nucho
/
RTno_Template
Diff: main.cpp
- Revision:
- 0:a70ea71286b6
diff -r 000000000000 -r a70ea71286b6 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Jul 29 11:20:55 2011 +0000 @@ -0,0 +1,185 @@ +/** + * RTno_Template.pde + * RTno is RT-middleware and arduino. + * + * Using RTno, arduino device can communicate any RT-components + * through the RTno-proxy component which is launched in PC. + * Connect arduino with USB, and program with RTno library. + * You do not have to define any protocols to establish communication + * between arduino and PC. + * + * Using RTno, you must not define the function "setup" and "loop". + * Those functions are automatically defined in the RTno libarary. + * You, developers, must define following functions: + * int onInitialize(void); + * int onActivated(void); + * int onDeactivated(void); + * int onExecute(void); + * int onError(void); + * int onReset(void); + * These functions are spontaneously called by the RTno-proxy + * RT-component which is launched in the PC. + * @author Yuki Suga + * This code is written/distributed for public-domain. + */ + +#include "RTno.h" +#include "mbed.h" +/** + * This function is called at first. + * conf._default.baudrate: baudrate of serial communication + * exec_cxt.periodic.type: reserved but not used. + */ +void rtcconf(void) { + conf._default.baudrate = 115200; + exec_cxt.periodic.type = ProxySynchronousExecutionContext; +} + + +/** + * Declaration Division: + * + * DataPort and Data Buffer should be placed here. + * + * available data types are as follows: + * TimedLong + * TimedDouble + * TimedFloat + * TimedLongSeq + * TimedDoubleSeq + * TimedFloatSeq + * + * Please refer following comments. If you need to use some ports, + * uncomment the line you want to declare. + **/ +//TimedLong in0; +//InPort in0In("in0", in0); +//TimedLongSeq in0; +//InPort in0In("in0", in0); + +//TimedLong out0; +//OutPort out0Out("out0", out0); +//TimedLongSeq out0; +//OutPort out0Out("out0", out0); + + +////////////////////////////////////////// +// on_initialize +// +// This function is called in the initialization +// sequence. The sequence is triggered by the +// PC. When the RTnoRTC is launched in the PC, +// then, this function is remotely called +// through the USB cable. +// In on_initialize, usually DataPorts are added. +// +////////////////////////////////////////// +int RTno::onInitialize() { + /* Data Ports are added in this section. + addInPort(&in0In); + addInPort(&in1In); + addOutPort(&out0Out); + addOutPort(&out1Out); + */ + + // Some initialization (like port direction setting) + // pinMode(LED, OUTPUT); + return RTC_OK; +} + +//////////////////////////////////////////// +// on_activated +// This function is called when the RTnoRTC +// is activated. When the activation, the RTnoRTC +// sends message to call this function remotely. +// If this function is failed (return value +// is RTC_ERROR), RTno will enter ERROR condition. +//////////////////////////////////////////// +int RTno::onActivated() { + // Write here initialization code. + + return RTC_OK; +} + +///////////////////////////////////////////// +// on_deactivated +// This function is called when the RTnoRTC +// is deactivated. +///////////////////////////////////////////// +int RTno::onDeactivated() +{ + // Write here finalization code. + + return RTC_OK; +} + +////////////////////////////////////////////// +// This function is repeatedly called when the +// RTno is in the ACTIVE condition. +// If this function is failed (return value is +// RTC_ERROR), RTno immediately enter into the +// ERROR condition.r +////////////////////////////////////////////// +int RTno::onExecute() { + + /** + * Usage of InPort with premitive type. + if(in0In.isNew()) { + in0In.read(); + long data = in0.data; + } + */ + + /** + * Usage of InPort with sequence type + if(in0In.isNew(&in1In)) { + in0In.read(); + for(int i = 0;i < in0.data.length;i++) { + long data_buffer = in0.data[i]; + } + } + */ + + /** + * Usage of OutPort with primitive type. + out0.data = 3.14159; + out0Out.write(); + */ + + /** + * Usage of OutPort with sequence type. + out0.data.length(3); + out0.data[0] = 1.1; + out0.data[1] = 2.2; + out0.data[2] = 3.3; + out0Out.write(); + */ + + return RTC_OK; +} + + +////////////////////////////////////// +// on_error +// This function is repeatedly called when +// the RTno is in the ERROR condition. +// The ERROR condition can be recovered, +// when the RTno is reset. +/////////////////////////////////////// +int RTno::onError() +{ + return RTC_OK; +} + +//////////////////////////////////////// +// This function is called when +// the RTno is reset. If on_reset is +// succeeded, the RTno will enter into +// the INACTIVE condition. If failed +// (return value is RTC_ERROR), RTno +// will stay in ERROR condition.ec +/////////////////////////////////////// +int RTno::onReset() +{ + return RTC_OK; +}