port_handler_linux.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 MERCURY_SDK_INCLUDE_MERCURY_SDK_LINUX_PORTHANDLERLINUX_H_
#define MERCURY_SDK_INCLUDE_MERCURY_SDK_LINUX_PORTHANDLERLINUX_H_
 
#include "port_handler.h"
 
namespace mercury
{
 
class PortHandlerLinux : public PortHandler
{
 private:
  int     socket_fd_;
  int     baudrate_;
  char    port_name_[100];
 
  double  packet_start_time_;
  double  packet_timeout_;
  double  tx_time_per_byte;
 
  bool    setupPort(const int cflag_baud);
  bool    setCustomBaudrate(int speed);
  int     getCFlagBaud(const int baudrate);
 
  double  getCurrentTime();
  double  getTimeSinceStart();
 
 public:
  PortHandlerLinux(const char *port_name);
 
  virtual ~PortHandlerLinux() { closePort(); }
 
  bool    openPort();
 
  void    closePort();
 
  void    clearPort();
 
  void    setPortName(const char *port_name);
 
  char   *getPortName();
 
  bool    setBaudRate(const int baudrate);
 
  int     getBaudRate();
 
  int     getBytesAvailable();
 
  int     readPort(uint8_t *packet, int length);
 
  int     writePort(uint8_t *packet, int length);
 
  void    setPacketTimeout(uint16_t packet_length);
 
  void    setPacketTimeout(double msec);
 
  bool    isPacketTimeout();
};
 
}
 
 
#endif /* MERCURY_SDK_INCLUDE_MERCURY_SDK_LINUX_PORTHANDLERLINUX_H_ */