Yuki Suga / RTnoV3

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

Dependencies:   EthernetNetIf

Dependents:   RTnoV3_LED RTnoV3_Template RTnoV3_ADC RTnoV3_Timer ... more

RTno.h@0:9fac71a0bff3, 2012-02-09 (annotated)

Committer:
ysuga
Date:
Thu Feb 09 02:33:10 2012 +0000
Revision:
0:9fac71a0bff3
RTno Version 3: RTno is a software library and tool to connect embedded devices like arduino and mbed to RT-middleware world.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ysuga 0:9fac71a0bff3 1 #ifndef RTNO_HEADER_INCLUDED
ysuga 0:9fac71a0bff3 2 #define RTNO_HEADER_INCLUDED
ysuga 0:9fac71a0bff3 3
ysuga 0:9fac71a0bff3 4 /*******************************************
ysuga 0:9fac71a0bff3 5 * RTno.h
ysuga 0:9fac71a0bff3 6 * @author Yuki Suga
ysuga 0:9fac71a0bff3 7 * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
ysuga 0:9fac71a0bff3 8 * @license LGPLv3
ysuga 0:9fac71a0bff3 9 *****************************************/
ysuga 0:9fac71a0bff3 10
ysuga 0:9fac71a0bff3 11
ysuga 0:9fac71a0bff3 12 //#define BAUDRATE 19200
ysuga 0:9fac71a0bff3 13
ysuga 0:9fac71a0bff3 14 #define RTC_OK 0
ysuga 0:9fac71a0bff3 15 #define RTC_ERROR -1
ysuga 0:9fac71a0bff3 16 #define RTC_PRECONDITION_NOT_MET -2
ysuga 0:9fac71a0bff3 17
ysuga 0:9fac71a0bff3 18
ysuga 0:9fac71a0bff3 19 #define USE_UART_CONNECTION
ysuga 0:9fac71a0bff3 20 #define USE_ETHERNET_CONNECTION
ysuga 0:9fac71a0bff3 21 #define USE_TIMER1_EC
ysuga 0:9fac71a0bff3 22
ysuga 0:9fac71a0bff3 23 #include "mbed.h"
ysuga 0:9fac71a0bff3 24 #include "BasicDataType.h"
ysuga 0:9fac71a0bff3 25 #include "InPort.h"
ysuga 0:9fac71a0bff3 26 #include "OutPort.h"
ysuga 0:9fac71a0bff3 27 #include "rtcconf.h"
ysuga 0:9fac71a0bff3 28
ysuga 0:9fac71a0bff3 29 #ifdef USE_UART_CONNECTION
ysuga 0:9fac71a0bff3 30 #include "UART.h"
ysuga 0:9fac71a0bff3 31 #endif
ysuga 0:9fac71a0bff3 32
ysuga 0:9fac71a0bff3 33 #ifdef USE_ETHERNET_CONNECTION
ysuga 0:9fac71a0bff3 34 #include "EtherTcp.h"
ysuga 0:9fac71a0bff3 35 #include "EthernetNetIf.h"
ysuga 0:9fac71a0bff3 36 #endif
ysuga 0:9fac71a0bff3 37
ysuga 0:9fac71a0bff3 38 #ifdef USE_TIMER1_EC
ysuga 0:9fac71a0bff3 39 #include "Timer1ExecutionContext.h"
ysuga 0:9fac71a0bff3 40 #endif
ysuga 0:9fac71a0bff3 41
ysuga 0:9fac71a0bff3 42 #include "ProxySyncEC.h"
ysuga 0:9fac71a0bff3 43 #define PACKET_BUFFER_SIZE 128
ysuga 0:9fac71a0bff3 44
ysuga 0:9fac71a0bff3 45 #define MAX_PORT 8
ysuga 0:9fac71a0bff3 46
ysuga 0:9fac71a0bff3 47
ysuga 0:9fac71a0bff3 48 // global variables for rtcconf
ysuga 0:9fac71a0bff3 49 //extern volatile exec_cxt_str exec_cxt;
ysuga 0:9fac71a0bff3 50 //extern config_str conf;
ysuga 0:9fac71a0bff3 51
ysuga 0:9fac71a0bff3 52 // global functions
ysuga 0:9fac71a0bff3 53 // RTno APIs
ysuga 0:9fac71a0bff3 54 extern "C" {
ysuga 0:9fac71a0bff3 55 void rtcconf(config_str& conf, exec_cxt_str& exec_cxt);
