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
InPort.h@7:6c7af1d50fb3, 2013-08-29 (annotated)
- Committer:
- ysuga
- Date:
- Thu Aug 29 05:29:55 2013 +0000
- Revision:
- 7:6c7af1d50fb3
- Parent:
- 0:5f7bc45bc2e8
update v5
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ysuga | 0:5f7bc45bc2e8 | 1 | #ifndef INPORT_HEADER_INCLUDED |
ysuga | 0:5f7bc45bc2e8 | 2 | #define INPORT_HEADER_INCLUDED |
ysuga | 0:5f7bc45bc2e8 | 3 | |
ysuga | 0:5f7bc45bc2e8 | 4 | /******************************************* |
ysuga | 0:5f7bc45bc2e8 | 5 | * InPort.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 "NullBuffer.h" |
ysuga | 0:5f7bc45bc2e8 | 14 | #include <string.h> |
ysuga | 0:5f7bc45bc2e8 | 15 | #include <stdlib.h> |
ysuga | 0:5f7bc45bc2e8 | 16 | |
ysuga | 0:5f7bc45bc2e8 | 17 | class InPortBase : public PortBase{ |
ysuga | 0:5f7bc45bc2e8 | 18 | private: |
ysuga | 0:5f7bc45bc2e8 | 19 | |
ysuga | 0:5f7bc45bc2e8 | 20 | public: |
ysuga | 0:5f7bc45bc2e8 | 21 | InPortBase(char* name, char tCode) { |
ysuga | 0:5f7bc45bc2e8 | 22 | PortBase_init(this, name, tCode, NullBuffer_create()); |
ysuga | 0:5f7bc45bc2e8 | 23 | } |
ysuga | 0:5f7bc45bc2e8 | 24 | |
ysuga | 0:5f7bc45bc2e8 | 25 | public: |
ysuga | 0:5f7bc45bc2e8 | 26 | |
ysuga | 0:5f7bc45bc2e8 | 27 | }; |
ysuga | 0:5f7bc45bc2e8 | 28 | |
ysuga | 0:5f7bc45bc2e8 | 29 | template<typename T> |
ysuga | 0:5f7bc45bc2e8 | 30 | class InPort : public InPortBase { |
ysuga | 0:5f7bc45bc2e8 | 31 | public: |
ysuga | 0:5f7bc45bc2e8 | 32 | T* m_pData; |
ysuga | 0:5f7bc45bc2e8 | 33 | public: |
ysuga | 0:5f7bc45bc2e8 | 34 | InPort(char* name, T& data) : InPortBase(name, data.typeCode) { |
ysuga | 0:5f7bc45bc2e8 | 35 | m_pData = &data; |
ysuga | 0:5f7bc45bc2e8 | 36 | } |
ysuga | 0:5f7bc45bc2e8 | 37 | |
ysuga | 0:5f7bc45bc2e8 | 38 | ~InPort() {} |
ysuga | 0:5f7bc45bc2e8 | 39 | public: |
ysuga | 0:5f7bc45bc2e8 | 40 | uint8_t isNew() { |
ysuga | 0:5f7bc45bc2e8 | 41 | return pPortBuffer->hasNext(pPortBuffer); |
ysuga | 0:5f7bc45bc2e8 | 42 | } |
ysuga | 0:5f7bc45bc2e8 | 43 | |
ysuga | 0:5f7bc45bc2e8 | 44 | uint8_t read() { |
ysuga | 0:5f7bc45bc2e8 | 45 | uint8_t dataSize = pPortBuffer->getNextDataSize(pPortBuffer); |
ysuga | 0:5f7bc45bc2e8 | 46 | if(TypeCode_isSequence(m_pData->typeCode)) { |
ysuga | 0:5f7bc45bc2e8 | 47 | ((SequenceBase*)&(m_pData->data))->length(dataSize/TypeCode_getElementSize(m_pData->typeCode)); |
ysuga | 0:5f7bc45bc2e8 | 48 | pPortBuffer->pop(pPortBuffer, (int8_t*)((SequenceBase*)&(m_pData->data))->getData(), dataSize); |
ysuga | 0:5f7bc45bc2e8 | 49 | } else { |
ysuga | 0:5f7bc45bc2e8 | 50 | // This code must be okay for little endian system. |
ysuga | 0:5f7bc45bc2e8 | 51 | pPortBuffer->pop(pPortBuffer, (int8_t*)&(m_pData->data), dataSize); |
ysuga | 0:5f7bc45bc2e8 | 52 | } |
ysuga | 0:5f7bc45bc2e8 | 53 | return dataSize; |
ysuga | 0:5f7bc45bc2e8 | 54 | } |
ysuga | 0:5f7bc45bc2e8 | 55 | |
ysuga | 0:5f7bc45bc2e8 | 56 | }; |
ysuga | 0:5f7bc45bc2e8 | 57 | |
ysuga | 0:5f7bc45bc2e8 | 58 | |
ysuga | 0:5f7bc45bc2e8 | 59 | |
ysuga | 0:5f7bc45bc2e8 | 60 | #endif |