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nucho |
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/*******************************************
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nucho |
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* RTno.cpp
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* @author Yuki Suga
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* @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
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* @license LGPLv3
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*****************************************/
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/********************************************
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nucho |
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It changed a little for mbed.
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nucho |
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The serial buffer is not used.
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2011/7/27 @nucho
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nucho |
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********************************************/
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nucho |
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nucho |
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#include "RTno.h"
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//#include "WConstants.h"
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//#include "HardwareSerial.h"
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#include "ReceivePacket.h"
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#include "SendPacket.h"
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#include "Serial.h"
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#include "mbed.h"
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using namespace RTno;
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config_str conf;
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exec_cxt_str exec_cxt;
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enum {
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CREATED='C',
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INACTIVE='I',
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ACTIVE='A',
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ERROR='E',
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};
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char condition = CREATED;
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static char packet_buffer[64];
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void RTno::setup() {
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rtcconf();
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pc.baud(conf._default.baudrate);
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}
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static const char rtc_ok = RTNO_OK;
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static const char rtc_error = RTNO_ERROR;
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#define LP_RTC_OK (&rtc_ok)
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#define LP_RTC_ERROR (&rtc_error)
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int main() {
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RTno::setup();
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while(1){
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RTno::loop();
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}
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}
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void RTno::loop() {
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nucho |
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ReceivePacket(packet_buffer);
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switch (condition) {
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case CREATED:
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if (packet_buffer[INTERFACE] == INITIALIZE) {
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if (onInitialize() == RTC_OK) {
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condition = INACTIVE;
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SendPacket(INITIALIZE, 1, LP_RTC_OK);
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} else {
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condition = ERROR;
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SendPacket(INITIALIZE, 1, LP_RTC_ERROR);
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}
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}
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break;
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case ERROR:
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if (packet_buffer[INTERFACE] == ONERROR) {
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onError();
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SendPacket(ONERROR, 1, LP_RTC_OK);
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} else if (packet_buffer[INTERFACE] == RESET) {
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if (onReset() == RTC_OK) {
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condition = INACTIVE;
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SendPacket(RESET, 1, LP_RTC_OK);
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} else {
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condition = ERROR;
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SendPacket(RESET, 1, LP_RTC_ERROR);
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}
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}
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break;
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nucho |
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case INACTIVE:
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if (packet_buffer[INTERFACE] == ACTIVATE) {
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if (onActivated() == RTC_OK) {
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condition = ACTIVE;
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SendPacket(ACTIVATE, 1, LP_RTC_OK);
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} else {
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condition = ERROR;
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SendPacket(ACTIVATE, 1, LP_RTC_ERROR);
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}
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}
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break;
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case ACTIVE:
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if (packet_buffer[INTERFACE] == DEACTIVATE) {
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onDeactivated();
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condition = INACTIVE;
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SendPacket(DEACTIVATE, 1, LP_RTC_OK);
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} else if (packet_buffer[INTERFACE] == EXECUTE) {
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if (onExecute() == RTC_OK) {
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SendPacket(EXECUTE, 1, LP_RTC_OK);
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} else {
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condition = ERROR;
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SendPacket(EXECUTE, 1, LP_RTC_ERROR);
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}
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}
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break;
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default:
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condition = ERROR;
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break;
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}
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if (packet_buffer[INTERFACE] == GET_STATUS) {
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SendPacket(GET_STATUS, 1, &condition);
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}
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}
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nucho |
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nucho |
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/*NNN
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nucho |
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l:TimedLong
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d:TimedDouble
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f:TimedFloat
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L:TimedLongSeq
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D:TimedDoubleSeq
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F:TimedFloatSeq
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*/
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nucho |
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nucho |
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void addInPort(InPortBase& Port) {
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int len = strlen(Port.GetName());
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char *data = (char*)malloc(len+1);
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data[0] = Port.GetTypeCode();
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memcpy(&(data[1]), Port.GetName(), len);
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SendPacket(ADD_INPORT, len+1, data);
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ReceivePacket(packet_buffer);
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nucho |
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free(data);
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}
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nucho |
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void addOutPort(OutPortBase& Port) {
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nucho |
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int len = strlen(Port.GetName());
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nucho |
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char *data = (char*)malloc(len+1);
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data[0] = Port.GetTypeCode();
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memcpy(&(data[1]), Port.GetName(), len);
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nucho |
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SendPacket(ADD_OUTPORT, len+1, data);
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nucho |
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ReceivePacket(packet_buffer);
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nucho |
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free(data);
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nucho |
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148
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}
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