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
- Committer:
- ysuga
- Date:
- 2013-08-29
- Revision:
- 7:6c7af1d50fb3
- Parent:
- 0:5f7bc45bc2e8
File content as of revision 7:6c7af1d50fb3:
#ifndef INPORT_HEADER_INCLUDED #define INPORT_HEADER_INCLUDED /******************************************* * InPort.h * @author Yuki Suga * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010. * @license LGPLv3 *****************************************/ #include <stdint.h> #include "PortBase.h" #include "NullBuffer.h" #include <string.h> #include <stdlib.h> class InPortBase : public PortBase{ private: public: InPortBase(char* name, char tCode) { PortBase_init(this, name, tCode, NullBuffer_create()); } public: }; template<typename T> class InPort : public InPortBase { public: T* m_pData; public: InPort(char* name, T& data) : InPortBase(name, data.typeCode) { m_pData = &data; } ~InPort() {} public: uint8_t isNew() { return pPortBuffer->hasNext(pPortBuffer); } uint8_t read() { uint8_t dataSize = pPortBuffer->getNextDataSize(pPortBuffer); if(TypeCode_isSequence(m_pData->typeCode)) { ((SequenceBase*)&(m_pData->data))->length(dataSize/TypeCode_getElementSize(m_pData->typeCode)); pPortBuffer->pop(pPortBuffer, (int8_t*)((SequenceBase*)&(m_pData->data))->getData(), dataSize); } else { // This code must be okay for little endian system. pPortBuffer->pop(pPortBuffer, (int8_t*)&(m_pData->data), dataSize); } return dataSize; } }; #endif