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
Diff: OutPort.h
- Revision:
- 0:5f7bc45bc2e8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/OutPort.h Mon Jun 24 06:42:11 2013 +0000 @@ -0,0 +1,58 @@ +#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