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Diff: RTno/RTno.h
- Revision:
- 0:b14546a3cfab
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RTno/RTno.h Fri Jul 29 11:23:06 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 +