Add C/C++ ABI wrapper for NQC's rcxlib

rcxlib/nqc_rcxlib.cpp

@@ -0,0 +1,60 @@
+/* C/C++ ABI wrapper for NQC's rcxlib */
+
+#include <stdlib.h>
+
+#include "RCX_Pipe.h";
+
+#ifdef USE_TRANSPORT
+#include "RCX_Link.h"
+#include "RCX_PipeTransport.h"
+static RCX_PipeTransport *rcx_pipe_transport = 0;
+
+#define BUFFERSIZE 4096
+extern int __comm_debug;
+#endif
+
+#include "nqc_rcxlib.h"
+
+void *rcx_pipe_init()
+{
+  RCX_Pipe *pipe = RCX_NewUSBTowerPipe();
+#ifdef USE_TRANSPORT
+  rcx_pipe_transport = new RCX_PipeTransport(pipe);
+  if (rcx_pipe_transport->Open((RCX_TargetType) 0, "short", (__comm_debug ? RCX_Link::kVerboseMode : 0)) != kRCX_OK) {
+    delete rcx_pipe_transport;
+    rcx_pipe_transport = 0;
+    exit(1);
+  }
+#else
+  pipe->Open("short", RCX_Pipe::kNormalIrMode);
+  // pipe->SetMode(RCX_Pipe::kFastIrMode);
+#endif
+  return (void *) pipe;
+}
+
+void rcx_pipe_close(void *pipe)
+{
+  return ((RCX_Pipe *) pipe)->Close();
+}
+
+long rcx_pipe_read(void *pipe, void *ptr, long count, long timeout_ms)
+{
+  return ((RCX_Pipe *) pipe)->Read(ptr, count, timeout_ms);
+}
+
+long rcx_pipe_write(void *pipe, const void *ptr, long count)
+{
+  return ((RCX_Pipe *) pipe)->Write(ptr, count);
+}
+
+#ifdef USE_TRANSPORT
+long rcx_pipe_send(void *pipe, void *send, int slen, void *recv, int rlen,
+		  int timeout, int retries, int use_comp)
+{
+  long result = rcx_pipe_transport->Send((const UByte*) send, slen, (UByte*) recv, rlen, BUFFERSIZE, 1);
+  if (!RCX_ERROR(result))
+    return rlen;
+  else
+    return result;
+}
+#endif

rcxlib/nqc_rcxlib.h

@@ -0,0 +1,15 @@
+/* C/C++ ABI wrapper for NQC's rcxlib */
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+void *rcx_pipe_init();
+void rcx_pipe_close(void *);
+long rcx_pipe_read(void *, void *, long, long);
+long rcx_pipe_write(void *, const void *, long);
+long rcx_pipe_send(void *, void *, int, void *, int, int, int, int);
+
+#if defined(__cplusplus)
+}
+#endif