RTno is communicating library and framework which allows you to make your embedded device capable of communicating with RT-middleware world. RT-middleware is a platform software to realize Robotic system. In RTM, robots are developed by constructing robotics technologies\' elements (components) named RT-component. Therefore, the RTno helps you to create your own RT-component with your mbed and arduino. To know how to use your RTno device, visit here: http://ysuga.net/robot_e/rtm_e/rtc_e/1065?lang=en To know about RT-middleware and RT-component, visit http://www.openrtm.org
Dependents: RTnoV3_LED RTnoV3_Template RTnoV3_ADC RTnoV3_Timer ... more
OutPort.h
- Committer:
- ysuga
- Date:
- 2012-02-09
- Revision:
- 0:9fac71a0bff3
File content as of revision 0:9fac71a0bff3:
#ifndef OUTPORT_HEADER_INCLUDED #define OUTPORT_HEADER_INCLUDED /******************************************* * OutPort.h * @author Yuki Suga * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010. * @license LGPLv3 *****************************************/ #include <stdint.h> #include "PortBase.h" #include "PortBuffer.h" #include "NullBuffer.h" #include "TypeCode.h" #include <string.h> #include <stdlib.h> class OutPortBase : public PortBase { private: public: OutPortBase(const char* name, char tCode) { PortBase_init(this, name, tCode, NullBuffer_create()); } public: }; template<typename T> class OutPort : public OutPortBase { private: T* m_pData; public: OutPort(const char* name, T& data) : OutPortBase(name, data.typeCode) { m_pData = &data; } ~OutPort() {} public: uint8_t write() { uint8_t size = TypeCode_getElementSize(m_pData->typeCode); if(TypeCode_isSequence(m_pData->typeCode)) { size *= ((SequenceBase*)&(m_pData->data))->length(); pPortBuffer->push(pPortBuffer, (int8_t*)((SequenceBase*)&(m_pData->data))->getData(), size); } else { pPortBuffer->push(pPortBuffer, (const int8_t*)&(m_pData->data), size); } return size; } }; #endif