Program Listing for File port_handler_arduino.h
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/*******************************************************************************
* 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_ */