Yuki Suga
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
Dependents: RTnoV3_LED RTnoV3_Template RTnoV3_ADC RTnoV3_Timer ... more
Diff: InPort.h
- Revision:
- 0:9fac71a0bff3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/InPort.h Thu Feb 09 02:33:10 2012 +0000
@@ -0,0 +1,60 @@
+#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