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
Dependents: RTnoV3_LED RTnoV3_Template RTnoV3_ADC RTnoV3_Timer ... more
Diff: ExecutionContext.cpp
- Revision:
- 0:9fac71a0bff3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ExecutionContext.cpp Thu Feb 09 02:33:10 2012 +0000
@@ -0,0 +1,87 @@
+#define RTNO_SUBMODULE_DEFINE
+
+#include <stdint.h>
+#include "RTno.h"
+#include "Packet.h"
+
+#include "ExecutionContext.h"
+
+static int8_t m_Type;
+static LifeCycleState m_Condition;
+
+void EC_init(int8_t Type) {
+ m_Type = Type;
+ m_Condition = RTC_STATE_INACTIVE;
+}
+
+int8_t EC_get_type() {
+ return m_Type;
+}
+
+LifeCycleState EC_get_component_state() {
+ return m_Condition;
+}
+
+ReturnValue_t EC_activate_component() {
+ if(m_Condition != RTC_STATE_INACTIVE) {
+ return RTC_PRECONDITION_NOT_MET;
+ }
+
+ if(RTno::onActivated() == RTC_OK) {
+ m_Condition = RTC_STATE_ACTIVE;
+ return RTC_OK;
+ }
+
+ m_Condition = RTC_STATE_ERROR;
+ return RTC_ERROR;
+}
+
+
+ReturnValue_t EC_deactivate_component() {
+ if(m_Condition != RTC_STATE_ACTIVE) {
+ return RTC_PRECONDITION_NOT_MET;
+ }
+
+ if(RTno::onDeactivated() == RTC_OK) {
+ m_Condition = RTC_STATE_INACTIVE;
+ return RTC_OK;
+ } else {
+ m_Condition = RTC_STATE_ERROR;
+ return RTC_ERROR;
+ }
+}
+
+ReturnValue_t EC_execute() {
+ if(m_Condition != RTC_STATE_ACTIVE) {
+ return RTC_PRECONDITION_NOT_MET;
+ }
+
+ if(RTno::onExecute() == RTC_OK) {
+ return RTC_OK;
+ } else {
+ m_Condition = RTC_STATE_ERROR;
+ return RTC_ERROR;
+ }
+}
+
+ReturnValue_t EC_error() {
+ if(m_Condition != RTC_STATE_ERROR) {
+ return RTC_PRECONDITION_NOT_MET;
+ }
+
+ RTno::onError();
+ return RTC_OK;
+}
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void (*EC_start)();
+void (*EC_resume)();
+void (*EC_suspend)();
+
+#ifdef __cplusplus
+}
+#endif