The Rokubimini Serial Implementation class. More...

#include <RokubiminiSerialImpl.hpp>

Public Member Functions
bool	firmwareUpdate (const std::string &filePath)
	Updates the firmware of the device. More...

bool	getForceTorqueSamplingRate (int &samplingRate)
	Gets the force torque sampling rate of the device. More...

std::string	getName () const
	Accessor for device name. More...

void	getReading (rokubimini::Reading &reading)
	Gets the internal reading variable. More...

bool	getSerialNumber (unsigned int &serialNumber)
	Accessor for device serial number. More...

bool	hasFrameSync ()
	Returns if there is frame synchronization with the device. More...

bool	init ()
	This method initializes internal variables and the device for communication. It connects to the serial-port. More...

bool	isRunning ()
	Returns if the serial driver is running. More...

bool	loadConfig ()
	Loads the configuration of the device. More...

bool	printUserConfig ()
	Prints all the user configurable parameters. More...

	RokubiminiSerialImpl ()=delete
	Default constructor is deleted. More...

	RokubiminiSerialImpl (const std::string &name, const std::string &port, const std::uint32_t &baudRate)
	Custom constructor for the RokubiminiSerialImpl class. More...

bool	saveConfigParameter ()
	Saves the current configuration to the device. More...

bool	setAccelerationFilter (const unsigned int filter)
	Sets an acceleration filter to the device. More...

bool	setAccelerationRange (const unsigned int range)
	Sets an acceleration range to the device. More...

bool	setAngularRateFilter (const unsigned int filter)
	Sets an angular rate filter to the device. More...

bool	setAngularRateRange (const unsigned int range)
	Sets an angular rate range to the device. More...

bool	setCommunicationSetup (const configuration::SensorConfiguration &sensorConfiguration, const uint8_t &dataFormat, const uint32_t &baudRate)
	Sets communication setup for the device. This includes setting the temperature compensation, the matrix calibration, the data format and the baud rate. More...

bool	setConfigMode ()
	Sets the device in config mode. More...

bool	setForceTorqueFilter (const configuration::ForceTorqueFilter &filter)
	Sets a force torque filter to the device. More...

bool	setForceTorqueOffset (const Eigen::Matrix< double, 6, 1 > &forceTorqueOffset)
	Sets a force torque offset to the device. More...

bool	setHardwareReset ()
	Triggers a hardware reset of the sensor. More...

bool	setInitMode ()
	Triggers a software reset of the sensor bringing it to a known state. More...

void	setPollingTimeStep (double timeStep)
	Sets the time step of the polling thread in seconds. timeStep The time step in seconds. More...

bool	setRunMode ()
	Sets the device in run mode. More...

bool	setSensorCalibration (const calibration::SensorCalibration &sensorCalibration)
	Sets a sensor calibration to the device. More...

bool	setSensorConfiguration (const configuration::SensorConfiguration &sensorConfiguration)
	Sets a sensor configuration to the device. More...

void	setState (const uint16_t state)
	Sets the state of the device in the bus (unused). More...

void	shutdown ()
	Shuts down the device. It automatically shuts-down threads and disconnects from serial-port. More...

bool	startup ()
	This method starts up communication with the device. More...

void	updateRead ()
	This method is called by the BusManager. Each device attached to this bus reads its data from the buffer (not used). More...

void	updateWrite ()
	This method is called by the BusManager. Each device attached to the bus writes its data to the buffer (not used). More...

bool	waitForState (const uint16_t state)
	Wait for a state to be reached (unused). More...

	~RokubiminiSerialImpl ()=default

Private Types
using	timespec = struct timespec

Private Member Functions
uint16_t	calcCrc16X25 (uint8_t *data, int len)

bool	connect ()
	Connects to the Serial-over-USB port. More...

bool	connect (const std::string &port)
	Connects to the Serial-over-USB port. More...

void	connectionWorker ()
	Worker threads for managing sensor connections. More...

uint16_t	crcCcittUpdate (uint16_t crc, uint8_t data)
	Implementation function of the CRC16 X25 checksum for the input data. More...

double	diffSec (timespec a, timespec b)
	Calculates the difference (b-a) of two timespecs in seconds. More...

std::uint32_t	getBaudRateDefinition (const uint32_t &baudRate)
	Returns the system definition for the given baudRate. More...

ConnectionState	getConnectionState () const
	Retreive sensor state/status. More...

