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: EthernetInterface mbed-rtos
OutPort.h@0:5f7bc45bc2e8, 2013-06-24 (annotated)
- Committer:
- ysuga
- Date:
- Mon Jun 24 06:42:11 2013 +0000
- Revision:
- 0:5f7bc45bc2e8
[mbed] converted /RTnoV3/RTnoV3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ysuga | 0:5f7bc45bc2e8 | 1 | #ifndef OUTPORT_HEADER_INCLUDED |
ysuga | 0:5f7bc45bc2e8 | 2 | #define OUTPORT_HEADER_INCLUDED |
ysuga | 0:5f7bc45bc2e8 | 3 | |
ysuga | 0:5f7bc45bc2e8 | 4 | /******************************************* |
ysuga | 0:5f7bc45bc2e8 | 5 | * OutPort.h |
ysuga | 0:5f7bc45bc2e8 | 6 | * @author Yuki Suga |
ysuga | 0:5f7bc45bc2e8 | 7 | * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010. |
ysuga | 0:5f7bc45bc2e8 | 8 | * @license LGPLv3 |
ysuga | 0:5f7bc45bc2e8 | 9 | *****************************************/ |
ysuga | 0:5f7bc45bc2e8 | 10 | |
ysuga | 0:5f7bc45bc2e8 | 11 | #include <stdint.h> |
ysuga | 0:5f7bc45bc2e8 | 12 | #include "PortBase.h" |
ysuga | 0:5f7bc45bc2e8 | 13 | #include "PortBuffer.h" |
ysuga | 0:5f7bc45bc2e8 | 14 | #include "NullBuffer.h" |
ysuga | 0:5f7bc45bc2e8 | 15 | #include "TypeCode.h" |
ysuga | 0:5f7bc45bc2e8 | 16 | #include <string.h> |
ysuga | 0:5f7bc45bc2e8 | 17 | #include <stdlib.h> |
ysuga | 0:5f7bc45bc2e8 | 18 | |
ysuga | 0:5f7bc45bc2e8 | 19 | class OutPortBase : public PortBase { |
ysuga | 0:5f7bc45bc2e8 | 20 | private: |
ysuga | 0:5f7bc45bc2e8 | 21 | |
ysuga | 0:5f7bc45bc2e8 | 22 | public: |
ysuga | 0:5f7bc45bc2e8 | 23 | OutPortBase(const char* name, char tCode) { |
ysuga | 0:5f7bc45bc2e8 | 24 | PortBase_init(this, name, tCode, NullBuffer_create()); |
ysuga | 0:5f7bc45bc2e8 | 25 | } |
ysuga | 0:5f7bc45bc2e8 | 26 | |
ysuga | 0:5f7bc45bc2e8 | 27 | public: |
ysuga | 0:5f7bc45bc2e8 | 28 | |
ysuga | 0:5f7bc45bc2e8 | 29 | }; |
ysuga | 0:5f7bc45bc2e8 | 30 | |
ysuga | 0:5f7bc45bc2e8 | 31 | template<typename T> |
ysuga | 0:5f7bc45bc2e8 | 32 | class OutPort : public OutPortBase { |
ysuga | 0:5f7bc45bc2e8 | 33 | private: |
ysuga | 0:5f7bc45bc2e8 | 34 | T* m_pData; |
ysuga | 0:5f7bc45bc2e8 | 35 | |
ysuga | 0:5f7bc45bc2e8 | 36 | public: |
ysuga | 0:5f7bc45bc2e8 | 37 | OutPort(const char* name, T& data) : OutPortBase(name, data.typeCode) { |
ysuga | 0:5f7bc45bc2e8 | 38 | m_pData = &data; |
ysuga | 0:5f7bc45bc2e8 | 39 | } |
ysuga | 0:5f7bc45bc2e8 | 40 | ~OutPort() {} |
ysuga | 0:5f7bc45bc2e8 | 41 | |
ysuga | 0:5f7bc45bc2e8 | 42 | public: |
ysuga | 0:5f7bc45bc2e8 | 43 | uint8_t write() { |
ysuga | 0:5f7bc45bc2e8 | 44 | uint8_t size = TypeCode_getElementSize(m_pData->typeCode); |
ysuga | 0:5f7bc45bc2e8 | 45 | if(TypeCode_isSequence(m_pData->typeCode)) { |
ysuga | 0:5f7bc45bc2e8 | 46 | size *= ((SequenceBase*)&(m_pData->data))->length(); |
ysuga | 0:5f7bc45bc2e8 | 47 | pPortBuffer->push(pPortBuffer, |
ysuga | 0:5f7bc45bc2e8 | 48 | (int8_t*)((SequenceBase*)&(m_pData->data))->getData(), |
ysuga | 0:5f7bc45bc2e8 | 49 | size); |
ysuga | 0:5f7bc45bc2e8 | 50 | } else { |
ysuga | 0:5f7bc45bc2e8 | 51 | pPortBuffer->push(pPortBuffer, (const int8_t*)&(m_pData->data), size); |
ysuga | 0:5f7bc45bc2e8 | 52 | } |
ysuga | 0:5f7bc45bc2e8 | 53 | return size; |
ysuga | 0:5f7bc45bc2e8 | 54 | } |
ysuga | 0:5f7bc45bc2e8 | 55 | }; |
ysuga | 0:5f7bc45bc2e8 | 56 | |
ysuga | 0:5f7bc45bc2e8 | 57 | |
ysuga | 0:5f7bc45bc2e8 | 58 | #endif |