The low-level serial communication class. More...

#include <serialinterface.h>

Inheritance diagram for SerialInterface:

Public Member Functions
void	cancelIo (void) const
	Cancel any pending io requests. More...

XsResultValue	close (void) override
	Close the serial communication port. More...

XsResultValue	closeLive (void)
	Close the serial communication port. More...

XsResultValue	escape (XsControlLine mask, XsControlLine state)
	Manipulate the Serial control lines. More...

XsResultValue	flushData (void) override
	Flush all data in the buffers to and from the device. More...

XsBaudRate	getBaudrate (void) const
	Return the baudrate that is currently being used by the port. More...

XsIoHandle	getHandle (void) const
	Return the handle of the port. More...

XsResultValue	getLastResult (void) const
	Return the error code of the last operation. More...

void	getPortName (XsString &portname) const
	Retrieve the port name that was last successfully opened. More...

uint16_t	getPortNumber (void) const
	Retrieve the port number that was last successfully opened. More...

uint32_t	getTimeout (void) const
	Return the current timeout value. More...

bool	isOpen (void) const
	Return whether the communication port is open or not. More...

XsResultValue	open (const XsPortInfo &portInfo, XsFilePos readBufSize=XS_DEFAULT_READ_BUFFER_SIZE, XsFilePos writeBufSize=XS_DEFAULT_WRITE_BUFFER_SIZE, PortOptions options=PO_XsensDefaults) override
	Open a communication channel to the given port info. More...

XsResultValue	readData (XsFilePos maxLength, XsByteArray &data) override
	Read data from the serial port and put it into the data buffer. More...

	SerialInterface ()
	Default constructor, initializes all members to their default values. More...

XsResultValue	setTimeout (uint32_t ms)
	Set the default timeout value to use in blocking operations. More...

XsResultValue	waitForData (XsFilePos maxLength, XsByteArray &data) override
	Wait for data to arrive or a timeout to occur. More...

XsResultValue	writeData (const XsByteArray &data, XsFilePos *written=0) override
	Write the data contained in data to the device. More...

	XSENS_DISABLE_COPY (SerialInterface)

virtual	~SerialInterface ()
	Destructor, de-initializes, frees memory allocated for buffers, etc. More...

Public Member Functions inherited from StreamInterface
	XSENS_DISABLE_COPY (StreamInterface)

	~StreamInterface ()
	Destroy the stream interface. More...

Public Member Functions inherited from IoInterface
virtual XsResultValue	appendData (const XsByteArray &bdata)
	Write data to the end of the file. More...

virtual XsResultValue	closeAndDelete (void)
	Close the file and delete it. More...

virtual XsResultValue	create (const XsString &filename)
	Create an empty file. More...

virtual XsResultValue	deleteData (XsFilePos start, XsFilePos length)
	Delete the given data from the file. More...

virtual XsResultValue	find (const XsByteArray &needleV, XsFilePos &pos)
	Find a string of bytes in the file. More...

virtual XsFilePos	getFileSize (void) const
	Return the size of the file. More...

virtual XsResultValue	getName (XsString &filename) const
	Retrieve the filename that was last successfully opened. More...

virtual XsFilePos	getReadPosition (void) const
	Return the current read position. More...

virtual XsFilePos	getWritePosition (void) const
	Return the current write position. More...

virtual XsResultValue	insertData (XsFilePos start, const XsByteArray &data)
	Insert the given data into the file. More...

virtual bool	isReadOnly (void) const
	Return whether the file is read-only or not. More...

virtual XsResultValue	open (const XsString &filename, bool createNew, bool readOnly)
	Open a file. More...

virtual XsResultValue	setReadPosition (XsFilePos pos)
	Set the new absolute read position. More...

virtual XsResultValue	setWritePosition (XsFilePos pos=-1)
	Set the new absolute write position. More...

virtual	~IoInterface ()
	Destructor. More...

Protected Attributes
XsBaudRate	m_baudrate
	The baudrate that was last set to be used by the port. More...

termios	m_commState
	Stored settings about the serial port. More...

uint32_t	m_endTime
	The time at which an operation will end in ms, used by several functions. More...

int32_t	m_handle
	The serial port handle, also indicates if the port is open or not. More...

XsResultValue	m_lastResult
	The last result of an operation. More...

uint16_t	m_port
	The opened COM port nr. More...

char	m_portname [32]
	The name of the open serial port. More...

uint32_t	m_timeout

Private Member Functions
void	applyHwControlLinesOptions (PortOptions options, int portLinesOptions, int &p)
	Apply the specified options for the hardware control lines. More...

Private Attributes
XsFile	rx_log

XsFile	tx_log

Additional Inherited Members
Public Types inherited from IoInterface
enum	PortOptions { PO_NoFlowControl = 0, PO_RtsCtsFlowControl = (1 << 0), PO_DtrDsrFlowControl = (1 << 1), PO_XonXoffFlowControl = (1 << 2), PO_OneStopBit = 0, PO_TwoStopBits = (1 << 3), PO_XsensDefaults = (PO_NoFlowControl \| PO_TwoStopBits) }
	Options for flow control and stopbits which must be used when opening a port. More...

