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
RTno.cpp@0:9fac71a0bff3, 2012-02-09 (annotated)
- Committer:
- ysuga
- Date:
- Thu Feb 09 02:33:10 2012 +0000
- Revision:
- 0:9fac71a0bff3
RTno Version 3: RTno is a software library and tool to connect embedded devices like arduino and mbed to RT-middleware world.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ysuga | 0:9fac71a0bff3 | 1 | /******************************************* |
ysuga | 0:9fac71a0bff3 | 2 | * RTno.cpp |
ysuga | 0:9fac71a0bff3 | 3 | * @author Yuki Suga |
ysuga | 0:9fac71a0bff3 | 4 | * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010. |
ysuga | 0:9fac71a0bff3 | 5 | * @license LGPLv3 |
ysuga | 0:9fac71a0bff3 | 6 | *****************************************/ |
ysuga | 0:9fac71a0bff3 | 7 | #define RTNO_SUBMODULE_DEFINE |
ysuga | 0:9fac71a0bff3 | 8 | #include <stdint.h> |
ysuga | 0:9fac71a0bff3 | 9 | #include "mbed.h" |
ysuga | 0:9fac71a0bff3 | 10 | |
ysuga | 0:9fac71a0bff3 | 11 | #include "RTno.h" |
ysuga | 0:9fac71a0bff3 | 12 | #include "Packet.h" |
ysuga | 0:9fac71a0bff3 | 13 | |
ysuga | 0:9fac71a0bff3 | 14 | #include "Transport.h" |
ysuga | 0:9fac71a0bff3 | 15 | //#include "UART.h" |
ysuga | 0:9fac71a0bff3 | 16 | #include "RTnoProfile.h" |
ysuga | 0:9fac71a0bff3 | 17 | |
ysuga | 0:9fac71a0bff3 | 18 | using namespace RTno; |
ysuga | 0:9fac71a0bff3 | 19 | |
ysuga | 0:9fac71a0bff3 | 20 | // global variables |
ysuga | 0:9fac71a0bff3 | 21 | // module private variables. |
ysuga | 0:9fac71a0bff3 | 22 | #define PRIVATE static |
ysuga | 0:9fac71a0bff3 | 23 | |
ysuga | 0:9fac71a0bff3 | 24 | // static value declaration. |
ysuga | 0:9fac71a0bff3 | 25 | void(*SerialDevice_putc)(const char c); |
ysuga | 0:9fac71a0bff3 | 26 | uint8_t(*SerialDevice_available)(); |
ysuga | 0:9fac71a0bff3 | 27 | char(*SerialDevice_getc)(); |
ysuga | 0:9fac71a0bff3 | 28 | |
ysuga | 0:9fac71a0bff3 | 29 | PRIVATE int8_t m_pPacketBuffer[PACKET_BUFFER_SIZE]; |
ysuga | 0:9fac71a0bff3 | 30 | |
ysuga | 0:9fac71a0bff3 | 31 | /* |
ysuga | 0:9fac71a0bff3 | 32 | * Send Profile Data |
ysuga | 0:9fac71a0bff3 | 33 | */ |
ysuga | 0:9fac71a0bff3 | 34 | PRIVATE void _SendProfile(); |
ysuga | 0:9fac71a0bff3 | 35 | |
ysuga | 0:9fac71a0bff3 | 36 | /** |
ysuga | 0:9fac71a0bff3 | 37 | * Packet Handler in Error State. |
ysuga | 0:9fac71a0bff3 | 38 | */ |
ysuga | 0:9fac71a0bff3 | 39 | PRIVATE void _PacketHandlerOnError(); |
ysuga | 0:9fac71a0bff3 | 40 | |
ysuga | 0:9fac71a0bff3 | 41 | /** |
ysuga | 0:9fac71a0bff3 | 42 | * Packet Handler in Inactive State. |
ysuga | 0:9fac71a0bff3 | 43 | */ |
ysuga | 0:9fac71a0bff3 | 44 | PRIVATE void _PacketHandlerOnInactive(); |
ysuga | 0:9fac71a0bff3 | 45 | |
ysuga | 0:9fac71a0bff3 | 46 | /** |
ysuga | 0:9fac71a0bff3 | 47 | * Packet Handler in Active State. |
