A class that uses serial communication. More...

#include <serialcommunicator.h>

Inheritance diagram for SerialCommunicator:

[legend]

Public Member Functions
void	closePort () override
	Closes the port. More...

XsVersion	firmwareRevision ()

void	flushPort () override
	Flushes all remaining data on the open port. More...

XsResultValue	gotoConfig (bool detectRs485=false) override
	Request a device to go to config mode. More...

XsResultValue	gotoMeasurement () override
	Request a device to go to measurement mode. More...

void	handleMessage (const XsMessage &msg) override
	Handles a message. More...

XsVersion	hardwareRevision ()

bool	isDockedAt (Communicator *other) const override

bool	isPortOpen () const override

bool	openPort (const XsPortInfo &portInfo, OpenPortStage stage=OPS_Full, bool detectRs485=false) override
	Open a serial port and return the main device connected to it. More...

XsPortInfo	portInfo () const override

bool	reopenPort (OpenPortStage stage=OPS_Full, bool skipDeviceIdCheck=false) override
	Reopens the port. More...

	SerialCommunicator ()
	Default constructor. More...

XsResultValue	writeRawData (const XsByteArray &data) override
	Write raw data to the open COM or USB port. More...

Public Member Functions inherited from DeviceCommunicator
void	abortLoadLogFile () override
	Aborts loading a logfile. More...

void	closeLogFile () override
	Close the log file. More...

	DeviceCommunicator (RxChannelId rxChannels=1)
	Default constructor. More...

bool	doTransaction (const XsMessage &message)
	Write a message and await the reply. More...

bool	doTransaction (const XsMessage &message, uint32_t timeout)
	Write a message and await the reply. More...

bool	doTransaction (const XsMessage &message, XsMessage &rcv)
	Write a message and await the reply. More...

virtual bool	doTransaction (const XsMessage &message, XsMessage &rcv, uint32_t timeout)=0
	Write a message and await the reply. More...

virtual bool	doTransaction (const XsMessage &msg, XsMessage &rcv, uint32_t timeout) override
	Write a message and await the reply. More...

XsResultValue	getDeviceId () override
	Request a device to get device ID. More...

uint32_t	gotoConfigTimeout () const

bool	isReadingFromFile () const override

void	loadLogFile (XsDevice *device) override
	Load a complete logfile. More...

XsTimeStamp	logFileDate () const override

XsString	logFileName () const override

XsFilePos	logFileReadPosition () const override

XsFilePos	logFileSize () const override

bool	openLogFile (const XsString &filename) override
	Open the log file `. More...

virtual XsResultValue	readLogFile (XsDevice *device)
	Read a log file into cache. More...

XsMessage	readMessage (uint8_t msgId=0) override
	Read a message from the open file. More...

XsMessage	readMessageFromStartOfFile (uint8_t msgId, int maxMsgs=0) override
	Read a message from the start of the open file. More...

std::deque< XsMessage >	readMessagesFromStartOfFile (uint8_t msgId, int maxMsgs=0) override
	Read multiple similar messages from the start of the open file. More...

virtual XsResultValue	readSinglePacketFromFile ()
	Read a single XsDataPacket from an open log file. More...

void	resetLogFileReadPosition (void) override
	Resets the logfile read position. More...

void	setGotoConfigTimeout (uint32_t timeout) override
	Set the timeout for the gotoConfig function. More...

void	setKeepAlive (bool enable) override
	Does nothing. More...

void	waitForLastTaskCompletion () override
	Wait for the last processing task to complete in the threadpool. More...

bool	writeMessage (const XsMessage &message) override
	Write message to the device. More...

