The class for port control that inherits PortHandlerLinux, PortHandlerWindows, PortHandlerMac, or PortHandlerArduino. More...

#include <port_handler.h>

Inheritance diagram for dynamixel::PortHandler:

[legend]

Public Member Functions
virtual void	clearPort ()=0
	The function that clears the port The function clears the port. More...

virtual void	closePort ()=0
	The function that closes the port The function closes the port. More...

virtual int	getBaudRate ()=0
	The function that returns current baudrate set into the port handler The function returns current baudrate set into the port handler. More...

virtual int	getBytesAvailable ()=0
	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. More...

virtual char *	getPortName ()=0
	The function that returns port name set into the port handler The function returns current port name set into the port handler. More...

virtual bool	isPacketTimeout ()=0
	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 PortHandlerLinux::setPacketTimeout(). More...

virtual bool	openPort ()=0
	The function that opens the port The function calls PortHandlerLinux::setBaudRate() to open the port. More...

virtual int	readPort (uint8_t *packet, int length)=0
	The function that reads bytes from the port buffer The function gets bytes from the port buffer, and returns a number of bytes read. More...

virtual bool	setBaudRate (const int baudrate)=0
	The function that sets baudrate into the port handler The function sets baudrate into the port handler. More...

virtual void	setPacketTimeout (uint16_t packet_length)=0
	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. More...

virtual void	setPacketTimeout (double msec)=0
	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. More...

virtual void	setPortName (const char *port_name)=0
	The function that sets port name into the port handler The function sets port name into the port handler. More...

virtual int	writePort (uint8_t *packet, int length)=0
	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. More...

virtual	~PortHandler ()

Static Public Member Functions
static PortHandler *	getPortHandler (const char *port_name)
	The function that gets PortHandler class inheritance The function gets class inheritance (PortHandlerLinux / PortHandlerWindows / PortHandlerMac / PortHandlerArduino. More...

Public Attributes
bool	is_using_
	shows whether the port is in use More...

Static Public Attributes
static const int	DEFAULT_BAUDRATE_ = 57600
	Default Baudrate. More...

Detailed Description

The class for port control that inherits PortHandlerLinux, PortHandlerWindows, PortHandlerMac, or PortHandlerArduino.

Definition at line 56 of file port_handler.h.

Constructor & Destructor Documentation

◆ ~PortHandler()

virtual dynamixel::PortHandler::~PortHandler ( )

inlinevirtual

Definition at line 69 of file port_handler.h.

Member Function Documentation

◆ clearPort()

virtual void dynamixel::PortHandler::clearPort ( )

pure virtual

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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerWindows, dynamixel::PortHandlerLinux, and dynamixel::PortHandlerMac.

◆ closePort()

virtual void dynamixel::PortHandler::closePort ( )

pure virtual

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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerWindows, dynamixel::PortHandlerLinux, and dynamixel::PortHandlerMac.

◆ getBaudRate()

virtual int dynamixel::PortHandler::getBaudRate ( )

pure virtual

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

Returns: Baudrate

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerMac, dynamixel::PortHandlerWindows, and dynamixel::PortHandlerLinux.

◆ getBytesAvailable()

virtual int dynamixel::PortHandler::getBytesAvailable ( )

pure 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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerMac, dynamixel::PortHandlerWindows, and dynamixel::PortHandlerLinux.

◆ getPortHandler()

PortHandler * PortHandler::getPortHandler ( const char * port_name )

static

The function that gets PortHandler class inheritance The function gets class inheritance (PortHandlerLinux / PortHandlerWindows / PortHandlerMac / PortHandlerArduino.

Definition at line 36 of file port_handler.cpp.

◆ getPortName()

virtual char* dynamixel::PortHandler::getPortName ( )

pure 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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerWindows, dynamixel::PortHandlerLinux, and dynamixel::PortHandlerMac.

◆ isPacketTimeout()

virtual bool dynamixel::PortHandler::isPacketTimeout ( )

pure 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 PortHandlerLinux::setPacketTimeout().

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerMac, dynamixel::PortHandlerWindows, and dynamixel::PortHandlerLinux.

◆ openPort()

virtual bool dynamixel::PortHandler::openPort ( )

pure virtual

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

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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerWindows, dynamixel::PortHandlerLinux, and dynamixel::PortHandlerMac.

◆ readPort()

virtual int dynamixel::PortHandler::readPort	(	uint8_t *	packet,
		int	length
	)

pure 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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerMac, dynamixel::PortHandlerWindows, and dynamixel::PortHandlerLinux.

◆ setBaudRate()

virtual bool dynamixel::PortHandler::setBaudRate ( const int baudrate )

pure 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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerWindows, dynamixel::PortHandlerLinux, and dynamixel::PortHandlerMac.

◆ setPacketTimeout() [1/2]

virtual void dynamixel::PortHandler::setPacketTimeout ( uint16_t packet_length )

pure 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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerMac, dynamixel::PortHandlerWindows, and dynamixel::PortHandlerLinux.

◆ setPacketTimeout() [2/2]

virtual void dynamixel::PortHandler::setPacketTimeout ( double msec )

pure 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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerMac, dynamixel::PortHandlerWindows, and dynamixel::PortHandlerLinux.

◆ setPortName()

virtual void dynamixel::PortHandler::setPortName ( const char * port_name )

pure 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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerWindows, dynamixel::PortHandlerLinux, and dynamixel::PortHandlerMac.

◆ writePort()

virtual int dynamixel::PortHandler::writePort	(	uint8_t *	packet,
		int	length
	)

pure 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

packet	Buffer which would be written on the port buffer
length	Length of the buffer for write

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

Implemented in dynamixel::PortHandlerArduino, dynamixel::PortHandlerMac, dynamixel::PortHandlerWindows, and dynamixel::PortHandlerLinux.

Member Data Documentation

◆ DEFAULT_BAUDRATE_

const int dynamixel::PortHandler::DEFAULT_BAUDRATE_ = 57600

static

Default Baudrate.

Definition at line 59 of file port_handler.h.

◆ is_using_

bool dynamixel::PortHandler::is_using_

shows whether the port is in use

Definition at line 67 of file port_handler.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~PortHandler()

Member Function Documentation

◆ clearPort()

◆ closePort()

◆ getBaudRate()

◆ getBytesAvailable()

◆ getPortHandler()

◆ getPortName()

◆ isPacketTimeout()

◆ openPort()

◆ readPort()

◆ setBaudRate()

◆ setPacketTimeout() [1/2]

◆ setPacketTimeout() [2/2]

◆ setPortName()

◆ writePort()

Member Data Documentation

◆ DEFAULT_BAUDRATE_

◆ is_using_