port_handler_arduino.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_ARDUINO_PORTHANDLERARDUINO_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_ARDUINO_PORTHANDLERARDUINO_H_
 
#if defined(ARDUINO) || defined(__OPENCR__) || defined (__OPENCM904__)
#include <Arduino.h>
#endif
 
#include "port_handler.h"
 
namespace dynamixel
{
 
class PortHandlerArduino : public PortHandler
{
 private:
  int     socket_fd_;
  int     baudrate_;
  char    port_name_[100];
 
  double  packet_start_time_;
  double  packet_timeout_;
  double  tx_time_per_byte;
 
#if defined(__OPENCM904__)
  UARTClass *p_dxl_serial;
#endif
 
  bool    setupPort(const int cflag_baud);
 
  double  getCurrentTime();
  double  getTimeSinceStart();
 
  int     checkBaudrateAvailable(int baudrate);
 
  void    setPowerOn();
  void    setPowerOff();
  void    setTxEnable();
  void    setTxDisable();
 
 public:
  PortHandlerArduino(const char *port_name);
 
  virtual ~PortHandlerArduino() { 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_ARDUINO_PORTHANDLERARDUINO_H_ */