Public Member Functions inherited from Communicator
virtual void	addProtocolHandler (IProtocolHandler *handler)
	Adds a protocol handler. More...

std::shared_ptr< ReplyObject >	addReplyObject (ReplyObject *obj)
	Add a custom ReplyObject. More...

std::shared_ptr< ReplyObject >	addReplyObject (uint8_t mid)
	Add a MidReplyObject. More...

std::shared_ptr< ReplyObject >	addReplyObject (uint8_t mid, XsSize offset, XsSize size, uint8_t const *data)
	Add a MidAndDataReplyObject. More...

virtual bool	allowReprocessing () const

XsSize	childDeviceCount () const

	Communicator (void)
	Constructor, creates some management objects and clears the rest by calling initialize() More...

uint32_t	defaultTimeout () const

void	destroy ()
	Destroys the communicator. More...

bool	doTransaction (const XsMessage &message)
	Write a message and await the reply. More...

bool	doTransaction (const XsMessage &message, uint32_t timeout)
	Write a message and await the reply. More...

bool	doTransaction (const XsMessage &message, XsMessage &rcv)
	Write a message and await the reply. More...

bool	hasProtocol (XsProtocolType type) const

virtual bool	isLoadLogFileInProgress () const

XsResultValue	lastResult () const
	Get the result value of the last operation. More...

XsString	lastResultText () const
	Get the accompanying error text for the value returned by lastResult() It may provide situation-specific information instead. More...

XsDeviceId	masterDeviceId () const

void	removeProtocolHandler (XsProtocolType type)
	Removes a protocol handler. More...

bool	sanityCheck (XsMessage const &msg) const
	Do a sanity check on a potential message. More...

virtual void	scheduleClosePort ()
	Schedules to close the open port. More...

virtual void	setCredentials (XsString const &id, XsString const &key)
	Set the credentials required for using the device. More...

void	setDefaultTimeout (uint32_t timeout)
	Sets a default timeout. More...

void	setMasterDevice (XsDevice *masterDevice)
	Sets a master device. More...

Public Member Functions inherited from CallbackManagerXda
void	addCallbackHandler (XsCallbackPlainC *cb, bool chain=true)
	Add a handler to the list. More...

void	addChainedManager (CallbackManagerXda *cm)
	Add a chained manager to the list. More...

	CallbackManagerXda ()
	Constructor, initializes the callback list. More...

void	clearCallbackHandlers (bool chain=true)
	Clear the callback list. More...

void	clearChainedManagers ()
	Clear the chained manager list. More...

void	copyCallbackHandlersFrom (CallbackManagerXda *cm, bool chain=true)
	Copy all handlers from cm into this manager. More...

void	copyCallbackHandlersTo (CallbackManagerXda *cm, bool chain=true)
	Copy all handlers from this manager into cm. More...

void	onAllBufferedDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllBufferedDataAvailable() callback forwarding function. More...

void	onAllDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllDataAvailable() callback forwarding function. More...

void	onAllLiveDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllLiveDataAvailable() callback forwarding function. More...

void	onAllRecordedDataAvailable (XsDevicePtrArray devs, const XsDataPacketPtrArray packets) override
	The XsCallback::onAllRecordedDataAvailable() callback forwarding function. More...

void	onBufferedDataAvailable (XsDevice dev, const XsDataPacket data) override
	The XsCallback::onBufferedDataAvailable() callback forwarding function. More...

void	onConnectivityChanged (XsDevice *dev, XsConnectivityState newState) override
	The XsCallback::onConnectivityChanged() callback forwarding function. More...

void	onDataAvailable (XsDevice dev, const XsDataPacket data) override
	The XsCallback::onDataAvailable() callback forwarding function. More...

void	onDataUnavailable (XsDevice *dev, int64_t packetId) override
	The XsCallback::onDataUnavailable() callback forwarding function. More...

void	onDeviceStateChanged (XsDevice *dev, XsDeviceState newState, XsDeviceState oldState) override
	The XsCallback::onDeviceStateChanged() callback forwarding function. More...

void	onError (XsDevice *dev, XsResultValue error) override
	The Xscallback::onError() callback forwarding function. More...

void	onInfoResponse (XsDevice *dev, XsInfoRequest request) override
	The XsCallback::onInfoResponse() callback forwarding function. More...

void	onLiveDataAvailable (XsDevice dev, const XsDataPacket packet) override
	The XsCallback::onLiveDataAvailable() callback forwarding function. More...

void	onMessageDetected (XsDevice dev, XsProtocolType type, XsByteArray const rawMessage) override
	The Xscallback::onMessageReceivedFromDevice() callback forwarding function. More...

