Diff: RTno/RTno.cpp

Revision:

0:3c49891bc39d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTno/RTno.cpp	Fri Jul 29 11:23:44 2011 +0000
@@ -0,0 +1,148 @@
+/*******************************************
+ * RTno.cpp
+ * @author Yuki Suga
+ * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
+ * @license LGPLv3
+ *****************************************/
+/********************************************
+It changed a little for mbed. 
+The serial buffer is not used. 
+2011/7/27 @nucho
+********************************************/
+
+#include "RTno.h"
+//#include "WConstants.h"
+//#include "HardwareSerial.h"
+#include "ReceivePacket.h"
+#include "SendPacket.h"
+#include "Serial.h"
+#include "mbed.h"
+
+using namespace RTno;
+
+config_str conf;
+exec_cxt_str exec_cxt;
+
+enum {
+    CREATED='C',
+    INACTIVE='I',
+    ACTIVE='A',
+    ERROR='E',
+};
+
+char condition = CREATED;
+static char packet_buffer[64];
+
+void RTno::setup() {
+    rtcconf();
+    pc.baud(conf._default.baudrate);
+}
+
+
+static const char rtc_ok = RTNO_OK;
+static const char rtc_error = RTNO_ERROR;
+#define LP_RTC_OK (&rtc_ok)
+#define LP_RTC_ERROR (&rtc_error)
+
+
+int main() {
+    RTno::setup();
+
+    while(1){
+      RTno::loop();
+    }
+}
+
+void RTno::loop() {
+    ReceivePacket(packet_buffer);
+
+    switch (condition) {
+        case CREATED:
+            if (packet_buffer[INTERFACE] == INITIALIZE) {
+                if (onInitialize() == RTC_OK) {
+                    condition = INACTIVE;
+                    SendPacket(INITIALIZE, 1, LP_RTC_OK);
+                } else {
+                    condition = ERROR;
+                    SendPacket(INITIALIZE, 1, LP_RTC_ERROR);
+                }
+            }
+            break;
+        case ERROR:
+            if (packet_buffer[INTERFACE] == ONERROR) {
+                onError();
+                SendPacket(ONERROR, 1, LP_RTC_OK);
+            } else if (packet_buffer[INTERFACE] == RESET) {
+                if (onReset() == RTC_OK) {
+                    condition = INACTIVE;
+                    SendPacket(RESET, 1, LP_RTC_OK);
+                } else {
+                    condition = ERROR;
+                    SendPacket(RESET, 1, LP_RTC_ERROR);
+                }
+            }
+            break;
+        case INACTIVE:
+            if (packet_buffer[INTERFACE] == ACTIVATE) {
+                if (onActivated() == RTC_OK) {
+                    condition = ACTIVE;
+                    SendPacket(ACTIVATE, 1, LP_RTC_OK);
+                } else {
+                    condition = ERROR;
+                    SendPacket(ACTIVATE, 1, LP_RTC_ERROR);
+                }
+            }
+            break;
+        case ACTIVE:
+            if (packet_buffer[INTERFACE] == DEACTIVATE) {
+                onDeactivated();
+                condition = INACTIVE;
+                SendPacket(DEACTIVATE, 1, LP_RTC_OK);
+            } else if (packet_buffer[INTERFACE] == EXECUTE) {
+                if (onExecute() == RTC_OK) {
+                    SendPacket(EXECUTE, 1, LP_RTC_OK);
+                } else {
+                    condition = ERROR;
+                    SendPacket(EXECUTE, 1, LP_RTC_ERROR);
+                }
+            }
+            break;
+        default:
+            condition = ERROR;
+            break;
+    }
+
+    if (packet_buffer[INTERFACE] == GET_STATUS) {
+        SendPacket(GET_STATUS, 1, &condition);
+    }
+}
+
+
+/*NNN
+l:TimedLong
+d:TimedDouble
+f:TimedFloat
+L:TimedLongSeq
+D:TimedDoubleSeq
+F:TimedFloatSeq
+*/
+
+void addInPort(InPortBase& Port) {
+    int len = strlen(Port.GetName());
+    char *data = (char*)malloc(len+1);
+    data[0] = Port.GetTypeCode();
+    memcpy(&(data[1]), Port.GetName(), len);
+    SendPacket(ADD_INPORT, len+1, data);
+    ReceivePacket(packet_buffer);
+    free(data);
+}
+
+void addOutPort(OutPortBase& Port) {
+    int len = strlen(Port.GetName());
+    char *data = (char*)malloc(len+1);
+    data[0] = Port.GetTypeCode();
+    memcpy(&(data[1]), Port.GetName(), len);
+    SendPacket(ADD_OUTPORT, len+1, data);
+    ReceivePacket(packet_buffer);
+    free(data);
+}