ysuga | 0:9fac71a0bff3 | 48 | */ |
ysuga | 0:9fac71a0bff3 | 49 | PRIVATE void _PacketHandlerOnActive(); |
ysuga | 0:9fac71a0bff3 | 50 | |
ysuga | 0:9fac71a0bff3 | 51 | void EC_setup(exec_cxt_str& exec_cxt); |
ysuga | 0:9fac71a0bff3 | 52 | void Connection_setup(config_str& conf); |
ysuga | 0:9fac71a0bff3 | 53 | |
ysuga | 0:9fac71a0bff3 | 54 | /** |
ysuga | 0:9fac71a0bff3 | 55 | * Arduino Setup Routine. |
ysuga | 0:9fac71a0bff3 | 56 | * This function is called when arduino device is turned on. |
ysuga | 0:9fac71a0bff3 | 57 | */ |
ysuga | 0:9fac71a0bff3 | 58 | void setup() { |
ysuga | 0:9fac71a0bff3 | 59 | RTnoProfile_init(); |
ysuga | 0:9fac71a0bff3 | 60 | // This function must be called first. |
ysuga | 0:9fac71a0bff3 | 61 | exec_cxt_str* exec_cxt = (exec_cxt_str*)malloc(sizeof(exec_cxt_str)); |
ysuga | 0:9fac71a0bff3 | 62 | config_str* conf = (config_str*)malloc(sizeof(config_str)); |
ysuga | 0:9fac71a0bff3 | 63 | rtcconf(*conf, *exec_cxt); |
ysuga | 0:9fac71a0bff3 | 64 | if(onInitialize() == RTC_OK) { |
ysuga | 0:9fac71a0bff3 | 65 | EC_setup(*exec_cxt); |
ysuga | 0:9fac71a0bff3 | 66 | Connection_setup(*conf); |
ysuga | 0:9fac71a0bff3 | 67 | free(exec_cxt); |
ysuga | 0:9fac71a0bff3 | 68 | free(conf); |
ysuga | 0:9fac71a0bff3 | 69 | Transport_init(); |
ysuga | 0:9fac71a0bff3 | 70 | EC_start(); |
ysuga | 0:9fac71a0bff3 | 71 | } |
ysuga | 0:9fac71a0bff3 | 72 | } |
ysuga | 0:9fac71a0bff3 | 73 | |
ysuga | 0:9fac71a0bff3 | 74 | |
ysuga | 0:9fac71a0bff3 | 75 | /** |
ysuga | 0:9fac71a0bff3 | 76 | * Arduino Loop routine. |
ysuga | 0:9fac71a0bff3 | 77 | * This function is repeadedly called when arduino is turned on. |
ysuga | 0:9fac71a0bff3 | 78 | */ |
ysuga | 0:9fac71a0bff3 | 79 | void loop() { |
ysuga | 0:9fac71a0bff3 | 80 | int8_t ret; |
ysuga | 0:9fac71a0bff3 | 81 | ret = Transport_ReceivePacket(m_pPacketBuffer); |
ysuga | 0:9fac71a0bff3 | 82 | if(ret < 0) { // Timeout Error or Checksum Error |
ysuga | 0:9fac71a0bff3 | 83 | Transport_SendPacket(PACKET_ERROR, 1, &ret); |
ysuga | 0:9fac71a0bff3 | 84 | } else if (ret == 0) { |
ysuga | 0:9fac71a0bff3 | 85 | } else if (ret > 0) { // Packet is successfully received |
ysuga | 0:9fac71a0bff3 | 86 | if (m_pPacketBuffer[INTERFACE] == GET_PROFILE) { |
ysuga | 0:9fac71a0bff3 | 87 | _SendProfile(); |
ysuga | 0:9fac71a0bff3 | 88 | } else if(m_pPacketBuffer[INTERFACE] == GET_STATUS) { |
ysuga | 0:9fac71a0bff3 | 89 | int8_t state = EC_get_component_state(); |
ysuga | 0:9fac71a0bff3 | 90 | Transport_SendPacket(GET_STATUS, 1, &state); |
ysuga | 0:9fac71a0bff3 | 91 | } else if(m_pPacketBuffer[INTERFACE] == GET_CONTEXT) { |
ysuga | 0:9fac71a0bff3 | 92 | int8_t type = EC_get_type(); |
ysuga | 0:9fac71a0bff3 | 93 | Transport_SendPacket(GET_CONTEXT, 1, &type); |
ysuga | 0:9fac71a0bff3 | 94 | } else { |
