rmp_serial.h

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#ifndef RMP_SERIAL_H
#define RMP_SERIAL_H

#include "rmp_io.h"

#include "serial/serial.h"

namespace segwayrmp {

class SerialRMPIO : public RMPIO {
public:
    SerialRMPIO();
    ~SerialRMPIO();
    
    void connect();
    
    void disconnect();
    
    int read(unsigned char* buffer, int size);
    
    int write(unsigned char* buffer, int size);
    
    void configure(std::string port, int baudrate);
    
private:
    bool configured;
    
    std::string port;
    int baudrate;
    
    serial::Serial serial_port;
};

}

#endif