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

#include <serial_port.h>

Public Member Functions
int	baudRate ()
	Get the current baud rate. More...

void	close ()
	Close the serial port. More...

int	flush ()
	Wrapper around tcflush. More...

void	open (const char *port_name, int baud_rate=115200)
	Open the serial port. More...

void	pauseStream ()
	Pause streaming. More...

bool	portOpen ()
	Check whether the port is open or not. More...

int	read (char *data, int max_length, int timeout=-1)
	Read from the port. More...

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. More...

int	readBytes (char *data, int length, int timeout=-1)
	Read a fixed number of bytes from the serial port. More...

int	readLine (char *data, int length, int timeout=-1)
	Read a line from the serial port. More...

bool	readLine (std::string *data, int timeout=-1)
	Read a line from the serial port. More...

void	resumeStream ()
	Resume streaming. More...

	SerialPort ()
	Constructor. More...

bool	startReadBetweenStream (std::function< void(std::string *)> f, char start, char end)
	Start a stream of readBetween() More...

bool	startReadLineStream (std::function< void(std::string *)> f)
	Start a stream of readLine(std::string*, int) More...

bool	startReadStream (std::function< void(char *, int)> f)
	Start a stream of read() More...

void	stopStream ()
	Stop streaming. More...

int	write (const char *data, int length=-1)
	Write to the port. More...

	~SerialPort ()
	Destructor. More...

Private Member Functions
void	readBetweenThread (char start, char end)
	Thread for a stream of readBetween() More...

void	readLineThread ()
	Thread for a stream of readLine(std::string*, int) More...

void	readThread ()
	Thread for a stream of read() More...

Private Attributes
int	baud_
	Baud rate. More...

int	fd_
	File descriptor. More...

std::function< void(std::string *)>	readBetweenCallback
	Stream readBetween callback boost function. More...

std::function< void(char *, int)>	readCallback
	Stream read callback boost function. More...

std::function< void(std::string *)>	readLineCallback
	Stream readLine callback boost function. More...

bool	stream_paused_
	Whether streaming is paused or not. More...

bool	stream_stopped_
	Whether streaming is stopped or not. More...

std::thread *	stream_thread_
	Stream thread. More...

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 80 of file serial_port.h.

Constructor & Destructor Documentation

SerialPort::SerialPort ( )

Constructor.

Definition at line 62 of file serial_port.cpp.

SerialPort::~SerialPort ( )

Destructor.

Definition at line 67 of file serial_port.cpp.

Member Function Documentation

int SerialPort::baudRate ( )

inline

Get the current baud rate.

Definition at line 111 of file serial_port.h.

void SerialPort::close ( )

Close the serial port.

This call essentially wraps close.

Definition at line 145 of file serial_port.cpp.

int SerialPort::flush ( )

Wrapper around tcflush.

Definition at line 405 of file serial_port.cpp.

void SerialPort::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.

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

Definition at line 73 of file serial_port.cpp.

void SerialPort::pauseStream ( )

Pause streaming.

Definition at line 544 of file serial_port.cpp.

bool SerialPort::portOpen ( )

inline

Check whether the port is open or not.

Definition at line 105 of file serial_port.h.

int SerialPort::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 173 of file serial_port.cpp.

bool SerialPort::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 326 of file serial_port.cpp.

void SerialPort::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 510 of file serial_port.cpp.

int SerialPort::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 202 of file serial_port.cpp.

int SerialPort::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 236 of file serial_port.cpp.

bool SerialPort::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 274 of file serial_port.cpp.

void SerialPort::readLineThread ( )

private

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

Stream version of the readLine function.

Definition at line 470 of file serial_port.cpp.

void SerialPort::readThread ( )

private

Thread for a stream of read()

Stream version of the read function.

Definition at line 428 of file serial_port.cpp.

void SerialPort::resumeStream ( )

Resume streaming.

Definition at line 549 of file serial_port.cpp.

bool SerialPort::startReadBetweenStream	(	std::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 495 of file serial_port.cpp.

bool SerialPort::startReadLineStream ( std::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 456 of file serial_port.cpp.

bool SerialPort::startReadStream ( std::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 414 of file serial_port.cpp.

void SerialPort::stopStream ( )

Stop streaming.

Definition at line 535 of file serial_port.cpp.

int SerialPort::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 157 of file serial_port.cpp.

Member Data Documentation

int SerialPort::baud_

private

Baud rate.

Definition at line 247 of file serial_port.h.

int SerialPort::fd_

private

File descriptor.

Definition at line 245 of file serial_port.h.

std::function<void(std::string*)> SerialPort::readBetweenCallback

private

Stream readBetween callback boost function.

Definition at line 281 of file serial_port.h.

std::function<void(char*, int)> SerialPort::readCallback

private

Stream read callback boost function.

Definition at line 277 of file serial_port.h.

std::function<void(std::string*)> SerialPort::readLineCallback

private

Stream readLine callback boost function.

Definition at line 279 of file serial_port.h.

bool SerialPort::stream_paused_

private

Whether streaming is paused or not.

Definition at line 284 of file serial_port.h.

bool SerialPort::stream_stopped_

private

Whether streaming is stopped or not.

Definition at line 286 of file serial_port.h.

std::thread* SerialPort::stream_thread_

private

Stream thread.

Definition at line 274 of file serial_port.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