SerialClient Class Reference

shared_serial client interface class. More...

#include <client.h>

List of all members.

Public Member Functions
void	close (int socket)
	Unlock serial port.
int	connect (float timeout)
	Lock serial port.
void	flush (int socket, float timeout)
	Flush serial port.
void	init (const char *path="/comm")
	Initialize interface.
int	recv (int socket, int length, float recv_timeout, float sock_timeout, unsigned char *data, size_t *data_length)
	Receive data from serial port.
void	send (int socket, const unsigned char *data, size_t length, float timeout)
	Send data over already locked serial port.
int	sendrecv (int socket, const unsigned char *send_data, size_t send_length, size_t recv_length, float recv_timeout, float sock_timeout, unsigned char *recv_data, size_t *recv_data_length)
	Coalesced send and receive.
int	sendto (int socket, const unsigned char *data, size_t length, float timeout)
	Send data over serial port.
Protected Attributes
ros::Publisher	close_topic_
	Published for close function.
ros::ServiceClient	connect_service_
	Service client for connect function.
ros::Publisher	flush_topic_
	Publisher for flush function.
ros::NodeHandle	nh_
	ROS node handle.
ros::ServiceClient	recv_service_
	Service client for recv function.
ros::Publisher	send_topic_
	Publisher for send function.
ros::ServiceClient	sendrecv_service_
	Service client for sendrecv function.
ros::ServiceClient	sendto_service_
	Service client for sendto function.

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Detailed Description

shared_serial client interface class.

Definition at line 7 of file client.h.

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Member Function Documentation

void SerialClient::close

(

int

socket

)

Unlock serial port.

Parameters:

socket

Socket identifier.

Note:

This function is asynchronous.

Definition at line 111 of file client.cpp.

int SerialClient::connect

(

float

timeout

)

Lock serial port.

Parameters:

timeout

Lock time in [s]

Returns:

Socket identifier.

Definition at line 31 of file client.cpp.

void SerialClient::flush	(	int	socket,
		float	timeout
	)

Flush serial port.

Parameters:

socket	Socket identifier.
timeout	Lock time in [s].

Note:

This function is asynchronous.

Definition at line 120 of file client.cpp.

void SerialClient::init

(

const char *

path = "/comm"

)

Initialize interface.

Parameters:

path	Path to server node.

Definition at line 12 of file client.cpp.

int SerialClient::recv	(	int	socket,
		int	length,
		float	recv_timeout,
		float	sock_timeout,
		unsigned char *	data,
		size_t *	data_length
	)

Receive data from serial port.

Parameters:

	sock	Socket identifier (when 0, the port is locked first).
	length	Length of data to receive.
	recv_timeout	Time to wait for data in [s].
	sock_timeout	Lock time in [s].
	data	Data buffer, at least length bytes long.
[out]	data_length	Number of bytes received.

Returns:

Socket identifier.

Definition at line 57 of file client.cpp.

void SerialClient::send	(	int	socket,
		const unsigned char *	data,
		size_t	length,
		float	timeout
	)

Send data over already locked serial port.

Parameters:

socket	Socket identifier.
data	Data to send.
length	Length of data parameter in bytes.
timeout	Lock time in [s].

Note:

This function is asynchronous.

Definition at line 98 of file client.cpp.

int SerialClient::sendrecv	(	int	socket,
		const unsigned char *	send_data,
		size_t	send_length,
		size_t	recv_length,
		float	recv_timeout,
		float	sock_timeout,
		unsigned char *	recv_data,
		size_t *	recv_data_length
	)

Coalesced send and receive.

Parameters:

	socket	Socket identifier (when 0, the port is locked first).
	send_data	Data to send.
	send_length	Length of send_data parameter in bytes.
	recv_length	Length of data to receive.
	recv_timeout	Time to wait for data in [s].
	sock_timeout	Lock time in [s].
	recv_data	Receive data buffer, at least recv_length bytes long.
[out]	recv_data_length	Number of bytes received.

Returns:

Socket identifier.

Definition at line 76 of file client.cpp.

int SerialClient::sendto	(	int	socket,
		const unsigned char *	data,
		size_t	length,
		float	timeout
	)

Send data over serial port.

Parameters:

socket	Socket identifier (when 0, the port is locked first).
data	Data to send.
length	Length of data parameter.
timeout	Lock time in [s].

Returns:

Socket identifier.

Definition at line 41 of file client.cpp.

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Member Data Documentation

ros::Publisher SerialClient::close_topic_ [protected]

Published for close function.

Definition at line 16 of file client.h.

ros::ServiceClient SerialClient::connect_service_ [protected]

Service client for connect function.

Definition at line 11 of file client.h.

ros::Publisher SerialClient::flush_topic_ [protected]

Publisher for flush function.

Definition at line 17 of file client.h.

ros::NodeHandle SerialClient::nh_ [protected]

ROS node handle.

Definition at line 10 of file client.h.

ros::ServiceClient SerialClient::recv_service_ [protected]

Service client for recv function.

Definition at line 13 of file client.h.

ros::Publisher SerialClient::send_topic_ [protected]

Publisher for send function.

Definition at line 15 of file client.h.

ros::ServiceClient SerialClient::sendrecv_service_ [protected]

Service client for sendrecv function.

Definition at line 14 of file client.h.

ros::ServiceClient SerialClient::sendto_service_ [protected]

Service client for sendto function.

Definition at line 12 of file client.h.

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The documentation for this class was generated from the following files:

• client.h
• client.cpp