nucho
RTno/RTno.h@1:ab3c75cf5906, 2011-08-01 (annotated)
- Committer:
- nucho
- Date:
- Mon Aug 01 14:45:42 2011 +0000
- Revision:
- 1:ab3c75cf5906
- Parent:
- 0:a70ea71286b6
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:a70ea71286b6 | 1 | #ifndef RTNO_HEADER_INCLUDED |
| nucho | 0:a70ea71286b6 | 2 | #define RTNO_HEADER_INCLUDED |
| nucho | 0:a70ea71286b6 | 3 | |
| nucho | 0:a70ea71286b6 | 4 | /******************************************* |
| nucho | 0:a70ea71286b6 | 5 | * RTno.h |
| nucho | 0:a70ea71286b6 | 6 | * @author Yuki Suga |
| nucho | 0:a70ea71286b6 | 7 | * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010. |
| nucho | 0:a70ea71286b6 | 8 | * @license LGPLv3 |
| nucho | 0:a70ea71286b6 | 9 | *****************************************/ |
| nucho | 0:a70ea71286b6 | 10 | |
| nucho | 0:a70ea71286b6 | 11 | |
| nucho | 0:a70ea71286b6 | 12 | //#define BAUDRATE 19200 |
| nucho | 0:a70ea71286b6 | 13 | |
| nucho | 0:a70ea71286b6 | 14 | #define RTC_OK 0 |
| nucho | 0:a70ea71286b6 | 15 | #define RTC_ERROR -1 |
| nucho | 0:a70ea71286b6 | 16 | |
| nucho | 0:a70ea71286b6 | 17 | #include "BasicDataType.h" |
| nucho | 0:a70ea71286b6 | 18 | #include "InPort.h" |
| nucho | 0:a70ea71286b6 | 19 | #include "OutPort.h" |
| nucho | 0:a70ea71286b6 | 20 | |
| nucho | 0:a70ea71286b6 | 21 | |
| nucho | 0:a70ea71286b6 | 22 | extern "C" { |
| nucho | 0:a70ea71286b6 | 23 | void addInPort(InPortBase& inPort); |
| nucho | 0:a70ea71286b6 | 24 | void addOutPort(OutPortBase& outPort); |
| nucho | 0:a70ea71286b6 | 25 | } |
| nucho | 0:a70ea71286b6 | 26 | |
| nucho | 0:a70ea71286b6 | 27 | struct config_str { |
| nucho | 0:a70ea71286b6 | 28 | struct default_str { |
| nucho | 0:a70ea71286b6 | 29 | long baudrate; |
| nucho | 0:a70ea71286b6 | 30 | } _default; |
| nucho | 0:a70ea71286b6 | 31 | }; |
| nucho | 0:a70ea71286b6 | 32 | |
| nucho | 0:a70ea71286b6 | 33 | struct exec_cxt_str { |
| nucho | 0:a70ea71286b6 | 34 | struct periodic_str { |
| nucho | 0:a70ea71286b6 | 35 | long type; |
| nucho | 0:a70ea71286b6 | 36 | } periodic; |
| nucho | 0:a70ea71286b6 | 37 | }; |
| nucho | 0:a70ea71286b6 | 38 | |
| nucho | 0:a70ea71286b6 | 39 | #define ProxySynchronousExecutionContext 1 |
| nucho | 0:a70ea71286b6 | 40 | |
| nucho | 0:a70ea71286b6 | 41 | extern exec_cxt_str exec_cxt; |
| nucho | 0:a70ea71286b6 | 42 | |
| nucho | 0:a70ea71286b6 | 43 | extern config_str conf; |
| nucho | 0:a70ea71286b6 | 44 | |
| nucho | 0:a70ea71286b6 | 45 | |
| nucho | 0:a70ea71286b6 | 46 | extern "C" { |
| nucho | 0:a70ea71286b6 | 47 | void rtcconf(void); |
| nucho | 0:a70ea71286b6 | 48 | }; |
| nucho | 0:a70ea71286b6 | 49 | |
| nucho | 0:a70ea71286b6 | 50 | namespace RTno { |
| nucho | 0:a70ea71286b6 | 51 | extern "C" { |
| nucho | 0:a70ea71286b6 | 52 | // setup function is defined in RTno.cpp |
| nucho | 0:a70ea71286b6 | 53 | void setup(); |
| nucho | 0:a70ea71286b6 | 54 | |