ysuga 0:9fac71a0bff3 56 };
ysuga 0:9fac71a0bff3 57
ysuga 0:9fac71a0bff3 58 extern "C" {
ysuga 0:9fac71a0bff3 59 void addInPort(InPortBase& inPort);
ysuga 0:9fac71a0bff3 60 void addOutPort(OutPortBase& outPort);
ysuga 0:9fac71a0bff3 61 }
ysuga 0:9fac71a0bff3 62
ysuga 0:9fac71a0bff3 63 namespace RTno {
ysuga 0:9fac71a0bff3 64 //extern "C" {
ysuga 0:9fac71a0bff3 65
ysuga 0:9fac71a0bff3 66 // These call-back funcitons should be defined in user program code.
ysuga 0:9fac71a0bff3 67 // Use RTno_template.pde to create your own project.
ysuga 0:9fac71a0bff3 68
ysuga 0:9fac71a0bff3 69 /**
ysuga 0:9fac71a0bff3 70 * onInitialize()
ysuga 0:9fac71a0bff3 71 * This function is called when RTno is initialized.
ysuga 0:9fac71a0bff3 72 * RTno is usually initialized when your device is turned on.
ysuga 0:9fac71a0bff3 73 */
ysuga 0:9fac71a0bff3 74 int onInitialize();
ysuga 0:9fac71a0bff3 75
ysuga 0:9fac71a0bff3 76 /**
ysuga 0:9fac71a0bff3 77 * onActivated()
ysuga 0:9fac71a0bff3 78 * This function is called when RTno is activated only if RTno is RTC_INACTIVE condition.
ysuga 0:9fac71a0bff3 79 * RTno is usually activated by RT System Editor or other tools for OpenRTM-aist.
ysuga 0:9fac71a0bff3 80 */
ysuga 0:9fac71a0bff3 81 int onActivated();
ysuga 0:9fac71a0bff3 82
ysuga 0:9fac71a0bff3 83 /**
ysuga 0:9fac71a0bff3 84 * onExecute()
ysuga 0:9fac71a0bff3 85 * This function is periodically called when the RTno-proxy is RTC_ACTIVE condition.
ysuga 0:9fac71a0bff3 86 */
ysuga 0:9fac71a0bff3 87 int onExecute();
ysuga 0:9fac71a0bff3 88
ysuga 0:9fac71a0bff3 89 /**
ysuga 0:9fac71a0bff3 90 * onDeactivated()
ysuga 0:9fac71a0bff3 91 * This function is called when RTno is deactivated only if RTno is RTC_ACTIVE condition.
ysuga 0:9fac71a0bff3 92 * RTno is usually deactivated by RT System Editor or other tools for OpenRTM-aist.
ysuga 0:9fac71a0bff3 93 */
ysuga 0:9fac71a0bff3 94 int onDeactivated();
ysuga 0:9fac71a0bff3 95
ysuga 0:9fac71a0bff3 96 /**
ysuga 0:9fac71a0bff3 97 * onError
ysuga 0:9fac71a0bff3 98 * This function is called when RTno is error only if RTno is in RTC_ERROR condition.
ysuga 0:9fac71a0bff3 99 * [DANGEROUS] This function is periodically called in very short interval.
ysuga 0:9fac71a0bff3 100 */
ysuga 0:9fac71a0bff3 101 int onError();
ysuga 0:9fac71a0bff3 102
ysuga 0:9fac71a0bff3 103 /**
ysuga 0:9fac71a0bff3 104 * onReset
ysuga 0:9fac71a0bff3 105 * This function is called when RTno is reset only if RTno is in RTC_ERROR condition.
ysuga 0:9fac71a0bff3 106 * RTno is usually reset by RT System Editor or other tools for OpenRTM-aist.
ysuga 0:9fac71a0bff3 107 */
ysuga 0:9fac71a0bff3 108 int onReset();
ysuga 0:9fac71a0bff3 109 //};// extern "C"
ysuga 0:9fac71a0bff3 110 };
ysuga 0:9fac71a0bff3 111
ysuga 0:9fac71a0bff3 112
