swri_serial_util::SerialPort Class Reference

#include <serial_port.h>

Public Types
enum	Result { SUCCESS, TIMEOUT, INTERRUPTED, ERROR }

Public Member Functions
void	Close ()
std::string	ErrorMsg () const
bool	Open (const std::string &device, SerialConfig config=SerialConfig())
Result	ReadBytes (std::vector< uint8_t > &output, size_t max_bytes, int32_t timeout)
	SerialPort ()
int32_t	Write (const std::vector< uint8_t > &input)
	~SerialPort ()

Public Attributes
std::string	error_msg_
int	fd_

Private Member Functions
int32_t	ParseBaudRate (int32_t baud)
bool	SetLowLatencyMode ()

Detailed Description

Definition at line 82 of file serial_port.h.

Member Enumeration Documentation

enum swri_serial_util::SerialPort::Result

Enumerator
SUCCESS
TIMEOUT
INTERRUPTED
ERROR

Definition at line 86 of file serial_port.h.

Constructor & Destructor Documentation

swri_serial_util::SerialPort::SerialPort

(

)

Constructor.

Definition at line 74 of file serial_port.cpp.

swri_serial_util::SerialPort::~SerialPort

(

)

Destructor.

Closes serial port if open.

Definition at line 80 of file serial_port.cpp.

Member Function Documentation

void swri_serial_util::SerialPort::Close

(

)

Close the serial port.

Definition at line 85 of file serial_port.cpp.

std::string swri_serial_util::SerialPort::ErrorMsg ( ) const

inline

Get the most recent error message.

Definition at line 150 of file serial_port.h.

bool swri_serial_util::SerialPort::Open	(	const std::string &	device,
		SerialConfig	config = SerialConfig()
	)

Open and configure the serial port.

The default configuration is: baud = 115200 parity = NO_PARITY flow control = false data bits = 8 stop bits = 1 low latency mode = false

Parameters

[in]	device	The OS path of the device.
[in]	config	The port configuration settings.

Definition at line 94 of file serial_port.cpp.

int32_t swri_serial_util::SerialPort::ParseBaudRate ( int32_t  baud )

private

Parses integer and enumerated baud rates into enumerated baud rates.

Parameters

[in]

baud

The baud rate (either integer or enumerated)

Returns

The enumerated baud rate or -1 if invalid.

Definition at line 228 of file serial_port.cpp.

SerialPort::Result swri_serial_util::SerialPort::ReadBytes	(	std::vector< uint8_t > &	output,
		size_t	max_bytes,
		int32_t	timeout
	)

Read bytes from the serial port.

Appends up to max_bytes into the provided vector. If max_bytes is 0, it reads all available bytes.

Parameters

[out]	output	The output buffer for bytes read in.
[in]	max_bytes	The maximum number of bytes to read. If set to 0, all available bytes are read.
[in]	timeout	The maximum time to block in milliseconds

Returns

Read result (SUCCESS, TIMEOUT, INTERRUPTED, or ERROR).

Definition at line 352 of file serial_port.cpp.

bool swri_serial_util::SerialPort::SetLowLatencyMode ( )

private

Attempts to put serial port in low latency mode.

Definition at line 201 of file serial_port.cpp.

int32_t swri_serial_util::SerialPort::Write

(

const std::vector< uint8_t > &

input

)

Definition at line 433 of file serial_port.cpp.

Member Data Documentation

std::string swri_serial_util::SerialPort::error_msg_

Definition at line 95 of file serial_port.h.

int swri_serial_util::SerialPort::fd_

Definition at line 94 of file serial_port.h.

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

• serial_port.h
• serial_port.cpp