Class PortHandler
Defined in File port_handler.h
Inheritance Relationships
Derived Types
public dynamixel::PortHandlerArduino(Class PortHandlerArduino)public dynamixel::PortHandlerLinux(Class PortHandlerLinux)public dynamixel::PortHandlerMac(Class PortHandlerMac)public dynamixel::PortHandlerWindows(Class PortHandlerWindows)
Class Documentation
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class dynamixel::PortHandler
The class for port control that inherits PortHandlerLinux, PortHandlerWindows, PortHandlerMac, or PortHandlerArduino.
Subclassed by dynamixel::PortHandlerArduino, dynamixel::PortHandlerLinux, dynamixel::PortHandlerMac, dynamixel::PortHandlerWindows
Public Functions
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inline virtual ~PortHandler()
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virtual bool openPort() = 0
The function that opens the port @description The function calls PortHandlerLinux::setBaudRate() to open the port.
- Returns
communication results which come from PortHandlerLinux::setBaudRate()
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virtual void closePort() = 0
The function that closes the port @description The function closes the port.
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virtual void clearPort() = 0
The function that clears the port @description The function clears the port.
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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.
- Parameters
port_name – Port name
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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.
- Returns
Port name
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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.
- Parameters
baudrate – Baudrate
- Returns
false
- Returns
when error was occurred during port opening
- Returns
or true
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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.
- Returns
Baudrate
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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.
- Returns
Length of read-able bytes in the port buffer
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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.
- 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) = 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.
- 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) = 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.
- Parameters
packet_length – Length of the packet expected to be received
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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.
- Parameters
packet_length – Length of the packet expected to be received
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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().
Public Members
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bool is_using_
shows whether the port is in use
Public Static Functions
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static PortHandler *getPortHandler(const char *port_name)
The function that gets PortHandler class inheritance @description The function gets class inheritance (PortHandlerLinux / PortHandlerWindows / PortHandlerMac / PortHandlerArduino.
Public Static Attributes
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static const int DEFAULT_BAUDRATE_ = 57600
Default Baudrate.
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inline virtual ~PortHandler()