ECRobot C/C++ API for nxtOSEK
nxtOSEK provides C/C++ API which is called ECRobot.
ECRobot C API is originally designed to develop a MATLAB&Simulink
based Model-Based Design environment (called Embedded Coder Robot) for LEGO MINDSTORMS NXT, so the C API
was not well designed for hand coding C programmers. However, the new C++
API is designed for C++ programmers, so API structure and naming are more
comprehensive and easy of use.
ECRobot C API
ECRobot C++ API Reference
ECRobot C++ API provides the following features:
Object oriented device classes for NXT Sensors (includes RCX Light Sensor,
HiTechnic Sensors...), Motor, NXT (buttons and battery), LCD, Clock,
Speaker, USB and Bluetooth.
Note that some (but not all) device
class objects have to be constructed as global object because
constructors/destructors need to initialize/(especially,) shut down the
device hardware. The constructor/destructor of global objects are
automatically invoked when a nxtOSEK application begins/ends.
that since v2.09, when a device class object which must be constructed as
global is constructed as a non global object, an assertion will be
displayed in the LCD and stops the system automatically. This mechanism
can ensure the usages of the device classes being more expected.
- Utility classes for R/C and DAQ which work with NXT
GamePad, and VectorT template.
- I2C device base class which can be
used to develop a derived/compositted class for third party I2C
- Designed for real-time embedded applications (C++ RTTI
can not be used. Exception can not be used. new/delete
- More than 10 samples include NXTway-GS++,
SmartPointer and more (see samples_c++\cpp)
- .cpp file extension
is used instead of .cc
- New build makefile ecrobot++.mak for
.c/.cpp files is used instead of ecrobot.mak for .c/.cc files.
ecrobot namespace distinguishes the API from other C++ library.
Note that ECRobot C++ API and the existing .cc API can't be used
together in a C++ source file.
- Comprehensive HTML API
reference doc generated by doxygen (it also bundled with the nxtOSEK
packege. See ecrobot\c++\html\index.html)
- Support for only
TOPPERS/ATK(OSEK). (ecrobot/c/rtoscalls.c needs to be modified to support
As a C++ code example, here is the HelloWorld
using ECRobot C++ API:
sample.cpp for TOPPERS/ATK(OSEK) */
using namespace ecrobot;
// nxtOSEK hook to be invoked from an ISR in