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mrpt::hwdrivers::CSerialPort Class Reference


Detailed Description

A communications serial port built as an implementation of a utils::CStream.

On communication errors (eg. the given port number does not exist, timeouts,...), most of the methods will raise an exception of the class "std::exception"

The serial port to open is passed in the constructor in the form of a string description, which is platform dependent.

In windows they are numbered "COM1"-"COM4" and "\\.\COMXXX" for numbers above. It is recomended to always use the prefix "\\.\" despite the actual port number.

In Linux the name must refer to the device, for example: "ttyUSB0","ttyS0". If the name string does not start with "/" (an absolute path), the constructor will assume the prefix "/dev/".

History:

Todo:
Add the internal buffer to the Windows implementation also

Definition at line 65 of file CSerialPort.h.

#include <mrpt/hwdrivers/CSerialPort.h>

Inheritance diagram for mrpt::hwdrivers::CSerialPort:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CSerialPort (const std::string &portName, bool openNow=true)
 Constructor.
 CSerialPort ()
 Default constructor: it does not open any port - later you must call "setSerialPortName" and then "open".
virtual ~CSerialPort ()
 Destructor.
void setSerialPortName (const std::string &COM_name)
 Sets the serial port to open (it is an error to try to change this while open yet).
void open ()
 Open the port.
void open (const std::string &COM_name)
 Open the given serial port.
void close ()
 Close the port.
bool isOpen ()
 Returns if port has been correctly open.
void purgeBuffers ()
 Purge tx and rx buffers.
void setConfig (int baudRate, int parity=0, int bits=8, int nStopBits=1, bool enableFlowControl=false)
 Changes the configuration of the port.
void setTimeouts (int ReadIntervalTimeout, int ReadTotalTimeoutMultiplier, int ReadTotalTimeoutConstant, int WriteTotalTimeoutMultiplier, int WriteTotalTimeoutConstant)
 Changes the timeouts of the port, in milliseconds.
size_t Read (void *Buffer, size_t Count)
 Implements the virtual method responsible for reading from the stream - Unlike CStream::ReadBuffer, this method will not raise an exception on zero bytes read, as long as there is not any fatal error in the communications.
std::string ReadString (const int total_timeout_ms=-1, bool *out_timeout=NULL, const char *eol_chars="\r\n")
 Reads one text line from the serial port in POSIX "canonical mode".
size_t Write (const void *Buffer, size_t Count)
 Implements the virtual method responsible for writing to the stream.
uint64_t Seek (long Offset, CStream::TSeekOrigin Origin=sFromBeginning)
 Introduces a pure virtual method for moving to a specified position in the streamed resource.
uint64_t getTotalBytesCount ()
 Returns the total amount of bytes in the stream.
uint64_t getPosition ()
 Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one.

Protected Attributes

std::string m_serialName
 The complete name of the serial port device (i.e.
int m_baudRate
int m_totalTimeout_ms
int m_interBytesTimeout_ms
CTicTac m_timer
 Used only in ReadString.
int hCOM
 The file handle (-1: Not open).

Friends

class PosixSignalDispatcherImpl

Constructor & Destructor Documentation

mrpt::hwdrivers::CSerialPort::CSerialPort ( const std::string &  portName,
bool  openNow = true 
)

Constructor.

Parameters:
portName The serial port to open. See comments at the begining of this page.
openNow Whether to try to open the port now. If not selected, the port should be open later with "open()".
mrpt::hwdrivers::CSerialPort::CSerialPort (  ) 

Default constructor: it does not open any port - later you must call "setSerialPortName" and then "open".

virtual mrpt::hwdrivers::CSerialPort::~CSerialPort (  )  [virtual]

Destructor.


Member Function Documentation

void mrpt::hwdrivers::CSerialPort::close (  ) 

Close the port.

If is already closed, results in no action.

uint64_t mrpt::hwdrivers::CSerialPort::getPosition (  )  [inline, virtual]

Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one.

Implements mrpt::utils::CStream.

Definition at line 200 of file CSerialPort.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

uint64_t mrpt::hwdrivers::CSerialPort::getTotalBytesCount (  )  [inline, virtual]

Returns the total amount of bytes in the stream.

Implements mrpt::utils::CStream.

Definition at line 191 of file CSerialPort.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

bool mrpt::hwdrivers::CSerialPort::isOpen (  ) 

Returns if port has been correctly open.

void mrpt::hwdrivers::CSerialPort::open (  ) 

Open the port.

