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

ExecutionContext.cpp

Committer:
ysuga
Date:
2013-08-29
Revision:
7:6c7af1d50fb3
Parent:
0:5f7bc45bc2e8

File content as of revision 7:6c7af1d50fb3:

#define RTNO_SUBMODULE_DEFINE

#include <stdint.h>
#include "RTno.h"
#include "Packet.h"

#include "ExecutionContext.h"

static int8_t m_Type;
static LifeCycleState m_Condition;

void EC_init(int8_t Type) {
  m_Type = Type;
  m_Condition = RTC_STATE_INACTIVE;
}

int8_t EC_get_type() {
  return m_Type;
}

LifeCycleState EC_get_component_state() {
  return m_Condition;
}

ReturnValue_t EC_activate_component() {
  if(m_Condition != RTC_STATE_INACTIVE) {
    return RTC_PRECONDITION_NOT_MET;
  }
  
  if(RTno::onActivated() == RTC_OK) {
    m_Condition = RTC_STATE_ACTIVE;
    return RTC_OK;
  }

  m_Condition = RTC_STATE_ERROR;
  return RTC_ERROR;
}


ReturnValue_t EC_deactivate_component() {
  if(m_Condition != RTC_STATE_ACTIVE) {
    return RTC_PRECONDITION_NOT_MET;
  }
  
  if(RTno::onDeactivated() == RTC_OK) {
    m_Condition = RTC_STATE_INACTIVE;
    return RTC_OK;
  } else {
    m_Condition = RTC_STATE_ERROR;
    return RTC_ERROR;
  }
}

ReturnValue_t EC_execute() {
  if(m_Condition != RTC_STATE_ACTIVE) {
    return RTC_PRECONDITION_NOT_MET;
  }
  
  if(RTno::onExecute() == RTC_OK) {
    return RTC_OK;
  } else {
    m_Condition = RTC_STATE_ERROR;
    return RTC_ERROR;
  }
}

ReturnValue_t EC_error() {
  if(m_Condition != RTC_STATE_ERROR) {
    return RTC_PRECONDITION_NOT_MET;
  }
  
  RTno::onError();
  return RTC_OK;
}


#ifdef __cplusplus
extern "C" {
#endif

void (*EC_start)();
void (*EC_resume)();
void (*EC_suspend)();

#ifdef __cplusplus
}
#endif