main thread, AMiRo-OS offers several
     hooks to be used. First of all, you need to configure and enable the interrupt
     in the according GPIO. This can be done by implementing the
     for the according GPIO. This can be done by implementing the
     MODULE_INIT_INTERRUPTS() hook in the module.h file. For information how to use
     this hook, please have a look at existing modules. In the end, the interrupt
     callback functions has to emit an I/O event with the according bit in the flags
     mask set (like the _intCallback() function in aos_system.c). As result, whenever
     a rising or falling edge (depends on configuration) is detected on that GPIO,
     the interrupt service routine is executed and hence an I/O event is fired, which
     can be catched by any thread in the system.
     mask set (like the _gpioCallback() function in aos_system.c). As result,
     whenever a rising or falling edge (depends on configuration) is detected on that
     particular GPIO, the interrupt service routine is executed and hence an I/O
     event is fired, which can be catched by any thread in the system.
     Next, you have to configure the main thread to whitelist the event flag (all I/O
     events are blacklisted by default). While system relevant events like power down
     are whitelisted by the OS, any custom events need to be added exl´plicitely.
     This is done via the optional AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK macro,
     which should be defined in the module.h file. Example:
     are imlicitely whitelisted by the OS, any custom events need to be added
     exlplicitely. This is done via the optional
     AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK macro, which should be defined in the
     module.h file. Example:
       #define AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK         \
         (AOS_GPIOEVENT_FLAG(padX) | AOS_GPIOEVENT_FLAG(padY) | AOS_GPIOEVENT_FLAG(padZ))
-...
     When AMIROOS_CFG_MAIN_LOOP_GPIOEVENT_FLAGSMASK has been defined correctly, the
     main thread will be notified by the according events and execute its event
     handling routine. Hence you have to implement another macro in module.h to
     handle the custom event(s) appropriately: MODULE_MAIN_LOOP_GPIOEVENT(eventflags).
     As you can see, the variable 'eventflags' is propagated to the hook. This
     variable is a mask, that allows to identify the GPIO pad(s), which caused the
     event, by the bits set. Following the example above, you can check which GPIOs
     have caused events by using if-clauses in the implementation of the hook:
     handle the custom event(s) appropriately:
     MODULE_MAIN_LOOP_GPIOEVENT(eventflags). As you can see, the variable
     'eventflags' is propagated to the hook. This variable is a mask, that allows to
     identify the GPIO pad(s), which caused the event, by the individually set bits.
     Following the example above, you can check which GPIOs have caused events by
     using if-clauses in the implementation of the hook:
       #define MODULE_MAIN_LOOP_GPIOEVENT(eventflags) {          \
         if (eventflags & AOS_GPIOEVENT_FLAG(padX)) {            \
-...
     In the AMiRo-OS framework, low-level drivers are located in the additional Git
     project AMiRo-LLD, which is included in AMiRo-OS as Git submodule at
     periphery-lld/AMiRo-LLD/ and acts similar to a static library. When adding a new
     low-level driver to the framework, you have to implement it, providing a
     (single) header file in periphery-lld/AMiRo-LLD/include/ and the required C
     sources in periphery-lld/AMiRo-LLD/source/. By convention, all filenames use the
     prefix 'alld_' to avoid ambiguities. Furthermore, files should be named by the
     exact designation of the hardware (e.g. 'alld_vcnl4020' instead of
     'alld_proximitysensor'). Since AMiRo-LLD is intended to be usable with other
     operating systems than AMiRo-OS, it provides an interface for accessing
     communication interfaces and basic functionalities of the operating system. On
     the one hand, several types are defined in periphery-lld/AMiRo-LLD/periphALtypes.h.
     The interface functions, on the other hand, are defined by AMiRo-LLD (cf.
     periphery-lld/AMiRo-LLD/templates/periphAL.h), but implemented by the operating
     system (cf. periphery-lld/periphAL.h). For the implementation of the driver, you
     must only use those types and functions to interact with the operating system.
     If you need further functionality, which is not provided by the interface yet,
     you are encouraged to extend periphAL.
     Furthermore, all files must define a guard, so that the whole driver is
     disabled, when the guard is not set explicitely. These guard again are named
     following a convention, but instead of explaning it here, just have a look at
     one of the existing drivers and look for lines like
       #if defined(AMIROLLD_CFG_USE_VCNL4020) || defined(__DOXYGEN__)
     With these guards in place, the driver will be omitted by default and needs to
     be enabled explicitely. In order to do so, you need to add an according #define
     in the alldconf.h file of any module, which shall use the new driver.
     Now the new driver is available and enabled, but not actually used yet.
     Therefore you have to add according memory structures to the module.h and
     low-level driver to the framework, you have to implement it, following the
     instructions given in periphery-lld/AMiRo-LLD/README.txt
     Now the new driver is available and can be enbled by simply including the
     driver's makefile script in the module makefile. In order to make actuale use of
     the driver you have to add according memory structures to the module.h and
     module.c files - just have a look at existing modules how this is done. In some
