CARMEN: global/carmenserial.h Source File

00001 /*********************************************************
00002  *
00003  * This source code is part of the Carnegie Mellon Robot
00004  * Navigation Toolkit (CARMEN)
00005  *
00006  * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas
00007  * Roy, and Sebastian Thrun
00008  *
00009  * CARMEN is free software; you can redistribute it and/or 
00010  * modify it under the terms of the GNU General Public 
00011  * License as published by the Free Software Foundation; 
00012  * either version 2 of the License, or (at your option)
00013  * any later version.
00014  *
00015  * CARMEN is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied 
00017  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00018  * PURPOSE.  See the GNU General Public License for more 
00019  * details.
00020  *
00021  * You should have received a copy of the GNU General 
00022  * Public License along with CARMEN; if not, write to the
00023  * Free Software Foundation, Inc., 59 Temple Place, 
00024  * Suite 330, Boston, MA  02111-1307 USA
00025  *
00026  ********************************************************/
00027 
00028 
00030 // @{
00031 
00039 #ifndef CARMEN_SERIAL_H
00040 #define CARMEN_SERIAL_H
00041 
00042 #ifdef __cplusplus
00043 extern "C" {
00044 #endif
00045 
00052 int carmen_serial_connect(int *dev_fd, char *dev_name);
00053 
00054 
00061 void carmen_serial_configure(int dev_fd, int baudrate, char *parity);
00062 
00068 long carmen_serial_numChars(int dev_fd);
00069 
00075 int carmen_serial_ClearInputBuffer(int dev_fd);
00076 
00084 int carmen_serial_writen(int dev_fd, unsigned char *buf, int nChars);
00085 
00093 int carmen_serial_readn(int dev_fd, unsigned char *buf, int nChars);
00094 
00100 int carmen_serial_close(int dev_fd);
00101 
00110 int carmen_serial_set_low_latency(int fd);
00111 
00112 #ifdef __cplusplus
00113 }
00114 #endif
00115 
00116 #endif
00117 // @}