HalUartDynamixelComm Class Reference

CRTP adapter that turns a BaseUart& into dynamixel::Transport. More...

#include <DynamixelHandler.h>

Inheritance diagram for HalUartDynamixelComm:

Public Member Functions
	HalUartDynamixelComm (BaseUart &uart) noexcept
dynamixel::DriverError	open (const dynamixel::TransportConfig &) noexcept
void	close () noexcept
dynamixel::DriverError	set_baud_rate (std::uint32_t baud) noexcept
dynamixel::TransportIo	write_some (const std::uint8_t *data, std::size_t length) noexcept
dynamixel::DriverError	finish_transmit () noexcept
dynamixel::TransportIo	read_some (std::uint8_t *out, std::size_t max) noexcept
void	discard_stale_input () noexcept
std::uint64_t	now_us () noexcept
void	delay_ms_impl (std::uint32_t ms) noexcept

Private Attributes
BaseUart &	uart_

Detailed Description

CRTP adapter that turns a BaseUart& into dynamixel::Transport.

Electrical mode (DIR GPIO, open-drain, auto-direction) stays with the UART owner. This adapter only moves bytes and waits for TX drain.

Constructor & Destructor Documentation

HalUartDynamixelComm()

HalUartDynamixelComm::HalUartDynamixelComm ( BaseUart &  uart )

inlineexplicitnoexcept

Member Function Documentation

close()

void HalUartDynamixelComm::close ( )

noexcept

delay_ms_impl()

void HalUartDynamixelComm::delay_ms_impl ( std::uint32_t  ms )

noexcept

discard_stale_input()

void HalUartDynamixelComm::discard_stale_input ( )

noexcept

finish_transmit()

dynamixel::DriverError HalUartDynamixelComm::finish_transmit ( )

noexcept

now_us()

std::uint64_t HalUartDynamixelComm::now_us ( )

noexcept

open()

dynamixel::DriverError HalUartDynamixelComm::open ( const dynamixel::TransportConfig &  )

noexcept

read_some()

dynamixel::TransportIo HalUartDynamixelComm::read_some ( std::uint8_t *  out, std::size_t  max  )

noexcept

set_baud_rate()

dynamixel::DriverError HalUartDynamixelComm::set_baud_rate ( std::uint32_t  baud )

noexcept

write_some()

dynamixel::TransportIo HalUartDynamixelComm::write_some ( const std::uint8_t *  data, std::size_t  length  )

noexcept

Member Data Documentation

uart_

BaseUart& HalUartDynamixelComm::uart_

private

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The documentation for this class was generated from the following files:

• DynamixelHandler.h
• DynamixelHandler.cpp