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: Packet.h
- Revision:
- 0:9fac71a0bff3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Packet.h Thu Feb 09 02:33:10 2012 +0000
@@ -0,0 +1,86 @@
+/*******************************************
+ * Packet.h
+ * @author Yuki Suga
+ * @copyright Yuki Suga (ysuga.net) Nov, 10th, 2010.
+ * @license LGPLv3
+ *****************************************/
+
+#ifndef PACKET_HEADER_INCLUDED
+#define PACKET_HEADER_INCLUDED
+
+// Return Values
+#define TIMEOUT 1
+#define DATA_TIMEOUT 2
+#define CHECKSUM_ERROR 3
+
+#define INVALID_PACKET_INTERFACE 65
+#define INVALID_PACKET_DATASIZE 66
+
+// Packet Settings
+#define PACKET_HEADER_SIZE 2
+#define INTERFACE 0
+#define DATA_LENGTH 1
+#define DATA_START_ADDR 2
+
+enum {
+ RTC_STATE_CREATED='C',
+ RTC_STATE_INACTIVE='I',
+ RTC_STATE_ACTIVE='A',
+ RTC_STATE_ERROR='E',
+ RTC_STATE_NONE='N',
+};
+
+
+// Protocol
+// Interface
+#define INITIALIZE 'I'
+#define ACTIVATE 'A'
+#define DEACTIVATE 'D'
+#define EXECUTE 'E'
+#define ONERROR 'C'
+#define RESET 'R'
+#define GET_STATUS 'X'
+#define GET_DATA 'G'
+#define SEND_DATA 'S'
+#define GET_PROFILE 'Z'
+#define GET_CONTEXT 'B'
+#define PACKET_ERROR 'F'
+#define RECEIVE_DATA 'V'
+
+#define ADD_INPORT 'P'
+#define ADD_OUTPORT 'Q'
+
+#define INPORT_ISNEW 'N'
+#define INPORT_READ 'J'
+
+#define RTNO_OK '@'
+#define RTNO_ERROR 'x'
+#define RTNO_NONE '!'
+
+#define OUTPORT_WRITE 'W'
+
+// Communication Settings
+#define PACKET_WAITING_TIME 100 // ms
+#define PACKET_WAITING_DELAY 100 //us
+#define PACKET_WAITING_COUNT (PACKET_WAITING_TIME*1000/PACKET_WAITING_DELAY)
+
+
+#define TYPECODE_TIMED_BOOLEAN 'b'
+#define TYPECODE_TIMED_CHAR 'c'
+#define TYPECODE_TIMED_OCTET 'o'
+
+
+#define TYPECODE_TIMED_LONG 'l'
+#define TYPECODE_TIMED_FLOAT 'f'
+#define TYPECODE_TIMED_DOUBLE 'd'
+
+#define TYPECODE_TIMED_BOOLEAN_SEQ 'B'
+#define TYPECODE_TIMED_CHAR_SEQ 'C'
+#define TYPECODE_TIMED_OCTET_SEQ 'O'
+
+
+#define TYPECODE_TIMED_LONG_SEQ 'L'
+#define TYPECODE_TIMED_FLOAT_SEQ 'F'
+#define TYPECODE_TIMED_DOUBLE_SEQ 'D'
+
+#endif