| nucho | 0:a70ea71286b6 | 55 | // loop fuction is defined in RTno.cpp |
| nucho | 0:a70ea71286b6 | 56 | void loop(); |
| nucho | 0:a70ea71286b6 | 57 | |
| nucho | 0:a70ea71286b6 | 58 | // These call-back funcitons should be defined in user program code. |
| nucho | 0:a70ea71286b6 | 59 | // Use RTno_template.pde to create your own project. |
| nucho | 0:a70ea71286b6 | 60 | |
| nucho | 0:a70ea71286b6 | 61 | /** |
| nucho | 0:a70ea71286b6 | 62 | * onInitialize() |
| nucho | 0:a70ea71286b6 | 63 | * This function is called when RTno is initialized. |
| nucho | 0:a70ea71286b6 | 64 | * RTno is usually initialized when the RTno-proxy is launched. |
| nucho | 0:a70ea71286b6 | 65 | */ |
| nucho | 0:a70ea71286b6 | 66 | int onInitialize(); |
| nucho | 0:a70ea71286b6 | 67 | |
| nucho | 0:a70ea71286b6 | 68 | /** |
| nucho | 0:a70ea71286b6 | 69 | * onActivated() |
| nucho | 0:a70ea71286b6 | 70 | * This function is called when RTno is activated. |
| nucho | 0:a70ea71286b6 | 71 | * RTno is usually activated by RT System Editor or other tools for OpenRTM-aist. |
| nucho | 0:a70ea71286b6 | 72 | */ |
| nucho | 0:a70ea71286b6 | 73 | int onActivated(); |
| nucho | 0:a70ea71286b6 | 74 | |
| nucho | 0:a70ea71286b6 | 75 | /** |
| nucho | 0:a70ea71286b6 | 76 | * onExecute() |
| nucho | 0:a70ea71286b6 | 77 | * This function is periodically called when the RTno-proxy is active. |
| nucho | 0:a70ea71286b6 | 78 | */ |
| nucho | 0:a70ea71286b6 | 79 | int onExecute(); |
| nucho | 0:a70ea71286b6 | 80 | |
| nucho | 0:a70ea71286b6 | 81 | /** |
| nucho | 0:a70ea71286b6 | 82 | * onDeactivated() |
| nucho | 0:a70ea71286b6 | 83 | * This function is called when RTno is deactivated. |
| nucho | 0:a70ea71286b6 | 84 | * RTno is usually deactivated by RT System Editor or other tools for OpenRTM-aist. |
| nucho | 0:a70ea71286b6 | 85 | */ |
| nucho | 0:a70ea71286b6 | 86 | int onDeactivated(); |
| nucho | 0:a70ea71286b6 | 87 | |
| nucho | 0:a70ea71286b6 | 88 | /** |
| nucho | 0:a70ea71286b6 | 89 | * onError |
| nucho | 0:a70ea71286b6 | 90 | * This function is called when RTno is error. |
| nucho | 0:a70ea71286b6 | 91 | * [DANGEROUS] This function is periodically called in very short interval. |
| nucho | 0:a70ea71286b6 | 92 | */ |
| nucho | 0:a70ea71286b6 | 93 | int onError(); |
| nucho | 0:a70ea71286b6 | 94 | |
| nucho | 0:a70ea71286b6 | 95 | /** |
| nucho | 0:a70ea71286b6 | 96 | * onReset |
| nucho | 0:a70ea71286b6 | 97 | * This function is called when RTno is reset. |
| nucho | 0:a70ea71286b6 | 98 | * RTno is usually reset by RT System Editor or other tools for OpenRTM-aist. |
| nucho | 0:a70ea71286b6 | 99 | */ |
| nucho | 0:a70ea71286b6 | 100 | int onReset(); |
| nucho | 0:a70ea71286b6 | 101 | };// extern "C" |
| nucho | 0:a70ea71286b6 | 102 | }; |
| nucho | 0:a70ea71286b6 | 103 | |
| nucho | 0:a70ea71286b6 | 104 | |
| nucho | 0:a70ea71286b6 | 105 | #endif |
| nucho | 0:a70ea71286b6 | 106 |