Class Serial

Defined in File serial.hpp

Inheritance Relationships

Derived Type

public robotiq_driver::DefaultSerial (Class DefaultSerial)

Class Documentation

class Serial

The driver talks to the hardware through an implementation of the serial interface. We can mock the serial connection to check that a high level command (e.g activate) is converted into the correct sequence of bytes including CRC.

Subclassed by robotiq_driver::DefaultSerial

Public Functions

virtual ~Serial() = default

virtual void open() = 0: Opens the serial port as long as the port is set and the port isn’t already open.

virtual bool is_open() const = 0

Gets the open status of the serial port.

Returns:: Returns true if the port is open, false otherwise.

virtual void close() = 0: Closes the serial port.

virtual std::vector<uint8_t> read(size_t size) = 0

Read a given amount of bytes from the serial port.

Parameters:

size – The number of bytes to read.

Throws:

serial::PortNotOpenedException –
serial::SerialException –

Returns:

The sequence of bytes.

virtual void write(const std::vector<uint8_t> &data) = 0

Write a sequence of bytes to the serial port.

Parameters:

data – A vector containing data to be written to the serial port.

Throws:

serial::PortNotOpenedException –
serial::SerialException –
serial::IOException –

virtual void set_port(const std::string &port) = 0

Sets the serial port identifier.

Parameters:: port – A const std::string reference containing the address of the serial port, which would be something like “COM1” on Windows and “/dev/ttyS0” on Linux.
Throws:: std::invalid_argument –

virtual std::string get_port() const = 0

Gets the serial port identifier.