rmp_serial.cc

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#include "segwayrmp/segwayrmp.h"
#include "segwayrmp/impl/rmp_serial.h"

using namespace segwayrmp;

// SerialRMPIO

SerialRMPIO::SerialRMPIO() : configured(false), baudrate(460800), port("") {
  this->connected = false;
}

SerialRMPIO::~SerialRMPIO() {
  this->disconnect();
}

void SerialRMPIO::configure(std::string port, int baudrate) {
  this->port = port;
  this->baudrate = baudrate;
  this->configured = true;
}

void SerialRMPIO::connect() {
  if(!this->configured) {
    RMP_THROW_MSG(ConnectionFailedException, "The serial port must be "
      "configured before connecting.");
  }
  try {
      // Configure and open the serial port
      this->serial_port.setPort(this->port);
      this->serial_port.setBaudrate(this->baudrate);
      serial::Timeout timeout = serial::Timeout::simpleTimeout(1000);
      this->serial_port.setTimeout(timeout);
      this->serial_port.open();
  } catch(std::exception &e) {
      RMP_THROW_MSG(ConnectionFailedException, e.what());
  }
  this->connected = true;
}

void SerialRMPIO::disconnect() {
  if(this->connected) {
      if(this->serial_port.isOpen())
          this->serial_port.close();
      this->connected = false;
  }
}

int SerialRMPIO::read(unsigned char* buffer, int size) {
  return this->serial_port.read(buffer, size);
}

int SerialRMPIO::write(unsigned char* buffer, int size) {
  return this->serial_port.write(buffer, size);
}