Diff: RTno/RTno.h

Revision:

0:a70ea71286b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTno/RTno.h	Fri Jul 29 11:20:55 2011 +0000
@@ -0,0 +1,106 @@
+#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
+