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EmbeddedLinuxHardware.h

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/*
 * Software License Agreement (BSD License)
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 * Copyright (c) 2011, Willow Garage, Inc.
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 *    notice, this list of conditions and the following disclaimer.
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#ifndef ROS_EMBEDDED_LINUX_HARDWARE_H_
#define ROS_EMBEDDED_LINUX_HARDWARE_H_

#include <iostream>

#ifdef BUILD_LIBROSSERIALEMBEDDEDLINUX
extern "C" int elCommInit(char *portName, int baud);
extern "C" int elCommRead(int fd);
extern "C" elCommWrite(int fd, uint8_t* data, int length);
#endif

#define DEFAULT_PORT "/dev/ttyAM1"

class EmbeddedLinuxHardware {
  public:
    EmbeddedLinuxHardware(char *pn, long baud= 57600){
      strncpy(portName, pn, 30);
      baud_ = baud;
    }
    EmbeddedLinuxHardware()
    {
      char *envPortName = getenv("ROSSERIAL_PORT");
      if (envPortName == NULL)
        strcpy(portName, DEFAULT_PORT);
      else
        strncpy(portName, envPortName, 29);
      portName[29] = '\0'; // in case user gave us too long a port name
      baud_ = 57600;
    }

    void setBaud(long baud){
      this->baud_= baud;
    }

    int getBaud(){return baud_;}

    void init(){
        fd = elCommInit(portName, baud_);
        if (fd < 0) {
                std::cout << "Exiting" << std::endl;
                exit(-1);
        }
        std::cout << "EmbeddedHardware.h: opened serial port successfully\n";
        clock_gettime(CLOCK_MONOTONIC, &start);                 // record when the program started
    }

    void init(char *pName){
        fd = elCommInit(pName, baud_);
        if (fd < 0) {
                std::cout << "Exiting" << std::endl;
                exit(-1);
        }
        std::cout << "EmbeddedHardware.h: opened comm port successfully\n";
        clock_gettime(CLOCK_MONOTONIC, &start);                 // record when the program started
    }

    int read()
    {
        int c = elCommRead(fd);
                //std::cout << "read() got: " << c << std::endl;
        if (c > 0) {
        }
        return c;
    }

    void write(uint8_t* data, int length)
    {
      elCommWrite(fd, data, length);
//      for (int i=0; i<length; i++) {
//        std::cout <<  "i:" << i << " data: " << data[i];
//      }
//      std::cout << std::endl;
    }

    unsigned long time()
    {
        long millis, seconds, nseconds;

        clock_gettime(CLOCK_MONOTONIC, &end);

        seconds  = end.tv_sec  - start.tv_sec;
        nseconds = end.tv_nsec - start.tv_nsec;

        millis = ((seconds) * 1000 + nseconds/1000000.0) + 0.5;

        return millis;
    }

  protected:
    int fd;
    char portName[30];
    long baud_;
    struct timespec start, end;
};

#endif

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rosserial_embeddedlinux
Author(s): Paul Bouchier
autogenerated on Sat Mar 2 13:26:14 2013