nucho
RTno/OutPort.cpp@1:7f0fc0d1f777, 2011-08-01 (annotated)
- Committer:
- nucho
- Date:
- Mon Aug 01 14:46:08 2011 +0000
- Revision:
- 1:7f0fc0d1f777
- Parent:
- 0:3c49891bc39d
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:3c49891bc39d | 1 | /******************************************* |
| nucho | 0:3c49891bc39d | 2 | * OutPort.cpp |
| nucho | 0:3c49891bc39d | 3 | * @author Yuki Suga |
| nucho | 0:3c49891bc39d | 4 | * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010. |
| nucho | 0:3c49891bc39d | 5 | * @license LGPLv3 |
| nucho | 0:3c49891bc39d | 6 | *****************************************/ |
| nucho | 0:3c49891bc39d | 7 | |
| nucho | 0:3c49891bc39d | 8 | #include <string.h> |
| nucho | 0:3c49891bc39d | 9 | #include "BasicDataType.h" |
| nucho | 0:3c49891bc39d | 10 | #include "OutPort.h" |
| nucho | 0:3c49891bc39d | 11 | #include "SendPacket.h" |
| nucho | 0:3c49891bc39d | 12 | #include "ReceivePacket.h" |
| nucho | 1:7f0fc0d1f777 | 13 | #include "Serial.h" |
| nucho | 0:3c49891bc39d | 14 | |
| nucho | 0:3c49891bc39d | 15 | OutPort::OutPort(char* name, TimedBoolean& Data) : |
| nucho | 0:3c49891bc39d | 16 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 17 | { |
| nucho | 0:3c49891bc39d | 18 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 19 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 20 | m_TypeCode = 'b'; |
| nucho | 0:3c49891bc39d | 21 | } |
| nucho | 0:3c49891bc39d | 22 | |
| nucho | 0:3c49891bc39d | 23 | OutPort::OutPort(char* name, TimedChar& Data) : |
| nucho | 0:3c49891bc39d | 24 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 25 | { |
| nucho | 0:3c49891bc39d | 26 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 27 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 28 | m_TypeCode = 'c'; |
| nucho | 0:3c49891bc39d | 29 | } |
| nucho | 0:3c49891bc39d | 30 | |
| nucho | 0:3c49891bc39d | 31 | OutPort::OutPort(char* name, TimedOctet& Data) : |
| nucho | 0:3c49891bc39d | 32 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 33 | { |
| nucho | 0:3c49891bc39d | 34 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 35 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 36 | m_TypeCode = 'o'; |
| nucho | 0:3c49891bc39d | 37 | } |
| nucho | 0:3c49891bc39d | 38 | |
| nucho | 0:3c49891bc39d | 39 | OutPort::OutPort(char* name, TimedLong& Data) : |
| nucho | 0:3c49891bc39d | 40 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 41 | { |
| nucho | 0:3c49891bc39d | 42 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 43 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 44 | m_TypeCode = 'l'; |
| nucho | 0:3c49891bc39d | 45 | } |
| nucho | 0:3c49891bc39d | 46 | |
| nucho | 0:3c49891bc39d | 47 | OutPort::OutPort(char* name, TimedFloat& Data) : |
| nucho | 0:3c49891bc39d | 48 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 49 | { |
| nucho | 0:3c49891bc39d | 50 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 51 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 52 | m_TypeCode = 'f'; |
| nucho | 0:3c49891bc39d | 53 | } |
| nucho | 0:3c49891bc39d | 54 | |
| nucho | 0:3c49891bc39d | 55 | OutPort::OutPort(char* name, TimedDouble& Data) : |
| nucho | 0:3c49891bc39d | 56 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 57 | { |
| nucho | 0:3c49891bc39d | 58 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 59 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 60 | m_TypeCode = 'd'; |
| nucho | 0:3c49891bc39d | 61 | } |
| nucho | 0:3c49891bc39d | 62 | |
| nucho | 0:3c49891bc39d | 63 | OutPort::OutPort(char* name, TimedBooleanSeq& Data) : |
| nucho | 0:3c49891bc39d | 64 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 65 | { |
| nucho | 0:3c49891bc39d | 66 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 67 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 68 | m_TypeCode = 'B'; |
| nucho | 0:3c49891bc39d | 69 | } |
