khepera_serial.h
1/*
2 * Player - One Hell of a Robot Server
3 * Copyright (C) 2006
4 * Toby Collett
5 *
6 *
7 * This library is free software; you can redistribute it and/or
8 * modify it under the terms of the GNU Lesser General Public
9 * License as published by the Free Software Foundation; either
10 * version 2.1 of the License, or (at your option) any later version.
11 *
12 * This library is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 * Lesser General Public License for more details.
16 *
17 * You should have received a copy of the GNU Lesser General Public
18 * License along with this library; if not, write to the Free Software
19 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20 */
21
22#ifndef KHEPERA_SERIAL_H
23#define KHEPERA_SERIAL_H
24
25#include <pthread.h>
26#include <termios.h>
27
28#define KHEPERA_DEFAULT_BAUD B38400
29#define KHEPERA_BUFFER_LEN 255
30#define KHEPERA_SERIAL_TIMEOUT_USECS 100000
31
32
34{
35public:
36
37 KheperaSerial(char * port, int rate = KHEPERA_DEFAULT_BAUD);
39
40 bool Open() {return fd >0;};
41 int KheperaCommand(char command, int InCount, int * InValues, int OutCount, int * OutValues);
42
43 void Lock();
44 void Unlock();
45protected:
46 // serial port descriptor
47 int fd;
48 struct termios oldtio;
49
50 // read/write buffer
51 char buffer[KHEPERA_BUFFER_LEN+1];
52
53 int WriteInts(char command, int Count = 0, int * Values = NULL);
54 int ReadInts(char Header, int Count = 0, int * Values = NULL);
55
56 pthread_mutex_t lock;
57};
58
59#endif
Definition khepera_serial.h:34