     cases you will have to configure additional interrupts and/or alter the
     configuration of a communication interface (e.g. I²C). Once again, you should
     take a look at existing modules and search the module.h for the hooks
     MODULE_INIT_INTERRUPTS() and MODULE_INIT_PERIPHERY_COMM().
     MODULE_INIT_INTERRUPTS(), MODULE_INIT_PERIPHERY_IF and
     MODULE_SHUTDOWN_PERIPHERY_IF().
     Finally, you will probably want to validate your implementation via a unit test.
     How this can be done is explained in detail in the next guide.
     Finally, you will probably want to validate your implementation via a test. How
     this can be done is explained in detail in the next guide.
     Summing up, you have to
 ) implement the driver in AMiRo-LLD using periphAL only.
 ) fence all code in all files by a guard.
 ) set the guard in alldconf.h to enable the driver.
 ) add the driver to a module.
 ) add the driver to a module (Makefile, module.h and module.c).
 ) configure interrupts and interfaces as required.
 ) write a unit test.
 ) write a test.
 .4  Writing a Unit Test
 .4  Writing a Test
     ------------------------
     AMiRo-OS provides a unit test framework for conventient testing and the ability
     to opt-out all unit tests via the aosconf.h configuration file. There is also a
     dedicated folder, where all unit test code belongs to. In case you want to
     implement a unit test for a newly developed low-level driver, you should use the
     folders unittests/periphery-lld/inc and unittests/periphery-lld/src
     respectively. As with the low-level drivers, unit test files should use a prefix
     in their name, namely 'ut_' and all code should be fenced via guards that
     disable it by default (have a look at existing unit tests). Before you implement
     a vast test, however, it is highly recommended to start with some sceleton code
     (just copy an existing unit test, scoop out the test function, and rename
     according variables etc.) and make it compile and run.
     After you have initialized the unit test sceleton, you have to add the according
     aos_unittest_t (cf. core/inc/aos_unittest.h) object to the module.h and module.c
     files. These objects again require an shell command, so the unit test can be run
     via the AMiRo-OS shell. As with existing unit tests, this shell command callback
     function as well as any further required data should be implemented directly in
     module.c, so it not accessable from any other context. In most cases this
     callback function is trivial, anyway.
     In order to make the shell command, which executes the unit test, available in
     shell so a user can run it, it has to be associated with the shell. AMiRo-OS
     provides the hook MODULE_INIT_TESTS() for this purpose, which has to be
     implemented in the module.h file. Once again I recommend to have a look at an
     existing module, how to use this hook.
     Since the execution pipeline is set up now, you can fille your unit test with
     life. Remember that the test is executed by the shell thread, so you can access
     any functionality of the system, but might encounter race conditions, depending
     on what other applications run concurrently.
     AMiRo-OS provides a test framework for conventient testing and the ability to
     opt-out all tests via the aosconf.h configuration file. There is also a
     dedicated folder, where all test code belongs to. In case you want to implement
     a test for a newly developed low-level driver, you should have a look at the
     folder test/periphery-lld/. As with the low-level drivers, tests are placed in
     individual subfolders (e.g. test/periphery-lld/DEVICE1234_v1) and all should use
     the prefix 'aos_test_' in their name. Moreover, all code must be fenced by
     guards that disable it completely if the AMIROOS_CFG_TESTS_ENABLE flag is set to
     false in the aosconf.h configuration file.
     Now you will need to add the test to a specific module. Therefore, you should
     create a new test/ directory in the module folder, if such does not exist yet.
     In this directory, you create another subfolder, e.g. DEVICE1234/ and three
     additional files in there:
      - module_test_DEVICE1234.mk
      - module_test_DEVICE1234.h
      - module_test_DEVICE1234.c
     The makefile script is not required, but recommended to achieve maintainable
     code. This script file should add the folder to the MODULE_INC variable and all
     C source files to MODULE_CSRC. The .h and .c files furthermore define module
     specific data structures and a test function.
     In order to be able to call this function as a command via the AMiRo-OS shell,
     you need to add an according shell command to the module.h and module.c files.
     Whereas the command itself is typically very simple, just calling the callback
     function defined in the test/DEVICE1234/module_test_DEVICE1234.h/.c files, you
     have to add the command to a shell. In order to make the shell command, which
     executes the test, available in a shell so a user can run it, it has to be
     associated with the shell. AMiRo-OS provides the hook MODULE_INIT_TESTS() for
     this purpose, which has to be implemented in the module.h file. Once again I
     recommend to have a look at an existing module, how to use this hook.
     Summing up, you have to
 ) initialize a unit test sceleton in the unittests/ folder.
 ) introduce an according object and configuration in module.h and module.c.
 ) implement the test in the test/ folder.
 ) implement a module specific wrapper in the module/test/ folder.
 ) associate the shell command to a shell via the hook in module.h.
 ) implement the full unit test in the prevously created sceleton files.
     ================================================================================