If is already open results in no action.

Exceptions:
std::exception On communication errors
void mrpt::hwdrivers::CSerialPort::open ( const std::string &  COM_name  )  [inline]

Open the given serial port.

If it is already open and the name does not match, an exception is raised.

Exceptions:
std::exception On communication errors or a different serial port already open.

Definition at line 101 of file CSerialPort.h.

References THROW_EXCEPTION.

void mrpt::hwdrivers::CSerialPort::purgeBuffers (  ) 

Purge tx and rx buffers.

Exceptions:
std::exception On communication errors
size_t mrpt::hwdrivers::CSerialPort::Read ( void *  Buffer,
size_t  Count 
) [virtual]

Implements the virtual method responsible for reading from the stream - Unlike CStream::ReadBuffer, this method will not raise an exception on zero bytes read, as long as there is not any fatal error in the communications.

Exceptions:
std::exception On communication errors

Implements mrpt::utils::CStream.

std::string mrpt::hwdrivers::CSerialPort::ReadString ( const int  total_timeout_ms = -1,
bool *  out_timeout = NULL,
const char *  eol_chars = "\r\n" 
)

Reads one text line from the serial port in POSIX "canonical mode".

This method reads from the serial port until one of the characters in eol are found.

Parameters:
eol_chars A line reception is finished when one of these characters is found. Default: LF (10), CR (13).
total_timeout_ms If >0, the maximum number of milliseconds to wait.
out_timeout If provided, will hold true on return if a timeout ocurred, false on a valid read.
Returns:
The read string, without the final
Exceptions:
std::exception On communication errors
uint64_t mrpt::hwdrivers::CSerialPort::Seek ( long  Offset,
CStream::TSeekOrigin  Origin = sFromBeginning 
) [inline, virtual]

Introduces a pure virtual method for moving to a specified position in the streamed resource.

he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:

  • sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
  • sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
  • sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.
    Returns:
    Seek returns the new value of the Position property.

Implements mrpt::utils::CStream.

Definition at line 180 of file CSerialPort.h.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void mrpt::hwdrivers::CSerialPort::setConfig ( int  baudRate,
int  parity = 0,
int  bits = 8,
int  nStopBits = 1,
bool  enableFlowControl = false 
)

Changes the configuration of the port.

Parameters:
parity 0:No parity, 1:Odd, 2:Even (WINDOWS ONLY: 3:Mark, 4:Space)
baudRate The desired baud rate Accepted values: 50 - 230400
bits Bits per word (typ. 8) Accepted values: 5,6,7,8.
nStopBits Stop bits (typ. 1) Accepted values: 1,2
enableFlowControl Whether to enable the hardware flow control (RTS/CTS) (default=no)
Exceptions:
std::exception On communication errors
void mrpt::hwdrivers::CSerialPort::setSerialPortName ( const std::string &  COM_name  )  [inline]

Sets the serial port to open (it is an error to try to change this while open yet).

See also:
open, close

Definition at line 87 of file CSerialPort.h.

References THROW_EXCEPTION.

void mrpt::hwdrivers::CSerialPort::setTimeouts ( int  ReadIntervalTimeout,
int  ReadTotalTimeoutMultiplier,
int  ReadTotalTimeoutConstant,
int  WriteTotalTimeoutMultiplier,
int  WriteTotalTimeoutConstant 
)

Changes the timeouts of the port, in milliseconds.

Exceptions:
std::exception On communication errors
size_t mrpt::hwdrivers::CSerialPort::Write ( const void *  Buffer,
size_t  Count 
) [virtual]

Implements the virtual method responsible for writing to the stream.

Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.

Exceptions:
std::exception On communication errors

Implements mrpt::utils::CStream.


Friends And Related Function Documentation

friend class PosixSignalDispatcherImpl [friend]

Definition at line 67 of file CSerialPort.h.


Member Data Documentation

The file handle (-1: Not open).

Definition at line 224 of file CSerialPort.h.

Definition at line 212 of file CSerialPort.h.

Definition at line 213 of file CSerialPort.h.

The complete name of the serial port device (i.e.

"\\.\COM10","/dev/ttyS2",...)

Definition at line 211 of file CSerialPort.h.

Used only in ReadString.

Definition at line 215 of file CSerialPort.h.

Definition at line 213 of file CSerialPort.h.




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