36 lines
887 B
C++
Executable File
36 lines
887 B
C++
Executable File
#ifndef BIANLIB_IOPORT_H
|
|
#define BIANLIB_IOPORT_H
|
|
|
|
#include <stdint.h>
|
|
#include <unistd.h>
|
|
#include <vector>
|
|
#include "unitreeMotor/unitreeMotor.h"
|
|
|
|
enum class BlockYN{
|
|
YES,
|
|
NO
|
|
};
|
|
|
|
class IOPort{
|
|
public:
|
|
IOPort(){}
|
|
virtual ~IOPort(){}
|
|
virtual size_t send(uint8_t *sendMsg, size_t sendLength) = 0;
|
|
virtual size_t recv(uint8_t *recvMsg) = 0;
|
|
virtual bool sendRecv(std::vector<MOTOR_send> &sendVec, std::vector<MOTOR_recv> &recvVec) = 0;
|
|
void resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs);
|
|
protected:
|
|
BlockYN _blockYN = BlockYN::NO;
|
|
size_t _recvLength;
|
|
timeval _timeout;
|
|
};
|
|
|
|
inline void IOPort::resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs){
|
|
_blockYN = blockYN;
|
|
_recvLength = recvLength;
|
|
_timeout.tv_sec = timeOutUs / 1000000;
|
|
_timeout.tv_usec = timeOutUs % 1000000;
|
|
}
|
|
|
|
|
|
#endif // BIANLIB_IOPORT_H
|