.. _program_listing_file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_include_dynamixel_sdk_port_handler_arduino.h:

Program Listing for File port_handler_arduino.h
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_include_dynamixel_sdk_port_handler_arduino.h>` (``/tmp/ws/src/dynamixel_sdk/dynamixel_sdk/include/dynamixel_sdk/port_handler_arduino.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*******************************************************************************
   * Copyright 2017 ROBOTIS CO., LTD.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   *******************************************************************************/
   
   
   #ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_ARDUINO_PORTHANDLERARDUINO_H_
   #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_ARDUINO_PORTHANDLERARDUINO_H_
   
   #if defined(ARDUINO) || defined(__OPENCR__) || defined (__OPENCM904__)
   #include <Arduino.h>
   #endif
   
   #include "port_handler.h"
   
   namespace dynamixel
   {
   
   class PortHandlerArduino : public PortHandler
   {
    private:
     int     socket_fd_;
     int     baudrate_;
     char    port_name_[100];
   
     double  packet_start_time_;
     double  packet_timeout_;
     double  tx_time_per_byte;
   
   #if defined(__OPENCM904__)
     UARTClass *p_dxl_serial;
   #endif
   
     bool    setupPort(const int cflag_baud);
   
     double  getCurrentTime();
     double  getTimeSinceStart();
   
     int     checkBaudrateAvailable(int baudrate);
   
     void    setPowerOn();
     void    setPowerOff();
     void    setTxEnable();
     void    setTxDisable();
   
    public:
     PortHandlerArduino(const char *port_name);
   
     virtual ~PortHandlerArduino() { closePort(); }
   
     bool    openPort();
   
     void    closePort();
   
     void    clearPort();
   
     void    setPortName(const char *port_name);
   
     char   *getPortName();
   
     bool    setBaudRate(const int baudrate);
   
     int     getBaudRate();
   
     int     getBytesAvailable();
   
     int     readPort(uint8_t *packet, int length);
   
     int     writePort(uint8_t *packet, int length);
   
     void    setPacketTimeout(uint16_t packet_length);
   
     void    setPacketTimeout(double msec);
   
     bool    isPacketTimeout();
   };
   
   }
   
   
   #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_ARDUINO_PORTHANDLERARDUINO_H_ */