ysuga 0:9fac71a0bff3 113 #ifndef RTNO_SUBMODULE_DEFINE
ysuga 0:9fac71a0bff3 114
ysuga 0:9fac71a0bff3 115
ysuga 0:9fac71a0bff3 116 void EC_setup(exec_cxt_str& exec_cxt) {
ysuga 0:9fac71a0bff3 117 switch(exec_cxt.periodic.type) {
ysuga 0:9fac71a0bff3 118 #ifdef USE_TIMER1_EC
ysuga 0:9fac71a0bff3 119 case Timer1ExecutionContext:
ysuga 0:9fac71a0bff3 120 Timer1EC_init(exec_cxt.periodic.rate);
ysuga 0:9fac71a0bff3 121 break;
ysuga 0:9fac71a0bff3 122 #endif // USE_TIMER1_EC
ysuga 0:9fac71a0bff3 123 case ProxySynchronousExecutionContext:
ysuga 0:9fac71a0bff3 124 default:
ysuga 0:9fac71a0bff3 125 ProxySyncEC_init();
ysuga 0:9fac71a0bff3 126 break;
ysuga 0:9fac71a0bff3 127 }
ysuga 0:9fac71a0bff3 128 }
ysuga 0:9fac71a0bff3 129
ysuga 0:9fac71a0bff3 130
ysuga 0:9fac71a0bff3 131 void Connection_setup(config_str& conf) {
ysuga 0:9fac71a0bff3 132 switch(conf._default.connection_type) {
ysuga 0:9fac71a0bff3 133 #ifdef USE_ETHERNET_CONNECTION
ysuga 0:9fac71a0bff3 134 case ConnectionTypeEtherTcp:
ysuga 0:9fac71a0bff3 135 EtherTcp_init((uint8_t*)&conf._default.mac_address,
ysuga 0:9fac71a0bff3 136 (uint8_t*)&conf._default.ip_address,
ysuga 0:9fac71a0bff3 137 (uint8_t*)&conf._default.default_gateway,
ysuga 0:9fac71a0bff3 138 (uint8_t*)&conf._default.subnet_mask,
ysuga 0:9fac71a0bff3 139 conf._default.port);
ysuga 0:9fac71a0bff3 140 break;
ysuga 0:9fac71a0bff3 141 #endif // USE_ETHERNET_CONNECTION
ysuga 0:9fac71a0bff3 142 #ifdef USE_UART_CONNECTION
ysuga 0:9fac71a0bff3 143 case ConnectionTypeSerialUSB:
ysuga 0:9fac71a0bff3 144 UART_init(0, conf._default.baudrate);
ysuga 0:9fac71a0bff3 145 break;
ysuga 0:9fac71a0bff3 146 case ConnectionTypeSerial1:
ysuga 0:9fac71a0bff3 147 UART_init(1, conf._default.baudrate);
ysuga 0:9fac71a0bff3 148 break;
ysuga 0:9fac71a0bff3 149 case ConnectionTypeSerial2:
ysuga 0:9fac71a0bff3 150 UART_init(2, conf._default.baudrate);
ysuga 0:9fac71a0bff3 151 break;
ysuga 0:9fac71a0bff3 152 case ConnectionTypeSerial3:
ysuga 0:9fac71a0bff3 153 UART_init(3, conf._default.baudrate);
ysuga 0:9fac71a0bff3 154 break;
ysuga 0:9fac71a0bff3 155 #endif // USE_UART_CONNECTION
ysuga 0:9fac71a0bff3 156 default:
ysuga 0:9fac71a0bff3 157 break;
ysuga 0:9fac71a0bff3 158 }
ysuga 0:9fac71a0bff3 159 }
ysuga 0:9fac71a0bff3 160
ysuga 0:9fac71a0bff3 161 void setup();
ysuga 0:9fac71a0bff3 162 void loop();
ysuga 0:9fac71a0bff3 163
ysuga 0:9fac71a0bff3 164 int main(void) {
ysuga 0:9fac71a0bff3 165 setup();
ysuga 0:9fac71a0bff3 166 while(1) {
ysuga 0:9fac71a0bff3 167 #ifdef USE_ETHERNET_CONNECTION
ysuga 0:9fac71a0bff3 168 Net::poll();
ysuga 0:9fac71a0bff3 169 #endif
ysuga 0:9fac71a0bff3 170 loop();
ysuga 0:9fac71a0bff3 171 }
ysuga 0:9fac71a0bff3 172 }
ysuga 0:9fac71a0bff3 173
ysuga 0:9fac71a0bff3 174 #endif
ysuga 0:9fac71a0bff3 175
ysuga 0:9fac71a0bff3 176 #endif
ysuga 0:9fac71a0bff3 177