int HerkuleX::serialInitialize(std::string &devicePath, const int baud)
{
int status = 0;
if (serial != NULL)
{
serialTerminate();
}
// Instanciate a different serial subclass, depending on the current OS
#if defined(__linux__) || defined(__gnu_linux)
serial = new SerialPortLinux(devicePath, baud, serialDevice, SERVO_DRS);
#elif defined(_WIN32) || defined(_WIN64)
serial = new SerialPortWindows(devicePath, baud, serialDevice, SERVO_DRS);
#elif defined(__APPLE__) || defined(__MACH__)
serial = new SerialPortMacOS(devicePath, baud, serialDevice, SERVO_DRS);
#else
#error "No compatible operating system detected!"
#endif
// Initialize the serial link
if (serial != NULL && serial->openLink() == 1)
{
status = 1;
TRACE_INFO(HKX, "> Serial interface successfully opened on '%s' @ %i bps\n", devicePath.c_str(), baud);
}
else
{
TRACE_ERROR(HKX, "> Failed to open serial interface on '%s' @ %i bps. Exiting...\n", devicePath.c_str(), baud);
}
return status;
}
HerkuleX::~HerkuleX()
{
serialTerminate();
}
void DynamixelSimpleAPI::disconnect()
{
serialTerminate();
}