| nucho | 0:3c49891bc39d | 70 | |
| nucho | 0:3c49891bc39d | 71 | OutPort::OutPort(char* name, TimedCharSeq& Data) : |
| nucho | 0:3c49891bc39d | 72 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 73 | { |
| nucho | 0:3c49891bc39d | 74 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 75 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 76 | m_TypeCode = 'C'; |
| nucho | 0:3c49891bc39d | 77 | } |
| nucho | 0:3c49891bc39d | 78 | |
| nucho | 0:3c49891bc39d | 79 | OutPort::OutPort(char* name, TimedOctetSeq& Data) : |
| nucho | 0:3c49891bc39d | 80 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 81 | { |
| nucho | 0:3c49891bc39d | 82 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 83 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 84 | m_TypeCode = 'O'; |
| nucho | 0:3c49891bc39d | 85 | } |
| nucho | 0:3c49891bc39d | 86 | |
| nucho | 0:3c49891bc39d | 87 | |
| nucho | 0:3c49891bc39d | 88 | OutPort::OutPort(char* name, TimedLongSeq& Data) : |
| nucho | 0:3c49891bc39d | 89 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 90 | { |
| nucho | 0:3c49891bc39d | 91 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 92 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 93 | m_TypeCode = 'L'; |
| nucho | 0:3c49891bc39d | 94 | } |
| nucho | 0:3c49891bc39d | 95 | |
| nucho | 0:3c49891bc39d | 96 | OutPort::OutPort(char* name, TimedFloatSeq& Data) : |
| nucho | 0:3c49891bc39d | 97 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 98 | { |
| nucho | 0:3c49891bc39d | 99 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 100 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 101 | m_TypeCode = 'F'; |
| nucho | 0:3c49891bc39d | 102 | } |
| nucho | 0:3c49891bc39d | 103 | |
| nucho | 0:3c49891bc39d | 104 | OutPort::OutPort(char* name, TimedDoubleSeq& Data) : |
| nucho | 0:3c49891bc39d | 105 | OutPortBase(name) |
| nucho | 0:3c49891bc39d | 106 | { |
| nucho | 0:3c49891bc39d | 107 | // m_pData = pData; |
| nucho | 0:3c49891bc39d | 108 | m_pData = &Data; |
| nucho | 0:3c49891bc39d | 109 | m_TypeCode = 'D'; |
| nucho | 0:3c49891bc39d | 110 | } |
| nucho | 0:3c49891bc39d | 111 | |
| nucho | 0:3c49891bc39d | 112 | OutPort::~OutPort() |
| nucho | 0:3c49891bc39d | 113 | { |
| nucho | 0:3c49891bc39d | 114 | |
| nucho | 0:3c49891bc39d | 115 | } |
| nucho | 0:3c49891bc39d | 116 | |
| nucho | 0:3c49891bc39d | 117 | int OutPort::SizeofData() { |
| nucho | 0:3c49891bc39d | 118 | switch(m_TypeCode) { |
| nucho | 0:3c49891bc39d | 119 | case 'b': |
| nucho | 0:3c49891bc39d | 120 | case 'B': |
| nucho | 0:3c49891bc39d | 121 | case 'o': |
| nucho | 0:3c49891bc39d | 122 | case 'O': |
| nucho | 0:3c49891bc39d | 123 | case 'c': |
| nucho | 0:3c49891bc39d | 124 | case 'C': |
| nucho | 0:3c49891bc39d | 125 | return 1; |
| nucho | 0:3c49891bc39d | 126 | default: |
| nucho | 0:3c49891bc39d | 127 | return 4; |
| nucho | 0:3c49891bc39d | 128 | } |
| nucho | 0:3c49891bc39d | 129 | } |
| nucho | 0:3c49891bc39d | 130 | |
| nucho | 0:3c49891bc39d | 131 | int OutPort::write() |
| nucho | 0:3c49891bc39d | 132 | { |
| nucho | 0:3c49891bc39d | 133 | int datalen = GetLength() * SizeofData(); |
| nucho | 0:3c49891bc39d | 134 | int namelen = strlen(GetName()); |
| nucho | 1:7f0fc0d1f777 | 135 | char packet_buffer[MAX_PACKET_SIZE];; |
| nucho | 0:3c49891bc39d | 136 | packet_buffer[0] = namelen; |
| nucho | 0:3c49891bc39d | 137 | packet_buffer[1] = datalen; |
| nucho | 0:3c49891bc39d | 138 | memcpy(&(packet_buffer[2]), GetName(), namelen); |
| nucho | 0:3c49891bc39d | 139 | memcpy(&(packet_buffer[2 + namelen]), GetBuffer(), datalen); |
| nucho | 0:3c49891bc39d | 140 | SendPacket(OUTPORT_WRITE, 2+namelen+datalen, packet_buffer); |
| nucho | 0:3c49891bc39d | 141 | ReceivePacket(packet_buffer); |
| nucho | 0:3c49891bc39d | 142 | return PACKET_HEADER_SIZE+2+namelen+datalen; |
| nucho | 0:3c49891bc39d | 143 | } |