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included setRS485 method in port_handler_linux.h #362

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included setRS485 method in port_handler_linux.h #362

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10 changes: 9 additions & 1 deletion c++/include/dynamixel_sdk/port_handler_linux.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_


#include <linux/serial.h>
#include "port_handler.h"

namespace dynamixel
Expand Down Expand Up @@ -163,6 +163,14 @@ class PortHandlerLinux : public PortHandler
/// @description The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerLinux::setPacketTimeout().
////////////////////////////////////////////////////////////////////////////////
bool isPacketTimeout();


////////////////////////////////////////////////////////////////////////////////
/// @brief The function configures the current port in RS485 mode
/// @description The function tries to configure the current port in RS485 mode.
////////////////////////////////////////////////////////////////////////////////
bool setRS485(struct serial_rs485 *rs485conf);

};

}
Expand Down
12 changes: 12 additions & 0 deletions c++/src/dynamixel_sdk/port_handler_linux.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -280,4 +280,16 @@ int PortHandlerLinux::getCFlagBaud(int baudrate)
}
}


bool PortHandlerLinux::setRS485(struct serial_rs485 *rs485conf)
{
if (ioctl(socket_fd_, TIOCSRS485, rs485conf) < 0)
{
printf("[PortHandlerLinux::setRS485] TIOCSRS485 failed!\n");
return false;
}
return true;
}


#endif
10 changes: 9 additions & 1 deletion ros/include/dynamixel_sdk/port_handler_linux.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@
#ifndef DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_
#define DYNAMIXEL_SDK_INCLUDE_DYNAMIXEL_SDK_LINUX_PORTHANDLERLINUX_H_


#include <linux/serial.h>
#include "port_handler.h"

namespace dynamixel
Expand Down Expand Up @@ -163,6 +163,14 @@ class PortHandlerLinux : public PortHandler
/// @description The function checks whether current time is passed by the time of packet timeout from the time set by PortHandlerLinux::setPacketTimeout().
////////////////////////////////////////////////////////////////////////////////
bool isPacketTimeout();

////////////////////////////////////////////////////////////////////////////////
/// @brief The function configures the current port in RS485 mode
/// @description The function tries to configure the current port in RS485 mode.
////////////////////////////////////////////////////////////////////////////////
bool setRS485(struct serial_rs485 *rs485conf);


};

}
Expand Down
12 changes: 12 additions & 0 deletions ros/src/dynamixel_sdk/port_handler_linux.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -280,4 +280,16 @@ int PortHandlerLinux::getCFlagBaud(int baudrate)
}
}


bool PortHandlerLinux::setRS485(struct serial_rs485 *rs485conf)
{
if (ioctl(socket_fd_, TIOCSRS485, rs485conf) < 0)
{
printf("[PortHandlerLinux::setRS485] TIOCSRS485 failed!\n");
return false;
}
return true;
}


#endif