ErrorState	getErrorState () const
	Gets the current error status. More...

std::string	getErrorString () const
	Retrieves detailed error indication. More...

bool	hasError () const
	Checks the connection has errors. More...

bool	initSensorCommunication (bool keepConnecting)
	Initializatin-time helper functions. More...

bool	initSerialPort (const std::string &port)
	Sets up and initializes the serial port for communication. More...

bool	isConnected () const
	Quick sensor/state testers. More...

bool	isConnecting () const
	Checks if device is already in the process of connecting. More...

bool	isInConfigMode () const
	Checks if the ModeState is Config Mode. More...

void	pollingWorker ()
	Worker threads for polling the sensors. More...

bool	readDevice (RxFrame &frame)
	Reads a raw measurement frame from the serial-port. More...

bool	sendCalibrationMatrixEntry (const uint8_t subId, const double entry)
	Sends a calibration matrix entry to device. More...

bool	startPollingThread ()
	This method starts up the polling thread. More...

timespec	timespecAdd (timespec a, timespec b)
	Calculates the sum of two timespecs. More...

double	timespecToSec (timespec t)
	Converts a timespec to seconds. More...

bool	writeSerial (const std::string &str)
	Writes an Ascii string to the serial device. More...

Private Attributes
std::uint32_t	baudRate_
	The baud rate of the serial communication. More...

boost::atomic< ConnectionState >	connectionState_
	Internal connection state. More...

boost::thread	connectionThread_
	Connection thread handle. More...

boost::atomic< ErrorState >	errorState_
	Internal error state. More...

RxFrame	frame_
	The internal variable for the receiving frame. This variable represents the raw data received from the sensor. More...

unsigned long	frameCrcErrorCounter_
	Counter for frames with CRC errors. More...

uint8_t	frameHeader = 0xAA
	The frame header value. More...

unsigned long	frameReceivedCounter_
	Received frame counter. More...

unsigned long	frameSuccessCounter_
	Correct frames counter. More...

boost::atomic< bool >	frameSync_
	Flag that indicates if the frame is synced. More...

unsigned int	frameSyncErrorCounter_
	Frame sync errors. More...

boost::atomic< bool >	isRunning_
	Internal flags/indicators. More...

unsigned int	maxFrameSyncErrorCounts_
	Maximum acceptable frame sync errors. More...

boost::atomic< ModeState >	modeState_
	Mode state of the sensor. More...

std::string	name_
	Name of the sensor. More...

unsigned long	pollingSyncErrorCounter_
	Internal statistics and error counters. More...

boost::thread	pollingThread_
	Polling thread handle. More...

double	pollingThreadTimeStep_
	If setup, the sensor polling thread will poll at this rate. More...

std::string	port_
	The serial port to connect to. More...

std::recursive_mutex	readingMutex_
	Mutex prohibiting simultaneous access the internal Reading variable. More...

bool	runInThreadedMode_
	Flag to indicate whether the driver should setup worker threads at startup. More...

Reading	serialImplReading_
	The internal reading variable. It's used for providing to client code the sensor readings, through the getReading () function. More...

std::recursive_mutex	serialMutex_
	Mutex prohibiting simultaneous access to Serial device. More...

double	timeStampSecs_
	Sample time-stamp. More...

boost::atomic< int >	usbFileDescriptor_
	The USB file descriptor. More...

std::ifstream	usbStreamIn_
	Input stream for the USB file descriptor. More...

std::ofstream	usbStreamOut_
	Output stream for the USB file descriptor. More...

bool	useDeviceTimeStamps_
	Flag to indicate whether time-stamps should be generated using sensor or system time. More...

Static Private Attributes
static const uint64_t	NSEC_PER_SEC = 1000000000

Detailed Description

The Rokubimini Serial Implementation class.

It's the implementation in the BRIDGE pattern used. It provides the implementation to be called by the interface (RokubiminiSerial) in order to communicate with the Serial Device.

Definition at line 113 of file RokubiminiSerialImpl.hpp.

Member Typedef Documentation

using rokubimini::serial::RokubiminiSerialImpl::timespec = struct timespec

private

Definition at line 565 of file RokubiminiSerialImpl.hpp.

Constructor & Destructor Documentation

rokubimini::serial::RokubiminiSerialImpl::RokubiminiSerialImpl ( )

delete

Default constructor is deleted.

rokubimini::serial::RokubiminiSerialImpl::RokubiminiSerialImpl	(	const std::string &	name,
		const std::string &	port,
		const std::uint32_t &	baudRate
	)

Custom constructor for the RokubiminiSerialImpl class.

