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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 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