EmbeddedLinuxHardware.h

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following
 *    disclaimer in the documentation and/or other materials provided
 *    with the distribution.
 *  * Neither the name of Willow Garage, Inc. nor the names of its
 *    contributors may be used to endorse or promote prducts derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#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