Diff: RTno/OutPort.cpp

Revision:

0:a70ea71286b6

Child:

1:ab3c75cf5906

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTno/OutPort.cpp	Fri Jul 29 11:20:55 2011 +0000
@@ -0,0 +1,143 @@
+/*******************************************
+ * OutPort.cpp
+ * @author Yuki Suga
+ * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
+ * @license LGPLv3
+ *****************************************/
+
+#include <string.h>
+#include "BasicDataType.h"
+#include "OutPort.h"
+#include "SendPacket.h"
+#include "ReceivePacket.h"
+
+
+OutPort::OutPort(char* name, TimedBoolean& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'b';
+}
+
+OutPort::OutPort(char* name, TimedChar& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'c';
+}
+
+OutPort::OutPort(char* name, TimedOctet& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'o';
+}
+
+OutPort::OutPort(char* name, TimedLong& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'l';
+}
+
+OutPort::OutPort(char* name, TimedFloat& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'f';
+}
+
+OutPort::OutPort(char* name, TimedDouble& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'd';
+}
+
+OutPort::OutPort(char* name, TimedBooleanSeq& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'B';
+}
+
+OutPort::OutPort(char* name, TimedCharSeq& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'C';
+}
+
+OutPort::OutPort(char* name, TimedOctetSeq& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'O';
+}
+
+
+OutPort::OutPort(char* name, TimedLongSeq& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'L';
+}
+
+OutPort::OutPort(char* name, TimedFloatSeq& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'F';
+}
+
+OutPort::OutPort(char* name, TimedDoubleSeq& Data) :
+  OutPortBase(name)
+{
+  //  m_pData = pData;
+  m_pData = &Data;
+  m_TypeCode = 'D';
+}
+
+OutPort::~OutPort()
+{
+
+}
+
+int OutPort::SizeofData() {
+  switch(m_TypeCode) {
+  case 'b':
+  case 'B':
+  case 'o':
+  case 'O':
+  case 'c':
+  case 'C':
+    return 1;
+  default:
+    return 4;
+  }
+}
+
+int OutPort::write()
+{
+  int datalen = GetLength() * SizeofData();
+  int namelen = strlen(GetName());
+  char packet_buffer[MAX_PACKET_SIZE];
+  packet_buffer[0] = namelen;
+  packet_buffer[1] = datalen;
+  memcpy(&(packet_buffer[2]), GetName(), namelen);
+  memcpy(&(packet_buffer[2 + namelen]), GetBuffer(), datalen);
+  SendPacket(OUTPORT_WRITE, 2+namelen+datalen, packet_buffer);
+  ReceivePacket(packet_buffer);
+  return PACKET_HEADER_SIZE+2+namelen+datalen;
+}