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/*
* PortHandlerLinux.h
*
* Created on: 2016. 5. 17.
* Author: leon
*/
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_C_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_C_H_
#include "dynamixel_sdk/PortHandler.h"
int PortHandlerLinux(const char *port_name);
bool SetupPortLinux(int port_num, const int cflag_baud);
bool SetCustomBaudrateLinux(int port_num, int speed);
int GetCFlagBaud(const int baudrate);
double GetCurrentTimeLinux();
double GetTimeSinceStartLinux(int port_num);
bool OpenPortLinux(int port_num);
void ClosePortLinux(int port_num);
void ClearPortLinux(int port_num);
void SetPortNameLinux(int port_num, const char *port_name);
char *GetPortNameLinux(int port_num);
bool SetBaudRateLinux(int port_num, const int baudrate);
int GetBaudRateLinux(int port_num);
int GetBytesAvailableLinux(int port_num);
int ReadPortLinux(int port_num, UINT8_T *packet, int length);
int WritePortLinux(int port_num, UINT8_T *packet, int length);
void SetPacketTimeoutLinux(int port_num, UINT16_T packet_length);
void SetPacketTimeoutMSecLinux(int port_num, double msec);
bool IsPacketTimeoutLinux(int port_num);
#endif /* DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_C_H_ */