segwayrmp::SerialRMPIO Class Reference

#include <rmp_serial.h>

Inheritance diagram for segwayrmp::SerialRMPIO:

Public Member Functions
void	configure (std::string port, int baudrate)
void	connect ()
void	disconnect ()
int	read (unsigned char *buffer, int size)
	SerialRMPIO ()
int	write (unsigned char *buffer, int size)
	~SerialRMPIO ()
Public Member Functions inherited from segwayrmp::RMPIO
void	cancel ()
void	getPacket (Packet &packet)
bool	isConnected ()
	RMPIO ()
void	sendPacket (Packet &packet)

Private Attributes
int	baudrate
bool	configured
std::string	port
serial::Serial	serial_port

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

Provides a serial based interface for reading and writing packets.

Definition at line 49 of file rmp_serial.h.

Constructor & Destructor Documentation

SerialRMPIO::SerialRMPIO

(

)

Constructs the SerialRMPIO object.

Definition at line 9 of file rmp_serial.cc.

SerialRMPIO::~SerialRMPIO

(

)

Definition at line 13 of file rmp_serial.cc.

Member Function Documentation

void SerialRMPIO::configure	(	std::string	port,
		int	baudrate
	)

Configures the serial port.

Parameters

port	The com port identifier like '/dev/ttyUSB0' on POSIX and like 'COM1' on windows.
baudrate	The speed of the serial communication.

Definition at line 17 of file rmp_serial.cc.

void SerialRMPIO::connect ( )

virtual

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

Implements segwayrmp::RMPIO.

Definition at line 23 of file rmp_serial.cc.

void SerialRMPIO::disconnect ( )

virtual

Disconnects from the serial port if it is open.

Implements segwayrmp::RMPIO.

Definition at line 41 of file rmp_serial.cc.

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

virtual

Read Function, reads from the serial 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 49 of file rmp_serial.cc.

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

virtual

Write Function, writes to the serial 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 53 of file rmp_serial.cc.

Member Data Documentation

int segwayrmp::SerialRMPIO::baudrate

private

Definition at line 97 of file rmp_serial.h.

bool segwayrmp::SerialRMPIO::configured

private

Definition at line 94 of file rmp_serial.h.

std::string segwayrmp::SerialRMPIO::port

private

Definition at line 96 of file rmp_serial.h.

serial::Serial segwayrmp::SerialRMPIO::serial_port

private

Definition at line 99 of file rmp_serial.h.

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

• rmp_serial.h
• rmp_serial.cc