Diff: RTno.cpp

Revision:

0:9fac71a0bff3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RTno.cpp	Thu Feb 09 02:33:10 2012 +0000
@@ -0,0 +1,245 @@
+/*******************************************
+ * RTno.cpp
+ * @author Yuki Suga
+ * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
+ * @license LGPLv3
+ *****************************************/
+#define RTNO_SUBMODULE_DEFINE
+#include <stdint.h>
+#include "mbed.h"
+
+#include "RTno.h"
+#include "Packet.h"
+
+#include "Transport.h"
+//#include "UART.h"
+#include "RTnoProfile.h"
+
+using namespace RTno;
+
+// global variables
+// module private variables.
+#define PRIVATE static
+
+// static value declaration.
+void(*SerialDevice_putc)(const char c);
+uint8_t(*SerialDevice_available)();
+char(*SerialDevice_getc)();
+
+PRIVATE int8_t m_pPacketBuffer[PACKET_BUFFER_SIZE];
+
+/*
+ * Send Profile Data
+ */
+PRIVATE void _SendProfile();
+
+/**
+ * Packet Handler in Error State.
+ */
+PRIVATE void _PacketHandlerOnError();
+
+/**
+ * Packet Handler in Inactive State.
+ */
+PRIVATE void _PacketHandlerOnInactive();
+
+/**
+ * Packet Handler in Active State.
+ */
+PRIVATE void _PacketHandlerOnActive();
+
+void EC_setup(exec_cxt_str& exec_cxt);
+void Connection_setup(config_str& conf);
+
+/**
+ * Arduino Setup Routine.
+ * This function is called when arduino device is turned on.
+ */
+void setup() {
+  RTnoProfile_init();
+  // This function must be called first.
+  exec_cxt_str* exec_cxt = (exec_cxt_str*)malloc(sizeof(exec_cxt_str));
+  config_str* conf = (config_str*)malloc(sizeof(config_str));
+  rtcconf(*conf, *exec_cxt);
+  if(onInitialize() == RTC_OK) {
+    EC_setup(*exec_cxt);
+    Connection_setup(*conf);
+    free(exec_cxt);
+    free(conf);
+    Transport_init();
+    EC_start();
+  }
+}
+
+
+/**
+ * Arduino Loop routine.
+ * This function is repeadedly called when arduino is turned on.
+ */
+void loop() {
+  int8_t ret;
+  ret = Transport_ReceivePacket(m_pPacketBuffer);
+  if(ret < 0) { // Timeout Error or Checksum Error
+    Transport_SendPacket(PACKET_ERROR, 1, &ret);
+  } else if (ret == 0) {
+  } else if (ret > 0) { // Packet is successfully received
+    if (m_pPacketBuffer[INTERFACE] == GET_PROFILE) {
+      _SendProfile();
+    } else if(m_pPacketBuffer[INTERFACE] == GET_STATUS) {
+      int8_t state = EC_get_component_state();
+      Transport_SendPacket(GET_STATUS, 1, &state);
+    } else if(m_pPacketBuffer[INTERFACE] == GET_CONTEXT) {
+      int8_t type = EC_get_type();
+      Transport_SendPacket(GET_CONTEXT, 1, &type);
+    } else {
+      switch(EC_get_component_state()) {
+      case RTC_STATE_ERROR:
+    _PacketHandlerOnError();
+    break;
+      case RTC_STATE_INACTIVE:
+    _PacketHandlerOnInactive();
+    break;
+      case RTC_STATE_ACTIVE:
+    _PacketHandlerOnActive();
+    break;
+      case RTC_STATE_NONE:
+    ret = RTNO_NONE;
+    Transport_SendPacket(m_pPacketBuffer[INTERFACE], 1, &ret);
+    break;
+      default: // if m_Condition is unknown...
+    
+    break;
+      }
+    }
+  }
+
+  
+  int numOutPort = RTnoProfile_getNumOutPort();
+  for(int i = 0;i < numOutPort;i++) {
+    EC_suspend();
+    PortBase* pOutPort = RTnoProfile_getOutPortByIndex(i);
+    if(pOutPort->pPortBuffer->hasNext(pOutPort->pPortBuffer)) {
+      char* name = pOutPort->pName;
+      unsigned char nameLen = strlen(name);
+      unsigned char dataLen = pOutPort->pPortBuffer->getNextDataSize(pOutPort->pPortBuffer);
+
+      m_pPacketBuffer[0] = nameLen;
+      m_pPacketBuffer[1] = dataLen;
+      memcpy(m_pPacketBuffer + 2, name, nameLen);
+      pOutPort->pPortBuffer->pop(pOutPort->pPortBuffer, m_pPacketBuffer + 2 + nameLen, dataLen);
+      Transport_SendPacket(RECEIVE_DATA, 2 + nameLen + dataLen, m_pPacketBuffer);
+    }
+    EC_resume();
+  }
+  
+}
+
+/**
+ * add InPort data to Profile.
