urg_connection.c
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00001 
00010 #include "urg_c/urg_connection.h"
00011 
00012 
00013 int connection_open(urg_connection_t *connection,
00014                     urg_connection_type_t connection_type,
00015                     const char *device, long baudrate_or_port)
00016 {
00017     connection->type = connection_type;
00018 
00019     switch (connection_type) {
00020     case URG_SERIAL:
00021         return serial_open(&connection->serial, device, baudrate_or_port);
00022         break;
00023 
00024     case URG_ETHERNET:
00025         return tcpclient_open(&connection->tcpclient,
00026                               device, baudrate_or_port);
00027         break;
00028     }
00029     return -1;
00030 }
00031 
00032 
00033 void connection_close(urg_connection_t *connection)
00034 {
00035     switch (connection->type) {
00036     case URG_SERIAL:
00037         serial_close(&connection->serial);
00038         break;
00039 
00040     case URG_ETHERNET:
00041         tcpclient_close(&connection->tcpclient);
00042         break;
00043     }
00044 }
00045 
00046 
00047 int connection_set_baudrate(urg_connection_t *connection, long baudrate)
00048 {
00049     int ret = -1;
00050 
00051     switch (connection->type) {
00052     case URG_SERIAL:
00053         ret = serial_set_baudrate(&connection->serial, baudrate);
00054         break;
00055 
00056     case URG_ETHERNET:
00057         ret = 0;
00058         break;
00059     }
00060 
00061     return ret;
00062 }
00063 
00064 
00065 int connection_write(urg_connection_t *connection,
00066                      const char *data, int size)
00067 {
00068     switch (connection->type) {
00069     case URG_SERIAL:
00070         return serial_write(&connection->serial, data, size);
00071         break;
00072     case URG_ETHERNET:
00073         return tcpclient_write(&connection->tcpclient, data, size);
00074         break;
00075     }
00076     return -1;
00077 }
00078 
00079 
00080 int connection_read(urg_connection_t *connection,
00081                     char *data, int max_size, int timeout)
00082 {
00083     switch (connection->type) {
00084     case URG_SERIAL:
00085         return serial_read(&connection->serial, data, max_size, timeout);
00086         break;
00087     case URG_ETHERNET:
00088         return tcpclient_read(&connection->tcpclient, data, max_size, timeout);
00089         break;
00090     }
00091     return -1;
00092 }
00093 
00094 
00095 int connection_readline(urg_connection_t *connection,
00096                         char *data, int max_size, int timeout)
00097 {
00098     switch (connection->type) {
00099     case URG_SERIAL:
00100         return serial_readline(&connection->serial, data, max_size, timeout);
00101         break;
00102     case URG_ETHERNET:
00103         return tcpclient_readline(&connection->tcpclient,
00104                                   data, max_size, timeout);
00105         break;
00106     }
00107     return -1;
00108 }


urg_c
Author(s): Satofumi Kamimura , Katsumi Kimoto, Adrian Boeing
autogenerated on Wed Aug 26 2015 16:38:27