#include <rmp_ftd2xx.h>

Inheritance diagram for segwayrmp::FTD2XXRMPIO:

Public Member Functions
void	configureUSBByDescription (std::string description, int baudrate)

void	configureUSBByIndex (unsigned int device_index, int baudrate)

void	configureUSBBySerial (std::string serial_number, int baudrate)

void	connect ()

void	disconnect ()

	FTD2XXRMPIO ()

int	read (unsigned char *buffer, int size)

int	write (unsigned char *buffer, int size)

	~FTD2XXRMPIO ()

Public Member Functions inherited from segwayrmp::RMPIO
void	cancel ()

void	getPacket (Packet &packet)

bool	isConnected ()

	RMPIO ()

void	sendPacket (Packet &packet)

Private Member Functions
void	connectByDescription ()

void	connectByIndex ()

void	connectBySerial ()

std::vector< FT_DEVICE_LIST_INFO_NODE >	enumerateUSBDevices_ ()

Private Attributes
int	baudrate

ConfigurationType	config_type

bool	configured

bool	is_open

std::string	port_description

unsigned int	port_index

std::string	port_serial_number

FT_HANDLE	usb_port_handle

Additional Inherited Members
Protected Member Functions inherited from segwayrmp::RMPIO
unsigned char	computeChecksum (unsigned char *usb_packet)

void	fillBuffer ()

Protected Attributes inherited from segwayrmp::RMPIO
bool	canceled

bool	connected

std::vector< unsigned char >	data_buffer

Detailed Description

Definition at line 59 of file rmp_ftd2xx.h.

Constructor & Destructor Documentation

FTD2XXRMPIO::FTD2XXRMPIO ( )

Constructs the FTD2XXRMPIO object.

Definition at line 145 of file rmp_ftd2xx.cc.

FTD2XXRMPIO::~FTD2XXRMPIO ( )

Definition at line 155 of file rmp_ftd2xx.cc.

Member Function Documentation

void FTD2XXRMPIO::configureUSBByDescription	(	std::string	description,
		int	baudrate
	)

Configures the usb port using the devices Description.

Parameters

description	The description of the RMP device, something like 'Robotic Mobile Platform'.
baudrate	The speed of the usb communication.

Definition at line 324 of file rmp_ftd2xx.cc.

void FTD2XXRMPIO::configureUSBByIndex	(	unsigned int	device_index,
		int	baudrate
	)

Configures the usb port using the devices index.

Parameters

device_index	The index of the FTDI, something like 0. This is its index amoung all FTD2XX devices on the system.
baudrate	The speed of the usb communication.

Definition at line 351 of file rmp_ftd2xx.cc.

void FTD2XXRMPIO::configureUSBBySerial	(	std::string	serial_number,
		int	baudrate
	)

Configures the usb port using the devices Serial Number.

Parameters

serial_number	The serial number of the RMP device, something like '00000056'.
baudrate	The speed of the usb communication.

Definition at line 296 of file rmp_ftd2xx.cc.

void FTD2XXRMPIO::connect ( )

virtual

Connects to the usb port if it has been configured. Can throw ConnectionFailedException.

Implements segwayrmp::RMPIO.

Definition at line 159 of file rmp_ftd2xx.cc.

void FTD2XXRMPIO::connectByDescription ( )

private

Definition at line 332 of file rmp_ftd2xx.cc.

void FTD2XXRMPIO::connectByIndex ( )

private

Definition at line 359 of file rmp_ftd2xx.cc.

void FTD2XXRMPIO::connectBySerial ( )

private

Definition at line 304 of file rmp_ftd2xx.cc.

void FTD2XXRMPIO::disconnect ( )

virtual

Disconnects from the usb port if it is open.

Implements segwayrmp::RMPIO.

Definition at line 248 of file rmp_ftd2xx.cc.

std::vector< FT_DEVICE_LIST_INFO_NODE > FTD2XXRMPIO::enumerateUSBDevices_ ( )

private

Definition at line 291 of file rmp_ftd2xx.cc.

int FTD2XXRMPIO::read	(	unsigned char *	buffer,
		int	size
	)

virtual

Read Function, reads from the usb port.

Parameters

buffer	An unsigned char array for data to be read into.
size	The amount of data to be read.

Returns: int Bytes read.

Implements segwayrmp::RMPIO.

Definition at line 257 of file rmp_ftd2xx.cc.

int FTD2XXRMPIO::write	(	unsigned char *	buffer,
		int	size
	)

virtual

Write Function, writes to the usb port.

Parameters

buffer	An unsigned char array of data to be written.
size	The amount of data to be written.

Returns: int Bytes written.

Implements segwayrmp::RMPIO.

Definition at line 274 of file rmp_ftd2xx.cc.

Member Data Documentation

int segwayrmp::FTD2XXRMPIO::baudrate

private

Definition at line 136 of file rmp_ftd2xx.h.

ConfigurationType segwayrmp::FTD2XXRMPIO::config_type

private

Definition at line 130 of file rmp_ftd2xx.h.

bool segwayrmp::FTD2XXRMPIO::configured

private

Definition at line 126 of file rmp_ftd2xx.h.

bool segwayrmp::FTD2XXRMPIO::is_open

private

Definition at line 128 of file rmp_ftd2xx.h.

std::string segwayrmp::FTD2XXRMPIO::port_description

private

Definition at line 133 of file rmp_ftd2xx.h.

unsigned int segwayrmp::FTD2XXRMPIO::port_index

private

Definition at line 134 of file rmp_ftd2xx.h.

std::string segwayrmp::FTD2XXRMPIO::port_serial_number

private

Definition at line 132 of file rmp_ftd2xx.h.

FT_HANDLE segwayrmp::FTD2XXRMPIO::usb_port_handle

private

Definition at line 138 of file rmp_ftd2xx.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation