nucho
/
RTno_MotorControl
RTno/RTno.h
- Committer:
- nucho
- Date:
- 2011-07-29
- Revision:
- 0:3c49891bc39d
File content as of revision 0:3c49891bc39d:
#ifndef RTNO_HEADER_INCLUDED #define RTNO_HEADER_INCLUDED /******************************************* * RTno.h * @author Yuki Suga * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010. * @license LGPLv3 *****************************************/ //#define BAUDRATE 19200 #define RTC_OK 0 #define RTC_ERROR -1 #include "BasicDataType.h" #include "InPort.h" #include "OutPort.h" extern "C" { void addInPort(InPortBase& inPort); void addOutPort(OutPortBase& outPort); } struct config_str { struct default_str { long baudrate; } _default; }; struct exec_cxt_str { struct periodic_str { long type; } periodic; }; #define ProxySynchronousExecutionContext 1 extern exec_cxt_str exec_cxt; extern config_str conf; extern "C" { void rtcconf(void); }; namespace RTno { extern "C" { // setup function is defined in RTno.cpp void setup(); // loop fuction is defined in RTno.cpp void loop(); // These call-back funcitons should be defined in user program code. // Use RTno_template.pde to create your own project. /** * onInitialize() * This function is called when RTno is initialized. * RTno is usually initialized when the RTno-proxy is launched. */ int onInitialize(); /** * onActivated() * This function is called when RTno is activated. * RTno is usually activated by RT System Editor or other tools for OpenRTM-aist. */ int onActivated(); /** * onExecute() * This function is periodically called when the RTno-proxy is active. */ int onExecute(); /** * onDeactivated() * This function is called when RTno is deactivated. * RTno is usually deactivated by RT System Editor or other tools for OpenRTM-aist. */ int onDeactivated(); /** * onError * This function is called when RTno is error. * [DANGEROUS] This function is periodically called in very short interval. */ int onError(); /** * onReset * This function is called when RTno is reset. * RTno is usually reset by RT System Editor or other tools for OpenRTM-aist. */ int onReset(); };// extern "C" }; #endif