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

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