void	onMessageReceivedFromDevice (XsDevice dev, XsMessage const message) override
	The Xscallback::onMessageReceivedFromDevice() callback forwarding function. More...

void	onMessageSentToDevice (XsDevice dev, XsMessage const message) override
	The Xscallback::onMessageSentToDevice() callback forwarding function. More...

void	onMissedPackets (XsDevice *dev, int count, int first, int last) override
	The XsCallback::onMissedPackets() callback forwarding function. More...

void	onNonDataMessage (XsDevice dev, XsMessage const message) override
	The Xscallback::onNonDataMessage() callback forwarding function. More...

void	onProgressUpdated (XsDevice dev, int current, int total, const XsString identifier) override
	The XsCallback::onProgressUpdated() callback forwarding function. More...

void	onRecordedDataAvailable (XsDevice dev, const XsDataPacket data) override
	The XsCallback::onRecordedDataAvailable() callback forwarding function. More...

void	onRestoreCommunication (const XsString *portName, XsResultValue result) override
	The Xscallback::onRestoreCommunication callback forwarding function. More...

void	onTransmissionRequest (int channelId, const XsByteArray *data) override

void	onWakeupReceived (XsDevice *dev) override
	The XsCallback::onWakeupReceived() callback forwarding function. More...

int	onWriteMessageToLogFile (XsDevice dev, const XsMessage message) override
	The XsCallback::onWriteMessageToLogFile() callback forwarding function. More...

void	removeCallbackHandler (XsCallbackPlainC *cb, bool chain=true)
	Remove a handler from the list. More...

void	removeChainedManager (CallbackManagerXda *cm)
	Remove achained manager from the list. More...

	~CallbackManagerXda ()
	Destructor, clears the callback list. More...

Public Member Functions inherited from DataParser
void	addRawData (const XsByteArray &arr)
	Adds the raw data to an array. More...

void	clear ()
	Clears the data queue. More...

	DataParser ()
	Default constructor. More...

virtual const char *	parserType () const

void	terminate ()
	Terminates the thread. More...

	~DataParser () override

Protected Member Functions
virtual std::shared_ptr< StreamInterface >	createStreamInterface (const XsPortInfo &pi)=0
	Creates a stream interface. More...

virtual uint32_t	defaultInterfaceTimeout () const

virtual XsResultValue	getFirmwareRevision ()
	Requests the firmware revision from the connected device. More...

virtual XsResultValue	getHardwareRevision ()
	Requests the hardware revision from the connected device. More...

bool	isActive () const

virtual void	prepareForDestruction () override
	Prepares for a destruction. More...

XsResultValue	processBufferedData (const XsByteArray &rawIn, std::deque< XsMessage > &messages) override
	Read all messages from the buffered read data after adding new data supplied in rawIn. More...

XsResultValue	readDataToBuffer (XsByteArray &raw) override
	Read available data from the open IO device. More...

void	setDoGotoConfig (bool doit)
	Sets do go to config in a thread. More...

void	stopPollThread ()
	Stops polling the thread. More...

virtual	~SerialCommunicator ()

Protected Member Functions inherited from DeviceCommunicator
RxChannelId	addRxChannel ()
	Adds an RX (receive) channel to the device communicator. Each channel maintains its own message parsing state. More...

XsResultValue	extractMessages (const XsByteArray &rawIn, std::deque< XsMessage > &messages, RxChannelId channel=0)
	Read all messages available in the incoming data stream after adding new data supplied in rawIn. More...

MessageExtractor &	messageExtractor (RxChannelId=0)
	Returns the message extractor for the given rx channel. More...

XsSize	messageExtractorCount () const
	Returns the number of message extractor this device communicator has. More...

	~DeviceCommunicator () override

Protected Member Functions inherited from Communicator
XsDevice *	masterDevice () const

std::shared_ptr< ProtocolManager >	protocolManager () const

XsResultValue	setAndReturnLastResult (XsResultValue lastResult, XsString const &text=XsString()) const
	Sets the last result and returns it. More...

void	setLastResult (XsResultValue lastResult, XsString const &text=XsString()) const
	Sets the last result. More...

void	setMasterDeviceId (const XsDeviceId &deviceId)
	Sets a master device ID. More...

virtual	~Communicator ()
	Destructor, waits for the last scheduled task to complete and then cleans up the object by calling clear() More...

