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

OutPort.h@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 #ifndef OUTPORT_HEADER_INCLUDED
ysuga 0:5f7bc45bc2e8 2 #define OUTPORT_HEADER_INCLUDED
ysuga 0:5f7bc45bc2e8 3
ysuga 0:5f7bc45bc2e8 4 /*******************************************
ysuga 0:5f7bc45bc2e8 5 * OutPort.h
ysuga 0:5f7bc45bc2e8 6 * @author Yuki Suga
ysuga 0:5f7bc45bc2e8 7 * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
ysuga 0:5f7bc45bc2e8 8 * @license LGPLv3
ysuga 0:5f7bc45bc2e8 9 *****************************************/
ysuga 0:5f7bc45bc2e8 10
ysuga 0:5f7bc45bc2e8 11 #include <stdint.h>
ysuga 0:5f7bc45bc2e8 12 #include "PortBase.h"
ysuga 0:5f7bc45bc2e8 13 #include "PortBuffer.h"
ysuga 0:5f7bc45bc2e8 14 #include "NullBuffer.h"
ysuga 0:5f7bc45bc2e8 15 #include "TypeCode.h"
ysuga 0:5f7bc45bc2e8 16 #include <string.h>
ysuga 0:5f7bc45bc2e8 17 #include <stdlib.h>
ysuga 0:5f7bc45bc2e8 18
ysuga 0:5f7bc45bc2e8 19 class OutPortBase : public PortBase {
ysuga 0:5f7bc45bc2e8 20 private:
ysuga 0:5f7bc45bc2e8 21
ysuga 0:5f7bc45bc2e8 22 public:
ysuga 0:5f7bc45bc2e8 23 OutPortBase(const char* name, char tCode) {
ysuga 0:5f7bc45bc2e8 24 PortBase_init(this, name, tCode, NullBuffer_create());
ysuga 0:5f7bc45bc2e8 25 }
ysuga 0:5f7bc45bc2e8 26
ysuga 0:5f7bc45bc2e8 27 public:
ysuga 0:5f7bc45bc2e8 28
ysuga 0:5f7bc45bc2e8 29 };
ysuga 0:5f7bc45bc2e8 30
ysuga 0:5f7bc45bc2e8 31 template<typename T>
ysuga 0:5f7bc45bc2e8 32 class OutPort : public OutPortBase {
ysuga 0:5f7bc45bc2e8 33 private:
ysuga 0:5f7bc45bc2e8 34 T* m_pData;
ysuga 0:5f7bc45bc2e8 35
ysuga 0:5f7bc45bc2e8 36 public:
ysuga 0:5f7bc45bc2e8 37 OutPort(const char* name, T& data) : OutPortBase(name, data.typeCode) {
ysuga 0:5f7bc45bc2e8 38 m_pData = &data;
ysuga 0:5f7bc45bc2e8 39 }
ysuga 0:5f7bc45bc2e8 40 ~OutPort() {}
ysuga 0:5f7bc45bc2e8 41
ysuga 0:5f7bc45bc2e8 42 public:
ysuga 0:5f7bc45bc2e8 43 uint8_t write() {
ysuga 0:5f7bc45bc2e8 44 uint8_t size = TypeCode_getElementSize(m_pData->typeCode);
ysuga 0:5f7bc45bc2e8 45 if(TypeCode_isSequence(m_pData->typeCode)) {
ysuga 0:5f7bc45bc2e8 46 size *= ((SequenceBase*)&(m_pData->data))->length();
ysuga 0:5f7bc45bc2e8 47 pPortBuffer->push(pPortBuffer,
ysuga 0:5f7bc45bc2e8 48 (int8_t*)((SequenceBase*)&(m_pData->data))->getData(),
ysuga 0:5f7bc45bc2e8 49 size);
ysuga 0:5f7bc45bc2e8 50 } else {
ysuga 0:5f7bc45bc2e8 51 pPortBuffer->push(pPortBuffer, (const int8_t*)&(m_pData->data), size);
ysuga 0:5f7bc45bc2e8 52 }
ysuga 0:5f7bc45bc2e8 53 return size;
ysuga 0:5f7bc45bc2e8 54 }
ysuga 0:5f7bc45bc2e8 55 };
ysuga 0:5f7bc45bc2e8 56
ysuga 0:5f7bc45bc2e8 57
ysuga 0:5f7bc45bc2e8 58 #endif