ysuga | 0:9fac71a0bff3 | 95 | switch(EC_get_component_state()) { |
ysuga | 0:9fac71a0bff3 | 96 | case RTC_STATE_ERROR: |
ysuga | 0:9fac71a0bff3 | 97 | _PacketHandlerOnError(); |
ysuga | 0:9fac71a0bff3 | 98 | break; |
ysuga | 0:9fac71a0bff3 | 99 | case RTC_STATE_INACTIVE: |
ysuga | 0:9fac71a0bff3 | 100 | _PacketHandlerOnInactive(); |
ysuga | 0:9fac71a0bff3 | 101 | break; |
ysuga | 0:9fac71a0bff3 | 102 | case RTC_STATE_ACTIVE: |
ysuga | 0:9fac71a0bff3 | 103 | _PacketHandlerOnActive(); |
ysuga | 0:9fac71a0bff3 | 104 | break; |
ysuga | 0:9fac71a0bff3 | 105 | case RTC_STATE_NONE: |
ysuga | 0:9fac71a0bff3 | 106 | ret = RTNO_NONE; |
ysuga | 0:9fac71a0bff3 | 107 | Transport_SendPacket(m_pPacketBuffer[INTERFACE], 1, &ret); |
ysuga | 0:9fac71a0bff3 | 108 | break; |
ysuga | 0:9fac71a0bff3 | 109 | default: // if m_Condition is unknown... |
ysuga | 0:9fac71a0bff3 | 110 | |
ysuga | 0:9fac71a0bff3 | 111 | break; |
ysuga | 0:9fac71a0bff3 | 112 | } |
ysuga | 0:9fac71a0bff3 | 113 | } |
ysuga | 0:9fac71a0bff3 | 114 | } |
ysuga | 0:9fac71a0bff3 | 115 | |
ysuga | 0:9fac71a0bff3 | 116 | |
ysuga | 0:9fac71a0bff3 | 117 | int numOutPort = RTnoProfile_getNumOutPort(); |
ysuga | 0:9fac71a0bff3 | 118 | for(int i = 0;i < numOutPort;i++) { |
ysuga | 0:9fac71a0bff3 | 119 | EC_suspend(); |
ysuga | 0:9fac71a0bff3 | 120 | PortBase* pOutPort = RTnoProfile_getOutPortByIndex(i); |
ysuga | 0:9fac71a0bff3 | 121 | if(pOutPort->pPortBuffer->hasNext(pOutPort->pPortBuffer)) { |
ysuga | 0:9fac71a0bff3 | 122 | char* name = pOutPort->pName; |
ysuga | 0:9fac71a0bff3 | 123 | unsigned char nameLen = strlen(name); |
ysuga | 0:9fac71a0bff3 | 124 | unsigned char dataLen = pOutPort->pPortBuffer->getNextDataSize(pOutPort->pPortBuffer); |
ysuga | 0:9fac71a0bff3 | 125 | |
ysuga | 0:9fac71a0bff3 | 126 | m_pPacketBuffer[0] = nameLen; |
ysuga | 0:9fac71a0bff3 | 127 | m_pPacketBuffer[1] = dataLen; |
ysuga | 0:9fac71a0bff3 | 128 | memcpy(m_pPacketBuffer + 2, name, nameLen); |
ysuga | 0:9fac71a0bff3 | 129 | pOutPort->pPortBuffer->pop(pOutPort->pPortBuffer, m_pPacketBuffer + 2 + nameLen, dataLen); |
ysuga | 0:9fac71a0bff3 | 130 | Transport_SendPacket(RECEIVE_DATA, 2 + nameLen + dataLen, m_pPacketBuffer); |
ysuga | 0:9fac71a0bff3 | 131 | } |
ysuga | 0:9fac71a0bff3 | 132 | EC_resume(); |
ysuga | 0:9fac71a0bff3 | 133 | } |
ysuga | 0:9fac71a0bff3 | 134 | |
ysuga | 0:9fac71a0bff3 | 135 | } |
ysuga | 0:9fac71a0bff3 | 136 | |
ysuga | 0:9fac71a0bff3 | 137 | /** |
ysuga | 0:9fac71a0bff3 | 138 | * add InPort data to Profile. |
ysuga | 0:9fac71a0bff3 | 139 | */ |
ysuga | 0:9fac71a0bff3 | 140 | void addInPort(InPortBase& Port) |
ysuga | 0:9fac71a0bff3 | 141 | { |
ysuga | 0:9fac71a0bff3 | 142 | RTnoProfile_addInPort(&Port); |
ysuga | 0:9fac71a0bff3 | 143 | } |
ysuga | 0:9fac71a0bff3 | 144 | |
