Program Listing for File port_handler_windows.h

↰ Return to documentation for file (/tmp/ws/src/dynamixel_sdk/dynamixel_sdk/include/dynamixel_sdk/port_handler_windows.h)

/*******************************************************************************
* 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_WINDOWS_PORTHANDLERWINDOWS_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_WINDOWS_PORTHANDLERWINDOWS_H_

#include <Windows.h>

#include "port_handler.h"

namespace dynamixel
{

class WINDECLSPEC PortHandlerWindows : public PortHandler
{
 private:
  HANDLE  serial_handle_;
  LARGE_INTEGER freq_, counter_;

  int     baudrate_;
  char    port_name_[100];

  double  packet_start_time_;
  double  packet_timeout_;
  double  tx_time_per_byte_;

  bool    setupPort(const int baudrate);

  double  getCurrentTime();
  double  getTimeSinceStart();

 public:
  PortHandlerWindows(const char *port_name);

  virtual ~PortHandlerWindows() { 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_WINDOWS_PORTHANDLERWINDOWS_H_ */