Protected Member Functions inherited from StreamInterface
	StreamInterface ()
	Create a stream interface. More...

Protected Member Functions inherited from IoInterface
	IoInterface ()
	Constructor. More...

	XSENS_DISABLE_COPY (IoInterface)

Detailed Description

The low-level serial communication class.

Definition at line 82 of file serialinterface.h.

Constructor & Destructor Documentation

◆ SerialInterface()

SerialInterface::SerialInterface ( )

Default constructor, initializes all members to their default values.

Definition at line 99 of file serialinterface.cpp.

◆ ~SerialInterface()

SerialInterface::~SerialInterface ( )

virtual

Destructor, de-initializes, frees memory allocated for buffers, etc.

Definition at line 116 of file serialinterface.cpp.

Member Function Documentation

◆ applyHwControlLinesOptions()

void SerialInterface::applyHwControlLinesOptions	(	PortOptions	options,
		int	portLinesOptions,
		int &	p
	)

private

Apply the specified options for the hardware control lines.

Parameters

options	The options to enable (flow control, stop bits)
portLinesOptions	The options for the hardware control lines (RTS/DTR levels)
p	The reference to an enabled bits

Definition at line 895 of file serialinterface.cpp.

◆ cancelIo()

void SerialInterface::cancelIo ( void ) const

virtual

Cancel any pending io requests.

Reimplemented from IoInterface.

Definition at line 862 of file serialinterface.cpp.

◆ close()

XsResultValue SerialInterface::close ( void )

overridevirtual

Close the serial communication port.

Implements IoInterface.

Definition at line 128 of file serialinterface.cpp.

◆ closeLive()

XsResultValue SerialInterface::closeLive ( void )

Close the serial communication port.

Definition at line 134 of file serialinterface.cpp.

◆ escape()

XsResultValue SerialInterface::escape	(	XsControlLine	mask,
		XsControlLine	state
	)

Manipulate the Serial control lines.

The function manipulates the serial control lines that are indicated by the
mask parameter. Note that only the DTR and RTS lines can be set by win32.
\param mask         Indicates which lines are to be manipulated and which should be
                            left alone.
\param state        Contains the new state of the control lines.
\returns XRV_OK if the function succeeded

Definition at line 193 of file serialinterface.cpp.

◆ flushData()

XsResultValue SerialInterface::flushData ( void )

overridevirtual

Flush all data in the buffers to and from the device.

Returns: XRV_OK if the data was flushed successfully

Note: This function tries to send and receive any remaining data immediately and does not return until the buffers are empty.

Implements IoInterface.

Definition at line 258 of file serialinterface.cpp.

◆ getBaudrate()

XsBaudRate SerialInterface::getBaudrate ( void ) const

Return the baudrate that is currently being used by the port.

Definition at line 273 of file serialinterface.cpp.

◆ getHandle()

XsIoHandle SerialInterface::getHandle ( void ) const

Return the handle of the port.

Definition at line 281 of file serialinterface.cpp.

◆ getLastResult()

XsResultValue SerialInterface::getLastResult ( void ) const

virtual

Return the error code of the last operation.

Implements IoInterface.

Definition at line 299 of file serialinterface.cpp.

◆ getPortName()

void SerialInterface::getPortName ( XsString & portname ) const

Retrieve the port name that was last successfully opened.

Definition at line 293 of file serialinterface.cpp.

◆ getPortNumber()

uint16_t SerialInterface::getPortNumber ( void ) const

Retrieve the port number that was last successfully opened.

Definition at line 287 of file serialinterface.cpp.

◆ getTimeout()

uint32_t SerialInterface::getTimeout ( void ) const

virtual

Return the current timeout value.

Implements StreamInterface.

Definition at line 305 of file serialinterface.cpp.

◆ isOpen()

bool SerialInterface::isOpen ( void ) const

virtual

Return whether the communication port is open or not.

Implements IoInterface.

Definition at line 311 of file serialinterface.cpp.

◆ open()

XsResultValue SerialInterface::open	(	const XsPortInfo &	portInfo,
		XsFilePos	readBufSize = `XS_DEFAULT_READ_BUFFER_SIZE`,
		XsFilePos	writeBufSize = `XS_DEFAULT_WRITE_BUFFER_SIZE`,
		PortOptions	options = `PO_XsensDefaults`
	)

overridevirtual

Open a communication channel to the given port info.

If the baudrate in portInfo is set to XBR_Invalid, the baud rate is automatically detected if possible.

Parameters

portInfo	The details of the port that should be opened. Depending on the type of interface, parts of this parameter may be ignored.
readBufSize	The size of the read buffer in bytes (if appliccable to the device)
writeBufSize	The size of the write buffer in bytes (if appliccable to the device)
options	The options to enable (flow control, stop bits)

Returns: XRV_OK if the device was opened successfully

Reimplemented from IoInterface.