Parameters

name	The name of the device.
port	The port to connect to.
baudRate	The baud rate of the serial communication.

Definition at line 33 of file RokubiminiSerialImpl.cpp.

rokubimini::serial::RokubiminiSerialImpl::~RokubiminiSerialImpl ( )

default

Member Function Documentation

uint16_t rokubimini::serial::RokubiminiSerialImpl::calcCrc16X25	(	uint8_t *	data,
		int	len
	)

inlineprivate

Definition at line 518 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::connect ( )

private

Connects to the Serial-over-USB port.

Returns: True if connection was successful.

Definition at line 138 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::connect ( const std::string & port )

private

Connects to the Serial-over-USB port.

Parameters

port	The port to connect to.

Returns: True if connection was successful.

Definition at line 178 of file RokubiminiSerialImpl.cpp.

void rokubimini::serial::RokubiminiSerialImpl::connectionWorker ( )

private

Worker threads for managing sensor connections.

Definition at line 536 of file RokubiminiSerialImpl.cpp.

uint16_t rokubimini::serial::RokubiminiSerialImpl::crcCcittUpdate	(	uint16_t	crc,
		uint8_t	data
	)

private

Implementation function of the CRC16 X25 checksum for the input data.

Parameters

data	The input data.
crc	The current checksum.

Returns: The new checksum calculated.

Definition at line 526 of file RokubiminiSerialImpl.cpp.

double rokubimini::serial::RokubiminiSerialImpl::diffSec	(	timespec	a,
		timespec	b
	)

inlineprivate

Calculates the difference (b-a) of two timespecs in seconds.

Parameters

a	The first timespec.
b	The second timespec.

Returns: The difference in seconds.

Definition at line 577 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::firmwareUpdate ( const std::string & filePath )

Updates the firmware of the device.

Parameters

filePath The path to find the firmware file

Returns: True if the flashing of firware was successful.

Definition at line 1025 of file RokubiminiSerialImpl.cpp.

uint32_t rokubimini::serial::RokubiminiSerialImpl::getBaudRateDefinition ( const uint32_t & baudRate )

private

Returns the system definition for the given baudRate.

Parameters

baudRate The baudRate to find the definition for.

Returns: The system definition.

Definition at line 371 of file RokubiminiSerialImpl.cpp.

ConnectionState rokubimini::serial::RokubiminiSerialImpl::getConnectionState ( ) const

private

Retreive sensor state/status.

Gets the current connection status.

Returns: The current connection status.

Definition at line 310 of file RokubiminiSerialImpl.cpp.

ErrorState rokubimini::serial::RokubiminiSerialImpl::getErrorState ( ) const

private

Gets the current error status.

Returns: The current error status.

Definition at line 315 of file RokubiminiSerialImpl.cpp.

std::string rokubimini::serial::RokubiminiSerialImpl::getErrorString ( ) const

private

Retrieves detailed error indication.

Returns: The error string.

Definition at line 320 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::getForceTorqueSamplingRate ( int & samplingRate )

inline

Gets the force torque sampling rate of the device.

Parameters

samplingRate The force torque sampling rate to be fetched.

Returns: True if the force torque sampling rate was successfully fetched.

Definition at line 269 of file RokubiminiSerialImpl.hpp.

std::string rokubimini::serial::RokubiminiSerialImpl::getName ( ) const

inline

Accessor for device name.

Returns: The name of the device.

Definition at line 234 of file RokubiminiSerialImpl.hpp.

void rokubimini::serial::RokubiminiSerialImpl::getReading ( rokubimini::Reading & reading )

Gets the internal reading variable.

Parameters

reading The variable to store the reading.

Definition at line 638 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::getSerialNumber ( unsigned int & serialNumber )

inline

Accessor for device serial number.

Parameters

serialNumber The serial number to get.

Returns: True if the serial number could be successfully fetched.

Definition at line 252 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::hasError ( ) const

private

Checks the connection has errors.

Returns: True if the connection has errors.

Definition at line 300 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::hasFrameSync ( )

inline

Returns if there is frame synchronization with the device.

Returns: True if there is.

Definition at line 520 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::init ( )

This method initializes internal variables and the device for communication. It connects to the serial-port.

Returns: True if the initialization was successful.

Definition at line 62 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::initSensorCommunication ( bool keepConnecting )

private

Initializatin-time helper functions.

Initializes communication with the sensor.