+ */
+void addInPort(InPortBase& Port)
+{
+  RTnoProfile_addInPort(&Port);
+}
+
+/**
+ * add OutPort data to Profile
+ */
+void addOutPort(OutPortBase& Port)
+{
+  RTnoProfile_addOutPort(&Port);
+}
+
+
+/**
+ * Private Function Definitions
+ *
+ */
+
+
+/**
+ * Send Profile Data
+ */
+PRIVATE void _SendProfile() {
+  int8_t ret = RTNO_OK;
+  for(uint8_t i = 0;i < RTnoProfile_getNumInPort();i++) {
+    PortBase* inPort = RTnoProfile_getInPortByIndex(i);
+    uint8_t nameLen = strlen(inPort->pName);
+    m_pPacketBuffer[0] = inPort->typeCode;
+    memcpy(&(m_pPacketBuffer[1]), inPort->pName, nameLen);
+    Transport_SendPacket(ADD_INPORT, 1+nameLen, m_pPacketBuffer);
+  }
+
+  for(uint8_t i = 0;i < RTnoProfile_getNumOutPort();i++) {
+    PortBase* outPort = RTnoProfile_getOutPortByIndex(i);
+    uint8_t nameLen = strlen(outPort->pName);
+    m_pPacketBuffer[0] = outPort->typeCode;
+    memcpy(&(m_pPacketBuffer[1]), outPort->pName, nameLen);
+    Transport_SendPacket(ADD_OUTPORT, 1+nameLen, m_pPacketBuffer);
+  }
+
+  Transport_SendPacket(GET_PROFILE, 1, &ret);
+}
+
+
+
+/**
+ * Packet Handler in Error State
+ */
+PRIVATE void _PacketHandlerOnError() {
+  char intface;
+  int8_t ret = RTNO_OK;
+
+  int8_t retval = EC_error();
+  if(retval < 0) ret = RTNO_ERROR;
+  Transport_SendPacket(intface, 1, &ret);
+}
+
+
+/** 
+ * Packet Handler in Inactive State
+ */
+PRIVATE void _PacketHandlerOnInactive() {
+
+  int8_t ret = RTNO_OK;
+  int8_t retval = EC_activate_component();
+  if(retval < 0) ret = RTNO_ERROR;
+  Transport_SendPacket(ACTIVATE, 1, &ret);
+}
+
+/**
+ * Packet Handler in Active State.
+ */
+PRIVATE void _PacketHandlerOnActive() {
+  int8_t ret = RTNO_OK;
+  //char intface;
+  int8_t retval;
+  switch(m_pPacketBuffer[INTERFACE]) {
+  case DEACTIVATE:
+    retval = EC_deactivate_component();
+    if(retval < 0) ret = RTNO_ERROR;
+    Transport_SendPacket(DEACTIVATE, 1, &ret);
+    break;
+  case EXECUTE:
+    retval = EC_execute();
+    if(retval < 0) ret = RTNO_ERROR;
+    Transport_SendPacket(EXECUTE, 1, &ret);
+    break;
+  case SEND_DATA: {
+      PortBase* pInPort = RTnoProfile_getInPort((const char*)&(m_pPacketBuffer[DATA_START_ADDR+2]), m_pPacketBuffer[DATA_START_ADDR]);
+      if(pInPort == NULL) {
+
+      } else {
+    PortBuffer* pBuffer = pInPort->pPortBuffer;
+    EC_suspend();
+    pBuffer->push(pBuffer,&(m_pPacketBuffer[DATA_START_ADDR+2+m_pPacketBuffer[DATA_START_ADDR]]), m_pPacketBuffer[DATA_START_ADDR+1]);
+    EC_resume();
+    Transport_SendPacket(SEND_DATA, 1, &ret);
+      }
+    }
+    break;
+  default:
+    break;
+  }
+}
+