Yuki Suga / RTnoV3

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

Dependencies:   EthernetNetIf

Dependents:   RTnoV3_LED RTnoV3_Template RTnoV3_ADC RTnoV3_Timer ... more

ExecutionContext.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?

UserRevisionLine numberNew contents of line
ysuga 0:9fac71a0bff3 1 #define RTNO_SUBMODULE_DEFINE
ysuga 0:9fac71a0bff3 2
ysuga 0:9fac71a0bff3 3 #include <stdint.h>
ysuga 0:9fac71a0bff3 4 #include "RTno.h"
ysuga 0:9fac71a0bff3 5 #include "Packet.h"
ysuga 0:9fac71a0bff3 6
ysuga 0:9fac71a0bff3 7 #include "ExecutionContext.h"
ysuga 0:9fac71a0bff3 8
ysuga 0:9fac71a0bff3 9 static int8_t m_Type;
ysuga 0:9fac71a0bff3 10 static LifeCycleState m_Condition;
ysuga 0:9fac71a0bff3 11
ysuga 0:9fac71a0bff3 12 void EC_init(int8_t Type) {
ysuga 0:9fac71a0bff3 13 m_Type = Type;
ysuga 0:9fac71a0bff3 14 m_Condition = RTC_STATE_INACTIVE;
ysuga 0:9fac71a0bff3 15 }
ysuga 0:9fac71a0bff3 16
ysuga 0:9fac71a0bff3 17 int8_t EC_get_type() {
ysuga 0:9fac71a0bff3 18 return m_Type;
ysuga 0:9fac71a0bff3 19 }
ysuga 0:9fac71a0bff3 20
ysuga 0:9fac71a0bff3 21 LifeCycleState EC_get_component_state() {
ysuga 0:9fac71a0bff3 22 return m_Condition;
ysuga 0:9fac71a0bff3 23 }
ysuga 0:9fac71a0bff3 24
ysuga 0:9fac71a0bff3 25 ReturnValue_t EC_activate_component() {
ysuga 0:9fac71a0bff3 26 if(m_Condition != RTC_STATE_INACTIVE) {
ysuga 0:9fac71a0bff3 27 return RTC_PRECONDITION_NOT_MET;
ysuga 0:9fac71a0bff3 28 }
ysuga 0:9fac71a0bff3 29
ysuga 0:9fac71a0bff3 30 if(RTno::onActivated() == RTC_OK) {
ysuga 0:9fac71a0bff3 31 m_Condition = RTC_STATE_ACTIVE;
ysuga 0:9fac71a0bff3 32 return RTC_OK;
ysuga 0:9fac71a0bff3 33 }
ysuga 0:9fac71a0bff3 34
ysuga 0:9fac71a0bff3 35 m_Condition = RTC_STATE_ERROR;
ysuga 0:9fac71a0bff3 36 return RTC_ERROR;
ysuga 0:9fac71a0bff3 37 }
ysuga 0:9fac71a0bff3 38
ysuga 0:9fac71a0bff3 39
ysuga 0:9fac71a0bff3 40 ReturnValue_t EC_deactivate_component() {
ysuga 0:9fac71a0bff3 41 if(m_Condition != RTC_STATE_ACTIVE) {
ysuga 0:9fac71a0bff3 42 return RTC_PRECONDITION_NOT_MET;
ysuga 0:9fac71a0bff3 43 }
ysuga 0:9fac71a0bff3 44
ysuga 0:9fac71a0bff3 45 if(RTno::onDeactivated() == RTC_OK) {
ysuga 0:9fac71a0bff3 46 m_Condition = RTC_STATE_INACTIVE;
ysuga 0:9fac71a0bff3 47 return RTC_OK;
ysuga 0:9fac71a0bff3 48 } else {
ysuga 0:9fac71a0bff3 49 m_Condition = RTC_STATE_ERROR;
ysuga 0:9fac71a0bff3 50 return RTC_ERROR;
ysuga 0:9fac71a0bff3 51 }
ysuga 0:9fac71a0bff3 52 }
ysuga 0:9fac71a0bff3 53
ysuga 0:9fac71a0bff3 54 ReturnValue_t EC_execute() {
ysuga 0:9fac71a0bff3 55 if(m_Condition != RTC_STATE_ACTIVE) {
ysuga 0:9fac71a0bff3 56 return RTC_PRECONDITION_NOT_MET;
ysuga 0:9fac71a0bff3 57 }
ysuga 0:9fac71a0bff3 58
ysuga 0:9fac71a0bff3 59 if(RTno::onExecute() == RTC_OK) {
ysuga 0:9fac71a0bff3 60 return RTC_OK;
ysuga 0:9fac71a0bff3 61 } else {
ysuga 0:9fac71a0bff3 62 m_Condition = RTC_STATE_ERROR;
ysuga 0:9fac71a0bff3 63 return RTC_ERROR;
ysuga 0:9fac71a0bff3 64 }
ysuga 0:9fac71a0bff3 65 }
ysuga 0:9fac71a0bff3 66
ysuga 0:9fac71a0bff3 67 ReturnValue_t EC_error() {
ysuga 0:9fac71a0bff3 68 if(m_Condition != RTC_STATE_ERROR) {
ysuga 0:9fac71a0bff3 69 return RTC_PRECONDITION_NOT_MET;
ysuga 0:9fac71a0bff3 70 }
ysuga 0:9fac71a0bff3 71
ysuga 0:9fac71a0bff3 72 RTno::onError();
ysuga 0:9fac71a0bff3 73 return RTC_OK;
ysuga 0:9fac71a0bff3 74 }
ysuga 0:9fac71a0bff3 75
ysuga 0:9fac71a0bff3 76
ysuga 0:9fac71a0bff3 77 #ifdef __cplusplus
ysuga 0:9fac71a0bff3 78 extern "C" {
ysuga 0:9fac71a0bff3 79 #endif
ysuga 0:9fac71a0bff3 80
ysuga 0:9fac71a0bff3 81 void (*EC_start)();
ysuga 0:9fac71a0bff3 82 void (*EC_resume)();
ysuga 0:9fac71a0bff3 83 void (*EC_suspend)();
ysuga 0:9fac71a0bff3 84
ysuga 0:9fac71a0bff3 85 #ifdef __cplusplus
ysuga 0:9fac71a0bff3 86 }
ysuga 0:9fac71a0bff3 87 #endif