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

RTno.h@7:6c7af1d50fb3, 2013-08-29 (annotated)

Committer:
ysuga
Date:
Thu Aug 29 05:29:55 2013 +0000
Revision:
7:6c7af1d50fb3
Parent:
6:86d72601ff54 
update v5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ysuga 0:5f7bc45bc2e8 1 #ifndef RTNO_HEADER_INCLUDED
ysuga 0:5f7bc45bc2e8 2 #define RTNO_HEADER_INCLUDED
ysuga 0:5f7bc45bc2e8 3
ysuga 0:5f7bc45bc2e8 4 /*******************************************
ysuga 0:5f7bc45bc2e8 5 * RTno.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
ysuga 0:5f7bc45bc2e8 12 //#define BAUDRATE 19200
ysuga 0:5f7bc45bc2e8 13
ysuga 0:5f7bc45bc2e8 14 #define RTC_OK 0
ysuga 0:5f7bc45bc2e8 15 #define RTC_ERROR -1
ysuga 0:5f7bc45bc2e8 16 #define RTC_PRECONDITION_NOT_MET -2
ysuga 0:5f7bc45bc2e8 17
ysuga 0:5f7bc45bc2e8 18
ysuga 0:5f7bc45bc2e8 19 #define USE_UART_CONNECTION
ysuga 6:86d72601ff54 20 //#define USE_ETHERNET_CONNECTION
ysuga 0:5f7bc45bc2e8 21 #define USE_TIMER1_EC
ysuga 0:5f7bc45bc2e8 22
ysuga 0:5f7bc45bc2e8 23 #include "mbed.h"
ysuga 0:5f7bc45bc2e8 24 #include "BasicDataType.h"
ysuga 0:5f7bc45bc2e8 25 #include "InPort.h"
ysuga 0:5f7bc45bc2e8 26 #include "OutPort.h"
ysuga 0:5f7bc45bc2e8 27 #include "rtcconf.h"
ysuga 0:5f7bc45bc2e8 28
ysuga 0:5f7bc45bc2e8 29 #ifdef USE_UART_CONNECTION
ysuga 0:5f7bc45bc2e8 30 #include "UART.h"
ysuga 0:5f7bc45bc2e8 31 #endif
ysuga 0:5f7bc45bc2e8 32
ysuga 0:5f7bc45bc2e8 33 #ifdef USE_ETHERNET_CONNECTION
ysuga 0:5f7bc45bc2e8 34 #include "EtherTcp.h"
ysuga 6:86d72601ff54 35 #include "EthernetInterface.h"
ysuga 0:5f7bc45bc2e8 36 #endif
ysuga 0:5f7bc45bc2e8 37
ysuga 0:5f7bc45bc2e8 38 #ifdef USE_TIMER1_EC
ysuga 0:5f7bc45bc2e8 39 #include "Timer1ExecutionContext.h"
ysuga 0:5f7bc45bc2e8 40 #endif
ysuga 0:5f7bc45bc2e8 41
ysuga 0:5f7bc45bc2e8 42 #include "ProxySyncEC.h"
ysuga 0:5f7bc45bc2e8 43 #define PACKET_BUFFER_SIZE 128
ysuga 0:5f7bc45bc2e8 44
ysuga 0:5f7bc45bc2e8 45 #define MAX_PORT 8
ysuga 0:5f7bc45bc2e8 46
ysuga 0:5f7bc45bc2e8 47
ysuga 0:5f7bc45bc2e8 48 // global variables for rtcconf
ysuga 0:5f7bc45bc2e8 49 //extern volatile exec_cxt_str exec_cxt;
ysuga 0:5f7bc45bc2e8 50 //extern config_str conf;
ysuga 0:5f7bc45bc2e8 51
ysuga 0:5f7bc45bc2e8 52 // global functions
ysuga 0:5f7bc45bc2e8 53 // RTno APIs
ysuga 0:5f7bc45bc2e8 54 extern "C" {
ysuga 0:5f7bc45bc2e8 55 void rtcconf(config_str& conf, exec_cxt_str& exec_cxt);
ysuga 0:5f7bc45bc2e8 56 };
ysuga 0:5f7bc45bc2e8 57
ysuga 0:5f7bc45bc2e8 58 extern "C" {
ysuga 0:5f7bc45bc2e8 59 void addInPort(InPortBase& inPort);
ysuga 0:5f7bc45bc2e8 60 void addOutPort(OutPortBase& outPort);
ysuga 0:5f7bc45bc2e8 61 }
ysuga 0:5f7bc45bc2e8 62
ysuga 0:5f7bc45bc2e8 63 namespace RTno {
ysuga 0:5f7bc45bc2e8 64 //extern "C" {
ysuga 0:5f7bc45bc2e8 65
ysuga 0:5f7bc45bc2e8 66 // These call-back funcitons should be defined in user program code.