ysuga | 0:9fac71a0bff3 | 145 | /** |
ysuga | 0:9fac71a0bff3 | 146 | * add OutPort data to Profile |
ysuga | 0:9fac71a0bff3 | 147 | */ |
ysuga | 0:9fac71a0bff3 | 148 | void addOutPort(OutPortBase& Port) |
ysuga | 0:9fac71a0bff3 | 149 | { |
ysuga | 0:9fac71a0bff3 | 150 | RTnoProfile_addOutPort(&Port); |
ysuga | 0:9fac71a0bff3 | 151 | } |
ysuga | 0:9fac71a0bff3 | 152 | |
ysuga | 0:9fac71a0bff3 | 153 | |
ysuga | 0:9fac71a0bff3 | 154 | /** |
ysuga | 0:9fac71a0bff3 | 155 | * Private Function Definitions |
ysuga | 0:9fac71a0bff3 | 156 | * |
ysuga | 0:9fac71a0bff3 | 157 | */ |
ysuga | 0:9fac71a0bff3 | 158 | |
ysuga | 0:9fac71a0bff3 | 159 | |
ysuga | 0:9fac71a0bff3 | 160 | /** |
ysuga | 0:9fac71a0bff3 | 161 | * Send Profile Data |
ysuga | 0:9fac71a0bff3 | 162 | */ |
ysuga | 0:9fac71a0bff3 | 163 | PRIVATE void _SendProfile() { |
ysuga | 0:9fac71a0bff3 | 164 | int8_t ret = RTNO_OK; |
ysuga | 0:9fac71a0bff3 | 165 | for(uint8_t i = 0;i < RTnoProfile_getNumInPort();i++) { |
ysuga | 0:9fac71a0bff3 | 166 | PortBase* inPort = RTnoProfile_getInPortByIndex(i); |
ysuga | 0:9fac71a0bff3 | 167 | uint8_t nameLen = strlen(inPort->pName); |
ysuga | 0:9fac71a0bff3 | 168 | m_pPacketBuffer[0] = inPort->typeCode; |
ysuga | 0:9fac71a0bff3 | 169 | memcpy(&(m_pPacketBuffer[1]), inPort->pName, nameLen); |
ysuga | 0:9fac71a0bff3 | 170 | Transport_SendPacket(ADD_INPORT, 1+nameLen, m_pPacketBuffer); |
ysuga | 0:9fac71a0bff3 | 171 | } |
ysuga | 0:9fac71a0bff3 | 172 | |
ysuga | 0:9fac71a0bff3 | 173 | for(uint8_t i = 0;i < RTnoProfile_getNumOutPort();i++) { |
ysuga | 0:9fac71a0bff3 | 174 | PortBase* outPort = RTnoProfile_getOutPortByIndex(i); |
ysuga | 0:9fac71a0bff3 | 175 | uint8_t nameLen = strlen(outPort->pName); |
ysuga | 0:9fac71a0bff3 | 176 | m_pPacketBuffer[0] = outPort->typeCode; |
ysuga | 0:9fac71a0bff3 | 177 | memcpy(&(m_pPacketBuffer[1]), outPort->pName, nameLen); |
ysuga | 0:9fac71a0bff3 | 178 | Transport_SendPacket(ADD_OUTPORT, 1+nameLen, m_pPacketBuffer); |
ysuga | 0:9fac71a0bff3 | 179 | } |
ysuga | 0:9fac71a0bff3 | 180 | |
ysuga | 0:9fac71a0bff3 | 181 | Transport_SendPacket(GET_PROFILE, 1, &ret); |
ysuga | 0:9fac71a0bff3 | 182 | } |
ysuga | 0:9fac71a0bff3 | 183 | |
ysuga | 0:9fac71a0bff3 | 184 | |
ysuga | 0:9fac71a0bff3 | 185 | |
ysuga | 0:9fac71a0bff3 | 186 | /** |
ysuga | 0:9fac71a0bff3 | 187 | * Packet Handler in Error State |
ysuga | 0:9fac71a0bff3 | 188 | */ |
ysuga | 0:9fac71a0bff3 | 189 | PRIVATE void _PacketHandlerOnError() { |
ysuga | 0:9fac71a0bff3 | 190 | char intface; |
ysuga | 0:9fac71a0bff3 | 191 | int8_t ret = RTNO_OK; |
ysuga | 0:9fac71a0bff3 | 192 | |
ysuga | 0:9fac71a0bff3 | 193 | int8_t retval = EC_error(); |
ysuga | 0:9fac71a0bff3 | 194 | if(retval < 0) ret = RTNO_ERROR; |
ysuga | 0:9fac71a0bff3 | 195 | Transport_SendPacket(intface, 1, &ret); |
