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@1:f74116b37bc9, 2013-07-08 (annotated)
- Committer:
- ysuga
- Date:
- Mon Jul 08 07:14:30 2013 +0000
- Revision:
- 1:f74116b37bc9
- Parent:
- 0:5f7bc45bc2e8
Update for V4 RTno
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 | 1:f74116b37bc9 | 4 | |
ysuga | 0:5f7bc45bc2e8 | 5 | #include "Transport.h" |
ysuga | 0:5f7bc45bc2e8 | 6 | #include "Packet.h" |
ysuga | 0:5f7bc45bc2e8 | 7 | |
ysuga | 0:5f7bc45bc2e8 | 8 | int8_t Transport_init() |
ysuga | 0:5f7bc45bc2e8 | 9 | { |
ysuga | 0:5f7bc45bc2e8 | 10 | return 0; |
ysuga | 0:5f7bc45bc2e8 | 11 | } |
ysuga | 0:5f7bc45bc2e8 | 12 | |
ysuga | 0:5f7bc45bc2e8 | 13 | |
ysuga | 0:5f7bc45bc2e8 | 14 | int8_t Transport_SendPacket(const char interface, const uint8_t data_length, const int8_t* packet_data) { |
ysuga | 1:f74116b37bc9 | 15 | uint8_t sum = 0;//0x0a + 0x0a; |
ysuga | 1:f74116b37bc9 | 16 | |
ysuga | 1:f74116b37bc9 | 17 | uint8_t header[2] = {0x0a, 0x0a}; |
ysuga | 1:f74116b37bc9 | 18 | SerialDevice_putc(header[0]); |
ysuga | 1:f74116b37bc9 | 19 | SerialDevice_putc(header[1]); |
ysuga | 1:f74116b37bc9 | 20 | |
ysuga | 0:5f7bc45bc2e8 | 21 | SerialDevice_putc(interface); |
ysuga | 0:5f7bc45bc2e8 | 22 | sum += interface; |
ysuga | 0:5f7bc45bc2e8 | 23 | SerialDevice_putc(data_length); |
ysuga | 0:5f7bc45bc2e8 | 24 | sum += data_length; |
ysuga | 0:5f7bc45bc2e8 | 25 | |
ysuga | 1:f74116b37bc9 | 26 | //uint8_t sender[4] = {'U', 'A', 'R', 'T'}; |
ysuga | 1:f74116b37bc9 | 27 | //for(uint8_t i = 0;i < 4;i++) { |
ysuga | 1:f74116b37bc9 | 28 | //sum += sender[i]; |
ysuga | 1:f74116b37bc9 | 29 | // SerialDevice_putc(sender[i]); |
ysuga | 1:f74116b37bc9 | 30 | //} |
ysuga | 0:5f7bc45bc2e8 | 31 | |
ysuga | 0:5f7bc45bc2e8 | 32 | for(uint8_t i = 0;i < data_length;i++) { |
ysuga | 0:5f7bc45bc2e8 | 33 | sum += packet_data[i]; |
ysuga | 0:5f7bc45bc2e8 | 34 | SerialDevice_putc(packet_data[i]); |
ysuga | 0:5f7bc45bc2e8 | 35 | } |
ysuga | 0:5f7bc45bc2e8 | 36 | SerialDevice_putc(sum); |
ysuga | 0:5f7bc45bc2e8 | 37 | return PACKET_HEADER_SIZE + data_length + 1; |
ysuga | 0:5f7bc45bc2e8 | 38 | } |
ysuga | 0:5f7bc45bc2e8 | 39 | |
ysuga | 1:f74116b37bc9 | 40 | /** |
ysuga | 1:f74116b37bc9 | 41 | * Transport_ReceivePacket |
ysuga | 1:f74116b37bc9 | 42 | * ¥arg packet |
ysuga | 1:f74116b37bc9 | 43 | * ¥arg timeout |
ysuga | 1:f74116b37bc9 | 44 | */ |
ysuga | 1:f74116b37bc9 | 45 | int8_t Transport_ReceivePacket(uint8_t* packet, const uint32_t& timeout) { |
ysuga | 0:5f7bc45bc2e8 | 46 | uint8_t counter = 0; |