ysuga 0:5f7bc45bc2e8 67 // Use RTno_template.pde to create your own project.
ysuga 0:5f7bc45bc2e8 68
ysuga 0:5f7bc45bc2e8 69 /**
ysuga 0:5f7bc45bc2e8 70 * onInitialize()
ysuga 0:5f7bc45bc2e8 71 * This function is called when RTno is initialized.
ysuga 0:5f7bc45bc2e8 72 * RTno is usually initialized when your device is turned on.
ysuga 0:5f7bc45bc2e8 73 */
ysuga 0:5f7bc45bc2e8 74 int onInitialize();
ysuga 0:5f7bc45bc2e8 75
ysuga 0:5f7bc45bc2e8 76 /**
ysuga 0:5f7bc45bc2e8 77 * onActivated()
ysuga 0:5f7bc45bc2e8 78 * This function is called when RTno is activated only if RTno is RTC_INACTIVE condition.
ysuga 0:5f7bc45bc2e8 79 * RTno is usually activated by RT System Editor or other tools for OpenRTM-aist.
ysuga 0:5f7bc45bc2e8 80 */
ysuga 0:5f7bc45bc2e8 81 int onActivated();
ysuga 0:5f7bc45bc2e8 82
ysuga 0:5f7bc45bc2e8 83 /**
ysuga 0:5f7bc45bc2e8 84 * onExecute()
ysuga 0:5f7bc45bc2e8 85 * This function is periodically called when the RTno-proxy is RTC_ACTIVE condition.
ysuga 0:5f7bc45bc2e8 86 */
ysuga 0:5f7bc45bc2e8 87 int onExecute();
ysuga 0:5f7bc45bc2e8 88
ysuga 0:5f7bc45bc2e8 89 /**
ysuga 0:5f7bc45bc2e8 90 * onDeactivated()
ysuga 0:5f7bc45bc2e8 91 * This function is called when RTno is deactivated only if RTno is RTC_ACTIVE condition.
ysuga 0:5f7bc45bc2e8 92 * RTno is usually deactivated by RT System Editor or other tools for OpenRTM-aist.
ysuga 0:5f7bc45bc2e8 93 */
ysuga 0:5f7bc45bc2e8 94 int onDeactivated();
ysuga 0:5f7bc45bc2e8 95
ysuga 0:5f7bc45bc2e8 96 /**
ysuga 0:5f7bc45bc2e8 97 * onError
ysuga 0:5f7bc45bc2e8 98 * This function is called when RTno is error only if RTno is in RTC_ERROR condition.
ysuga 0:5f7bc45bc2e8 99 * [DANGEROUS] This function is periodically called in very short interval.
ysuga 0:5f7bc45bc2e8 100 */
ysuga 0:5f7bc45bc2e8 101 int onError();
ysuga 0:5f7bc45bc2e8 102
ysuga 0:5f7bc45bc2e8 103 /**
ysuga 0:5f7bc45bc2e8 104 * onReset
ysuga 0:5f7bc45bc2e8 105 * This function is called when RTno is reset only if RTno is in RTC_ERROR condition.
ysuga 0:5f7bc45bc2e8 106 * RTno is usually reset by RT System Editor or other tools for OpenRTM-aist.
