MRPT logo

mrpt::hwdrivers::CSerialPort Class Reference

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

#include <mrpt/hwdrivers/CSerialPort.h>

Inheritance diagram for mrpt::hwdrivers::CSerialPort:

mrpt::utils::CStream

List of all members.

Public Member Functions

 CSerialPort (const std::string &portName, bool openNow=true)
 Constructor.
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 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.
size_t Write (const void *Buffer, size_t Count)
 Implements the virtual method responsible for writing to the stream.
size_t Seek (long Offset, CStream::TSeekOrigin Origin=sFromBeginning)
 Introduces a pure virtual method for moving to a specified position in the streamed resource.
size_t getTotalBytesCount ()
 Returns the total amount of bytes in the stream.
size_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
int hCOM
 The file handle (-1: Not open).

Friends

class PosixSignalDispatcherImpl


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 63 of file CSerialPort.h.


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()".

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.

size_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 174 of file CSerialPort.h.

References MRPT_TRY_END, MRPT_TRY_START, and THROW_EXCEPTION.

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

Returns the total amount of bytes in the stream.

Implements mrpt::utils::CStream.

Definition at line 165 of file CSerialPort.h.

References MRPT_TRY_END, MRPT_TRY_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::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.

Exceptions:
std::exception On communication errors

Implements mrpt::utils::CStream.

size_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 154 of file CSerialPort.h.

References MRPT_TRY_END, MRPT_TRY_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 81 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 65 of file CSerialPort.h.


Member Data Documentation

The file handle (-1: Not open).

Definition at line 196 of file CSerialPort.h.

Definition at line 186 of file CSerialPort.h.

Definition at line 187 of file CSerialPort.h.

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

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

Definition at line 185 of file CSerialPort.h.

Definition at line 187 of file CSerialPort.h.




Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN: at Thu Feb 26 02:07:47 EST 2009