#include <serial.h>

Classes
struct	WriteBuffer
	Struct for buffering the contents of a mavlink message. More...

Public Member Functions
void	close ()
	Stops communication and closes the port. More...

void	open ()
	Opens the port and begins communication. More...

void	register_listener (SerialListener *const listener)
	Register a listener for received bytes. More...

	Serial (std::__cxx11::string port, int baud_rate)
	Instantiates the class and begins communication on the specified serial port. More...

void	write (const uint8_t *buffer, uint8_t len)
	write data More...

	~Serial ()
	Stops communication and closes the serial port before the object is destroyed. More...

Public Attributes
boost::asio::io_service	io_service_
	boost io service provider More...

Private Types
typedef boost::lock_guard< boost::recursive_mutex >	mutex_lock
	Convenience typedef for mutex lock. More...

Private Member Functions
void	async_read ()
	Initiate an asynchronous read operation. More...

void	async_read_end (const boost::system::error_code &error, size_t bytes_transferred)
	Handler for end of asynchronous read operation. More...

void	async_write (bool check_write_state)
	Initialize an asynchronous write operation. More...

void	async_write_end (const boost::system::error_code &error, size_t bytes_transferred)
	Handler for end of asynchronous write operation. More...

Private Attributes
int	baud_rate_

uint8_t	compid_

boost::thread	io_thread_
	thread on which the io service runs More...

SerialListener *	listener_
	Pointer to byte listener. More...

boost::recursive_mutex	mutex_
	mutex for threadsafe operation More...

std::string	port_

uint8_t	read_buf_raw_ [BUFFER_SIZE]

boost::asio::serial_port	serial_port_
	boost serial port object More...

uint8_t	sysid_

bool	write_in_progress_
	flag for whether async_write is already running More...

std::list< WriteBuffer * >	write_queue_
	queue of buffers to be written to the serial port More...

Detailed Description

Definition at line 59 of file include/serial.h.

Member Typedef Documentation

◆ mutex_lock

typedef boost::lock_guard<boost::recursive_mutex> Serial::mutex_lock

private

Convenience typedef for mutex lock.

Definition at line 140 of file include/serial.h.

Constructor & Destructor Documentation

◆ Serial()

Serial::Serial	(	std::__cxx11::string	port,
		int	baud_rate
	)

Instantiates the class and begins communication on the specified serial port.

Parameters

port	Name of the serial port (e.g. "/dev/ttyUSB0")
baud_rate	Serial communication baud rate

Definition at line 43 of file serial.cpp.

◆ ~Serial()

Serial::~Serial ( )

Stops communication and closes the serial port before the object is destroyed.

Definition at line 53 of file serial.cpp.

Member Function Documentation

◆ async_read()

void Serial::async_read ( )

private

Initiate an asynchronous read operation.

Definition at line 100 of file serial.cpp.

◆ async_read_end()

void Serial::async_read_end	(	const boost::system::error_code &	error,
		size_t	bytes_transferred
	)

private

Handler for end of asynchronous read operation.

Parameters

error	Error code
bytes_transferred	Number of bytes received

Definition at line 113 of file serial.cpp.

◆ async_write()

void Serial::async_write ( bool check_write_state )

private

Initialize an asynchronous write operation.

Parameters

check_write_state If true, only start another write operation if a write sequence is not already running

Definition at line 147 of file serial.cpp.

◆ async_write_end()

void Serial::async_write_end	(	const boost::system::error_code &	error,
		size_t	bytes_transferred
	)

private

Handler for end of asynchronous write operation.

Parameters

error	Error code
bytes_transferred	Number of bytes sent

Definition at line 168 of file serial.cpp.

◆ close()

void Serial::close ( )

Stops communication and closes the port.

Definition at line 79 of file serial.cpp.

◆ open()

void Serial::open ( )

Opens the port and begins communication.

Definition at line 57 of file serial.cpp.

◆ register_listener()

void Serial::register_listener ( SerialListener *const listener )

Register a listener for received bytes.

Parameters

listener Pointer to an object that implements the SerialListener interface

Definition at line 92 of file serial.cpp.

◆ write()

void Serial::write	(	const uint8_t *	buffer,
		uint8_t	len
	)

write data

Parameters

buffer	The message to send
len	The number of bytes

Todo:: Do something less catastrophic here

Definition at line 128 of file serial.cpp.

Member Data Documentation

◆ baud_rate_

int Serial::baud_rate_

private

Definition at line 135 of file include/serial.h.

◆ compid_

uint8_t Serial::compid_

private

Definition at line 179 of file include/serial.h.

◆ io_service_

boost::asio::io_service Serial::io_service_

boost io service provider

Definition at line 98 of file include/serial.h.

◆ io_thread_

boost::thread Serial::io_thread_

private

thread on which the io service runs

Definition at line 175 of file include/serial.h.

◆ listener_

SerialListener* Serial::listener_

private

Pointer to byte listener.

Definition at line 131 of file include/serial.h.

◆ mutex_

boost::recursive_mutex Serial::mutex_

private

mutex for threadsafe operation

Definition at line 176 of file include/serial.h.

◆ port_

std::string Serial::port_

private

Definition at line 134 of file include/serial.h.

◆ read_buf_raw_

uint8_t Serial::read_buf_raw_[BUFFER_SIZE]

private

Definition at line 181 of file include/serial.h.

◆ serial_port_

boost::asio::serial_port Serial::serial_port_

private

boost serial port object

Definition at line 133 of file include/serial.h.

◆ sysid_

uint8_t Serial::sysid_

private

Definition at line 178 of file include/serial.h.

◆ write_in_progress_

bool Serial::write_in_progress_

private

flag for whether async_write is already running

Definition at line 184 of file include/serial.h.

◆ write_queue_

std::list<WriteBuffer*> Serial::write_queue_

private

queue of buffers to be written to the serial port

Definition at line 183 of file include/serial.h.

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

Classes

Public Member Functions

Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ mutex_lock

Constructor & Destructor Documentation

◆ Serial()

◆ ~Serial()

Member Function Documentation

◆ async_read()

◆ async_read_end()

◆ async_write()

◆ async_write_end()

◆ close()

◆ open()

◆ register_listener()

◆ write()

Member Data Documentation

◆ baud_rate_

◆ compid_

◆ io_service_

◆ io_thread_

◆ listener_

◆ mutex_

◆ port_

◆ read_buf_raw_

◆ serial_port_

◆ sysid_

◆ write_in_progress_

◆ write_queue_