Parameters

keepConnecting Set if there will be multiple attempts or only one.

Returns: True if initialization of the communication was successful.

Definition at line 346 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::initSerialPort ( const std::string & port )

private

Sets up and initializes the serial port for communication.

Parameters

port	The port to initialize.

Returns: True if the port was initialized successfully.

Definition at line 440 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::isConnected ( ) const

private

Quick sensor/state testers.

Checks if the device is connected.

Returns: True if the device is connected.

Definition at line 290 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::isConnecting ( ) const

private

Checks if device is already in the process of connecting.

Returns: True if device is in the process of connecting.

Definition at line 295 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::isInConfigMode ( ) const

private

Checks if the ModeState is Config Mode.

Returns: True if the ModeState is Config Mode.

Definition at line 305 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::isRunning ( )

inline

Returns if the serial driver is running.

Returns: True if the serial driver is running.

Definition at line 498 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::loadConfig ( )

Loads the configuration of the device.

Returns: True if the operation was successful.

Definition at line 921 of file RokubiminiSerialImpl.cpp.

void rokubimini::serial::RokubiminiSerialImpl::pollingWorker ( )

private

Worker threads for polling the sensors.

Definition at line 541 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::printUserConfig ( )

Prints all the user configurable parameters.

Returns: True if the operation was successful.

Definition at line 939 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::readDevice ( RxFrame & frame )

private

Reads a raw measurement frame from the serial-port.

Parameters

frame The raw measurement frame to read.

Returns: True if the reading was successful.

Definition at line 184 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::saveConfigParameter ( )

Saves the current configuration to the device.

Returns: True if the configuration was successfully saved in the device.

Definition at line 903 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::sendCalibrationMatrixEntry	(	const uint8_t	subId,
		const double	entry
	)

inlineprivate

Sends a calibration matrix entry to device.

Parameters

subId	The sub-index of the SDO to write to.
entry	The entry on the matrix.

Returns: True if the operation was successful.

Definition at line 560 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::setAccelerationFilter ( const unsigned int filter )

inline

Sets an acceleration filter to the device.

Parameters

filter The filter to be set.

Returns: True if the acceleration torque filter was successfully set.

Definition at line 299 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::setAccelerationRange ( const unsigned int range )

inline

Sets an acceleration range to the device.

Parameters

range The range to be set.

Returns: True if the acceleration range was successfully set.

Definition at line 331 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::setAngularRateFilter ( const unsigned int filter )

inline

Sets an angular rate filter to the device.

Parameters

filter The filter to be set.

Returns: True if the angular rate filter was successfully set.

Definition at line 315 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::setAngularRateRange ( const unsigned int range )

inline

Sets an angular rate range to the device.

Parameters

range The range to be set.

Returns: True if the angular rate range was successfully set.

Definition at line 347 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::setCommunicationSetup	(	const configuration::SensorConfiguration &	sensorConfiguration,
		const uint8_t &	dataFormat,
		const uint32_t &	baudRate
	)

Sets communication setup for the device. This includes setting the temperature compensation, the matrix calibration, the data format and the baud rate.

Parameters

sensorConfiguration	The sensor configuration to be set.
dataFormat	The data format (binary = 0, CSV = 1).
baudRate	The desired baud rate (see user manual).

Returns: True if the operation was successful.

Definition at line 864 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::setConfigMode ( )

Sets the device in config mode.

Returns: True if the operation was successful.

Definition at line 665 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::setForceTorqueFilter ( const configuration::ForceTorqueFilter & filter )

Sets a force torque filter to the device.

Parameters

filter The filter to be set.

Returns: True if the force torque filter was successfully set.

Definition at line 774 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::setForceTorqueOffset ( const Eigen::Matrix< double, 6, 1 > & forceTorqueOffset )

Sets a force torque offset to the device.

Parameters

forceTorqueOffset The offset to be set.

Returns: True if the offset was successfully set.

Definition at line 800 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::setHardwareReset ( )

Triggers a hardware reset of the sensor.

Returns: True if the operation was successful.

Definition at line 723 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::setInitMode ( )

Triggers a software reset of the sensor bringing it to a known state.

Returns: True if the operation was successful.

Definition at line 738 of file RokubiminiSerialImpl.cpp.

void rokubimini::serial::RokubiminiSerialImpl::setPollingTimeStep ( double timeStep )

inline

Sets the time step of the polling thread in seconds. timeStep The time step in seconds.

Definition at line 509 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::setRunMode ( )

Sets the device in run mode.