bootloader/AMiRo-BLT
1		Subproject commit 2b9a14a2588e910d0e7d6bc3f77975d9ea70a6c8
	1	Subproject commit 9bfc7c44c293389adb8a33bb71f077efd10ee332

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stroke-width: 1.0;"/><!--link AMiRoOS to mcuconf.h--><path d="M927,275.1354 C927,302.5538 927,346.9112 927,365.9009 " fill="none" id="AMiRoOS-mcuconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to halconf.h--><path d="M950.4964,275.0264 C962.1893,286.6038 976.4674,300.9204 989,314 C1006.3063,332.0617 1025.9574,353.7512 1036.7708,365.793 " fill="none" id="AMiRoOS-halconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to chconf.h--><path d="M872.8525,257.0004 C821.6408,263.711 744.1784,279.1298 686,314 C663.8043,327.3034 645.1358,352.0564 636.0075,365.5809 " fill="none" id="AMiRoOS-chconf.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to hal.h--><path d="M872.9536,266.0825 C842.0876,275.9767 803.9031,291.5101 775,314 C759.9561,325.7059 747.5301,343.6931 739.5756,357.1064 " fill="none" id="AMiRoOS-hal.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M743.4774,367.3912 A9,9 0 0 0 728.7521 359.0688" fill="none" style="stroke: #A80036; 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stroke-width: 1.0;"/><path d="M1159.462,358.105 A9,9 0 0 0 1146.4708 368.9368" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to periphAL.h--><path d="M981.2458,259.567 C1054.8513,270.4754 1181.9011,291.7639 1223,314 C1246.974,326.9709 1267.6914,352.3301 1277.6653,365.9072 " fill="none" id="AMiRoOS-periphAL.h" style="stroke: #A80036; stroke-width: 1.0;"/><!--
     @startuml
     skinparam componentStyle uml2
-...
     node "AMiRo-BLT" as AMiRoBLT_node {
     	component OpenBLT #lightgrey
     	component STM32Flash #lightgrey
     	component stm32flash #lightgrey
     	interface amiroblt.h
     	component "AMiRo-BLT" as AMiRoBLT
     	AMiRoBLT -down-|> OpenBLT : forks
     	AMiRoBLT .down.> STM32Flash : utilizes
     	AMiRoBLT .down.> stm32flash : utilizes
     	AMiRoBLT -up- amiroblt.h
+    }
-...
     node "AMiRo-LLD" as AMiRoLLD_node {
     	interface alldconf.h
     	interface periphAL.h
     	interface periphALtypes.h
     	interface "amiro-lld.h" as alldh
     	component "AMiRo-LLD" as AMiRoLLD
     	AMiRoLLD -up-( alldconf.h
     	AMiRoLLD -up-( periphAL.h
     	AMiRoLLD -up- alldh
     	AMiRoLLD -up- periphALtypes.h
     	periphAL.h - -( periphALtypes.h
+    }
-...
     AMiRoOS - -( ch.h
     AMiRoOS - -( amiroblt.h
     AMiRoOS - - alldconf.h
     AMiRoOS - - alldh
     AMiRoOS - -( alldh
     AMiRoOS - - periphAL.h
     @enduml
     PlantUML version 1.2018.13(Mon Nov 26 18:11:51 CET 2018)
     PlantUML version 1.2019.08(Sat Jul 13 21:25:14 CEST 2019)
     (GPL source distribution)
     Java Runtime: OpenJDK Runtime Environment
     JVM: OpenJDK 64-Bit Server VM
     Java Version: 10.0.2+13-Ubuntu-1ubuntu0.18.04.4
     Java Version: 11.0.4+11-post-Ubuntu-1ubuntu218.04.3
     Operating System: Linux
     OS Version: 4.15.0-46-generic
     OS Version: 4.15.0-66-generic
     Default Encoding: UTF-8
     Language: en
     Country: US

     AMiRoOS --( ch.h
     AMiRoOS --( amiroblt.h
     AMiRoOS -- alldconf.h
     AMiRoOS -- alldh
     AMiRoOS --( alldh
     AMiRoOS -- periphAL.h
     @enduml

periphery-lld/AMiRo-LLD
1		Subproject commit 1304b12bd859603ad9f9b68493e1a3257f5e4595
	1	Subproject commit 72369edc914c55785d0654e4aa5bee9a3aed9290

Also available in: Unified diff