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

RTnoProfile.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 "mbed.h"
ysuga 0:5f7bc45bc2e8 4
ysuga 0:5f7bc45bc2e8 5 #include "RTnoProfile.h"
ysuga 0:5f7bc45bc2e8 6
ysuga 0:5f7bc45bc2e8 7 static PortBase *m_ppInPort[MAX_PORT];
ysuga 0:5f7bc45bc2e8 8 static PortBase *m_ppOutPort[MAX_PORT];
ysuga 0:5f7bc45bc2e8 9
ysuga 0:5f7bc45bc2e8 10 void RTnoProfile_init()
ysuga 0:5f7bc45bc2e8 11 {
ysuga 0:5f7bc45bc2e8 12 }
ysuga 0:5f7bc45bc2e8 13
ysuga 0:5f7bc45bc2e8 14 int RTnoProfile_addInPort(PortBase* port)
ysuga 0:5f7bc45bc2e8 15 {
ysuga 0:5f7bc45bc2e8 16 int index = RTnoProfile_getNumInPort();
ysuga 0:5f7bc45bc2e8 17 if(index == MAX_PORT) return -1;
ysuga 0:5f7bc45bc2e8 18 m_ppInPort[index] = port;
ysuga 0:5f7bc45bc2e8 19 return index;
ysuga 0:5f7bc45bc2e8 20 }
ysuga 0:5f7bc45bc2e8 21
ysuga 0:5f7bc45bc2e8 22
ysuga 0:5f7bc45bc2e8 23 int RTnoProfile_addOutPort(PortBase* port)
ysuga 0:5f7bc45bc2e8 24 {
ysuga 0:5f7bc45bc2e8 25 int index = RTnoProfile_getNumOutPort();
ysuga 0:5f7bc45bc2e8 26 if(index == MAX_PORT) return -1;
ysuga 0:5f7bc45bc2e8 27 m_ppOutPort[index] = port;
ysuga 0:5f7bc45bc2e8 28 return index;
ysuga 0:5f7bc45bc2e8 29 }
ysuga 0:5f7bc45bc2e8 30
ysuga 0:5f7bc45bc2e8 31 int RTnoProfile_getNumInPort() {
ysuga 0:5f7bc45bc2e8 32 for(int i = 0;i < MAX_PORT;i++) {
ysuga 0:5f7bc45bc2e8 33 if(m_ppInPort[i] == NULL) {
ysuga 0:5f7bc45bc2e8 34 return i;
ysuga 0:5f7bc45bc2e8 35 }
ysuga 0:5f7bc45bc2e8 36 }
ysuga 0:5f7bc45bc2e8 37 return MAX_PORT;
ysuga 0:5f7bc45bc2e8 38 }
ysuga 0:5f7bc45bc2e8 39
ysuga 0:5f7bc45bc2e8 40
ysuga 0:5f7bc45bc2e8 41 int RTnoProfile_getNumOutPort() {
ysuga 0:5f7bc45bc2e8 42 for(int i = 0;i < MAX_PORT;i++) {
ysuga 0:5f7bc45bc2e8 43 if(m_ppOutPort[i] == NULL) {
ysuga 0:5f7bc45bc2e8 44 return i;
ysuga 0:5f7bc45bc2e8 45 }
ysuga 0:5f7bc45bc2e8 46 }
ysuga 0:5f7bc45bc2e8 47 return MAX_PORT;
ysuga 0:5f7bc45bc2e8 48
ysuga 0:5f7bc45bc2e8 49 }
ysuga 0:5f7bc45bc2e8 50
ysuga 0:5f7bc45bc2e8 51 PortBase* RTnoProfile_getInPort(const char* name, uint8_t nameLen)
ysuga 0:5f7bc45bc2e8 52 {
ysuga 0:5f7bc45bc2e8 53 for(uint8_t i = 0;i < MAX_PORT;i++) {
ysuga 0:5f7bc45bc2e8 54 if(m_ppInPort[i] == NULL) return NULL;
ysuga 0:5f7bc45bc2e8 55 if(strncmp(name, m_ppInPort[i]->pName, nameLen) == 0) {
ysuga 0:5f7bc45bc2e8 56 return m_ppInPort[i];
ysuga 0:5f7bc45bc2e8 57 }
ysuga 0:5f7bc45bc2e8 58 }
ysuga 0:5f7bc45bc2e8 59 return NULL;
ysuga 0:5f7bc45bc2e8 60 }
ysuga 0:5f7bc45bc2e8 61
ysuga 0:5f7bc45bc2e8 62
ysuga 0:5f7bc45bc2e8 63 PortBase* RTnoProfile_getOutPort(const char* name, uint8_t nameLen)
ysuga 0:5f7bc45bc2e8 64 {
ysuga 0:5f7bc45bc2e8 65 for(uint8_t i = 0;i < MAX_PORT;i++) {
ysuga 0:5f7bc45bc2e8 66 if(m_ppOutPort[i] == NULL) return NULL;
ysuga 0:5f7bc45bc2e8 67 if(strncmp(name, m_ppOutPort[i]->pName, nameLen) == 0) {
ysuga 0:5f7bc45bc2e8 68 return m_ppOutPort[i];
ysuga 0:5f7bc45bc2e8 69 }
ysuga 0:5f7bc45bc2e8 70 }
ysuga 0:5f7bc45bc2e8 71 return NULL;
ysuga 0:5f7bc45bc2e8 72 }
ysuga 0:5f7bc45bc2e8 73
ysuga 0:5f7bc45bc2e8 74 PortBase* RTnoProfile_getInPortByIndex(const uint8_t i)
ysuga 0:5f7bc45bc2e8 75 {
ysuga 0:5f7bc45bc2e8 76 return m_ppInPort[i];
ysuga 0:5f7bc45bc2e8 77 }
ysuga 0:5f7bc45bc2e8 78
ysuga 0:5f7bc45bc2e8 79 PortBase* RTnoProfile_getOutPortByIndex(const uint8_t i)
ysuga 0:5f7bc45bc2e8 80 {
ysuga 0:5f7bc45bc2e8 81 return m_ppOutPort[i];
ysuga 0:5f7bc45bc2e8 82 }