Diff: RTno.h

Revision:

0:9fac71a0bff3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTno.h	Thu Feb 09 02:33:10 2012 +0000
@@ -0,0 +1,177 @@
+#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
+#define RTC_PRECONDITION_NOT_MET -2
+
+
+#define USE_UART_CONNECTION
+#define USE_ETHERNET_CONNECTION
+#define USE_TIMER1_EC
+
+#include "mbed.h"
+#include "BasicDataType.h"
+#include "InPort.h"
+#include "OutPort.h"
+#include "rtcconf.h"
+
+#ifdef USE_UART_CONNECTION
+#include "UART.h"
+#endif
+
+#ifdef USE_ETHERNET_CONNECTION
+#include "EtherTcp.h"
+#include "EthernetNetIf.h"
+#endif
+
+#ifdef USE_TIMER1_EC
+#include "Timer1ExecutionContext.h"
+#endif
+
+#include "ProxySyncEC.h"
+#define PACKET_BUFFER_SIZE 128
+
+#define MAX_PORT 8
+
+
+// global variables for rtcconf
+//extern volatile exec_cxt_str exec_cxt;
+//extern config_str conf;
+
+// global functions
+// RTno APIs
+extern "C" {
+  void rtcconf(config_str& conf, exec_cxt_str& exec_cxt);
+};
+
+extern "C" {
+  void addInPort(InPortBase& inPort);
+  void addOutPort(OutPortBase& outPort);
+}
+
+namespace RTno {
+  //extern "C" {
+
+  // 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 your device is turned on.
+   */
+  int onInitialize();
+
+  /**
+   * onActivated()
+   * This function is called when RTno is activated only if RTno is RTC_INACTIVE condition.
+   * 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 RTC_ACTIVE condition.
+   */
+  int onExecute();
+
+  /**
+   * onDeactivated()
+   * This function is called when RTno is deactivated only if RTno is RTC_ACTIVE condition.
+   * 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 only if RTno is in RTC_ERROR condition.
+   * [DANGEROUS] This function is periodically called in very short interval.
+   */ 
+ int onError();
+
+  /**
+   * onReset
+   * This function is called when RTno is reset only if RTno is in RTC_ERROR condition.
+   * RTno is usually reset by RT System Editor or other tools for OpenRTM-aist.
+   */
+  int onReset();
+  //};// extern "C"
+};
+
+
+#ifndef RTNO_SUBMODULE_DEFINE
+
+
+void EC_setup(exec_cxt_str& exec_cxt) {
+  switch(exec_cxt.periodic.type) {
+#ifdef USE_TIMER1_EC
+  case Timer1ExecutionContext:
+    Timer1EC_init(exec_cxt.periodic.rate);
+    break;
+#endif // USE_TIMER1_EC
+  case ProxySynchronousExecutionContext:
+  default:
+    ProxySyncEC_init();
+    break;
+  }
+}
+
+
+void Connection_setup(config_str& conf) {
+  switch(conf._default.connection_type) {
+#ifdef USE_ETHERNET_CONNECTION
+  case ConnectionTypeEtherTcp:
+    EtherTcp_init((uint8_t*)&conf._default.mac_address,
+          (uint8_t*)&conf._default.ip_address,
+          (uint8_t*)&conf._default.default_gateway,
+          (uint8_t*)&conf._default.subnet_mask,
+              conf._default.port);
+    break;
+#endif // USE_ETHERNET_CONNECTION
+#ifdef USE_UART_CONNECTION
+  case ConnectionTypeSerialUSB:
+    UART_init(0, conf._default.baudrate);
+    break;
+  case ConnectionTypeSerial1:
+    UART_init(1, conf._default.baudrate);
+    break;
+  case ConnectionTypeSerial2:
+    UART_init(2, conf._default.baudrate);
+    break;
+  case ConnectionTypeSerial3:
+    UART_init(3, conf._default.baudrate);
+    break;
+#endif // USE_UART_CONNECTION
+  default:
+    break;
+  }
+}
+
+void setup();
+void loop();
+
+int main(void) {
+    setup();
+    while(1) {
+#ifdef USE_ETHERNET_CONNECTION
+        Net::poll();
+#endif
+        loop();
+    }
+}
+
+#endif
+
+#endif
+