Returns: True if the operation was successful.

Definition at line 701 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::setSensorCalibration ( const calibration::SensorCalibration & sensorCalibration )

Sets a sensor calibration to the device.

Parameters

sensorCalibration The calibration to be set.

Returns: True if the calibration was successfully set.

Definition at line 821 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::setSensorConfiguration ( const configuration::SensorConfiguration & sensorConfiguration )

Sets a sensor configuration to the device.

Parameters

sensorConfiguration The configuration to be set.

Returns: True if the configuration was successfully set.

Definition at line 852 of file RokubiminiSerialImpl.cpp.

void rokubimini::serial::RokubiminiSerialImpl::setState ( const uint16_t state )

inline

Sets the state of the device in the bus (unused).

Parameters

state Desired state.

Returns: True if the angular rate filter was successfully set.

Definition at line 208 of file RokubiminiSerialImpl.hpp.

void rokubimini::serial::RokubiminiSerialImpl::shutdown ( )

Shuts down the device. It automatically shuts-down threads and disconnects from serial-port.

Definition at line 184 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::startPollingThread ( )

private

This method starts up the polling thread.

Returns: True if the operation was successful.

Definition at line 86 of file RokubiminiSerialImpl.cpp.

bool rokubimini::serial::RokubiminiSerialImpl::startup ( )

This method starts up communication with the device.

Returns: True if the startup was successful.

Definition at line 98 of file RokubiminiSerialImpl.cpp.

timespec rokubimini::serial::RokubiminiSerialImpl::timespecAdd	(	timespec	a,
		timespec	b
	)

inlineprivate

Calculates the sum of two timespecs.

Parameters

a	The first timespec.
b	The second timespec.

Returns: The timespec after adding the two input timespecs.

Definition at line 606 of file RokubiminiSerialImpl.hpp.

double rokubimini::serial::RokubiminiSerialImpl::timespecToSec ( timespec t )

inlineprivate

Converts a timespec to seconds.

Parameters

t	The timespec.

Returns: The seconds.

Definition at line 591 of file RokubiminiSerialImpl.hpp.

void rokubimini::serial::RokubiminiSerialImpl::updateRead ( )

inline

This method is called by the BusManager. Each device attached to this bus reads its data from the buffer (not used).

Definition at line 173 of file RokubiminiSerialImpl.hpp.

void rokubimini::serial::RokubiminiSerialImpl::updateWrite ( )

inline

This method is called by the BusManager. Each device attached to the bus writes its data to the buffer (not used).

Definition at line 184 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::waitForState ( const uint16_t state )

inline

Wait for a state to be reached (unused).

Parameters

state Desired state.

Returns: True if the state has been reached within the timeout.

Definition at line 220 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::writeSerial ( const std::string & str )

private

Writes an Ascii string to the serial device.

Parameters

str	The string to write.

Returns: True if the operation was successful.

Definition at line 982 of file RokubiminiSerialImpl.cpp.

Member Data Documentation

std::uint32_t rokubimini::serial::RokubiminiSerialImpl::baudRate_

private

The baud rate of the serial communication.

Definition at line 865 of file RokubiminiSerialImpl.hpp.

boost::atomic< ConnectionState > rokubimini::serial::RokubiminiSerialImpl::connectionState_

private

Internal connection state.

Definition at line 1013 of file RokubiminiSerialImpl.hpp.

boost::thread rokubimini::serial::RokubiminiSerialImpl::connectionThread_

private

Connection thread handle.

Definition at line 995 of file RokubiminiSerialImpl.hpp.

boost::atomic< ErrorState > rokubimini::serial::RokubiminiSerialImpl::errorState_

private

Internal error state.

Definition at line 1021 of file RokubiminiSerialImpl.hpp.

RxFrame rokubimini::serial::RokubiminiSerialImpl::frame_

private

The internal variable for the receiving frame. This variable represents the raw data received from the sensor.

Definition at line 945 of file RokubiminiSerialImpl.hpp.

unsigned long rokubimini::serial::RokubiminiSerialImpl::frameCrcErrorCounter_

private

Counter for frames with CRC errors.

Definition at line 1074 of file RokubiminiSerialImpl.hpp.

uint8_t rokubimini::serial::RokubiminiSerialImpl::frameHeader = 0xAA

private

The frame header value.

Definition at line 935 of file RokubiminiSerialImpl.hpp.

unsigned long rokubimini::serial::RokubiminiSerialImpl::frameReceivedCounter_

private

Received frame counter.

