DYNAMIXEL SDK

CPP PortHandler

Description

Base class for serial communication.

Members

Members	Description
DEFAULT_BAUDRATE_	:=1000000 Default Baudrate
is_using_	Shows whether the port is in-use

Methods

Methods	Description
getPortHandler	Gets a child class (PortHandlerLinux or PortHandlerWindows) instance
~PortHandler	None
openPort	Opens a serial port
closePort	Closes a serial port
clearPort	Refreshes a serial port
setPortName	Sets a device name
getPortName	Gets a device name
setBaudrate	Sets a baudrate
getBaudrate	Gets a baudrate
getBytesAvailable	Checks how many bytes can be read in port buffer
readPort	Reads bytes from port buffer
writePort	Writes bytes to port buffer
setPacketTimeout	Sets timeout
isPacketTimeout	Checks whether communication has been succeeded in timeout

Enumerator

None

Method References

Windows

Linux

Mac

CPP PortHandlerWindows

Description

Child class for serial communication on Windows OS.
Members

None
Methods

Methods	Description
PortHandlerWindows	Initializes PortHandlerWindows instance
~PortHandlerWindows	Closes a serial port
openPort	Opens a serial port
closePort	Closes a serial port
clearPort	Refreshes a serial port
setPortName	Sets a device name
getPortName	Gets a device name
setBaudrate	Sets a baudrate
getBaudrate	Gets a baudrate
getBytesAvailable	Checks how many bytes can be read in port buffer
readPort	Reads bytes from port buffer
writePort	Writes bytes to port buffer
setPacketTimeout	Sets timeout
isPacketTimeout	Checks whether communication has been succeeded in timeout

Enumerator

None

Method References

openPort

Syntax
```
bool openPort()
```
Parameters

None
Detailed Description

This function opens the port by setBaudRate() function using DEFAULT_BAUDRATE_. If the baudrate is needed to be changed to another baudrate value, setBaudRate() function should be called after calling openPort() function. When the port succeeds to be opened, this function will return true, and if not, then false.

closePort

Syntax
```
void closePort()
```
Parameters

None
Detailed Description

This function closes the port by closing the file descriptor.

clearPort

Syntax
```
void clearPort()
```
Parameters

None
Detailed Description

This function clears the port by flushing the file descriptor.

setPortName

Syntax

void setPortName(const char* port_name)

Parameters

Parameters	Description
port_name	Port name

Detailed Description

This function sets the device name as port_name.

getPortName

Syntax
```
char* getPortName()
```
Parameters

None
Detailed Description

This function returns the device name which the port is using.

setBaudrate

Syntax

bool setBaudRate(const int baudrate)

Parameters

Parameters	Description
baudrate	Target baudrate

Description

This function converts baudrate to baudrate type value at first. Secondly, it closes the port with closePort() function, and opens the port with setupPort() function again. If the value of baudrate is not in the baudrate list shown in the getCFlagBaud() function, the setCustomBaudrate() function suggests the baudrate value which is closest of available baudrate value. Finally, it returns false.

getBaudrate

Syntax

int getBaudRate()

Parameters

None
Description

This function returns the baudrate value previously set.

getBytesAvailable

Syntax

int getBytesAvailable()

Parameters

None
Description

This function checks how much the data can be read, and returns its length.

readPort

Syntax

int readPort(UINT8_T* packet, int length)

Parameters

Parameters	Description
packet	The number of data bytes read previously
length	Byte length for read

Description

This function gets length byte data from port buffer and returns a number of read data bytes. On end-of-file, 0 is returned, on error it returns -1.

writePort

Syntax

int writePort(UINT8_T* packet, int length)

Parameters

Parameters	Description
packet	The number of data bytes to write
length	Byte length for write

Description

This function transmits length byte, and returns how much the data was written. On error, it returns -1.

setPacketTimeout

Syntax

void setPacketTimeout (UINT16_T packet_length)
void setPacketTimeout (double msec)

Parameters

Parameters	Description
Packet_length	Target byte length for write
msec	Miliseconds

Description

This function sets the start time when it transmits the packet, and set the timeout of packet transmission to be ready for deciding communication result.

isPacketTimeout

Syntax

bool isPacketTimeout ()

Parameters

None
Description

This function decides the timeover of packet communication. If the time limit is over, it returns false.

CPP PortHandlerLinux

Description

Child class for serial communication on Linux OS.
Members

None
Methods

Methods	Description
PortHandlerLinux	Initializes PortHandlerLinux instance
~PortHandlerLinux	Closes a serial port
openPort	Opens a serial port
closePort	Closes a serial port
clearPort	Refreshes a serial port
setPortName	Sets a device name
getPortName	Gets a device name
setBaudrate	Sets a baudrate
getBaudrate	Gets a baudrate
getBytesAvailable	Checks how many bytes can be read in port buffer
readPort	Reads bytes from port buffer
writePort	Writes bytes to port buffer
setPacketTimeout	Sets timeout
isPacketTimeout	Checks whether communication has been succeeded in timeout

