00001 #ifndef __SERIAL_COMM_H__ 00002 #define __SERIAL_COMM_H__ 00003 00029 #include <termios.h> 00030 #include <sys/types.h> 00031 #include <sys/stat.h> 00032 #include <fcntl.h> 00033 #include <ros/ros.h> 00034 #include "serial_communication_interface.h" 00035 00036 class SerialCommunication : public SerialCommunicationInterface { 00037 public: 00041 SerialCommunication(); 00042 00046 ~SerialCommunication(); 00047 00053 void set_serial_device(std::string serial_device); 00054 00060 int open_port(struct termios *oldtio); 00061 00067 int close_port(struct termios *oldtio); 00068 00074 int send_character(unsigned char *str); 00075 00076 private: 00077 std::string _serial_device; 00078 00079 struct termios _oldtio; 00080 int _file_descriptor; 00081 }; 00082 00083 #endif