Definition at line 1056 of file RokubiminiSerialImpl.hpp.

unsigned long rokubimini::serial::RokubiminiSerialImpl::frameSuccessCounter_

private

Correct frames counter.

Definition at line 1065 of file RokubiminiSerialImpl.hpp.

boost::atomic< bool > rokubimini::serial::RokubiminiSerialImpl::frameSync_

private

Flag that indicates if the frame is synced.

Definition at line 908 of file RokubiminiSerialImpl.hpp.

unsigned int rokubimini::serial::RokubiminiSerialImpl::frameSyncErrorCounter_

private

Frame sync errors.

Definition at line 1082 of file RokubiminiSerialImpl.hpp.

boost::atomic< bool > rokubimini::serial::RokubiminiSerialImpl::isRunning_

private

Internal flags/indicators.

Internal flag to indicate if the threads are running.

Definition at line 1038 of file RokubiminiSerialImpl.hpp.

unsigned int rokubimini::serial::RokubiminiSerialImpl::maxFrameSyncErrorCounts_

private

Maximum acceptable frame sync errors.

Definition at line 1090 of file RokubiminiSerialImpl.hpp.

boost::atomic< ModeState > rokubimini::serial::RokubiminiSerialImpl::modeState_

private

Mode state of the sensor.

Definition at line 1030 of file RokubiminiSerialImpl.hpp.

std::string rokubimini::serial::RokubiminiSerialImpl::name_

private

Name of the sensor.

Definition at line 836 of file RokubiminiSerialImpl.hpp.

const uint64_t rokubimini::serial::RokubiminiSerialImpl::NSEC_PER_SEC = 1000000000

staticprivate

Definition at line 1097 of file RokubiminiSerialImpl.hpp.

unsigned long rokubimini::serial::RokubiminiSerialImpl::pollingSyncErrorCounter_

private

Internal statistics and error counters.

Synchronization error counter.

Definition at line 1048 of file RokubiminiSerialImpl.hpp.

boost::thread rokubimini::serial::RokubiminiSerialImpl::pollingThread_

private

Polling thread handle.

Definition at line 1004 of file RokubiminiSerialImpl.hpp.

double rokubimini::serial::RokubiminiSerialImpl::pollingThreadTimeStep_

private

If setup, the sensor polling thread will poll at this rate.

Definition at line 976 of file RokubiminiSerialImpl.hpp.

std::string rokubimini::serial::RokubiminiSerialImpl::port_

private

The serial port to connect to.

Definition at line 856 of file RokubiminiSerialImpl.hpp.

std::recursive_mutex rokubimini::serial::RokubiminiSerialImpl::readingMutex_

mutableprivate

Mutex prohibiting simultaneous access the internal Reading variable.

Definition at line 874 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::runInThreadedMode_

private

Flag to indicate whether the driver should setup worker threads at startup.

Definition at line 966 of file RokubiminiSerialImpl.hpp.

Reading rokubimini::serial::RokubiminiSerialImpl::serialImplReading_

private

The internal reading variable. It's used for providing to client code the sensor readings, through the getReading () function.

Definition at line 847 of file RokubiminiSerialImpl.hpp.

std::recursive_mutex rokubimini::serial::RokubiminiSerialImpl::serialMutex_

mutableprivate

Mutex prohibiting simultaneous access to Serial device.

Definition at line 883 of file RokubiminiSerialImpl.hpp.

double rokubimini::serial::RokubiminiSerialImpl::timeStampSecs_

private

Sample time-stamp.

Definition at line 957 of file RokubiminiSerialImpl.hpp.

boost::atomic< int > rokubimini::serial::RokubiminiSerialImpl::usbFileDescriptor_

private

The USB file descriptor.

Definition at line 899 of file RokubiminiSerialImpl.hpp.

std::ifstream rokubimini::serial::RokubiminiSerialImpl::usbStreamIn_

private

Input stream for the USB file descriptor.

Definition at line 917 of file RokubiminiSerialImpl.hpp.

std::ofstream rokubimini::serial::RokubiminiSerialImpl::usbStreamOut_

private

Output stream for the USB file descriptor.

Definition at line 926 of file RokubiminiSerialImpl.hpp.

bool rokubimini::serial::RokubiminiSerialImpl::useDeviceTimeStamps_

private

Flag to indicate whether time-stamps should be generated using sensor or system time.

Definition at line 986 of file RokubiminiSerialImpl.hpp.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation