khepera_serial.h
00001 /* 00002 * Player - One Hell of a Robot Server 00003 * Copyright (C) 2006 00004 * Toby Collett 00005 * 00006 * 00007 * This library is free software; you can redistribute it and/or 00008 * modify it under the terms of the GNU Lesser General Public 00009 * License as published by the Free Software Foundation; either 00010 * version 2.1 of the License, or (at your option) any later version. 00011 * 00012 * This library is distributed in the hope that it will be useful, 00013 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00015 * Lesser General Public License for more details. 00016 * 00017 * You should have received a copy of the GNU Lesser General Public 00018 * License along with this library; if not, write to the Free Software 00019 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00020 */ 00021 00022 #ifndef KHEPERA_SERIAL_H 00023 #define KHEPERA_SERIAL_H 00024 00025 #include <pthread.h> 00026 #include <termios.h> 00027 00028 #define KHEPERA_DEFAULT_BAUD B38400 00029 #define KHEPERA_BUFFER_LEN 255 00030 #define KHEPERA_SERIAL_TIMEOUT_USECS 100000 00031 00032 00033 class KheperaSerial 00034 { 00035 public: 00036 00037 KheperaSerial(char * port, int rate = KHEPERA_DEFAULT_BAUD); 00038 ~KheperaSerial(); 00039 00040 bool Open() {return fd >0;}; 00041 int KheperaCommand(char command, int InCount, int * InValues, int OutCount, int * OutValues); 00042 00043 void Lock(); 00044 void Unlock(); 00045 protected: 00046 // serial port descriptor 00047 int fd; 00048 struct termios oldtio; 00049 00050 // read/write buffer 00051 char buffer[KHEPERA_BUFFER_LEN+1]; 00052 00053 int WriteInts(char command, int Count = 0, int * Values = NULL); 00054 int ReadInts(char Header, int Count = 0, int * Values = NULL); 00055 00056 pthread_mutex_t lock; 00057 }; 00058 00059 #endif