ysuga | 0:9fac71a0bff3 | 196 | } |
ysuga | 0:9fac71a0bff3 | 197 | |
ysuga | 0:9fac71a0bff3 | 198 | |
ysuga | 0:9fac71a0bff3 | 199 | /** |
ysuga | 0:9fac71a0bff3 | 200 | * Packet Handler in Inactive State |
ysuga | 0:9fac71a0bff3 | 201 | */ |
ysuga | 0:9fac71a0bff3 | 202 | PRIVATE void _PacketHandlerOnInactive() { |
ysuga | 0:9fac71a0bff3 | 203 | |
ysuga | 0:9fac71a0bff3 | 204 | int8_t ret = RTNO_OK; |
ysuga | 0:9fac71a0bff3 | 205 | int8_t retval = EC_activate_component(); |
ysuga | 0:9fac71a0bff3 | 206 | if(retval < 0) ret = RTNO_ERROR; |
ysuga | 0:9fac71a0bff3 | 207 | Transport_SendPacket(ACTIVATE, 1, &ret); |
ysuga | 0:9fac71a0bff3 | 208 | } |
ysuga | 0:9fac71a0bff3 | 209 | |
ysuga | 0:9fac71a0bff3 | 210 | /** |
ysuga | 0:9fac71a0bff3 | 211 | * Packet Handler in Active State. |
ysuga | 0:9fac71a0bff3 | 212 | */ |
ysuga | 0:9fac71a0bff3 | 213 | PRIVATE void _PacketHandlerOnActive() { |
ysuga | 0:9fac71a0bff3 | 214 | int8_t ret = RTNO_OK; |
ysuga | 0:9fac71a0bff3 | 215 | //char intface; |
ysuga | 0:9fac71a0bff3 | 216 | int8_t retval; |
ysuga | 0:9fac71a0bff3 | 217 | switch(m_pPacketBuffer[INTERFACE]) { |
ysuga | 0:9fac71a0bff3 | 218 | case DEACTIVATE: |
ysuga | 0:9fac71a0bff3 | 219 | retval = EC_deactivate_component(); |
ysuga | 0:9fac71a0bff3 | 220 | if(retval < 0) ret = RTNO_ERROR; |
ysuga | 0:9fac71a0bff3 | 221 | Transport_SendPacket(DEACTIVATE, 1, &ret); |
ysuga | 0:9fac71a0bff3 | 222 | break; |
ysuga | 0:9fac71a0bff3 | 223 | case EXECUTE: |
ysuga | 0:9fac71a0bff3 | 224 | retval = EC_execute(); |
ysuga | 0:9fac71a0bff3 | 225 | if(retval < 0) ret = RTNO_ERROR; |
ysuga | 0:9fac71a0bff3 | 226 | Transport_SendPacket(EXECUTE, 1, &ret); |
ysuga | 0:9fac71a0bff3 | 227 | break; |
ysuga | 0:9fac71a0bff3 | 228 | case SEND_DATA: { |
ysuga | 0:9fac71a0bff3 | 229 | PortBase* pInPort = RTnoProfile_getInPort((const char*)&(m_pPacketBuffer[DATA_START_ADDR+2]), m_pPacketBuffer[DATA_START_ADDR]); |
ysuga | 0:9fac71a0bff3 | 230 | if(pInPort == NULL) { |
ysuga | 0:9fac71a0bff3 | 231 | |
ysuga | 0:9fac71a0bff3 | 232 | } else { |
ysuga | 0:9fac71a0bff3 | 233 | PortBuffer* pBuffer = pInPort->pPortBuffer; |
ysuga | 0:9fac71a0bff3 | 234 | EC_suspend(); |
ysuga | 0:9fac71a0bff3 | 235 | pBuffer->push(pBuffer,&(m_pPacketBuffer[DATA_START_ADDR+2+m_pPacketBuffer[DATA_START_ADDR]]), m_pPacketBuffer[DATA_START_ADDR+1]); |
ysuga | 0:9fac71a0bff3 | 236 | EC_resume(); |
ysuga | 0:9fac71a0bff3 | 237 | Transport_SendPacket(SEND_DATA, 1, &ret); |
ysuga | 0:9fac71a0bff3 | 238 | } |
ysuga | 0:9fac71a0bff3 | 239 | } |
ysuga | 0:9fac71a0bff3 | 240 | break; |
ysuga | 0:9fac71a0bff3 | 241 | default: |
ysuga | 0:9fac71a0bff3 | 242 | break; |
ysuga | 0:9fac71a0bff3 | 243 | } |
ysuga | 0:9fac71a0bff3 | 244 | } |
ysuga | 0:9fac71a0bff3 | 245 |