Diff: RTno/InPort.cpp

Revision:

0:3c49891bc39d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTno/InPort.cpp	Fri Jul 29 11:23:44 2011 +0000
@@ -0,0 +1,151 @@
+/*******************************************
+ * InPort.cpp
+ * @author Yuki Suga
+ * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
+ * @license LGPLv3
+ *****************************************/
+
+
+#include <string.h>
+#include "Packet.h"
+#include "ReceivePacket.h"
+#include "SendPacket.h"
+#include "BasicDataType.h"
+#include "InPort.h"
+
+InPort::InPort(char* name, TimedOctet& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'o';
+}
+
+InPort::InPort(char* name, TimedChar& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'c';
+}
+
+InPort::InPort(char* name, TimedBoolean& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'b';
+}
+
+
+InPort::InPort(char* name, TimedDouble& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'd';
+}
+
+InPort::InPort(char* name, TimedFloat& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'f';
+}
+
+InPort::InPort(char* name, TimedLong& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'l';
+}
+
+InPort::InPort(char* name, TimedOctetSeq& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'O';
+}
+
+InPort::InPort(char* name, TimedCharSeq& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'C';
+}
+
+InPort::InPort(char* name, TimedBooleanSeq& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'B';
+}
+
+
+
+InPort::InPort(char* name, TimedDoubleSeq& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'D';
+}
+
+
+InPort::InPort(char* name, TimedFloatSeq& Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'F';
+}
+
+InPort::InPort(char* name, TimedLongSeq&Data):
+  InPortBase(name)
+{
+  m_pData = &Data;
+  m_TypeCode = 'L';
+}
+
+InPort::~InPort()
+{
+}
+
+
+int InPort::isNew()
+{
+  char packet_buffer[MAX_PACKET_SIZE];
+  SendPacket(INPORT_ISNEW, strlen(GetName()), GetName());
+  ReceivePacket(packet_buffer);
+  if(packet_buffer[INTERFACE] != INPORT_ISNEW) {
+    return 0;//-INVALID_PACKET_INTERFACE;
+  }
+  return packet_buffer[DATA_START_ADDR];
+}
+
+
+int InPort::read() {
+  char packet_buffer[MAX_PACKET_SIZE];
+  SendPacket(INPORT_READ, strlen(GetName()), GetName());
+  ReceivePacket(packet_buffer);
+  if(packet_buffer[INTERFACE] != INPORT_READ) {
+    return -INVALID_PACKET_INTERFACE;
+  }
+  int len = packet_buffer[DATA_LENGTH] / SizeofData();
+  int isSequence = isSequenceType();
+  SetLength(len);
+  void *pBuffer = GetBuffer();
+  memcpy(pBuffer, &(packet_buffer[DATA_START_ADDR]), len*SizeofData());
+  
+  return len;
+}
+
+
+int InPort::SizeofData() {
+  switch(m_TypeCode) {
+  case 'b':
+  case 'B':
+  case 'o':
+  case 'O':
+  case 'c':
+  case 'C':
+    return 1;
+  default:
+    return 4;
+  }
+}
+