Yuki Suga / RTnoV4

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:   EthernetInterface mbed-rtos

ExecutionContext.cpp@7:6c7af1d50fb3, 2013-08-29 (annotated)

Committer:
ysuga
Date:
Thu Aug 29 05:29:55 2013 +0000
Revision:
7:6c7af1d50fb3
Parent:
0:5f7bc45bc2e8 
update v5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ysuga 0:5f7bc45bc2e8 1 #define RTNO_SUBMODULE_DEFINE
ysuga 0:5f7bc45bc2e8 2
ysuga 0:5f7bc45bc2e8 3 #include <stdint.h>
ysuga 0:5f7bc45bc2e8 4 #include "RTno.h"
ysuga 0:5f7bc45bc2e8 5 #include "Packet.h"
ysuga 0:5f7bc45bc2e8 6
ysuga 0:5f7bc45bc2e8 7 #include "ExecutionContext.h"
ysuga 0:5f7bc45bc2e8 8
ysuga 0:5f7bc45bc2e8 9 static int8_t m_Type;
ysuga 0:5f7bc45bc2e8 10 static LifeCycleState m_Condition;
ysuga 0:5f7bc45bc2e8 11
ysuga 0:5f7bc45bc2e8 12 void EC_init(int8_t Type) {
ysuga 0:5f7bc45bc2e8 13 m_Type = Type;
ysuga 0:5f7bc45bc2e8 14 m_Condition = RTC_STATE_INACTIVE;
ysuga 0:5f7bc45bc2e8 15 }
ysuga 0:5f7bc45bc2e8 16
ysuga 0:5f7bc45bc2e8 17 int8_t EC_get_type() {
ysuga 0:5f7bc45bc2e8 18 return m_Type;
ysuga 0:5f7bc45bc2e8 19 }
ysuga 0:5f7bc45bc2e8 20
ysuga 0:5f7bc45bc2e8 21 LifeCycleState EC_get_component_state() {
ysuga 0:5f7bc45bc2e8 22 return m_Condition;
ysuga 0:5f7bc45bc2e8 23 }
ysuga 0:5f7bc45bc2e8 24
ysuga 0:5f7bc45bc2e8 25 ReturnValue_t EC_activate_component() {
ysuga 0:5f7bc45bc2e8 26 if(m_Condition != RTC_STATE_INACTIVE) {
ysuga 0:5f7bc45bc2e8 27 return RTC_PRECONDITION_NOT_MET;
ysuga 0:5f7bc45bc2e8 28 }
ysuga 0:5f7bc45bc2e8 29
ysuga 0:5f7bc45bc2e8 30 if(RTno::onActivated() == RTC_OK) {
ysuga 0:5f7bc45bc2e8 31 m_Condition = RTC_STATE_ACTIVE;
ysuga 0:5f7bc45bc2e8 32 return RTC_OK;
ysuga 0:5f7bc45bc2e8 33 }
ysuga 0:5f7bc45bc2e8 34
ysuga 0:5f7bc45bc2e8 35 m_Condition = RTC_STATE_ERROR;
ysuga 0:5f7bc45bc2e8 36 return RTC_ERROR;
ysuga 0:5f7bc45bc2e8 37 }
ysuga 0:5f7bc45bc2e8 38
ysuga 0:5f7bc45bc2e8 39
ysuga 0:5f7bc45bc2e8 40 ReturnValue_t EC_deactivate_component() {
ysuga 0:5f7bc45bc2e8 41 if(m_Condition != RTC_STATE_ACTIVE) {
ysuga 0:5f7bc45bc2e8 42 return RTC_PRECONDITION_NOT_MET;
ysuga 0:5f7bc45bc2e8 43 }
ysuga 0:5f7bc45bc2e8 44
ysuga 0:5f7bc45bc2e8 45 if(RTno::onDeactivated() == RTC_OK) {
ysuga 0:5f7bc45bc2e8 46 m_Condition = RTC_STATE_INACTIVE;
ysuga 0:5f7bc45bc2e8 47 return RTC_OK;
ysuga 0:5f7bc45bc2e8 48 } else {
ysuga 0:5f7bc45bc2e8 49 m_Condition = RTC_STATE_ERROR;
ysuga 0:5f7bc45bc2e8 50 return RTC_ERROR;
ysuga 0:5f7bc45bc2e8 51 }
ysuga 0:5f7bc45bc2e8 52 }
ysuga 0:5f7bc45bc2e8 53
ysuga 0:5f7bc45bc2e8 54 ReturnValue_t EC_execute() {
ysuga 0:5f7bc45bc2e8 55 if(m_Condition != RTC_STATE_ACTIVE) {
ysuga 0:5f7bc45bc2e8 56 return RTC_PRECONDITION_NOT_MET;
ysuga 0:5f7bc45bc2e8 57 }
ysuga 0:5f7bc45bc2e8 58
ysuga 0:5f7bc45bc2e8 59 if(RTno::onExecute() == RTC_OK) {
ysuga 0:5f7bc45bc2e8 60 return RTC_OK;
ysuga 0:5f7bc45bc2e8 61 } else {
ysuga 0:5f7bc45bc2e8 62 m_Condition = RTC_STATE_ERROR;
ysuga 0:5f7bc45bc2e8 63 return RTC_ERROR;
ysuga 0:5f7bc45bc2e8 64 }
ysuga 0:5f7bc45bc2e8 65 }
ysuga 0:5f7bc45bc2e8 66
ysuga 0:5f7bc45bc2e8 67 ReturnValue_t EC_error() {
ysuga 0:5f7bc45bc2e8 68 if(m_Condition != RTC_STATE_ERROR) {
ysuga 0:5f7bc45bc2e8 69 return RTC_PRECONDITION_NOT_MET;
ysuga 0:5f7bc45bc2e8 70 }
ysuga 0:5f7bc45bc2e8 71
ysuga 0:5f7bc45bc2e8 72 RTno::onError();
ysuga 0:5f7bc45bc2e8 73 return RTC_OK;
ysuga 0:5f7bc45bc2e8 74 }
ysuga 0:5f7bc45bc2e8 75
ysuga 0:5f7bc45bc2e8 76
ysuga 0:5f7bc45bc2e8 77 #ifdef __cplusplus
ysuga 0:5f7bc45bc2e8 78 extern "C" {
ysuga 0:5f7bc45bc2e8 79 #endif
ysuga 0:5f7bc45bc2e8 80
ysuga 0:5f7bc45bc2e8 81 void (*EC_start)();
ysuga 0:5f7bc45bc2e8 82 void (*EC_resume)();
ysuga 0:5f7bc45bc2e8 83 void (*EC_suspend)();
ysuga 0:5f7bc45bc2e8 84
ysuga 0:5f7bc45bc2e8 85 #ifdef __cplusplus
ysuga 0:5f7bc45bc2e8 86 }
ysuga 0:5f7bc45bc2e8 87 #endif