Enumerator

None

Method References

openPort

Syntax
```
bool openPort()
```
Parameters

None
Detailed Description

This function opens the port by setBaudRate() function using DEFAULT_BAUDRATE_. If the baudrate is needed to be changed to another baudrate value, setBaudRate() function should be called after calling openPort() function. When the port succeeds to be opened, this function will return true, and if not, then false.

closePort

Syntax
```
void closePort()
```
Parameters

None
Detailed Description

This function closes the port by closing the file descriptor.

clearPort

Syntax
```
void clearPort()
```
Parameters

None
Detailed Description

This function clears the port by flushing the file descriptor.

setPortName

Syntax

void setPortName(const char* port_name)

Parameters

Parameters	Description
port_name	Port name

Detailed Description

This function sets the device name as port_name.

getPortName

Syntax
```
char* getPortName()
```
Parameters

None
Detailed Description

This function returns the device name which the port is using.

setBaudrate

Syntax

bool setBaudRate(const int baudrate)

Parameters

Parameters	Description
baudrate	Target baudrate

Description

This function converts baudrate to baudrate type value at first. Secondly, it closes the port with closePort() function, and opens the port with setupPort() function again. If the value of baudrate is not in the baudrate list shown in the getCFlagBaud() function, the setCustomBaudrate() function suggests the baudrate value which is closest of available baudrate value. Finally, it returns false.

getBaudrate

Syntax

int getBaudRate()

Parameters

None
Description

This function returns the baudrate value previously set.

getBytesAvailable

Syntax

int getBytesAvailable()

Parameters

None
Description

This function checks how much the data can be read, and returns its length.

readPort

Syntax

int readPort(UINT8_T* packet, int length)

Parameters

Parameters	Description
packet	The number of data bytes read previously
length	Byte length for read

Description

This function gets length byte data from port buffer and returns a number of read data bytes. On end-of-file, 0 is returned, on error it returns -1.

writePort

Syntax

int writePort(UINT8_T* packet, int length)

Parameters

Parameters	Description
packet	The number of data bytes to write
length	Byte length for write

Description

This function transmits length byte, and returns how much the data was written. On error, it returns -1.

setPacketTimeout

Syntax

void setPacketTimeout (UINT16_T packet_length)
void setPacketTimeout (double msec)

Parameters

Parameters	Description
Packet_length	Target byte length for write
msec	Miliseconds

Description

This function sets the start time when it transmits the packet, and set the timeout of packet transmission to be ready for deciding communication result.

isPacketTimeout

Syntax

bool isPacketTimeout ()

Parameters

None
Description

This function decides the timeover of packet communication. If the time limit is over, it returns false.

CPP PortHandlerMac

openPort

Syntax
```
bool openPort()
```
Parameters

None
Detailed Description

This function opens the port by setBaudRate() function using DEFAULT_BAUDRATE_. If the baudrate is needed to be changed to another baudrate value, setBaudRate() function should be called after calling openPort() function. When the port succeeds to be opened, this function will return true, and if not, then false.

closePort

Syntax
```
void closePort()
```
Parameters

None
Detailed Description

This function closes the port by closing the file descriptor.

clearPort

Syntax
```
void clearPort()
```
Parameters

None
Detailed Description

This function clears the port by flushing the file descriptor.

setPortName

Syntax

void setPortName(const char* port_name)

Parameters

Parameters	Description
port_name	Port name

Detailed Description

This function sets the device name as port_name.

getPortName

Syntax
```
char* getPortName()
```
Parameters

None
Detailed Description

This function returns the device name which the port is using.

setBaudrate

Syntax

bool setBaudRate(const int baudrate)

Parameters

Parameters	Description
baudrate	Target baudrate

Description

This function converts baudrate to baudrate type value at first. Secondly, it closes the port with closePort() function, and opens the port with setupPort() function again. If the value of baudrate is not in the baudrate list shown in the getCFlagBaud() function, the setCustomBaudrate() function suggests the baudrate value which is closest of available baudrate value. Finally, it returns false.

getBaudrate

Syntax

int getBaudRate()

Parameters

None
Description

This function returns the baudrate value previously set.

getBytesAvailable

Syntax

int getBytesAvailable()

Parameters

None
Description

This function checks how much the data can be read, and returns its length.

readPort

Syntax

int readPort(UINT8_T* packet, int length)

Parameters

Parameters	Description
packet	The number of data bytes read previously
length	Byte length for read

Description

This function gets length byte data from port buffer and returns a number of read data bytes. On end-of-file, 0 is returned, on error it returns -1.

writePort

Syntax

int writePort(UINT8_T* packet, int length)

Parameters

Parameters	Description
packet	The number of data bytes to write
length	Byte length for write

Description

This function transmits length byte, and returns how much the data was written. On error, it returns -1.

setPacketTimeout

Syntax

void setPacketTimeout (UINT16_T packet_length)
void setPacketTimeout (double msec)

Parameters

Parameters	Description
Packet_length	Target byte length for write
msec	Miliseconds

Description

This function sets the start time when it transmits the packet, and set the timeout of packet transmission to be ready for deciding communication result.

isPacketTimeout

Syntax

bool isPacketTimeout ()

Parameters

None
Description

This function decides the timeover of packet communication. If the time limit is over, it returns false.