Protected Member Functions inherited from DataParser
void	initFunction () override
	Initializes the thread. More...

int32_t	innerFunction () override
	The inner thread function. More...

void	signalStopThread (void) override
	Tells the thread to stop but does not wait for it to end. More...

Protected Member Functions inherited from xsens::StandardThread
virtual void	exitFunction (void)
	Virtual exit function. More...

XsThread	threadHandle () const
	Return the thread handle. More...

XsThreadId	getThreadId (void) const

bool	isAlive (void) volatile const noexcept

bool	isRunning (void) volatile const noexcept
	Returns whether the thread is currently running. More...

bool	isTerminating () volatile const noexcept
	Returns whether the thread should (have) terminate(d) More...

bool	setPriority (XsThreadPriority pri)
	Sets the priority of the thread. More...

	StandardThread ()

bool	startThread (const char *name=NULL)
	Starts the thread. More...

void	stopThread (void) noexcept
	Tells the thread to stop and waits for it to end. More...

virtual	~StandardThread ()

Protected Attributes
XsPortInfo	m_activePortInfo
	The information about the port this communicator is currently connected to. More...

Protected Attributes inherited from Communicator
uint32_t	m_defaultTimeout
	A default timeout variable. More...

xsens::Mutex	m_handleMux
	A handle mutex. More...

XsResultValue	m_lastResult
	A last result variable. More...

XsString	m_lastResultText
	A last result string. More...

XsDeviceId	m_masterDeviceId
	A master device ID. More...

XsDevice *	m_masterInfo
	A master device object. More...

bool	m_preparedForDestruction
	Prepared for destruction boolean variable. More...

std::shared_ptr< ProtocolManager >	m_protocolManager
	A shared pointer to protocl manager. More...

std::unique_ptr< xsens::ReplyMonitor >	m_replyMonitor
	An unique pointer to a reply monitor. More...

Protected Attributes inherited from xsens::StandardThread
pthread_attr_t	m_attr
	Duplicates m_stop functionality for external dependent classes such as Semaphore. More...

bool	m_running
	Indicates that the thread is running. More...

volatile std::atomic_bool	m_stop
	Indicates that the thread should stop. Derived classes should check isTerminating() instead of directly polling this value when checking if the thread should stop. However, there are some cases (tests, SignallingThread) where direct access from within the class is desired, which is why the vlaue is protected instead of private. More...

volatile std::atomic_bool	m_yieldOnZeroSleep
	When true, a sleep value of 0 returned by innerFunction will trigger a thread yield operation. When false, the next cycle is started immediately. More...

Private Member Functions
void	startPollThread ()
	Starts polling the thread. More...

Private Attributes
XsVersion	m_firmwareRevision

XsVersion	m_hardwareRevision

std::shared_ptr< StreamInterface >	m_streamInterface

MtThread	m_thread

Additional Inherited Members
Public Types inherited from DeviceCommunicator
typedef XsSize	RxChannelId
	A typedef for Rx chanel ID. More...

Public Types inherited from Communicator
template<typename T >
using	UniquePtr = std::unique_ptr< T, Deleter >
	Initializes of UniquePtr<T> More...

Static Public Member Functions inherited from Communicator
static int	configurationMessageSearchLimit ()

template<typename T >
static UniquePtr< T >	createUniquePtr ()
	Constructs a new Communicator of type T and returns it as a UniquePtr<T> More...

template<typename T >
static UniquePtr< T >	createUniquePtr (T *communicator)
	Creates a UniquePtr<T> from a Communicator*. More...

Detailed Description

A class that uses serial communication.

Definition at line 75 of file serialcommunicator.h.

Constructor & Destructor Documentation

◆ SerialCommunicator()

SerialCommunicator::SerialCommunicator ( )

Default constructor.

Definition at line 86 of file serialcommunicator.cpp.

◆ ~SerialCommunicator()

SerialCommunicator::~SerialCommunicator ( )

protectedvirtual

Definition at line 95 of file serialcommunicator.cpp.

Member Function Documentation

◆ closePort()

void SerialCommunicator::closePort ( )

overridevirtual

Closes the port.