ysuga 0:5f7bc45bc2e8 107 */
ysuga 0:5f7bc45bc2e8 108 int onReset();
ysuga 0:5f7bc45bc2e8 109 //};// extern "C"
ysuga 0:5f7bc45bc2e8 110 };
ysuga 0:5f7bc45bc2e8 111
ysuga 0:5f7bc45bc2e8 112
ysuga 0:5f7bc45bc2e8 113 #ifndef RTNO_SUBMODULE_DEFINE
ysuga 0:5f7bc45bc2e8 114
ysuga 0:5f7bc45bc2e8 115
ysuga 0:5f7bc45bc2e8 116 void EC_setup(exec_cxt_str& exec_cxt) {
ysuga 0:5f7bc45bc2e8 117 switch(exec_cxt.periodic.type) {
ysuga 0:5f7bc45bc2e8 118 #ifdef USE_TIMER1_EC
ysuga 0:5f7bc45bc2e8 119 case Timer1ExecutionContext:
ysuga 0:5f7bc45bc2e8 120 Timer1EC_init(exec_cxt.periodic.rate);
ysuga 0:5f7bc45bc2e8 121 break;
ysuga 0:5f7bc45bc2e8 122 #endif // USE_TIMER1_EC
ysuga 0:5f7bc45bc2e8 123 case ProxySynchronousExecutionContext:
ysuga 0:5f7bc45bc2e8 124 default:
ysuga 0:5f7bc45bc2e8 125 ProxySyncEC_init();
ysuga 0:5f7bc45bc2e8 126 break;
ysuga 0:5f7bc45bc2e8 127 }
ysuga 0:5f7bc45bc2e8 128 }
ysuga 0:5f7bc45bc2e8 129
ysuga 0:5f7bc45bc2e8 130
ysuga 0:5f7bc45bc2e8 131 void Connection_setup(config_str& conf) {
ysuga 0:5f7bc45bc2e8 132 switch(conf._default.connection_type) {
ysuga 0:5f7bc45bc2e8 133 #ifdef USE_ETHERNET_CONNECTION
ysuga 0:5f7bc45bc2e8 134 case ConnectionTypeEtherTcp:
ysuga 6:86d72601ff54 135 EtherTcp_init(//(uint8_t*)&conf._default.mac_address,
ysuga 6:86d72601ff54 136 conf._default.ip_address,
ysuga 6:86d72601ff54 137 conf._default.default_gateway,
ysuga 6:86d72601ff54 138 conf._default.subnet_mask,
ysuga 0:5f7bc45bc2e8 139 conf._default.port);
ysuga 0:5f7bc45bc2e8 140 break;
ysuga 0:5f7bc45bc2e8 141 #endif // USE_ETHERNET_CONNECTION
ysuga 0:5f7bc45bc2e8 142 #ifdef USE_UART_CONNECTION
ysuga 0:5f7bc45bc2e8 143 case ConnectionTypeSerialUSB:
ysuga 0:5f7bc45bc2e8 144 UART_init(0, conf._default.baudrate);
ysuga 0:5f7bc45bc2e8 145 break;
ysuga 0:5f7bc45bc2e8 146 case ConnectionTypeSerial1:
ysuga 0:5f7bc45bc2e8 147 UART_init(1, conf._default.baudrate);
ysuga 0:5f7bc45bc2e8 148 break;
ysuga 0:5f7bc45bc2e8 149 case ConnectionTypeSerial2:
ysuga 0:5f7bc45bc2e8 150 UART_init(2, conf._default.baudrate);
ysuga 0:5f7bc45bc2e8 151 break;
ysuga 0:5f7bc45bc2e8 152 case ConnectionTypeSerial3:
ysuga 0:5f7bc45bc2e8 153 UART_init(3, conf._default.baudrate);
ysuga 0:5f7bc45bc2e8 154 break;
ysuga 0:5f7bc45bc2e8 155 #endif // USE_UART_CONNECTION
ysuga 0:5f7bc45bc2e8 156 default:
ysuga 0:5f7bc45bc2e8 157 break;
ysuga 0:5f7bc45bc2e8 158 }
ysuga 0:5f7bc45bc2e8 159 }
ysuga 0:5f7bc45bc2e8 160
ysuga 0:5f7bc45bc2e8 161 void setup();
ysuga 0:5f7bc45bc2e8 162 void loop();
ysuga 0:5f7bc45bc2e8 163
ysuga 0:5f7bc45bc2e8 164 int main(void) {
ysuga 0:5f7bc45bc2e8 165 setup();
ysuga 0:5f7bc45bc2e8 166 while(1) {
ysuga 0:5f7bc45bc2e8 167 loop();
ysuga 0:5f7bc45bc2e8 168 }
ysuga 0:5f7bc45bc2e8 169 }
ysuga 0:5f7bc45bc2e8 170
ysuga 0:5f7bc45bc2e8 171 #endif
ysuga 0:5f7bc45bc2e8 172
ysuga 0:5f7bc45bc2e8 173 #endif
ysuga 0:5f7bc45bc2e8 174