Yuki Suga / RTnoV4

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: RTno.cpp

Revision:
1:f74116b37bc9
Parent:
0:5f7bc45bc2e8
--- a/RTno.cpp	Mon Jun 24 06:42:11 2013 +0000
+++ b/RTno.cpp	Mon Jul 08 07:14:30 2013 +0000
@@ -21,10 +21,7 @@
 // module private variables.
 #define PRIVATE static
 
-// static value declaration.
-void(*SerialDevice_putc)(const char c);
-uint8_t(*SerialDevice_available)();
-char(*SerialDevice_getc)();
+extern DigitalOut led3;
 
 PRIVATE int8_t m_pPacketBuffer[PACKET_BUFFER_SIZE];
 
@@ -71,16 +68,16 @@
   }
 }
 
-
 /**
  * Arduino Loop routine.
  * This function is repeadedly called when arduino is turned on.
  */
 void loop() {
   int8_t ret;
-  ret = Transport_ReceivePacket(m_pPacketBuffer);
+  int32_t timeout = 20*1000;
+  ret = Transport_ReceivePacket((uint8_t*)m_pPacketBuffer, timeout);
   if(ret < 0) { // Timeout Error or Checksum Error
-    Transport_SendPacket(PACKET_ERROR, 1, &ret);
+    Transport_SendPacket(PACKET_ERROR, 1, (int8_t*)&ret);
   } else if (ret == 0) {
   } else if (ret > 0) { // Packet is successfully received
     if (m_pPacketBuffer[INTERFACE] == GET_PROFILE) {
@@ -94,17 +91,17 @@
     } else {
       switch(EC_get_component_state()) {
       case RTC_STATE_ERROR:
-    _PacketHandlerOnError();
-    break;
+        _PacketHandlerOnError();
+        break;
       case RTC_STATE_INACTIVE:
-    _PacketHandlerOnInactive();
-    break;
+        _PacketHandlerOnInactive();
+        break;
       case RTC_STATE_ACTIVE:
-    _PacketHandlerOnActive();
-    break;
+        _PacketHandlerOnActive();
+        break;
       case RTC_STATE_NONE:
-    ret = RTNO_NONE;
-    Transport_SendPacket(m_pPacketBuffer[INTERFACE], 1, &ret);
+        ret = RTNO_NONE;
+        Transport_SendPacket(m_pPacketBuffer[INTERFACE], 1, (int8_t*)&ret);
     break;
       default: // if m_Condition is unknown...
     
@@ -226,15 +223,16 @@
     Transport_SendPacket(EXECUTE, 1, &ret);
     break;
   case SEND_DATA: {
-      PortBase* pInPort = RTnoProfile_getInPort((const char*)&(m_pPacketBuffer[DATA_START_ADDR+2]), m_pPacketBuffer[DATA_START_ADDR]);
+      PortBase* pInPort = RTnoProfile_getInPort((char*)m_pPacketBuffer + 2 + 2, m_pPacketBuffer[2]);
       if(pInPort == NULL) {
-
+        ret = RTNO_ERROR;   
+        Transport_SendPacket(SEND_DATA, 1, &ret);
       } else {
-    PortBuffer* pBuffer = pInPort->pPortBuffer;
-    EC_suspend();
-    pBuffer->push(pBuffer,&(m_pPacketBuffer[DATA_START_ADDR+2+m_pPacketBuffer[DATA_START_ADDR]]), m_pPacketBuffer[DATA_START_ADDR+1]);
-    EC_resume();
-    Transport_SendPacket(SEND_DATA, 1, &ret);
+        PortBuffer* pBuffer = pInPort->pPortBuffer;
+        EC_suspend();
+        pBuffer->push(pBuffer,&(m_pPacketBuffer[2 + 2 + m_pPacketBuffer[2]]), m_pPacketBuffer[2+1]);
+        EC_resume();
+        Transport_SendPacket(SEND_DATA, 1, &ret);
       }
     }
     break;