Class PortHandlerLinux

Inheritance Relationships

Base Type

Class Documentation

class dynamixel::PortHandlerLinux : public dynamixel::PortHandler

The class for control port in Linux.

Public Functions

PortHandlerLinux(const char *port_name)

The function that initializes instance of PortHandler and gets port_name @description The function initializes instance of PortHandler and gets port_name.

inline virtual ~PortHandlerLinux()

The function that closes the port @description The function calls PortHandlerLinux::closePort() to close the port.

virtual bool openPort()

The function that opens the port @description The function calls PortHandlerLinux::setBaudRate() to open the port.

Returns

communication results which come from PortHandlerLinux::setBaudRate()

virtual void closePort()

The function that closes the port @description The function closes the port.

virtual void clearPort()

The function that clears the port @description The function clears the port.

virtual void setPortName(const char *port_name)

The function that sets port name into the port handler @description The function sets port name into the port handler.

Parameters

port_name – Port name

virtual char *getPortName()

The function that returns port name set into the port handler @description The function returns current port name set into the port handler.

Returns

Port name

virtual bool setBaudRate(const int baudrate)

The function that sets baudrate into the port handler @description The function sets baudrate into the port handler.

Parameters

baudrate – Baudrate

Returns

false

Returns

when error was occurred during port opening

Returns

or true

virtual int getBaudRate()

The function that returns current baudrate set into the port handler @description The function returns current baudrate set into the port handler.

Returns

Baudrate

virtual int getBytesAvailable()

The function that checks how much bytes are able to be read from the port buffer @description The function checks how much bytes are able to be read from the port buffer @description and returns the number.

Returns

Length of read-able bytes in the port buffer

virtual int readPort(uint8_t *packet, int length)

The function that reads bytes from the port buffer @description The function gets bytes from the port buffer, @description and returns a number of bytes read.

Parameters
  • packet – Buffer for the packet received

  • length – Length of the buffer for read

Returns

-1

Returns

when error was occurred

Returns

or Length of bytes read

virtual int writePort(uint8_t *packet, int length)

The function that writes bytes on the port buffer @description The function writes bytes on the port buffer, @description and returns a number of bytes which are successfully written.

Parameters
  • packet – Buffer which would be written on the port buffer

  • length – Length of the buffer for write

Returns

-1

Returns

when error was occurred

Returns

or Length of bytes written

virtual void setPacketTimeout(uint16_t packet_length)

The function that sets and starts stopwatch for watching packet timeout @description The function sets the stopwatch by getting current time and the time of packet timeout with packet_length.

Parameters

packet_length – Length of the packet expected to be received

virtual void setPacketTimeout(double msec)

The function that sets and starts stopwatch for watching packet timeout @description The function sets the stopwatch by getting current time and the time of packet timeout with msec.

Parameters

packet_length – Length of the packet expected to be received

virtual bool isPacketTimeout()

The function that checks whether packet timeout is occurred @description The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerLinux::setPacketTimeout().