C++ serial port class for ROS. More...

#include <md49_serialport.h>

Public Member Functions
int	baudRate ()
	Get the current baud rate.
	CerealPort ()
	Constructor.
void	close ()
	Close the serial port.
int	flush ()
	Wrapper around tcflush.
void	open (const char *port_name, int baud_rate=115200)
	Open the serial port.
void	pauseStream ()
	Pause streaming.
bool	portOpen ()
	Check whether the port is open or not.
int	read (char *data, int max_length, int timeout=-1)
	Read from the port.
bool	readBetween (std::string *data, char start, char end, int timeout=-1)
	Read from the serial port between a start char and an end char.
int	readBytes (char *data, int length, int timeout=-1)
	Read a fixed number of bytes from the serial port.
int	readLine (char *data, int length, int timeout=-1)
	Read a line from the serial port.
bool	readLine (std::string *data, int timeout=-1)
	Read a line from the serial port.
void	resumeStream ()
	Resume streaming.
bool	startReadBetweenStream (boost::function< void(std::string *)> f, char start, char end)
	Start a stream of readBetween()
bool	startReadLineStream (boost::function< void(std::string *)> f)
	Start a stream of readLine(std::string*, int)
bool	startReadStream (boost::function< void(char *, int)> f)
	Start a stream of read()
void	stopStream ()
	Stop streaming.
int	write (const char *data, int length=-1)
	Write to the port.
	~CerealPort ()
	Destructor.
Private Member Functions
void	readBetweenThread (char start, char end)
	Thread for a stream of readBetween()
void	readLineThread ()
	Thread for a stream of readLine(std::string*, int)
void	readThread ()
	Thread for a stream of read()
Private Attributes
int	baud_
	Baud rate.
int	fd_
	File descriptor.
boost::function< void(std::string *)	readBetweenCallback )
	Stream readBetween callback boost function.
boost::function< void(char *, int)	readCallback )
	Stream read callback boost function.
boost::function< void(std::string *)	readLineCallback )
	Stream readLine callback boost function.
bool	stream_paused_
	Whether streaming is paused or not.
bool	stream_stopped_
	Whether streaming is stopped or not.
boost::thread *	stream_thread_
	Stream thread.

Detailed Description

C++ serial port class for ROS.

This class was based on the serial port code found on the hokuyo_node as suggested by Blaise Gassend on the ros-users mailling list.

Definition at line 34 of file md49_serialport.h.

Constructor & Destructor Documentation

cereal::CerealPort::CerealPort ( )

Constructor.

Definition at line 23 of file md49_serialport.cpp.

cereal::CerealPort::~CerealPort ( )

Destructor.

Definition at line 28 of file md49_serialport.cpp.

Member Function Documentation

int cereal::CerealPort::baudRate ( ) [inline]

Get the current baud rate.

Definition at line 62 of file md49_serialport.h.

void cereal::CerealPort::close ( )

Close the serial port.

This call essentially wraps close.

Definition at line 97 of file md49_serialport.cpp.

int cereal::CerealPort::flush ( )

Wrapper around tcflush.

Definition at line 323 of file md49_serialport.cpp.

void cereal::CerealPort::open	(	const char *	port_name,
		int	baud_rate = `115200`
	)

Open the serial port.

This opens the serial port for communication. Wrapper for open.

Parameters:

port_name	A null terminated character array containing the name of the port.
baud_rate	Baud rate of the serial port. Defaults to 115200.

Todo:: tcsetattr returns true if at least one attribute was set. Hence, we might not have set everything on success.

Definition at line 33 of file md49_serialport.cpp.

void cereal::CerealPort::pauseStream ( )

Pause streaming.

Definition at line 449 of file md49_serialport.cpp.

bool cereal::CerealPort::portOpen ( ) [inline]

Check whether the port is open or not.

Definition at line 59 of file md49_serialport.h.

int cereal::CerealPort::read	(	char *	data,
		int	max_length,
		int	timeout = `-1`
	)

Read from the port.

This function allows to read data from the serial port. Simple wrapper for read.

Parameters:

data	Data coming from the serial port.
max_length	Maximum length of the incoming data.
timeout	Timeout in milliseconds.

Returns:: Number of bytes read.

Definition at line 124 of file md49_serialport.cpp.

bool cereal::CerealPort::readBetween	(	std::string *	data,
		char	start,
		char	end,
		int	timeout = `-1`
	)

Read from the serial port between a start char and an end char.

This function allows to read data from the serial port between a start and an end char.

Parameters:

data	Data coming from the serial port.
start	Start character of the incoming data stream.
end	End character of the incoming data stream.
timeout	Timeout in milliseconds.

Returns:: Whether the read was successful or not.

Definition at line 254 of file md49_serialport.cpp.

void cereal::CerealPort::readBetweenThread	(	char	start,
		char	end
	)		`[private]`

Thread for a stream of readBetween()

Stream version of the readBetween function.

