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nucho / Mbed 2 deprecated RTno_MotorControl

RTno/RTno.cpp@1:7f0fc0d1f777, 2011-08-01 (annotated)

Committer:: nucho
Date:: Mon Aug 01 14:46:08 2011 +0000
Revision:: 1:7f0fc0d1f777
Parent:: 0:3c49891bc39d

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User	Revision	Line number	New contents of line
nucho	0:3c49891bc39d	1	/*******************************************
nucho	0:3c49891bc39d	2	* RTno.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	It changed a little for mbed.
nucho	0:3c49891bc39d	9	The serial buffer is not used.
nucho	0:3c49891bc39d	10	2011/7/27 @nucho
nucho	0:3c49891bc39d	11	********************************************/
nucho	0:3c49891bc39d	12
nucho	0:3c49891bc39d	13	#include "RTno.h"
nucho	0:3c49891bc39d	14	//#include "WConstants.h"
nucho	0:3c49891bc39d	15	//#include "HardwareSerial.h"
nucho	0:3c49891bc39d	16	#include "ReceivePacket.h"
nucho	0:3c49891bc39d	17	#include "SendPacket.h"
nucho	0:3c49891bc39d	18	#include "Serial.h"
nucho	0:3c49891bc39d	19	#include "mbed.h"
nucho	0:3c49891bc39d	20
nucho	0:3c49891bc39d	21	using namespace RTno;
nucho	0:3c49891bc39d	22
nucho	0:3c49891bc39d	23	config_str conf;
nucho	0:3c49891bc39d	24	exec_cxt_str exec_cxt;
nucho	0:3c49891bc39d	25
nucho	0:3c49891bc39d	26	enum {
nucho	0:3c49891bc39d	27	CREATED='C',
nucho	0:3c49891bc39d	28	INACTIVE='I',
nucho	0:3c49891bc39d	29	ACTIVE='A',
nucho	0:3c49891bc39d	30	ERROR='E',
nucho	0:3c49891bc39d	31	};
nucho	0:3c49891bc39d	32
nucho	0:3c49891bc39d	33	char condition = CREATED;
nucho	0:3c49891bc39d	34	static char packet_buffer[64];
nucho	0:3c49891bc39d	35
nucho	0:3c49891bc39d	36	void RTno::setup() {
nucho	0:3c49891bc39d	37	rtcconf();
nucho	0:3c49891bc39d	38	pc.baud(conf._default.baudrate);
nucho	0:3c49891bc39d	39	}
nucho	0:3c49891bc39d	40
nucho	0:3c49891bc39d	41
nucho	0:3c49891bc39d	42	static const char rtc_ok = RTNO_OK;
nucho	0:3c49891bc39d	43	static const char rtc_error = RTNO_ERROR;
nucho	0:3c49891bc39d	44	#define LP_RTC_OK (&rtc_ok)
nucho	0:3c49891bc39d	45	#define LP_RTC_ERROR (&rtc_error)
nucho	0:3c49891bc39d	46
nucho	0:3c49891bc39d	47
nucho	0:3c49891bc39d	48	int main() {
nucho	0:3c49891bc39d	49	RTno::setup();
nucho	0:3c49891bc39d	50
nucho	0:3c49891bc39d	51	while(1){
nucho	0:3c49891bc39d	52	RTno::loop();
nucho	0:3c49891bc39d	53	}
nucho	0:3c49891bc39d	54	}
nucho	0:3c49891bc39d	55
nucho	0:3c49891bc39d	56	void RTno::loop() {
nucho	0:3c49891bc39d	57	ReceivePacket(packet_buffer);
nucho	0:3c49891bc39d	58
nucho	0:3c49891bc39d	59	switch (condition) {
nucho	0:3c49891bc39d	60	case CREATED:
nucho	0:3c49891bc39d	61	if (packet_buffer[INTERFACE] == INITIALIZE) {
nucho	0:3c49891bc39d	62	if (onInitialize() == RTC_OK) {
nucho	0:3c49891bc39d	63	condition = INACTIVE;
nucho	0:3c49891bc39d	64	SendPacket(INITIALIZE, 1, LP_RTC_OK);
nucho	0:3c49891bc39d	65	} else {
nucho	0:3c49891bc39d	66	condition = ERROR;
nucho	0:3c49891bc39d	67	SendPacket(INITIALIZE, 1, LP_RTC_ERROR);
nucho	0:3c49891bc39d	68	}
nucho	0:3c49891bc39d	69	}
nucho	0:3c49891bc39d	70	break;
nucho	0:3c49891bc39d	71	case ERROR:
nucho	0:3c49891bc39d	72	if (packet_buffer[INTERFACE] == ONERROR) {
nucho	0:3c49891bc39d	73	onError();
nucho	0:3c49891bc39d	74	SendPacket(ONERROR, 1, LP_RTC_OK);
nucho	0:3c49891bc39d	75	} else if (packet_buffer[INTERFACE] == RESET) {
nucho	0:3c49891bc39d	76	if (onReset() == RTC_OK) {
nucho	0:3c49891bc39d	77	condition = INACTIVE;
