robomon_orte.h

//
// C++ Interface: robomon_orte
//
// Description: 
//
//
// Author: Martin Zidek,,, <martin@martin-laptop>, (C) 2007
//
// Copyright: See COPYING file that comes with this distribution
//
//
#include <orte.h>
#ifdef CONFIG_ORTE_RTL
  #include <linux/module.h>
  #include <posix/pthread.h>
  #define printf rtl_printf
#elif defined CONFIG_ORTE_RTAI
  #include <linux/module.h>
  #include <rtai/compat.h>  
  #define printf rt_printk
#else
  #include <stdio.h>
#endif

#include <RobotType.h>
#include <RobotTypeArr.h>

ORTEDomain *d;
ORTEPublication *publisherDO;
ORTEPublication *publisherMotor;
ORTEPublication *publisherServa;
ORTEPublication *publisherJoy;


unsigned int accelRecv[3];
stateDigIn stateDI;
uint16_t stateIR;
unsigned char stateIR2;
bool stateDO[8];
short int motorSpeedCmd[2];
uint16_t sharpToRecv[4];
//uint8_t serva[8];

motionStatus ms;
motionSpeed mspeed;
stateInnerIR sir;
sharpLongs ss1;
sharpShorts ss2;
stateServa serva;
position pozice;
joyData joy;

void sendCallBackServo(const ORTESendInfo *info,void *vinstance, void *sendCallBackParam);

void *publisherCreateServo(void *arg) {
        ORTEPublication     *p;
        NtpTime             persistence, delay;

        stateServa_type_register(d);
        NTPTIME_BUILD(persistence,3);
        NTPTIME_BUILD(delay,1); 
        publisherServa=ORTEPublicationCreate(d, "serva", "stateServa", &serva, &persistence, 2, NULL, arg, &delay);
        return arg;
}

void *publisherCreateJoy(void *arg) {
        ORTEPublication     *p;
        NtpTime             persistence, delay;

        joyData_type_register(d);
        NTPTIME_BUILD(persistence,3);
        NTPTIME_BUILD(delay,1); 
        publisherJoy=ORTEPublicationCreate(d, "joy", "joyData", &joy, &persistence, 1, NULL, arg, &delay);
        return arg;
}

void *publisherDOCreate(void *arg) {
        ORTEPublication     *p;
        NtpTime             persistence, delay;

        ORTETypeRegisterAdd(d,"DOMsg",NULL,NULL,NULL,sizeof(stateDO));
        NTPTIME_BUILD(persistence,3);
        NTPTIME_BUILD(delay,1); 
        publisherDO=ORTEPublicationCreate(d, "DO", "DOMsg", &stateDO, &persistence, 1, NULL,  NULL, &delay);
        return arg;
}

void *publisherMotorCreate(void *arg) {
        ORTEPublication     *p;
        NtpTime             persistence, delay;

        motionSpeed_type_register(d);
        //ORTETypeRegisterAdd(d,"MotorCmdMsg",NULL,NULL,NULL,sizeof(motorSpeedCmd));
        NTPTIME_BUILD(persistence,3);
        NTPTIME_BUILD(delay,1); 
        publisherMotor=ORTEPublicationCreate(d, "motor", "motionSpeed", &mspeed, &persistence, 2, NULL,  NULL, &delay);
        return arg;
}


void *orte_function( void *ptr )
{
        ORTEInit();
        ORTEVerbositySetOptions("ALL.0");
        d=ORTEDomainAppCreate(ORTE_DEFAULT_DOMAIN,NULL,NULL,ORTE_FALSE);
        
        if (!d) {
                printf("ORTEDomainAppCreate failed!\n");
        }
//      publisherCreateServo(ptr);
        publisherCreateJoy(ptr);                
//      publisherDOCreate(NULL);
        publisherMotorCreate(NULL);
        return NULL;    
}

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