Diff: RTno/Packet.h

Revision:

0:a70ea71286b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTno/Packet.h	Fri Jul 29 11:20:55 2011 +0000
@@ -0,0 +1,74 @@
+/*******************************************
+ * Packet.h
+ * @author Yuki Suga
+ * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
+ * @license LGPLv3
+ *****************************************/
+
+#ifndef PACKET_HEADER_INCLUDED
+#define PACKET_HEADER_INCLUDED
+    
+// Return Values
+#define TIMEOUT 1
+#define DATA_TIMEOUT 2
+#define CHECKSUM_ERROR 3
+
+#define INVALID_PACKET_INTERFACE 65
+#define INVALID_PACKET_DATASIZE  66
+
+// Packet Settings
+#define PACKET_HEADER_SIZE 2
+#define INTERFACE 0
+#define DATA_LENGTH 1
+#define DATA_START_ADDR 2
+
+// Protocol
+// Interface
+#define INITIALIZE 'I'
+#define ACTIVATE 'A'
+#define DEACTIVATE 'D'
+#define EXECUTE 'E'
+#define ONERROR 'C'
+#define RESET 'R'
+#define GET_STATUS 'X'
+
+#define ADD_INPORT 'P'
+#define ADD_OUTPORT 'Q'
+
+#define INPORT_ISNEW 'N'
+#define INPORT_READ  'J'
+
+#define RTNO_OK '@'
+#define RTNO_ERROR 'x'
+
+
+#define OUTPORT_WRITE 'W'
+
+// Communication Settings
+#define PACKET_WAITING_TIME 50 // ms
+#define PACKET_WAITING_DELAY 100 //us
+#define PACKET_WAITING_COUNT (PACKET_WAITING_TIME*1000/PACKET_WAITING_DELAY)
+
+
+#define TYPECODE_TIMED_BOOLEAN 'b'
+#define TYPECODE_TIMED_CHAR 'c'
+#define TYPECODE_TIMED_OCTET 'o'
+
+
+#define TYPECODE_TIMED_LONG 'l'
+#define TYPECODE_TIMED_FLOAT 'f'
+#define TYPECODE_TIMED_DOUBLE 'd'
+
+#define TYPECODE_TIMED_BOOLEAN_SEQ 'B'
+#define TYPECODE_TIMED_CHAR_SEQ 'C'
+#define TYPECODE_TIMED_OCTET_SEQ 'O'
+
+
+#define TYPECODE_TIMED_LONG_SEQ 'L'
+#define TYPECODE_TIMED_FLOAT_SEQ 'F'
+#define TYPECODE_TIMED_DOUBLE_SEQ 'D'
+
+#define MAX_PACKET_SIZE 64
+
+
+#endif