Implements Communicator.

Definition at line 210 of file serialcommunicator.cpp.

◆ createStreamInterface()

virtual std::shared_ptr<StreamInterface> SerialCommunicator::createStreamInterface ( const XsPortInfo & pi )

protectedpure virtual

Creates a stream interface.

Parameters

pi	The port information to use

Returns: The shared pointer to a stream interface

Implemented in ProxyCommunicator, UsbCommunicator, and SerialPortCommunicator.

◆ defaultInterfaceTimeout()

virtual uint32_t SerialCommunicator::defaultInterfaceTimeout ( ) const

inlineprotectedvirtual

Returns: The default interface timeout

Reimplemented in ProxyCommunicator.

Definition at line 119 of file serialcommunicator.h.

◆ firmwareRevision()

XsVersion SerialCommunicator::firmwareRevision ( )

Returns: the firmware revision which was found during the OPS_InitDevice stage

Definition at line 476 of file serialcommunicator.cpp.

◆ flushPort()

void SerialCommunicator::flushPort ( )

overridevirtual

Flushes all remaining data on the open port.

Implements Communicator.

Definition at line 189 of file serialcommunicator.cpp.

◆ getFirmwareRevision()

XsResultValue SerialCommunicator::getFirmwareRevision ( )

protectedvirtual

Requests the firmware revision from the connected device.

Definition at line 443 of file serialcommunicator.cpp.

◆ getHardwareRevision()

XsResultValue SerialCommunicator::getHardwareRevision ( )

protectedvirtual

Requests the hardware revision from the connected device.

Note: Actually it requests master settings, but gets only hardware revision.

Returns: The hardware revision

Definition at line 460 of file serialcommunicator.cpp.

◆ gotoConfig()

XsResultValue SerialCommunicator::gotoConfig ( bool detectRs485 = false )

overridevirtual

Request a device to go to config mode.

Reimplemented from DeviceCommunicator.

Reimplemented in UsbCommunicator.

Definition at line 138 of file serialcommunicator.cpp.

◆ gotoMeasurement()

XsResultValue SerialCommunicator::gotoMeasurement ( )

overridevirtual

Request a device to go to measurement mode.

Reimplemented from DeviceCommunicator.

Reimplemented in UsbCommunicator.

Definition at line 121 of file serialcommunicator.cpp.

◆ handleMessage()

void SerialCommunicator::handleMessage ( const XsMessage & msg )

overridevirtual

Handles a message.

Note: Overridden here for implementation of DataParser::handleMessage

Parameters

msg	The XsMessage to handle

Implements DataParser.

Definition at line 424 of file serialcommunicator.cpp.

◆ hardwareRevision()

XsVersion SerialCommunicator::hardwareRevision ( )

Returns: the hardware revision only for Awinda Dongle.

Definition at line 483 of file serialcommunicator.cpp.

◆ isActive()

bool SerialCommunicator::isActive ( ) const

protected

Returns: True if the thread is alive

Definition at line 358 of file serialcommunicator.cpp.

◆ isDockedAt()

bool SerialCommunicator::isDockedAt ( Communicator * other ) const

overridevirtual

Returns: True if the other device is docked at this device

Parameters

other The communicator of an other device

Note: This is true if the USB hub matches.

Implements Communicator.

Definition at line 376 of file serialcommunicator.cpp.

◆ isPortOpen()

bool SerialCommunicator::isPortOpen ( ) const

overridevirtual

Returns: whether the communicator has an open COM or USB port \

Implements Communicator.

Definition at line 229 of file serialcommunicator.cpp.

◆ openPort()

bool SerialCommunicator::openPort	(	const XsPortInfo &	portInfo,
		OpenPortStage	stage = `OPS_Full`,
		bool	detectRs485 = `false`
	)

overridevirtual

Open a serial port and return the main device connected to it.

Implements Communicator.

Definition at line 243 of file serialcommunicator.cpp.

◆ portInfo()

XsPortInfo SerialCommunicator::portInfo ( ) const

overridevirtual

Returns: The port information

Implements Communicator.

Definition at line 236 of file serialcommunicator.cpp.

