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:
Definition at line 43 of file CSerialPort.h.
#include <mrpt/hwdrivers/CSerialPort.h>
Public Types | |
enum | TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 } |
Used in CStream::Seek. More... | |
Public Member Functions | |||
CSerialPort (const std::string &portName, bool openNow=true) | |||
Constructor. More... | |||
CSerialPort () | |||
Default constructor: it does not open any port - later you must call "setSerialPortName" and then "open". More... | |||
virtual | ~CSerialPort () | ||
Destructor. More... | |||
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). More... | |||
void | open () | ||
Open the port. More... | |||
void | open (const std::string &COM_name) | ||
Open the given serial port. More... | |||
void | close () | ||
Close the port. More... | |||
bool | isOpen () const | ||
Returns if port has been correctly open. More... | |||
void | purgeBuffers () | ||
Purge tx and rx buffers. More... | |||
void | setConfig (int baudRate, int parity=0, int bits=8, int nStopBits=1, bool enableFlowControl=false) | ||
Changes the configuration of the port. More... | |||
void | setTimeouts (int ReadIntervalTimeout, int ReadTotalTimeoutMultiplier, int ReadTotalTimeoutConstant, int WriteTotalTimeoutMultiplier, int WriteTotalTimeoutConstant) | ||
Changes the timeouts of the port, in milliseconds. More... | |||
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. More... | |||
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". More... | |||
size_t | Write (const void *Buffer, size_t Count) | ||
Implements the virtual method responsible for writing to the stream. More... | |||
uint64_t | Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) | ||
Introduces a pure virtual method for moving to a specified position in the streamed resource. More... | |||
uint64_t | getTotalBytesCount () | ||
Returns the total amount of bytes in the stream. More... | |||
uint64_t | getPosition () | ||
Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one. More... | |||
size_t | ReadBuffer (void *Buffer, size_t Count) | ||
Reads a block of bytes from the stream into Buffer
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template<typename T > | |||
size_t | ReadBufferFixEndianness (T *ptr, size_t ElementCount) | ||
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. More... | |||
virtual size_t | ReadBufferImmediate (void *Buffer, size_t Count) | ||
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More... | |||
void | WriteBuffer (const void *Buffer, size_t Count) | ||
Writes a block of bytes to the stream from Buffer. More... | |||
template<typename T > | |||
void | WriteBufferFixEndianness (const T *ptr, size_t ElementCount) | ||
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More... | |||
size_t | CopyFrom (mrpt::utils::CStream *Source, size_t Count) | ||
Copies a specified number of bytes from one stream to another. More... | |||
virtual uint64_t | Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0 | ||
Introduces a pure virtual method for moving to a specified position in the streamed resource. More... | |||
void | WriteObject (const CSerializable *o) | ||
Writes an object to the stream. More... | |||
CSerializablePtr | ReadObject () | ||
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More... | |||
void | ReadObject (CSerializable *existingObj) | ||
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More... | |||
CStream & | operator<< (const CSerializablePtr &pObj) | ||
Write an object to a stream in the binary MRPT format. More... | |||
CStream & | operator<< (const CSerializable &obj) | ||
Write an object to a stream in the binary MRPT format. More... | |||
CStream & | operator>> (CSerializablePtr &pObj) | ||
CStream & | operator>> (CSerializable &obj) | ||
virtual int | printf (const char *fmt,...) MRPT_printf_format_check(2 | ||
Writes a string to the stream in a textual form. More... | |||
template<typename T > | |||
virtual int void | printf_vector (const char *fmt, const std::vector< T > &V) | ||
Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element. More... | |||
void | sendMessage (const utils::CMessage &msg) | ||
Send a message to the device. More... | |||
bool | receiveMessage (utils::CMessage &msg) | ||
Tries to receive a message from the device. More... | |||
bool | getline (std::string &out_str) | ||
Reads from the stream until a ' ' character is found ('' characters are ignored). More... | |||
Protected Member Functions | |
template<bool EXISTING_OBJ> | |
CSerializable * | internal_ReadObject (CSerializable *existingObj=NULL) |
A common template code for both versions of CStream::ReadObject() More... | |
Protected Attributes | |
std::string | m_serialName |
The complete name of the serial port device (i.e. More... | |
int | m_baudRate |
int | m_totalTimeout_ms |
int | m_interBytesTimeout_ms |
mrpt::utils::CTicTac | m_timer |
Used only in ReadString. More... | |
int | hCOM |
The file handle (-1: Not open) More... | |
Friends | |
class | PosixSignalDispatcherImpl |
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inherited |
Used in CStream::Seek.
Enumerator | |
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sFromBeginning | |
sFromCurrent | |
sFromEnd |
mrpt::hwdrivers::CSerialPort::CSerialPort | ( | const std::string & | portName, |
bool | openNow = true |
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) |
Constructor.
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".
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virtual |
Destructor.
void mrpt::hwdrivers::CSerialPort::close | ( | ) |
Close the port.
If is already closed, results in no action.
