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
Transport.cpp@0:5f7bc45bc2e8, 2013-06-24 (annotated)
- Committer:
- ysuga
- Date:
- Mon Jun 24 06:42:11 2013 +0000
- Revision:
- 0:5f7bc45bc2e8
- Child:
- 1:f74116b37bc9
[mbed] converted /RTnoV3/RTnoV3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ysuga | 0:5f7bc45bc2e8 | 1 | #define RTNO_SUBMODULE_DEFINE |
ysuga | 0:5f7bc45bc2e8 | 2 | #include <stdint.h> |
ysuga | 0:5f7bc45bc2e8 | 3 | #include "mbed.h" |
ysuga | 0:5f7bc45bc2e8 | 4 | #include "Transport.h" |
ysuga | 0:5f7bc45bc2e8 | 5 | #include "Packet.h" |
ysuga | 0:5f7bc45bc2e8 | 6 | |
ysuga | 0:5f7bc45bc2e8 | 7 | int8_t Transport_init() |
ysuga | 0:5f7bc45bc2e8 | 8 | { |
ysuga | 0:5f7bc45bc2e8 | 9 | return 0; |
ysuga | 0:5f7bc45bc2e8 | 10 | } |
ysuga | 0:5f7bc45bc2e8 | 11 | |
ysuga | 0:5f7bc45bc2e8 | 12 | |
ysuga | 0:5f7bc45bc2e8 | 13 | int8_t Transport_SendPacket(const char interface, const uint8_t data_length, const int8_t* packet_data) { |
ysuga | 0:5f7bc45bc2e8 | 14 | uint8_t sum = 0; |
ysuga | 0:5f7bc45bc2e8 | 15 | uint8_t sender[4] = {'U', 'A', 'R', 'T'}; |
ysuga | 0:5f7bc45bc2e8 | 16 | SerialDevice_putc(interface); |
ysuga | 0:5f7bc45bc2e8 | 17 | sum += interface; |
ysuga | 0:5f7bc45bc2e8 | 18 | SerialDevice_putc(data_length); |
ysuga | 0:5f7bc45bc2e8 | 19 | sum += data_length; |
ysuga | 0:5f7bc45bc2e8 | 20 | |
ysuga | 0:5f7bc45bc2e8 | 21 | for(uint8_t i = 0;i < 4;i++) { |
ysuga | 0:5f7bc45bc2e8 | 22 | sum += sender[i]; |
ysuga | 0:5f7bc45bc2e8 | 23 | SerialDevice_putc(sender[i]); |
ysuga | 0:5f7bc45bc2e8 | 24 | } |
ysuga | 0:5f7bc45bc2e8 | 25 | |
ysuga | 0:5f7bc45bc2e8 | 26 | for(uint8_t i = 0;i < data_length;i++) { |
ysuga | 0:5f7bc45bc2e8 | 27 | sum += packet_data[i]; |
ysuga | 0:5f7bc45bc2e8 | 28 | SerialDevice_putc(packet_data[i]); |
ysuga | 0:5f7bc45bc2e8 | 29 | } |
ysuga | 0:5f7bc45bc2e8 | 30 | SerialDevice_putc(sum); |
ysuga | 0:5f7bc45bc2e8 | 31 | return PACKET_HEADER_SIZE + data_length + 1; |
ysuga | 0:5f7bc45bc2e8 | 32 | } |
ysuga | 0:5f7bc45bc2e8 | 33 | |
ysuga | 0:5f7bc45bc2e8 | 34 | int8_t Transport_ReceivePacket(int8_t* packet) { |
ysuga | 0:5f7bc45bc2e8 | 35 | uint8_t counter = 0; |
ysuga | 0:5f7bc45bc2e8 | 36 | uint8_t sum = 0; |
ysuga | 0:5f7bc45bc2e8 | 37 | |
ysuga | 0:5f7bc45bc2e8 | 38 | if(SerialDevice_available() == 0) { |
ysuga | 0:5f7bc45bc2e8 | 39 | return 0; |
ysuga | 0:5f7bc45bc2e8 | 40 | } |
ysuga | 0:5f7bc45bc2e8 | 41 | |
ysuga | 0:5f7bc45bc2e8 | 42 | while(SerialDevice_available() < PACKET_HEADER_SIZE) { |