nucho	0:3c49891bc39d	78	SendPacket(RESET, 1, LP_RTC_OK);
nucho	0:3c49891bc39d	79	} else {
nucho	0:3c49891bc39d	80	condition = ERROR;
nucho	0:3c49891bc39d	81	SendPacket(RESET, 1, LP_RTC_ERROR);
nucho	0:3c49891bc39d	82	}
nucho	0:3c49891bc39d	83	}
nucho	0:3c49891bc39d	84	break;
nucho	0:3c49891bc39d	85	case INACTIVE:
nucho	0:3c49891bc39d	86	if (packet_buffer[INTERFACE] == ACTIVATE) {
nucho	0:3c49891bc39d	87	if (onActivated() == RTC_OK) {
nucho	0:3c49891bc39d	88	condition = ACTIVE;
nucho	0:3c49891bc39d	89	SendPacket(ACTIVATE, 1, LP_RTC_OK);
nucho	0:3c49891bc39d	90	} else {
nucho	0:3c49891bc39d	91	condition = ERROR;
nucho	0:3c49891bc39d	92	SendPacket(ACTIVATE, 1, LP_RTC_ERROR);
nucho	0:3c49891bc39d	93	}
nucho	0:3c49891bc39d	94	}
nucho	0:3c49891bc39d	95	break;
nucho	0:3c49891bc39d	96	case ACTIVE:
nucho	0:3c49891bc39d	97	if (packet_buffer[INTERFACE] == DEACTIVATE) {
nucho	0:3c49891bc39d	98	onDeactivated();
nucho	0:3c49891bc39d	99	condition = INACTIVE;
nucho	0:3c49891bc39d	100	SendPacket(DEACTIVATE, 1, LP_RTC_OK);
nucho	0:3c49891bc39d	101	} else if (packet_buffer[INTERFACE] == EXECUTE) {
nucho	0:3c49891bc39d	102	if (onExecute() == RTC_OK) {
nucho	0:3c49891bc39d	103	SendPacket(EXECUTE, 1, LP_RTC_OK);
nucho	0:3c49891bc39d	104	} else {
nucho	0:3c49891bc39d	105	condition = ERROR;
nucho	0:3c49891bc39d	106	SendPacket(EXECUTE, 1, LP_RTC_ERROR);
nucho	0:3c49891bc39d	107	}
nucho	0:3c49891bc39d	108	}
nucho	0:3c49891bc39d	109	break;
nucho	0:3c49891bc39d	110	default:
nucho	0:3c49891bc39d	111	condition = ERROR;
nucho	0:3c49891bc39d	112	break;
nucho	0:3c49891bc39d	113	}
nucho	0:3c49891bc39d	114
nucho	0:3c49891bc39d	115	if (packet_buffer[INTERFACE] == GET_STATUS) {
nucho	0:3c49891bc39d	116	SendPacket(GET_STATUS, 1, &condition);
nucho	0:3c49891bc39d	117	}
nucho	0:3c49891bc39d	118	}
nucho	0:3c49891bc39d	119
nucho	0:3c49891bc39d	120
nucho	0:3c49891bc39d	121	/*NNN
nucho	0:3c49891bc39d	122	l:TimedLong
nucho	0:3c49891bc39d	123	d:TimedDouble
nucho	0:3c49891bc39d	124	f:TimedFloat
nucho	0:3c49891bc39d	125	L:TimedLongSeq
nucho	0:3c49891bc39d	126	D:TimedDoubleSeq
nucho	0:3c49891bc39d	127	F:TimedFloatSeq
nucho	0:3c49891bc39d	128	*/
nucho	0:3c49891bc39d	129
nucho	0:3c49891bc39d	130	void addInPort(InPortBase& Port) {
nucho	0:3c49891bc39d	131	int len = strlen(Port.GetName());
nucho	0:3c49891bc39d	132	char data = (char)malloc(len+1);
nucho	0:3c49891bc39d	133	data[0] = Port.GetTypeCode();
nucho	0:3c49891bc39d	134	memcpy(&(data[1]), Port.GetName(), len);
nucho	0:3c49891bc39d	135	SendPacket(ADD_INPORT, len+1, data);
nucho	0:3c49891bc39d	136	ReceivePacket(packet_buffer);
nucho	0:3c49891bc39d	137	free(data);
nucho	0:3c49891bc39d	138	}
nucho	0:3c49891bc39d	139
nucho	0:3c49891bc39d	140	void addOutPort(OutPortBase& Port) {
nucho	0:3c49891bc39d	141	int len = strlen(Port.GetName());
nucho	0:3c49891bc39d	142	char data = (char)malloc(len+1);
nucho	0:3c49891bc39d	143	data[0] = Port.GetTypeCode();
nucho	0:3c49891bc39d	144	memcpy(&(data[1]), Port.GetName(), len);
nucho	0:3c49891bc39d	145	SendPacket(ADD_OUTPORT, len+1, data);
nucho	0:3c49891bc39d	146	ReceivePacket(packet_buffer);
nucho	0:3c49891bc39d	147	free(data);
nucho	0:3c49891bc39d	148	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	29 Jul 2011
Imports:	4
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	2
Followers:	1

RTno/RTno.cpp@1:7f0fc0d1f777, 2011-08-01 (annotated)

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