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/*******************************************************************************
* Copyright (c) 2016, ROBOTIS CO., LTD.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* * Neither the name of ROBOTIS nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************/
/* Author: Leon Ryu Woon Jung */
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/*
* PortHandlerLinux.h
*
* Created on: 2016. 5. 17.
*/
#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_ */