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: Transport.cpp
- Revision:
- 0:9fac71a0bff3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Transport.cpp Thu Feb 09 02:33:10 2012 +0000
@@ -0,0 +1,89 @@
+#define RTNO_SUBMODULE_DEFINE
+#include <stdint.h>
+#include "mbed.h"
+#include "Transport.h"
+#include "Packet.h"
+
+int8_t Transport_init()
+{
+ return 0;
+}
+
+
+int8_t Transport_SendPacket(const char interface, const uint8_t data_length, const int8_t* packet_data) {
+ uint8_t sum = 0;
+ uint8_t sender[4] = {'U', 'A', 'R', 'T'};
+ SerialDevice_putc(interface);
+ sum += interface;
+ SerialDevice_putc(data_length);
+ sum += data_length;
+
+ for(uint8_t i = 0;i < 4;i++) {
+ sum += sender[i];
+ SerialDevice_putc(sender[i]);
+ }
+
+ for(uint8_t i = 0;i < data_length;i++) {
+ sum += packet_data[i];
+ SerialDevice_putc(packet_data[i]);
+ }
+ SerialDevice_putc(sum);
+ return PACKET_HEADER_SIZE + data_length + 1;
+}
+
+int8_t Transport_ReceivePacket(int8_t* packet) {
+ uint8_t counter = 0;
+ uint8_t sum = 0;
+
+ if(SerialDevice_available() == 0) {
+ return 0;
+ }
+
+ while(SerialDevice_available() < PACKET_HEADER_SIZE) {
+ wait(PACKET_WAITING_DELAY/1000.0);
+ counter++;
+ if(counter == PACKET_WAITING_COUNT) {
+ return -TIMEOUT;
+ }
+ }
+ packet[INTERFACE] = SerialDevice_getc();
+ sum += packet[INTERFACE];
+ packet[DATA_LENGTH] = SerialDevice_getc();
+ sum += packet[DATA_LENGTH];
+
+ counter = 0;
+ while(SerialDevice_available() < 4) {
+ wait(PACKET_WAITING_DELAY/1000.0);
+ counter++;
+ if(counter == PACKET_WAITING_COUNT) {
+ return -TIMEOUT;
+ }
+ }
+ for(uint8_t i = 0;i < 4;i++) {
+ uint8_t val = SerialDevice_getc();
+ sum += val;
+ }
+
+ for(uint8_t i = 0;i < packet[DATA_LENGTH];i++) {
+ counter = 0;
+ while(SerialDevice_available() == 0) {
+ wait(PACKET_WAITING_DELAY/1000.0);
+ counter++;
+ if(counter == PACKET_WAITING_COUNT) {
+ return -DATA_TIMEOUT;
+ }
+ }
+ packet[PACKET_HEADER_SIZE+i] = SerialDevice_getc();
+ sum += packet[PACKET_HEADER_SIZE+i];
+ }
+
+ while(SerialDevice_available() == 0) {
+ ;
+ }
+ uint8_t checksum = SerialDevice_getc();
+
+ if(sum != checksum) {
+ return -CHECKSUM_ERROR;
+ }
+ return PACKET_HEADER_SIZE + packet[DATA_LENGTH] + 1;
+}