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 @description The function clears the port. More...

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

virtual int	getBaudRate ()=0
	The function that returns current baudrate set into the port handler @description 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 @description The function checks how much bytes are able to be read from the port buffer @description and returns the number. More...

virtual char *	getPortName ()=0
	The function that returns port name set into the port handler @description 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 @description 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 @description 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 @description The function gets bytes from the port buffer, @description and returns a number of bytes read. More...

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

virtual void	setPacketTimeout (double msec)=0
	The function that sets and starts stopwatch for watching packet timeout @description The function sets the stopwatch by getting current time and the time of packet timeout with msec. More...

virtual void	setPacketTimeout (uint16_t packet_length)=0
	The function that sets and starts stopwatch for watching packet timeout @description The function sets the stopwatch by getting current time and the time of packet timeout with packet_length. More...

virtual void	setPortName (const char *port_name)=0
	The function that sets port name into the port handler @description 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 @description The function writes bytes on the port buffer, @description 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 @description 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 @description 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 @description 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 @description 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 @description The function checks how much bytes are able to be read from the port buffer @description 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 @description 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 @description 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 @description 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 @description 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 @description The function gets bytes from the port buffer, @description 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 @description 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 ( double msec )

pure virtual

The function that sets and starts stopwatch for watching packet timeout @description 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.

◆ setPacketTimeout() [2/2]

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

pure virtual

The function that sets and starts stopwatch for watching packet timeout @description 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.

◆ setPortName()

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

pure virtual

The function that sets port name into the port handler @description 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 @description The function writes bytes on the port buffer, @description 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_