The class for control port in Arduino. More...

#include <port_handler_arduino.h>

Inheritance diagram for dynamixel::PortHandlerArduino:

Public Member Functions
void	clearPort ()
	The function that clears the port The function clears the port.
void	closePort ()
	The function that closes the port The function closes the port.
int	getBaudRate ()
	The function that returns current baudrate set into the port handler The function returns current baudrate set into the port handler.
int	getBytesAvailable ()
	The function that checks how much bytes are able to be read from the port buffer The function checks how much bytes are able to be read from the port buffer and returns the number.
char *	getPortName ()
	The function that returns port name set into the port handler The function returns current port name set into the port handler.
bool	isPacketTimeout ()
	The function that checks whether packet timeout is occurred The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerArduino::setPacketTimeout().
bool	openPort ()
	The function that opens the port The function calls PortHandlerArduino::setBaudRate() to open the port.
	PortHandlerArduino (const char *port_name)
	The function that initializes instance of PortHandler and gets port_name The function initializes instance of PortHandler and gets port_name.
int	readPort (uint8_t *packet, int length)
	The function that reads bytes from the port buffer The function gets bytes from the port buffer, and returns a number of bytes read.
bool	setBaudRate (const int baudrate)
	The function that sets baudrate into the port handler The function sets baudrate into the port handler.
void	setPacketTimeout (uint16_t packet_length)
	The function that sets and starts stopwatch for watching packet timeout The function sets the stopwatch by getting current time and the time of packet timeout with packet_length.
void	setPacketTimeout (double msec)
	The function that sets and starts stopwatch for watching packet timeout The function sets the stopwatch by getting current time and the time of packet timeout with msec.
void	setPortName (const char *port_name)
	The function that sets port name into the port handler The function sets port name into the port handler.
int	writePort (uint8_t *packet, int length)
	The function that writes bytes on the port buffer The function writes bytes on the port buffer, and returns a number of bytes which are successfully written.
virtual	~PortHandlerArduino ()
	The function that closes the port The function calls PortHandlerArduino::closePort() to close the port.
Private Member Functions
int	checkBaudrateAvailable (int baudrate)
double	getCurrentTime ()
double	getTimeSinceStart ()
void	setPowerOff ()
void	setPowerOn ()
void	setTxDisable ()
void	setTxEnable ()
bool	setupPort (const int cflag_baud)
Private Attributes
int	baudrate_
double	packet_start_time_
double	packet_timeout_
char	port_name_ [100]
int	socket_fd_
double	tx_time_per_byte

Detailed Description

The class for control port in Arduino.

Definition at line 37 of file port_handler_arduino.h.

Constructor & Destructor Documentation

dynamixel::PortHandlerArduino::PortHandlerArduino ( const char * port_name )

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

virtual dynamixel::PortHandlerArduino::~PortHandlerArduino ( ) [inline, virtual]

The function that closes the port The function calls PortHandlerArduino::closePort() to close the port.

Definition at line 75 of file port_handler_arduino.h.

Member Function Documentation

int dynamixel::PortHandlerArduino::checkBaudrateAvailable ( int baudrate ) [private]

void dynamixel::PortHandlerArduino::clearPort ( ) [virtual]

The function that clears the port The function clears the port.

Implements dynamixel::PortHandler.

void dynamixel::PortHandlerArduino::closePort ( ) [virtual]

The function that closes the port The function closes the port.

Implements dynamixel::PortHandler.

int dynamixel::PortHandlerArduino::getBaudRate ( ) [virtual]

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

Returns:: Baudrate

Implements dynamixel::PortHandler.

int dynamixel::PortHandlerArduino::getBytesAvailable ( ) [virtual]

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

Returns:: Length of read-able bytes in the port buffer

Implements dynamixel::PortHandler.

double dynamixel::PortHandlerArduino::getCurrentTime ( ) [private]

char* dynamixel::PortHandlerArduino::getPortName ( ) [virtual]

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

Returns:: Port name

Implements dynamixel::PortHandler.

double dynamixel::PortHandlerArduino::getTimeSinceStart ( ) [private]

bool dynamixel::PortHandlerArduino::isPacketTimeout ( ) [virtual]

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

Implements dynamixel::PortHandler.

bool dynamixel::PortHandlerArduino::openPort ( ) [virtual]

The function that opens the port The function calls PortHandlerArduino::setBaudRate() to open the port.

Returns:: communication results which come from PortHandlerArduino::setBaudRate()

Implements dynamixel::PortHandler.

int dynamixel::PortHandlerArduino::readPort	(	uint8_t *	packet,
		int	length
	)		`[virtual]`

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

Parameters:

packet	Buffer for the packet received
length	Length of the buffer for read

Returns:: -1; when error was occurred; or Length of bytes read

Implements dynamixel::PortHandler.

bool dynamixel::PortHandlerArduino::setBaudRate ( const int baudrate ) [virtual]

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

Parameters:

baudrate Baudrate

Returns:: false; when error was occurred during port opening; or true

Implements dynamixel::PortHandler.

void dynamixel::PortHandlerArduino::setPacketTimeout ( uint16_t packet_length ) [virtual]

The function that sets and starts stopwatch for watching packet timeout 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

Implements dynamixel::PortHandler.

void dynamixel::PortHandlerArduino::setPacketTimeout ( double msec ) [virtual]

The function that sets and starts stopwatch for watching packet timeout 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

Implements dynamixel::PortHandler.

void dynamixel::PortHandlerArduino::setPortName ( const char * port_name ) [virtual]

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

Parameters:

port_name Port name

Implements dynamixel::PortHandler.

void dynamixel::PortHandlerArduino::setPowerOff ( ) [private]

void dynamixel::PortHandlerArduino::setPowerOn ( ) [private]

void dynamixel::PortHandlerArduino::setTxDisable ( ) [private]

void dynamixel::PortHandlerArduino::setTxEnable ( ) [private]

bool dynamixel::PortHandlerArduino::setupPort ( const int cflag_baud ) [private]

int dynamixel::PortHandlerArduino::writePort	(	uint8_t *	packet,
		int	length
	)		`[virtual]`

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

Parameters: