DETI-Dynamixel Interface
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Abstract class to handle the communication with the device This class has the base methods to open, close and send/receive a packet over the used device. The class is fully virtual, a child from this class must implement the functions according to the target OS and device management. More...
#include <DevComm.h>
Public Member Functions | |
virtual void | openChannel ()=0 |
virtual void | closeChannel ()=0 |
virtual bool | txRx (const char *txPacket, char *rxPacket, int rxSize)=0 |
Abstract class to handle the communication with the device This class has the base methods to open, close and send/receive a packet over the used device. The class is fully virtual, a child from this class must implement the functions according to the target OS and device management.
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pure virtual |
This function will be responsible for closing the communication channel.
Implemented in DevCommUsb.
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pure virtual |
This function will be responsible for opening the communication channel using the device available.
Implemented in DevCommUsb.
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pure virtual |
This function will be responsible for dealing with the "physical" transmission of the data. It will then proceed to listening for the correspondent response. Whoever calls this function is responsible for guaranteeing that the reception buffer is large enough for rxSize+1 (+1 for '\0')
txPacket | The data to be transmitted, provided by the DxComm method that invokes the transmission. |
rxPacket | The array to store the response from the deti DX board. The DxComm method invoking the transmission will further handle its data. |
rxSize | The maximum size of data on the response packet corresponding to the invoking method. |
Implemented in DevCommUsb.