Definition at line 342 of file serialinterface.cpp.

◆ readData()

XsResultValue SerialInterface::readData	(	XsFilePos	maxLength,
		XsByteArray &	data
	)

overridevirtual

Read data from the serial port and put it into the data buffer.

This function reads up to maxLength bytes from the port (non-blocking) and puts it into the data buffer.

Parameters

maxLength	The maximum amount of data read.
data	The buffer that will store the received data.

Returns: XRV_OK if no error occurred. It can be that no data is available and XRV_OK will be returned. Check data.size() for the number of bytes that were read.

Implements IoInterface.

Definition at line 573 of file serialinterface.cpp.

◆ setTimeout()

XsResultValue SerialInterface::setTimeout ( uint32_t ms )

virtual

Set the default timeout value to use in blocking operations.

This function sets the value of m_timeout. There is no infinity value. The value 0 means that all blocking operations now become polling (non-blocking) operations. If the value is set to or from 0, the low-level serial port settings may be changed in addition to the m_timeout value.

Parameters

ms	The new timeout in milliseconds

Returns: XRV_OK if the function succeeded

Implements StreamInterface.

Definition at line 697 of file serialinterface.cpp.

◆ waitForData()

XsResultValue SerialInterface::waitForData	(	XsFilePos	maxLength,
		XsByteArray &	data
	)

overridevirtual

Wait for data to arrive or a timeout to occur.

The function waits until maxLength data is available or until a timeout occurs. The function returns success if data is available or XsResultValue::TIMEOUT if a timeout occurred. A timeout value of 0 indicates that the default timeout stored in the class should be used.

Parameters

maxLength	The maximum number of bytes to read before returning
data	The buffer to put the read data in.

Returns: XRV_OK if maxLength bytes were read, XRV_TIMEOUT if less was read, XRV_TIMEOUTNODATA if nothing was read

Reimplemented from IoInterface.

Definition at line 751 of file serialinterface.cpp.

◆ writeData()

XsResultValue SerialInterface::writeData	(	const XsByteArray &	data,
		XsFilePos *	written = `0`
	)

overridevirtual

Write the data contained in data to the device.

Parameters

data	The data to write to the device.
written	An optional XsFilePos value that will receive the number of bytes that were actually written.

Returns: XRV_OK if the data was written successfully

Note: The default timeout is respected in this operation.

Implements IoInterface.

Definition at line 782 of file serialinterface.cpp.

◆ XSENS_DISABLE_COPY()

SerialInterface::XSENS_DISABLE_COPY ( SerialInterface )

Member Data Documentation

◆ m_baudrate

XsBaudRate SerialInterface::m_baudrate

protected

The baudrate that was last set to be used by the port.

Definition at line 92 of file serialinterface.h.

◆ m_commState

termios SerialInterface::m_commState

protected

Stored settings about the serial port.

Definition at line 109 of file serialinterface.h.

◆ m_endTime

uint32_t SerialInterface::m_endTime

protected

The time at which an operation will end in ms, used by several functions.

Definition at line 94 of file serialinterface.h.

◆ m_handle

int32_t SerialInterface::m_handle

protected

The serial port handle, also indicates if the port is open or not.

Definition at line 110 of file serialinterface.h.

◆ m_lastResult

XsResultValue SerialInterface::m_lastResult

mutableprotected

The last result of an operation.

Definition at line 96 of file serialinterface.h.

◆ m_port

uint16_t SerialInterface::m_port

protected

The opened COM port nr.

Definition at line 98 of file serialinterface.h.

◆ m_portname

char SerialInterface::m_portname[32]

protected

The name of the open serial port.

Definition at line 100 of file serialinterface.h.

◆ m_timeout

uint32_t SerialInterface::m_timeout

protected

The default timeout value to use during blocking operations. A value of 0 means that all operations become non-blocking.

Definition at line 104 of file serialinterface.h.

◆ rx_log

XsFile SerialInterface::rx_log

private

Definition at line 88 of file serialinterface.h.

◆ tx_log

XsFile SerialInterface::tx_log

private

Definition at line 89 of file serialinterface.h.

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

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SerialInterface()

◆ ~SerialInterface()

Member Function Documentation

◆ applyHwControlLinesOptions()

◆ cancelIo()

◆ close()

◆ closeLive()

◆ escape()

◆ flushData()

◆ getBaudrate()

◆ getHandle()

◆ getLastResult()

◆ getPortName()

◆ getPortNumber()

◆ getTimeout()

◆ isOpen()

◆ open()

◆ readData()

◆ setTimeout()

◆ waitForData()

◆ writeData()

◆ XSENS_DISABLE_COPY()

Member Data Documentation

◆ m_baudrate

◆ m_commState

◆ m_endTime

◆ m_handle

◆ m_lastResult

◆ m_port

◆ m_portname

◆ m_timeout

◆ rx_log

◆ tx_log