Class PortHandlerMac
Defined in File port_handler_mac.h
Inheritance Relationships
Base Type
public dynamixel::PortHandler(Class PortHandler)
Class Documentation
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class dynamixel::PortHandlerMac : public dynamixel::PortHandler
The class for control port in Mac OS.
Public Functions
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PortHandlerMac(const char *port_name)
The function that initializes instance of PortHandler and gets port_name @description The function initializes instance of PortHandler and gets port_name.
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inline virtual ~PortHandlerMac()
The function that closes the port @description The function calls PortHandlerMac::closePort() to close the port.
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virtual bool openPort()
The function that opens the port @description The function calls PortHandlerMac::setBaudRate() to open the port.
- Returns
communication results which come from PortHandlerMac::setBaudRate()
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virtual void closePort()
The function that closes the port @description The function closes the port.
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virtual void clearPort()
The function that clears the port @description The function clears the port.
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virtual void setPortName(const char *port_name)
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
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virtual char *getPortName()
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
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virtual bool setBaudRate(const int baudrate)
The function that sets baudrate into the port handler @description The function sets baudrate into the port handler.
- Parameters
baudrate – Baudrate
- Returns
false
- Returns
when error was occurred during port opening
- Returns
or true
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virtual int getBaudRate()
The function that returns current baudrate set into the port handler @description The function returns current baudrate set into the port handler.
Warning
Mac OS doesn’t support over 230400 bps
- Returns
Baudrate
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virtual int getBytesAvailable()
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
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virtual int readPort(uint8_t *packet, int length)
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
- Returns
when error was occurred
- Returns
or Length of bytes read
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virtual int writePort(uint8_t *packet, int length)
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
- Returns
when error was occurred
- Returns
or Length of bytes written
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virtual void setPacketTimeout(uint16_t packet_length)
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
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virtual void setPacketTimeout(double msec)
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
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virtual bool isPacketTimeout()
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 PortHandlerMac::setPacketTimeout().
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PortHandlerMac(const char *port_name)