Communication class with a few fix for 6.X.X firmware devices. More...

#include <qbrobotics_research_api.h>

Inheritance diagram for qbrobotics_research_api::CommunicationLegacy:

Public Member Functions
	CommunicationLegacy ()=default

	CommunicationLegacy (const Communication &communication)

	CommunicationLegacy (const Communication &communication, const serial::Serial::Timeout &timeout)

int	deserializePackage (const std::vector< uint8_t > &package_in, uint8_t &device_id, uint8_t &command, std::vector< int8_t > &data) override

int	parsePackage (const std::string &serial_port_name, uint8_t device_id, uint8_t command, std::vector< int8_t > &data_in) override

int	readLongPackage (const std::string &serial_port_name, std::vector< uint8_t > &package_in)

int	readPackage (const std::string &serial_port_name, std::vector< uint8_t > &package_in) override

int	readPackage (const std::string &serial_port_name, uint8_t &device_id, uint8_t &command, std::vector< int8_t > &data) override

int	sendCommandAndParse (const std::string &serial_port_name, uint8_t device_id, uint8_t command, uint8_t max_repeats, const std::vector< int8_t > &data_out, std::vector< int8_t > &data_in) override

virtual	~CommunicationLegacy ()=default

Public Member Functions inherited from qbrobotics_research_api::Communication
virtual uint8_t	checksum (const std::vector< uint8_t > &data, uint32_t size)

virtual int	closeSerialPort (const std::string &serial_port_name)
	Close the serial port if it belongs to the opened port set. More...

	Communication ()

	Communication (const serial::Serial::Timeout &timeout)

	Communication (uint32_t baud_rate)

	Communication (uint32_t baud_rate, const serial::Serial::Timeout &timeout)

virtual int	createSerialPort (const std::string &serial_port_name)
	put in the class map `serial_ports_` a newly created shared pointer Serial class that provides a portable serial port interface. More...

virtual int	createSerialPort (const std::string &serial_port_name, const serial::Serial::Timeout &timeout)
	put in the class map `serial_ports_` a newly created shared pointer Serial class that provides a portable serial port interface. More...

virtual int	createSerialPort (const std::string &serial_port_name, uint32_t baud_rate)
	put in the class map `serial_ports_` a newly created shared pointer Serial class that provides a portable serial port interface. More...

virtual int	createSerialPort (const std::string &serial_port_name, uint32_t baud_rate, const serial::Serial::Timeout &timeout)
	put in the class map `serial_ports_` a newly created shared pointer Serial class that provides a portable serial port interface. More...

virtual int	deserializePackage (const std::vector< uint8_t > &package_in, uint8_t &device_id, uint8_t &command)

std::map< std::string, std::shared_ptr< serial::Serial > >	getSerialPorts ()

virtual int	listConnectedDevices ()

virtual int	listConnectedDevices (const std::string &serial_port_name, std::vector< ConnectedDeviceInfo > &device_ids)
	List all the device id connected to the serial port. More...

virtual int	listSerialPorts (std::vector< serial::PortInfo > &serial_ports_info)
	List all the serial ports with a qbrobotics device connected. More...

virtual int	openSerialPort (const std::string &serial_port_name)
	Open the serial communication on the given serial port. More...

virtual int	openSerialPort (const std::string &serial_port_name, serial::Serial::Timeout &timeout)
	Open the serial communication on the given serial port with the default baudate. More...

virtual int	openSerialPort (const std::string &serial_port_name, uint32_t baud_rate)
	Open the serial communication on the given serial port with the default timeout. More...

virtual int	openSerialPort (const std::string &serial_port_name, uint32_t baud_rate, serial::Serial::Timeout &timeout)
	Open the serial communication on the given serial port. More...

virtual int	parsePackage (const std::string &serial_port_name, uint8_t device_id, uint8_t command)

virtual int	readPackage (const std::string &serial_port_name, uint8_t &device_id, uint8_t &command)

virtual int	sendCommand (const std::string &serial_port_name, uint8_t device_id, uint8_t command)

virtual int	sendCommand (const std::string &serial_port_name, uint8_t device_id, uint8_t command, const std::vector< int8_t > &data_out)

virtual int	sendCommandAndParse (const std::string &serial_port_name, uint8_t device_id, uint8_t command)

virtual int	sendCommandAndParse (const std::string &serial_port_name, uint8_t device_id, uint8_t command, const std::vector< int8_t > &data_out)

virtual int	sendCommandAndParse (const std::string &serial_port_name, uint8_t device_id, uint8_t command, const std::vector< int8_t > &data_out, std::vector< int8_t > &data_in)

virtual int	sendCommandAndParse (const std::string &serial_port_name, uint8_t device_id, uint8_t command, std::vector< int8_t > &data_in)

virtual int	sendCommandAndParse (const std::string &serial_port_name, uint8_t device_id, uint8_t command, uint8_t max_repeats)

virtual int	sendCommandAndParse (const std::string &serial_port_name, uint8_t device_id, uint8_t command, uint8_t max_repeats, const std::vector< int8_t > &data_out)

virtual int	sendCommandAndParse (const std::string &serial_port_name, uint8_t device_id, uint8_t command, uint8_t max_repeats, std::vector< int8_t > &data_in)

virtual int	sendCommandBroadcast (const std::string &serial_port_name, uint8_t command)

virtual int	sendCommandBroadcast (const std::string &serial_port_name, uint8_t command, const std::vector< int8_t > &data_out)

virtual int	serializePackage (uint8_t device_id, uint8_t command, const std::vector< int8_t > &data, std::vector< uint8_t > &package_out)

