Yuki Suga
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
Diff: Transport.cpp
- Revision:
- 1:f74116b37bc9
- Parent:
- 0:5f7bc45bc2e8
--- a/Transport.cpp Mon Jun 24 06:42:11 2013 +0000
+++ b/Transport.cpp Mon Jul 08 07:14:30 2013 +0000
@@ -1,6 +1,7 @@
#define RTNO_SUBMODULE_DEFINE
#include <stdint.h>
#include "mbed.h"
+
#include "Transport.h"
#include "Packet.h"
@@ -11,17 +12,22 @@
int8_t Transport_SendPacket(const char interface, const uint8_t data_length, const int8_t* packet_data) {
- uint8_t sum = 0;
- uint8_t sender[4] = {'U', 'A', 'R', 'T'};
+ uint8_t sum = 0;//0x0a + 0x0a;
+
+ uint8_t header[2] = {0x0a, 0x0a};
+ SerialDevice_putc(header[0]);
+ SerialDevice_putc(header[1]);
+
SerialDevice_putc(interface);
sum += interface;
SerialDevice_putc(data_length);
sum += data_length;
- for(uint8_t i = 0;i < 4;i++) {
- sum += sender[i];
- SerialDevice_putc(sender[i]);
- }
+ //uint8_t sender[4] = {'U', 'A', 'R', 'T'};
+ //for(uint8_t i = 0;i < 4;i++) {
+ //sum += sender[i];
+ // SerialDevice_putc(sender[i]);
+ //}
for(uint8_t i = 0;i < data_length;i++) {
sum += packet_data[i];
@@ -31,59 +37,60 @@
return PACKET_HEADER_SIZE + data_length + 1;
}
-int8_t Transport_ReceivePacket(int8_t* packet) {
+/**
+ * Transport_ReceivePacket
+ * ¥arg packet
+ * ¥arg timeout
+ */
+int8_t Transport_ReceivePacket(uint8_t* packet, const uint32_t& timeout) {
uint8_t counter = 0;
- uint8_t sum = 0;
-
- if(SerialDevice_available() == 0) {
- return 0;
- }
-
- while(SerialDevice_available() < PACKET_HEADER_SIZE) {
- wait(PACKET_WAITING_DELAY/1000.0);
- counter++;
- if(counter == PACKET_WAITING_COUNT) {
- return -TIMEOUT;
+ uint8_t buf;
+ int8_t ret;
+ while(1) {
+ if((ret=SerialDevice_read(&buf, 1, timeout)) < 0) {
+ return 0;
}
- }
- packet[INTERFACE] = SerialDevice_getc();
- sum += packet[INTERFACE];
- packet[DATA_LENGTH] = SerialDevice_getc();
- sum += packet[DATA_LENGTH];
-
- counter = 0;
- while(SerialDevice_available() < 4) {
- wait(PACKET_WAITING_DELAY/1000.0);
- counter++;
- if(counter == PACKET_WAITING_COUNT) {
- return -TIMEOUT;
+ if (buf != PACKET_STARTING_CHARACTOR_0) {
+ counter++;
+ continue;
+ }
+ if((ret=SerialDevice_read(&buf, 1, timeout)) < 0) {
+ return 0;
}
- }
- for(uint8_t i = 0;i < 4;i++) {
- uint8_t val = SerialDevice_getc();
- sum += val;
- }
-
- for(uint8_t i = 0;i < packet[DATA_LENGTH];i++) {
- counter = 0;
- while(SerialDevice_available() == 0) {
- wait(PACKET_WAITING_DELAY/1000.0);
+ if (buf != PACKET_STARTING_CHARACTOR_1) {
counter++;
- if(counter == PACKET_WAITING_COUNT) {
- return -DATA_TIMEOUT;
- }
+ continue;
}
- packet[PACKET_HEADER_SIZE+i] = SerialDevice_getc();
- sum += packet[PACKET_HEADER_SIZE+i];
+ break;
}
- while(SerialDevice_available() == 0) {
- ;
+
+ if((ret=SerialDevice_read(packet, PACKET_HEADER_SIZE, timeout)) < 0) {
+ return ret;
+ }
+
+ //if((ret=SerialDevice_read(packet+PACKET_HEADER_SIZE,
+ // 4,
+ // timeout)) < 0) {
+ // return ret;
+ //}
+
+ if((ret=SerialDevice_read(packet+PACKET_HEADER_SIZE,
+ packet[DATA_LENGTH],
+ timeout)) < 0) {
+ return ret;
}
- uint8_t checksum = SerialDevice_getc();
+
+ if((ret=SerialDevice_read(&buf, 1, timeout)) < 0) {
+ return ret;
+ }
- if(sum != checksum) {
+ uint8_t sum = 0;//PACKET_STARTING_CHARACTOR_0 + PACKET_STARTING_CHARACTOR_1;
+ for(uint8_t i = 0;i < PACKET_HEADER_SIZE+packet[DATA_LENGTH];i++) {
+ sum += packet[i];
+ }
+ if(buf != sum) {
return -CHECKSUM_ERROR;
}
- return PACKET_HEADER_SIZE + packet[DATA_LENGTH] + 1;
+ return PACKET_HEADER_SIZE + packet[DATA_LENGTH];
}