rmp_serial.cc
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00001 #include "segwayrmp/segwayrmp.h"
00002 #include "segwayrmp/impl/rmp_serial.h"
00003 
00004 using namespace segwayrmp;
00005 
00007 // SerialRMPIO
00008 
00009 SerialRMPIO::SerialRMPIO() : configured(false), baudrate(460800), port("") {
00010   this->connected = false;
00011 }
00012 
00013 SerialRMPIO::~SerialRMPIO() {
00014   this->disconnect();
00015 }
00016 
00017 void SerialRMPIO::configure(std::string port, int baudrate) {
00018   this->port = port;
00019   this->baudrate = baudrate;
00020   this->configured = true;
00021 }
00022 
00023 void SerialRMPIO::connect() {
00024   if(!this->configured) {
00025     RMP_THROW_MSG(ConnectionFailedException, "The serial port must be "
00026       "configured before connecting.");
00027   }
00028   try {
00029       // Configure and open the serial port
00030       this->serial_port.setPort(this->port);
00031       this->serial_port.setBaudrate(this->baudrate);
00032       serial::Timeout timeout = serial::Timeout::simpleTimeout(1000);
00033       this->serial_port.setTimeout(timeout);
00034       this->serial_port.open();
00035   } catch(std::exception &e) {
00036       RMP_THROW_MSG(ConnectionFailedException, e.what());
00037   }
00038   this->connected = true;
00039 }
00040 
00041 void SerialRMPIO::disconnect() {
00042   if(this->connected) {
00043       if(this->serial_port.isOpen())
00044           this->serial_port.close();
00045       this->connected = false;
00046   }
00047 }
00048 
00049 int SerialRMPIO::read(unsigned char* buffer, int size) {
00050   return this->serial_port.read(buffer, size);
00051 }
00052 
00053 int SerialRMPIO::write(unsigned char* buffer, int size) {
00054   return this->serial_port.write(buffer, size);
00055 }


libsegwayrmp
Author(s): William Woodall
autogenerated on Fri Jan 3 2014 11:28:21