Diff: main.cpp

Revision:

0:b14546a3cfab

Child:

1:b96a6ff9bb6f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jul 29 11:23:06 2011 +0000
@@ -0,0 +1,175 @@
+/**
+ * digitalInOut.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.
+ */
+
+#include "mbed.h"
+#include "RTno.h"
+
+DigitalIn inPorts[] = {(p5), (p6),(p7),(p8),(p9),(p10)};
+DigitalOut outPorts[] = {(p15),(p16),(p17),(p18),(p19),(p20)};
+DigitalOut leds[] = {(LED1),(LED2),(LED3),(LED4)};
+
+/**
+ * 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.
+ *
+ * Currently, following 6 types are available.
+ * TimedLong:
+ * TimedDouble:
+ * TimedFloat:
+ * TimedLongSeq:
+ * TimedDoubleSeq:
+ * TimedFloatSeq:
+ *
+ * Please refer following comments. If you need to use some ports,
+ * uncomment the line you want to declare.
+ **/
+TimedLongSeq led;
+InPort ledIn("led", led);
+
+TimedLongSeq in0;
+InPort in0In("in0", in0);
+
+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(ledIn);
+    addInPort(in0In);
+    addOutPort(out0Out);
+
+    // Some initialization (like port direction setting)
+
+    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() {
+
+    /*
+     * Input digital data
+     */
+    if (ledIn.isNew()) {
+        ledIn.read();
+        for (int i = 0; i < led.data.length() && i < 4; i++) {
+            leds[i] =led.data[i];
+        }
+    }
+
+    if (in0In.isNew()) {
+        in0In.read();
+        for (int i = 0; i < in0.data.length() && i < 6; i++) {
+            outPorts[i] =in0.data[i];
+        }
+    }
+
+
+    /*
+     * Output digital data in Voltage unit.
+     */
+    out0.data.length(6);
+    for (int i = 0; i < 6; i++) {
+        out0.data[i] = inPorts[i];
+    }
+    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;
+}