.. _program_listing_file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_include_dynamixel_sdk_port_handler.h:

Program Listing for File port_handler.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dynamixel_sdk_dynamixel_sdk_include_dynamixel_sdk_port_handler.h>` (``/tmp/ws/src/dynamixel_sdk/dynamixel_sdk/include/dynamixel_sdk/port_handler.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*******************************************************************************
   * 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_PORTHANDLER_H_
   #define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_
   
   #if defined(__linux__)
   #define WINDECLSPEC
   #elif defined(__APPLE__)
   #define WINDECLSPEC
   #elif defined(_WIN32) || defined(_WIN64)
     #ifdef WINDLLEXPORT
     #define WINDECLSPEC __declspec(dllexport)
     #else
     #define WINDECLSPEC __declspec(dllimport)
     #endif
   #elif defined(ARDUINO) || defined(__OPENCR__) || defined(__OPENCM904__)
   #define WINDECLSPEC
   #endif
   
   #ifdef __GNUC__
   #define DEPRECATED __attribute__((deprecated))
   #elif defined(_MSC_VER)
   #define DEPRECATED __declspec(deprecated)
   #else
   #pragma message("WARNING: You need to implement DEPRECATED for this compiler")
   #define DEPRECATED
   #endif
   
   #include <stdint.h>
   
   namespace dynamixel
   {
   
   class WINDECLSPEC PortHandler
   {
    public:
     static const int DEFAULT_BAUDRATE_ = 57600; 
   
     static PortHandler *getPortHandler(const char *port_name);
   
     bool   is_using_; 
   
     virtual ~PortHandler() { }
   
     virtual bool    openPort() = 0;
   
     virtual void    closePort() = 0;
   
     virtual void    clearPort() = 0;
   
     virtual void    setPortName(const char* port_name) = 0;
   
     virtual char   *getPortName() = 0;
   
     virtual bool    setBaudRate(const int baudrate) = 0;
   
     virtual int     getBaudRate() = 0;
   
     virtual int     getBytesAvailable() = 0;
   
     virtual int     readPort(uint8_t *packet, int length) = 0;
   
     virtual int     writePort(uint8_t *packet, int length) = 0;
   
     virtual void    setPacketTimeout(uint16_t packet_length) = 0;
   
     virtual void    setPacketTimeout(double msec) = 0;
   
     virtual bool    isPacketTimeout() = 0;
   };
   
   }
   
   
   #endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_PORTHANDLER_H_ */