Parameters:

start	Start character of the incoming data stream.
end	End character of the incoming data stream.

Definition at line 419 of file md49_serialport.cpp.

int cereal::CerealPort::readBytes	(	char *	data,
		int	length,
		int	timeout = `-1`
	)

Read a fixed number of bytes from the serial port.

This function allows to read a fixed number of data bytes from the serial port, no more, no less.

Parameters:

data	Data coming from the serial port.
length	Fixed length of the incoming data.
timeout	Timeout in milliseconds.

See also:: read()

Returns:: Number of bytes read.

Definition at line 148 of file md49_serialport.cpp.

int cereal::CerealPort::readLine	(	char *	data,
		int	length,
		int	timeout = `-1`
	)

Read a line from the serial port.

This function allows to read a line from the serial port. Data is return as char*

Parameters:

data	Data coming from the serial port.
length	Length of the incoming data.
timeout	Timeout in milliseconds.

See also:: readLine(std::string*, int)

Returns:: Number of bytes read.

Definition at line 177 of file md49_serialport.cpp.

bool cereal::CerealPort::readLine	(	std::string *	data,
		int	timeout = `-1`
	)

Read a line from the serial port.

This function allows to read a line from the serial port. Data is return as std::string

Parameters:

data	Data coming from the serial port.
timeout	Timeout in milliseconds.

See also:: readLine(char*, int, int)

Returns:: Whether the read was successful or not.

Definition at line 210 of file md49_serialport.cpp.

void cereal::CerealPort::readLineThread ( ) [private]

Thread for a stream of readLine(std::string*, int)

Stream version of the readLine function.

Definition at line 385 of file md49_serialport.cpp.

void cereal::CerealPort::readThread ( ) [private]

Thread for a stream of read()

Stream version of the read function.

Definition at line 344 of file md49_serialport.cpp.

void cereal::CerealPort::resumeStream ( )

Resume streaming.

Definition at line 454 of file md49_serialport.cpp.

bool cereal::CerealPort::startReadBetweenStream	(	boost::function< void(std::string *)>	f,
		char	start,
		char	end
	)

Start a stream of readBetween()

Stream version of the readBetween() function.

Parameters:

f	Callback boost function to receive the data.
start	Start character of the incoming data stream.
end	End character of the incoming data stream.

See also:: readBetween()

Returns:: True if successful false if a stream is already running.

Definition at line 406 of file md49_serialport.cpp.

bool cereal::CerealPort::startReadLineStream ( boost::function< void(std::string *)> f )

Start a stream of readLine(std::string*, int)

Stream version of the readLine(std::string*, int) function.

Parameters:

f	Callback boost function to receive the data.

See also:: readLine(std::string*, int)

Returns:: True if successful false if a stream is already running.

Definition at line 372 of file md49_serialport.cpp.

bool cereal::CerealPort::startReadStream ( boost::function< void(char *, int)> f )

Start a stream of read()

Stream version of the read function.

Parameters:

f	Callback boost function to receive the data.

See also:: read()

Returns:: True if successful false if a stream is already running.

Definition at line 331 of file md49_serialport.cpp.

void cereal::CerealPort::stopStream ( )

Stop streaming.

Definition at line 440 of file md49_serialport.cpp.

int cereal::CerealPort::write	(	const char *	data,
		int	length = `-1`
	)

Write to the port.

This function allows to send data through the serial port. Wraper for write.

Parameters:

data	Data to send in a character array or null terminated c string.
length	Number of bytes being sent. Defaults to -1 if sending a c string.

Returns:: Number of bytes writen.

Definition at line 109 of file md49_serialport.cpp.

Member Data Documentation

int cereal::CerealPort::baud_ [private]

Baud rate.

Definition at line 197 of file md49_serialport.h.

int cereal::CerealPort::fd_ [private]

File descriptor.

Definition at line 195 of file md49_serialport.h.

boost::function<void(std::string*) cereal::CerealPort::readBetweenCallback) [private]

Stream readBetween callback boost function.

Definition at line 231 of file md49_serialport.h.

boost::function<void(char*, int) cereal::CerealPort::readCallback) [private]

Stream read callback boost function.

Definition at line 227 of file md49_serialport.h.

boost::function<void(std::string*) cereal::CerealPort::readLineCallback) [private]

Stream readLine callback boost function.

Definition at line 229 of file md49_serialport.h.

bool cereal::CerealPort::stream_paused_ [private]

Whether streaming is paused or not.

Definition at line 234 of file md49_serialport.h.

bool cereal::CerealPort::stream_stopped_ [private]

Whether streaming is stopped or not.

Definition at line 236 of file md49_serialport.h.

boost::thread* cereal::CerealPort::stream_thread_ [private]

Stream thread.

Definition at line 224 of file md49_serialport.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation