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

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Show/hide line numbers ExecutionContext.cpp Source File

ExecutionContext.cpp

00001 #define RTNO_SUBMODULE_DEFINE
00002 
00003 #include <stdint.h>
00004 #include "RTno.h"
00005 #include "Packet.h"
00006 
00007 #include "ExecutionContext.h"
00008 
00009 static int8_t m_Type;
00010 static LifeCycleState m_Condition;
00011 
00012 void EC_init(int8_t Type) {
00013   m_Type = Type;
00014   m_Condition = RTC_STATE_INACTIVE;
00015 }
00016 
00017 int8_t EC_get_type() {
00018   return m_Type;
00019 }
00020 
00021 LifeCycleState EC_get_component_state() {
00022   return m_Condition;
00023 }
00024 
00025 ReturnValue_t EC_activate_component() {
00026   if(m_Condition != RTC_STATE_INACTIVE) {
00027     return RTC_PRECONDITION_NOT_MET;
00028   }
00029   
00030   if(RTno::onActivated() == RTC_OK) {
00031     m_Condition = RTC_STATE_ACTIVE;
00032     return RTC_OK;
00033   }
00034 
00035   m_Condition = RTC_STATE_ERROR;
00036   return RTC_ERROR;
00037 }
00038 
00039 
00040 ReturnValue_t EC_deactivate_component() {
00041   if(m_Condition != RTC_STATE_ACTIVE) {
00042     return RTC_PRECONDITION_NOT_MET;
00043   }
00044   
00045   if(RTno::onDeactivated() == RTC_OK) {
00046     m_Condition = RTC_STATE_INACTIVE;
00047     return RTC_OK;
00048   } else {
00049     m_Condition = RTC_STATE_ERROR;
00050     return RTC_ERROR;
00051   }
00052 }
00053 
00054 ReturnValue_t EC_execute() {
00055   if(m_Condition != RTC_STATE_ACTIVE) {
00056     return RTC_PRECONDITION_NOT_MET;
00057   }
00058   
00059   if(RTno::onExecute() == RTC_OK) {
00060     return RTC_OK;
00061   } else {
00062     m_Condition = RTC_STATE_ERROR;
00063     return RTC_ERROR;
00064   }
00065 }
00066 
00067 ReturnValue_t EC_error() {
00068   if(m_Condition != RTC_STATE_ERROR) {
00069     return RTC_PRECONDITION_NOT_MET;
00070   }
00071   
00072   RTno::onError();
00073   return RTC_OK;
00074 }
00075 
00076 
00077 #ifdef __cplusplus
00078 extern "C" {
00079 #endif
00080 
00081 void (*EC_start)();
00082 void (*EC_resume)();
00083 void (*EC_suspend)();
00084 
00085 #ifdef __cplusplus
00086 }
00087 #endif
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