port_handler.h

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/*******************************************************************************
* Copyright (C) 2021 <Robot Articulation/code@robotarticulation.com> 
*
* Source files modified to support the Mercury range of digital servo motors from Robot Articulation
*******************************************************************************/
 
/*******************************************************************************
* Copyright 2017 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
 
/* Original author: Zerom, Leon (RyuWoon Jung) */
 
#ifndef INCLUDE_MERCURY_SDK_PORTHANDLER_H_
#define INCLUDE_MERCURY_SDK_PORTHANDLER_H_
 
#if defined(__linux__)
#define WINDECLSPEC
#elif defined(_WIN32) || defined(_WIN64)
  #ifdef WINDLLEXPORT
  #define WINDECLSPEC __declspec(dllexport)
  #else
  #define WINDECLSPEC __declspec(dllimport)
  #endif
#endif
 
#ifdef __GNUC__
#define DEPRECATED __attribute__((deprecated))
#elif defined(_MSC_VER)
#define DEPRECATED __declspec(deprecated)
#else
#pragma message("WARNING: You need to implement DEPRECATED for this compiler")
#define DEPRECATED
#endif
 
#include <stdint.h>
 
namespace mercury
{
 
class WINDECLSPEC PortHandler
{
 public:
  static const int DEFAULT_BAUDRATE_ = 1000000; 
 
  static PortHandler *getPortHandler(const char *port_name);
 
  bool   is_using_; 
 
  virtual ~PortHandler() { }
 
  virtual bool    openPort() = 0;
 
  virtual void    closePort() = 0;
 
  virtual void    clearPort() = 0;
 
  virtual void    setPortName(const char* port_name) = 0;
 
  virtual char   *getPortName() = 0;
 
  virtual bool    setBaudRate(const int baudrate) = 0;
 
  virtual int     getBaudRate() = 0;
 
  virtual int     getBytesAvailable() = 0;
 
  virtual int     readPort(uint8_t *packet, int length) = 0;
 
  virtual int     writePort(uint8_t *packet, int length) = 0;
 
  virtual void    setPacketTimeout(uint16_t packet_length) = 0;
 
  virtual void    setPacketTimeout(double msec) = 0;
 
  virtual bool    isPacketTimeout() = 0;
};
 
}
 
 
#endif /* INCLUDE_MERCURY_SDK_PORTHANDLER_H_ */