virtual int	serializePackage (uint8_t device_id, uint8_t command, std::vector< uint8_t > &package_out)

virtual int	writePackage (const std::string &serial_port_name, const std::vector< uint8_t > &package_out)

virtual int	writePackage (const std::string &serial_port_name, uint8_t device_id, uint8_t command)

virtual int	writePackage (const std::string &serial_port_name, uint8_t device_id, uint8_t command, const std::vector< int8_t > &data)

virtual	~Communication ()=default

Additional Inherited Members
Static Public Member Functions inherited from qbrobotics_research_api::Communication
template<class T >
static void	swapBytes (std::vector< T > &vector)

template<class T >
static void	swapBytes (T &x)

template<class S , class T >
static std::vector< S >	vectorCast (std::vector< T > vector)

template<class S , class T >
static std::vector< S >	vectorCastAndSwap (std::vector< T > vector)

template<class S , class T >
static std::vector< S >	vectorSwapAndCast (std::vector< T > vector)

Protected Member Functions inherited from qbrobotics_research_api::Communication
	Communication (const Communication &communication)

	Communication (const Communication &communication, const serial::Serial::Timeout &timeout)

bool	isInSerialPorts (const std::string &serial_port_name)

bool	isInSerialPortsInfo (const std::string &serial_port_name)

void	SetUp () override

void	TearDown () override

Protected Attributes inherited from qbrobotics_research_api::Communication
std::map< std::string, std::vector< ConnectedDeviceInfo > >	connected_devices_

std::vector< std::unique_ptr< qbroboticsResearchAPI::Device > >	devices_

std::vector< std::unique_ptr< qbroboticsResearchAPI::Device > >	devices_not_init_

std::unique_ptr< qbroboticsResearchAPI::Device >	fake_device_

std::shared_ptr< qbroboticsResearchAPI::Communication >	handler_

std::vector< serial::PortInfo >	serial_ports_

std::map< std::string, std::shared_ptr< serial::Serial > >	serial_ports_

uint32_t	serial_ports_baud_rate_

std::map< std::string, std::set< uint8_t > >	serial_ports_ids_

std::map< std::string, serial::PortInfo >	serial_ports_info_

serial::Serial::Timeout	serial_ports_timeout_

Detailed Description

Communication class with a few fix for 6.X.X firmware devices.

Definition at line 248 of file qbrobotics_research_api.h.

Constructor & Destructor Documentation

◆ CommunicationLegacy() [1/3]

qbrobotics_research_api::CommunicationLegacy::CommunicationLegacy ( )

default

◆ CommunicationLegacy() [2/3]

CommunicationLegacy::CommunicationLegacy ( const Communication & communication )

explicit

Definition at line 471 of file qbrobotics_research_api.cpp.

◆ CommunicationLegacy() [3/3]

CommunicationLegacy::CommunicationLegacy	(	const Communication &	communication,
		const serial::Serial::Timeout &	timeout
	)

explicit

Definition at line 474 of file qbrobotics_research_api.cpp.

◆ ~CommunicationLegacy()

virtual qbrobotics_research_api::CommunicationLegacy::~CommunicationLegacy ( )

virtualdefault

Member Function Documentation

◆ deserializePackage()

int CommunicationLegacy::deserializePackage	(	const std::vector< uint8_t > &	package_in,
		uint8_t &	device_id,
		uint8_t &	command,
		std::vector< int8_t > &	data
	)

overridevirtual

Reimplemented from qbrobotics_research_api::Communication.

Definition at line 548 of file qbrobotics_research_api.cpp.

◆ parsePackage()

int CommunicationLegacy::parsePackage	(	const std::string &	serial_port_name,
		uint8_t	device_id,
		uint8_t	command,
		std::vector< int8_t > &	data_in
	)

overridevirtual

Reimplemented from qbrobotics_research_api::Communication.

Definition at line 477 of file qbrobotics_research_api.cpp.

◆ readLongPackage()

int CommunicationLegacy::readLongPackage	(	const std::string &	serial_port_name,
		std::vector< uint8_t > &	package_in
	)

Definition at line 574 of file qbrobotics_research_api.cpp.

◆ readPackage() [1/2]

int CommunicationLegacy::readPackage	(	const std::string &	serial_port_name,
		std::vector< uint8_t > &	package_in
	)

overridevirtual

Reimplemented from qbrobotics_research_api::Communication.

Definition at line 592 of file qbrobotics_research_api.cpp.

◆ readPackage() [2/2]

int CommunicationLegacy::readPackage	(	const std::string &	serial_port_name,
		uint8_t &	device_id,
		uint8_t &	command,
		std::vector< int8_t > &	data
	)

overridevirtual

Reimplemented from qbrobotics_research_api::Communication.

Definition at line 584 of file qbrobotics_research_api.cpp.

◆ sendCommandAndParse()

int CommunicationLegacy::sendCommandAndParse	(	const std::string &	serial_port_name,
		uint8_t	device_id,
		uint8_t	command,
		uint8_t	max_repeats,
		const std::vector< int8_t > &	data_out,
		std::vector< int8_t > &	data_in
	)

overridevirtual

Reimplemented from qbrobotics_research_api::Communication.

Definition at line 505 of file qbrobotics_research_api.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CommunicationLegacy() [1/3]

◆ CommunicationLegacy() [2/3]

◆ CommunicationLegacy() [3/3]

◆ ~CommunicationLegacy()

Member Function Documentation

◆ deserializePackage()

◆ parsePackage()

◆ readLongPackage()

◆ readPackage() [1/2]

◆ readPackage() [2/2]

◆ sendCommandAndParse()