◆ prepareForDestruction()

void SerialCommunicator::prepareForDestruction ( )

overrideprotectedvirtual

Prepares for a destruction.

Reimplemented from Communicator.

Definition at line 101 of file serialcommunicator.cpp.

◆ processBufferedData()

XsResultValue SerialCommunicator::processBufferedData	(	const XsByteArray &	rawIn,
		std::deque< XsMessage > &	messages
	)

overrideprotectedvirtual

Read all messages from the buffered read data after adding new data supplied in rawIn.

Parameters

rawIn	The byte array with all data
messages	The message to process

This function will read all present messages in the read buffer. In order for this function to work, you need to call readDataToBuffer() first.

Returns: The messages that were read.

Implements DataParser.

Definition at line 436 of file serialcommunicator.cpp.

◆ readDataToBuffer()

XsResultValue SerialCommunicator::readDataToBuffer ( XsByteArray & raw )

overrideprotectedvirtual

Read available data from the open IO device.

This function will attempt to read all available data from the open device (COM port or USB port). The function will read from the device, but it won't wait for data to become available.

Parameters

raw	A buffer that will receive the read data.

Note: This function does not set the lastResult value since this could cause threading issues.

Returns: The result of the operation

Implements DataParser.

Definition at line 391 of file serialcommunicator.cpp.

◆ reopenPort()

bool SerialCommunicator::reopenPort	(	OpenPortStage	stage = `OPS_Full`,
		bool	skipDeviceIdCheck = `false`
	)

overridevirtual

Reopens the port.

Implements Communicator.

Definition at line 319 of file serialcommunicator.cpp.

◆ setDoGotoConfig()

void SerialCommunicator::setDoGotoConfig ( bool doit )

protected

Sets do go to config in a thread.

Parameters

doit	The boolean value to set

Definition at line 366 of file serialcommunicator.cpp.

◆ startPollThread()

void SerialCommunicator::startPollThread ( )

private

Starts polling the thread.

Definition at line 204 of file serialcommunicator.cpp.

◆ stopPollThread()

void SerialCommunicator::stopPollThread ( )

protected

Stops polling the thread.

Definition at line 197 of file serialcommunicator.cpp.

◆ writeRawData()

XsResultValue SerialCommunicator::writeRawData ( const XsByteArray & data )

overridevirtual

Write raw data to the open COM or USB port.

Implements DeviceCommunicator.

Definition at line 180 of file serialcommunicator.cpp.

Member Data Documentation

◆ m_activePortInfo

XsPortInfo SerialCommunicator::m_activePortInfo

protected

The information about the port this communicator is currently connected to.

Definition at line 124 of file serialcommunicator.h.

◆ m_firmwareRevision

XsVersion SerialCommunicator::m_firmwareRevision

private

Definition at line 129 of file serialcommunicator.h.

◆ m_hardwareRevision

XsVersion SerialCommunicator::m_hardwareRevision

private

Definition at line 130 of file serialcommunicator.h.

◆ m_streamInterface

std::shared_ptr<StreamInterface> SerialCommunicator::m_streamInterface

private

Definition at line 128 of file serialcommunicator.h.

◆ m_thread

MtThread SerialCommunicator::m_thread

private

Definition at line 127 of file serialcommunicator.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SerialCommunicator()

◆ ~SerialCommunicator()

Member Function Documentation

◆ closePort()

◆ createStreamInterface()

◆ defaultInterfaceTimeout()

◆ firmwareRevision()

◆ flushPort()

◆ getFirmwareRevision()

◆ getHardwareRevision()

◆ gotoConfig()

◆ gotoMeasurement()

◆ handleMessage()

◆ hardwareRevision()

◆ isActive()

◆ isDockedAt()

◆ isPortOpen()

◆ openPort()

◆ portInfo()

◆ prepareForDestruction()

◆ processBufferedData()

◆ readDataToBuffer()

◆ reopenPort()

◆ setDoGotoConfig()

◆ startPollThread()

◆ stopPollThread()

◆ writeRawData()

Member Data Documentation

◆ m_activePortInfo

◆ m_firmwareRevision

◆ m_hardwareRevision

◆ m_streamInterface

◆ m_thread