port_handler_linux.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_LINUX_PORTHANDLERLINUX_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_


#include "port_handler.h"

namespace dynamixel
{

class PortHandlerLinux : public PortHandler
{
 private:
  int     socket_fd_;
  int     baudrate_;
  char    port_name_[100];

  double  packet_start_time_;
  double  packet_timeout_;
  double  tx_time_per_byte;

  bool    setupPort(const int cflag_baud);
  bool    setCustomBaudrate(int speed);
  int     getCFlagBaud(const int baudrate);

  double  getCurrentTime();
  double  getTimeSinceStart();

 public:
  PortHandlerLinux(const char *port_name);

  virtual ~PortHandlerLinux() { 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_LINUX_PORTHANDLERLINUX_H_ */