ysuga | 1:f74116b37bc9 | 47 | uint8_t buf; |
ysuga | 1:f74116b37bc9 | 48 | int8_t ret; |
ysuga | 1:f74116b37bc9 | 49 | while(1) { |
ysuga | 1:f74116b37bc9 | 50 | if((ret=SerialDevice_read(&buf, 1, timeout)) < 0) { |
ysuga | 1:f74116b37bc9 | 51 | return 0; |
ysuga | 0:5f7bc45bc2e8 | 52 | } |
ysuga | 1:f74116b37bc9 | 53 | if (buf != PACKET_STARTING_CHARACTOR_0) { |
ysuga | 1:f74116b37bc9 | 54 | counter++; |
ysuga | 1:f74116b37bc9 | 55 | continue; |
ysuga | 1:f74116b37bc9 | 56 | } |
ysuga | 1:f74116b37bc9 | 57 | if((ret=SerialDevice_read(&buf, 1, timeout)) < 0) { |
ysuga | 1:f74116b37bc9 | 58 | return 0; |
ysuga | 0:5f7bc45bc2e8 | 59 | } |
ysuga | 1:f74116b37bc9 | 60 | if (buf != PACKET_STARTING_CHARACTOR_1) { |
ysuga | 0:5f7bc45bc2e8 | 61 | counter++; |
ysuga | 1:f74116b37bc9 | 62 | continue; |
ysuga | 0:5f7bc45bc2e8 | 63 | } |
ysuga | 1:f74116b37bc9 | 64 | break; |
ysuga | 0:5f7bc45bc2e8 | 65 | } |
ysuga | 0:5f7bc45bc2e8 | 66 | |
ysuga | 1:f74116b37bc9 | 67 | |
ysuga | 1:f74116b37bc9 | 68 | if((ret=SerialDevice_read(packet, PACKET_HEADER_SIZE, timeout)) < 0) { |
ysuga | 1:f74116b37bc9 | 69 | return ret; |
ysuga | 1:f74116b37bc9 | 70 | } |
ysuga | 1:f74116b37bc9 | 71 | |
ysuga | 1:f74116b37bc9 | 72 | //if((ret=SerialDevice_read(packet+PACKET_HEADER_SIZE, |
ysuga | 1:f74116b37bc9 | 73 | // 4, |
ysuga | 1:f74116b37bc9 | 74 | // timeout)) < 0) { |
ysuga | 1:f74116b37bc9 | 75 | // return ret; |
ysuga | 1:f74116b37bc9 | 76 | //} |
ysuga | 1:f74116b37bc9 | 77 | |
ysuga | 1:f74116b37bc9 | 78 | if((ret=SerialDevice_read(packet+PACKET_HEADER_SIZE, |
ysuga | 1:f74116b37bc9 | 79 | packet[DATA_LENGTH], |
ysuga | 1:f74116b37bc9 | 80 | timeout)) < 0) { |
ysuga | 1:f74116b37bc9 | 81 | return ret; |
ysuga | 0:5f7bc45bc2e8 | 82 | } |
ysuga | 1:f74116b37bc9 | 83 | |
ysuga | 1:f74116b37bc9 | 84 | if((ret=SerialDevice_read(&buf, 1, timeout)) < 0) { |
ysuga | 1:f74116b37bc9 | 85 | return ret; |
ysuga | 1:f74116b37bc9 | 86 | } |
ysuga | 0:5f7bc45bc2e8 | 87 | |
ysuga | 1:f74116b37bc9 | 88 | uint8_t sum = 0;//PACKET_STARTING_CHARACTOR_0 + PACKET_STARTING_CHARACTOR_1; |
ysuga | 1:f74116b37bc9 | 89 | for(uint8_t i = 0;i < PACKET_HEADER_SIZE+packet[DATA_LENGTH];i++) { |
ysuga | 1:f74116b37bc9 | 90 | sum += packet[i]; |
ysuga | 1:f74116b37bc9 | 91 | } |
ysuga | 1:f74116b37bc9 | 92 | if(buf != sum) { |
ysuga | 0:5f7bc45bc2e8 | 93 | return -CHECKSUM_ERROR; |
ysuga | 0:5f7bc45bc2e8 | 94 | } |
ysuga | 1:f74116b37bc9 | 95 | return PACKET_HEADER_SIZE + packet[DATA_LENGTH]; |
ysuga | 0:5f7bc45bc2e8 | 96 | } |