updated serial library from lib-dynamixel.

src/serial/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(serial)
+
+## Check C++11 / C++0x
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_CXX_FLAGS "-std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+    set(CMAKE_CXX_FLAGS "-std=c++0x")
+else()
+    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+include_directories(include)
+add_library(serial
+	    src/dynamixel/SerialPort.cpp)
+
+
+

src/serial/include/serial/SerialPort.h

@@ -0,0 +1,32 @@
+#ifndef SERIALPORT_H_
+#define SERIALPORT_H_
+
+#include <stdio.h>
+#include <termios.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <boost/asio/serial_port.hpp> 
+#include <boost/asio.hpp>
+#include <boost/asio/deadline_timer.hpp> 
+#include <boost/bind.hpp>
+
+const int blockTimeMS = 10;
+
+class SerialPort {
+ private:
+  boost::asio::io_service io;
+  boost::asio::serial_port *port;
+ public:
+    SerialPort();
+
+  int connect ();
+  int connect (char * device, int baud);
+  void disconnect(void);
+
+  int sendArray(unsigned char *buffer, int len);
+  int getArray (unsigned char *buffer, int len);
+};
+
+
+#endif /* SERIALPORT_H_ */

src/serial/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package>
+  <name>serial</name>
+  <version>1.0.0</version>
+  <description>Package for interfacing with serial devices.</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">William Emfinger</maintainer>
+  <maintainer email="[email protected]">Pranav Srinivas Kumar</maintainer>
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>MIT</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <export>
+  </export>
+</package>

src/serial/src/serial/SerialPort.cpp

@@ -0,0 +1,41 @@
+#include <string.h>
+#include <sys/ioctl.h>
+
+#include "serial/SerialPort.h"
+
+SerialPort::SerialPort() {
+  port = new boost::asio::serial_port(io);
+}
+
+int SerialPort::connect() {
+  port->open("/dev/ttyO5");
+  port->set_option(boost::asio::serial_port_base::baud_rate(9600));
+  return 1;
+}
+
+int SerialPort::connect(char *device, int baud) {
+  port->open(device);
+  port->set_option(boost::asio::serial_port_base::baud_rate(baud));
+  return 1;
+}
+
+void SerialPort::disconnect(void)
+{
+  port->close();
+}
+
+int SerialPort::sendArray(unsigned char *buffer, int len) {
+  int n = boost::asio::write( *port,
+			      boost::asio::buffer(buffer,len));
+  return n;
+}
+
+int SerialPort::getArray (unsigned char *buffer, int len)
+{
+  char rcvChar;
+  int i = 0;
+  while ( i < len && boost::asio::read( *port, boost::asio::buffer(&rcvChar,1) ) == 1 )
+    buffer[i++] = rcvChar;
+  return i;
+}
+