khepera_serial.h
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2006
* Toby Collett
*
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef KHEPERA_SERIAL_H
#define KHEPERA_SERIAL_H
#include <pthread.h>
#include <termios.h>
#define KHEPERA_DEFAULT_BAUD B38400
#define KHEPERA_BUFFER_LEN 255
#define KHEPERA_SERIAL_TIMEOUT_USECS 100000
class KheperaSerial
{
public:
KheperaSerial(char * port, int rate = KHEPERA_DEFAULT_BAUD);
~KheperaSerial();
bool Open() {return fd >0;};
int KheperaCommand(char command, int InCount, int * InValues, int OutCount, int * OutValues);
void Lock();
void Unlock();
protected:
// serial port descriptor
int fd;
struct termios oldtio;
// read/write buffer
char buffer[KHEPERA_BUFFER_LEN+1];
int WriteInts(char command, int Count = 0, int * Values = NULL);
int ReadInts(char Header, int Count = 0, int * Values = NULL);
pthread_mutex_t lock;
};
#endif
KheperaSerial
Definition: khepera_serial.h:33

Last updated 12 September 2005 21:38:45