ysuga | 0:5f7bc45bc2e8 | 43 | wait(PACKET_WAITING_DELAY/1000.0); |
ysuga | 0:5f7bc45bc2e8 | 44 | counter++; |
ysuga | 0:5f7bc45bc2e8 | 45 | if(counter == PACKET_WAITING_COUNT) { |
ysuga | 0:5f7bc45bc2e8 | 46 | return -TIMEOUT; |
ysuga | 0:5f7bc45bc2e8 | 47 | } |
ysuga | 0:5f7bc45bc2e8 | 48 | } |
ysuga | 0:5f7bc45bc2e8 | 49 | packet[INTERFACE] = SerialDevice_getc(); |
ysuga | 0:5f7bc45bc2e8 | 50 | sum += packet[INTERFACE]; |
ysuga | 0:5f7bc45bc2e8 | 51 | packet[DATA_LENGTH] = SerialDevice_getc(); |
ysuga | 0:5f7bc45bc2e8 | 52 | sum += packet[DATA_LENGTH]; |
ysuga | 0:5f7bc45bc2e8 | 53 | |
ysuga | 0:5f7bc45bc2e8 | 54 | counter = 0; |
ysuga | 0:5f7bc45bc2e8 | 55 | while(SerialDevice_available() < 4) { |
ysuga | 0:5f7bc45bc2e8 | 56 | wait(PACKET_WAITING_DELAY/1000.0); |
ysuga | 0:5f7bc45bc2e8 | 57 | counter++; |
ysuga | 0:5f7bc45bc2e8 | 58 | if(counter == PACKET_WAITING_COUNT) { |
ysuga | 0:5f7bc45bc2e8 | 59 | return -TIMEOUT; |
ysuga | 0:5f7bc45bc2e8 | 60 | } |
ysuga | 0:5f7bc45bc2e8 | 61 | } |
ysuga | 0:5f7bc45bc2e8 | 62 | for(uint8_t i = 0;i < 4;i++) { |
ysuga | 0:5f7bc45bc2e8 | 63 | uint8_t val = SerialDevice_getc(); |
ysuga | 0:5f7bc45bc2e8 | 64 | sum += val; |
ysuga | 0:5f7bc45bc2e8 | 65 | } |
ysuga | 0:5f7bc45bc2e8 | 66 | |
ysuga | 0:5f7bc45bc2e8 | 67 | for(uint8_t i = 0;i < packet[DATA_LENGTH];i++) { |
ysuga | 0:5f7bc45bc2e8 | 68 | counter = 0; |
ysuga | 0:5f7bc45bc2e8 | 69 | while(SerialDevice_available() == 0) { |
ysuga | 0:5f7bc45bc2e8 | 70 | wait(PACKET_WAITING_DELAY/1000.0); |
ysuga | 0:5f7bc45bc2e8 | 71 | counter++; |
ysuga | 0:5f7bc45bc2e8 | 72 | if(counter == PACKET_WAITING_COUNT) { |
ysuga | 0:5f7bc45bc2e8 | 73 | return -DATA_TIMEOUT; |
ysuga | 0:5f7bc45bc2e8 | 74 | } |
ysuga | 0:5f7bc45bc2e8 | 75 | } |
ysuga | 0:5f7bc45bc2e8 | 76 | packet[PACKET_HEADER_SIZE+i] = SerialDevice_getc(); |
ysuga | 0:5f7bc45bc2e8 | 77 | sum += packet[PACKET_HEADER_SIZE+i]; |
ysuga | 0:5f7bc45bc2e8 | 78 | } |
ysuga | 0:5f7bc45bc2e8 | 79 | |
ysuga | 0:5f7bc45bc2e8 | 80 | while(SerialDevice_available() == 0) { |
ysuga | 0:5f7bc45bc2e8 | 81 | ; |
ysuga | 0:5f7bc45bc2e8 | 82 | } |
ysuga | 0:5f7bc45bc2e8 | 83 | uint8_t checksum = SerialDevice_getc(); |
ysuga | 0:5f7bc45bc2e8 | 84 | |
ysuga | 0:5f7bc45bc2e8 | 85 | if(sum != checksum) { |
ysuga | 0:5f7bc45bc2e8 | 86 | return -CHECKSUM_ERROR; |
ysuga | 0:5f7bc45bc2e8 | 87 | } |
ysuga | 0:5f7bc45bc2e8 | 88 | return PACKET_HEADER_SIZE + packet[DATA_LENGTH] + 1; |
ysuga | 0:5f7bc45bc2e8 | 89 | } |