Referenced by mrpt::hwdrivers::CGillAnemometer::~CGillAnemometer(), and mrpt::hwdrivers::CRaePID::~CRaePID().
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inherited |
Copies a specified number of bytes from one stream to another.
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inherited |
Reads from the stream until a '
' character is found ('' characters are ignored).
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inlinevirtual |
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 178 of file CSerialPort.h.
References MRPT_END, MRPT_START, and THROW_EXCEPTION.
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inlinevirtual |
Returns the total amount of bytes in the stream.
Implements mrpt::utils::CStream.
Definition at line 169 of file CSerialPort.h.
References MRPT_END, MRPT_START, and THROW_EXCEPTION.
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protectedinherited |
A common template code for both versions of CStream::ReadObject()
bool mrpt::hwdrivers::CSerialPort::isOpen | ( | ) | const |
Returns if port has been correctly open.
void mrpt::hwdrivers::CSerialPort::open | ( | ) |
Open the port.
If is already open results in no action.
std::exception | On communication errors |
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inline |
Open the given serial port.
If it is already open and the name does not match, an exception is raised.
std::exception | On communication errors or a different serial port already open. |
Definition at line 79 of file CSerialPort.h.
References THROW_EXCEPTION.
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inherited |
Write an object to a stream in the binary MRPT format.
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inherited |
Write an object to a stream in the binary MRPT format.
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inherited |
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inherited |
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virtualinherited |
Writes a string to the stream in a textual form.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::dumpToTextStream(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::dumpToTextStream().
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inlineinherited |
Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element.
void mrpt::hwdrivers::CSerialPort::purgeBuffers | ( | ) |
Purge tx and rx buffers.
std::exception | On communication errors |
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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.
std::exception | On communication errors |
Implements mrpt::utils::CStream.
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inherited |
Reads a block of bytes from the stream into Buffer
std::exception | On any error, or if ZERO bytes are read. |
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inlineinherited |
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.
ElementCount | The number of elements (not bytes) to read. |
ptr | A pointer to the first output element in an array (or std::vector<>, etc...). |
std::exception | On any error, or if ZERO bytes are read. |
Definition at line 95 of file CStream.h.
References mrpt::mrpt::utils::reverseBytesInPlace().
Referenced by mrpt::math::operator>>().
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inlinevirtualinherited |
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).
Note that this method will fallback to ReadBuffer() in most CStream classes but in some hardware-related classes.
std::exception | On any error, or if ZERO bytes are read. |
Reimplemented in mrpt::hwdrivers::CInterfaceFTDI.
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inherited |
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.
std::exception | On I/O error or undefined class. |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
Referenced by mrpt::math::operator>>().
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inherited |
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.
std::exception | On I/O error or different class found. |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
std::string mrpt::hwdrivers::CSerialPort::ReadString | ( | const int | total_timeout_ms = -1 , |
bool * | out_timeout = NULL , |
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const char * | eol_chars = "\r\n" |
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) |
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.
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. |
std::exception | On communication errors |
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inherited |
Tries to receive a message from the device.
std::exception | On communication errors |
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inline |
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:
Definition at line 158 of file CSerialPort.h.
References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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pure virtualinherited |
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:
Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.
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inherited |
Send a message to the device.
Note that only the low byte from the "type" field will be used.
For frames of size < 255 the frame format is an array of bytes in this order:
For frames of size > 255 the frame format is an array of bytes in this order:
std::exception | On communication errors |
void mrpt::hwdrivers::CSerialPort::setConfig | ( | int | baudRate, |
int | parity = 0 , |
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int | bits = 8 , |
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int | nStopBits = 1 , |
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bool | enableFlowControl = false |
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) |
Changes the configuration of the port.
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) |
std::exception | On communication errors |
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inline |
Sets the serial port to open (it is an error to try to change this while open yet).
Definition at line 65 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.
std::exception | On communication errors |
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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.
std::exception | On communication errors |
Implements mrpt::utils::CStream.
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inherited |
Writes a block of bytes to the stream from Buffer.
std::exception | On any error |
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inlineinherited |
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).
ElementCount | The number of elements (not bytes) to write. |
ptr | A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: vector<float> vec = ... uint32_t N = vec.size(); s << N if (N) s.WriteBufferFixEndianness<float>(&vec[0],N); |
std::exception | On any error |
Definition at line 139 of file CStream.h.
References MRPT_printf_format_check, mrpt::utils::operator<<(), and mrpt::utils::operator>>().
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inherited |
Writes an object to the stream.
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friend |
Definition at line 45 of file CSerialPort.h.
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protected |
The file handle (-1: Not open)
Definition at line 202 of file CSerialPort.h.
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protected |
Definition at line 190 of file CSerialPort.h.
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protected |
Definition at line 191 of file CSerialPort.h.
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protected |
The complete name of the serial port device (i.e.
"\\.\COM10","/dev/ttyS2",...)
Definition at line 189 of file CSerialPort.h.
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protected |
Used only in ReadString.
Definition at line 193 of file CSerialPort.h.
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protected |
Definition at line 191 of file CSerialPort.h.
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