The class for port control that inherits PortHandlerLinux, PortHandlerWindows, PortHandlerMac, or PortHandlerArduino.
More...
#include <port_handler.h>
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| virtual | ~PortHandler () |
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| virtual bool | openPort ()=0 |
| | The function that opens the port @description The function calls PortHandlerLinux::setBaudRate() to open the port. More...
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| virtual void | closePort ()=0 |
| | The function that closes the port @description The function closes the port. More...
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| virtual void | clearPort ()=0 |
| | The function that clears the port @description The function clears the port. More...
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| virtual void | setPortName (const char *port_name)=0 |
| | The function that sets port name into the port handler @description The function sets port name into the port handler. More...
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| virtual char * | getPortName ()=0 |
| | The function that returns port name set into the port handler @description The function returns current port name set into the port handler. More...
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| virtual bool | setBaudRate (const int baudrate)=0 |
| | The function that sets baudrate into the port handler @description The function sets baudrate into the port handler. More...
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| virtual int | getBaudRate ()=0 |
| | The function that returns current baudrate set into the port handler @description The function returns current baudrate set into the port handler. More...
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| virtual int | getBytesAvailable ()=0 |
| | The function that checks how much bytes are able to be read from the port buffer @description The function checks how much bytes are able to be read from the port buffer @description and returns the number. More...
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| virtual int | readPort (uint8_t *packet, int length)=0 |
| | The function that reads bytes from the port buffer @description The function gets bytes from the port buffer, @description and returns a number of bytes read. More...
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| virtual int | writePort (uint8_t *packet, int length)=0 |
| | The function that writes bytes on the port buffer @description The function writes bytes on the port buffer, @description and returns a number of bytes which are successfully written. More...
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| virtual void | setPacketTimeout (uint16_t packet_length)=0 |
| | The function that sets and starts stopwatch for watching packet timeout @description The function sets the stopwatch by getting current time and the time of packet timeout with packet_length. More...
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| virtual void | setPacketTimeout (double msec)=0 |
| | The function that sets and starts stopwatch for watching packet timeout @description The function sets the stopwatch by getting current time and the time of packet timeout with msec. More...
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| virtual bool | isPacketTimeout ()=0 |
| | The function that checks whether packet timeout is occurred @description The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerLinux::setPacketTimeout(). More...
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The class for port control that inherits PortHandlerLinux, PortHandlerWindows, PortHandlerMac, or PortHandlerArduino.
Definition at line 55 of file port_handler.h.
◆ ~PortHandler()
| virtual mercury::PortHandler::~PortHandler |
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inlinevirtual |
◆ clearPort()
| virtual void mercury::PortHandler::clearPort |
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pure virtual |
◆ closePort()
| virtual void mercury::PortHandler::closePort |
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pure virtual |
◆ getBaudRate()
| virtual int mercury::PortHandler::getBaudRate |
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pure virtual |
◆ getBytesAvailable()
| virtual int mercury::PortHandler::getBytesAvailable |
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pure virtual |
The function that checks how much bytes are able to be read from the port buffer @description The function checks how much bytes are able to be read from the port buffer @description and returns the number.
- Returns
- Length of read-able bytes in the port buffer
Implemented in mercury::PortHandlerWindows, and mercury::PortHandlerLinux.
◆ getPortHandler()
| PortHandler * PortHandler::getPortHandler |
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const char * |
port_name | ) |
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static |
◆ getPortName()
| virtual char* mercury::PortHandler::getPortName |
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pure virtual |
◆ isPacketTimeout()
| virtual bool mercury::PortHandler::isPacketTimeout |
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pure virtual |
◆ openPort()
| virtual bool mercury::PortHandler::openPort |
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pure virtual |
◆ readPort()
| virtual int mercury::PortHandler::readPort |
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uint8_t * |
packet, |
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int |
length |
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pure virtual |
The function that reads bytes from the port buffer @description The function gets bytes from the port buffer, @description and returns a number of bytes read.
- Parameters
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| packet | Buffer for the packet received |
| length | Length of the buffer for read |
- Returns
- -1
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when error was occurred
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or Length of bytes read
Implemented in mercury::PortHandlerWindows, and mercury::PortHandlerLinux.
◆ setBaudRate()
| virtual bool mercury::PortHandler::setBaudRate |
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const int |
baudrate | ) |
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pure virtual |
The function that sets baudrate into the port handler @description The function sets baudrate into the port handler.
- Parameters
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- Returns
- false
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when error was occurred during port opening
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or true
Implemented in mercury::PortHandlerWindows, and mercury::PortHandlerLinux.
◆ setPacketTimeout() [1/2]
| virtual void mercury::PortHandler::setPacketTimeout |
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double |
msec | ) |
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pure virtual |
The function that sets and starts stopwatch for watching packet timeout @description The function sets the stopwatch by getting current time and the time of packet timeout with msec.
- Parameters
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| packet_length | Length of the packet expected to be received |
Implemented in mercury::PortHandlerWindows, and mercury::PortHandlerLinux.
◆ setPacketTimeout() [2/2]
| virtual void mercury::PortHandler::setPacketTimeout |
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uint16_t |
packet_length | ) |
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pure virtual |
The function that sets and starts stopwatch for watching packet timeout @description The function sets the stopwatch by getting current time and the time of packet timeout with packet_length.
- Parameters
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| packet_length | Length of the packet expected to be received |
Implemented in mercury::PortHandlerWindows, and mercury::PortHandlerLinux.
◆ setPortName()
| virtual void mercury::PortHandler::setPortName |
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const char * |
port_name | ) |
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pure virtual |
◆ writePort()
| virtual int mercury::PortHandler::writePort |
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uint8_t * |
packet, |
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int |
length |
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pure virtual |
The function that writes bytes on the port buffer @description The function writes bytes on the port buffer, @description and returns a number of bytes which are successfully written.
- Parameters
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| packet | Buffer which would be written on the port buffer |
| length | Length of the buffer for write |
- Returns
- -1
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when error was occurred
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or Length of bytes written
Implemented in mercury::PortHandlerWindows, and mercury::PortHandlerLinux.
◆ DEFAULT_BAUDRATE_
| const int mercury::PortHandler::DEFAULT_BAUDRATE_ = 1000000 |
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static |
◆ is_using_
| bool mercury::PortHandler::is_using_ |
The documentation for this class was generated from the following files:
1.9.1