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

Packet.h

Committer:
ysuga
Date:
2013-08-29
Revision:
7:6c7af1d50fb3
Parent:
1:f74116b37bc9

File content as of revision 7:6c7af1d50fb3:

/*******************************************
 * Packet.h
 * @author Yuki Suga
 * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
 * @license LGPLv3
 *****************************************/

#ifndef PACKET_HEADER_INCLUDED
#define PACKET_HEADER_INCLUDED

// Return Values
#define TIMEOUT 1
#define DATA_TIMEOUT 2
#define CHECKSUM_ERROR 3

#define INVALID_PACKET_INTERFACE 65
#define INVALID_PACKET_DATASIZE  66

// Packet Settings
#define STARTING_HEADER_SIZE 2
#define PACKET_HEADER_SIZE 2
#define INTERFACE 0
#define DATA_LENGTH 1
//#define DATA_START_ADDR 2+4

#define PACKET_STARTING_CHARACTOR_0 0x0a
#define PACKET_STARTING_CHARACTOR_1 0x0a

enum {
  RTC_STATE_CREATED='C',
  RTC_STATE_INACTIVE='I',
  RTC_STATE_ACTIVE='A',
  RTC_STATE_ERROR='E',
  RTC_STATE_NONE='N',
};


// Protocol
// Interface
#define INITIALIZE 'I'
#define ACTIVATE 'A'
#define DEACTIVATE 'D'
#define EXECUTE 'E'
#define ONERROR 'C'
#define RESET 'R'
#define GET_STATUS 'X'
#define GET_DATA 'G'
#define SEND_DATA 'S'
#define GET_PROFILE 'Z'
#define GET_CONTEXT 'B'
#define PACKET_ERROR 'F'
#define RECEIVE_DATA 'V'

#define ADD_INPORT 'P'
#define ADD_OUTPORT 'Q'

#define INPORT_ISNEW 'N'
#define INPORT_READ  'J'

#define RTNO_OK '@'
#define RTNO_ERROR 'x'
#define RTNO_NONE '!'

#define OUTPORT_WRITE 'W'

// Communication Settings
#define PACKET_WAITING_TIME 100 // ms
#define PACKET_WAITING_DELAY 100 //us
#define PACKET_WAITING_COUNT (PACKET_WAITING_TIME*1000/PACKET_WAITING_DELAY)


#define TYPECODE_TIMED_BOOLEAN 'b'
#define TYPECODE_TIMED_CHAR 'c'
#define TYPECODE_TIMED_OCTET 'o'


#define TYPECODE_TIMED_LONG 'l'
#define TYPECODE_TIMED_FLOAT 'f'
#define TYPECODE_TIMED_DOUBLE 'd'

#define TYPECODE_TIMED_BOOLEAN_SEQ 'B'
#define TYPECODE_TIMED_CHAR_SEQ 'C'
#define TYPECODE_TIMED_OCTET_SEQ 'O'


#define TYPECODE_TIMED_LONG_SEQ 'L'
#define TYPECODE_TIMED_FLOAT_SEQ 'F'
#define TYPECODE_TIMED_DOUBLE_SEQ 'D'

#endif