Class holding a tool communication configuration. More...

#include <tool_communication.h>

Public Types
using	RxIdleCharsT = Limited< float >

using	StopBitsT = Limited< uint32_t >

using	TxIdleCharsT = Limited< float >

Public Member Functions
uint32_t	getBaudRate () const
	Return the baud rate currently stored. More...

Parity	getParity () const
	Return the parity currently stored. More...

RxIdleCharsT::Datatype	getRxIdleChars () const
	Return the number of rx idle chars currently stored. More...

StopBitsT::Datatype	getStopBits () const
	Return the number of stop bits currently stored. More...

ToolVoltage	getToolVoltage () const
	Return the tool voltage currently stored. More...

TxIdleCharsT::Datatype	getTxIdleChars () const
	Return the number of tx idle chars currently stored. More...

void	setBaudRate (const uint32_t baud_rate)
	Setup the tool communication baud rate that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object. More...

void	setParity (const Parity parity)
	Setup the tool communication parity that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object. More...

void	setRxIdleChars (const RxIdleCharsT::Datatype rx_idle_chars)
	Setup the tool communication number of idle chars for the rx channel that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object. More...

void	setStopBits (const StopBitsT::Datatype stop_bits)
	Setup the tool communication number of stop bits that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object. More...

void	setToolVoltage (const ToolVoltage tool_voltage)
	Setup the tool voltage that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object. More...

void	setTxIdleChars (const TxIdleCharsT::Datatype tx_idle_chars)
	Setup the tool communication number of idle chars for the tx channel that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object. More...

	ToolCommSetup ()

	~ToolCommSetup ()=default

Private Attributes
uint32_t	baud_rate_

const std::set< uint32_t >	baud_rates_allowed_

Parity	parity_

RxIdleCharsT	rx_idle_chars_

StopBitsT	stop_bits_

ToolVoltage	tool_voltage_

TxIdleCharsT	tx_idle_chars_

Detailed Description

Class holding a tool communication configuration.

Definition at line 119 of file tool_communication.h.

Member Typedef Documentation

◆ RxIdleCharsT

using urcl::ToolCommSetup::RxIdleCharsT = Limited<float>

Definition at line 126 of file tool_communication.h.

◆ StopBitsT

using urcl::ToolCommSetup::StopBitsT = Limited<uint32_t>

Definition at line 125 of file tool_communication.h.

◆ TxIdleCharsT

using urcl::ToolCommSetup::TxIdleCharsT = Limited<float>

Definition at line 127 of file tool_communication.h.

Constructor & Destructor Documentation

◆ ToolCommSetup()

urcl::ToolCommSetup::ToolCommSetup ( )

Definition at line 33 of file tool_communication.cpp.

◆ ~ToolCommSetup()

urcl::ToolCommSetup::~ToolCommSetup ( )

default

Member Function Documentation

◆ getBaudRate()

uint32_t urcl::ToolCommSetup::getBaudRate ( ) const

inline

Return the baud rate currently stored.

Definition at line 172 of file tool_communication.h.

◆ getParity()

Parity urcl::ToolCommSetup::getParity ( ) const

inline

Return the parity currently stored.

Definition at line 157 of file tool_communication.h.

◆ getRxIdleChars()

RxIdleCharsT::Datatype urcl::ToolCommSetup::getRxIdleChars ( ) const

inline

Return the number of rx idle chars currently stored.

Definition at line 208 of file tool_communication.h.

◆ getStopBits()

StopBitsT::Datatype urcl::ToolCommSetup::getStopBits ( ) const

inline

Return the number of stop bits currently stored.

Definition at line 190 of file tool_communication.h.

◆ getToolVoltage()

ToolVoltage urcl::ToolCommSetup::getToolVoltage ( ) const

inline

Return the tool voltage currently stored.

Definition at line 141 of file tool_communication.h.

◆ getTxIdleChars()

TxIdleCharsT::Datatype urcl::ToolCommSetup::getTxIdleChars ( ) const

inline

Return the number of tx idle chars currently stored.

Definition at line 226 of file tool_communication.h.

◆ setBaudRate()

void urcl::ToolCommSetup::setBaudRate ( const uint32_t baud_rate )

Setup the tool communication baud rate that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Parameters

baud_rate must be one of baud_rates_allowed_ or an exception will be thrown

Definition at line 43 of file tool_communication.cpp.

◆ setParity()

void urcl::ToolCommSetup::setParity ( const Parity parity )

inline

Setup the tool communication parity that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Definition at line 150 of file tool_communication.h.

◆ setRxIdleChars()

void urcl::ToolCommSetup::setRxIdleChars ( const RxIdleCharsT::Datatype rx_idle_chars )

inline

Setup the tool communication number of idle chars for the rx channel that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Parameters

rx_idle_chars must be inside [1.0, 40] or this will throw an exception.

Definition at line 201 of file tool_communication.h.

◆ setStopBits()

void urcl::ToolCommSetup::setStopBits ( const StopBitsT::Datatype stop_bits )

inline

Setup the tool communication number of stop bits that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Parameters

stop_bits must be inside [1,2] or this will throw an exception.

Definition at line 183 of file tool_communication.h.

◆ setToolVoltage()

void urcl::ToolCommSetup::setToolVoltage ( const ToolVoltage tool_voltage )

inline

Setup the tool voltage that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Definition at line 133 of file tool_communication.h.

◆ setTxIdleChars()

void urcl::ToolCommSetup::setTxIdleChars ( const TxIdleCharsT::Datatype tx_idle_chars )

inline

Setup the tool communication number of idle chars for the tx channel that will be configured on the robot. This will not immediately change values on the robot, it will only be stored inside the ToolCommSetup object.

Parameters

tx_idle_chars must be inside [0.0, 40] or this will throw an exception.

Definition at line 219 of file tool_communication.h.

Member Data Documentation

◆ baud_rate_

uint32_t urcl::ToolCommSetup::baud_rate_

private

Definition at line 243 of file tool_communication.h.

◆ baud_rates_allowed_

const std::set<uint32_t> urcl::ToolCommSetup::baud_rates_allowed_

private

Initial value:

{ 9600,
                                                19200,
                                                38400,
                                                57600,
                                                115200,
                                                static_cast<uint32_t>(1e6),
                                                static_cast<uint32_t>(2e6),
                                                static_cast<uint32_t>(5e6) }

Definition at line 232 of file tool_communication.h.

◆ parity_

Parity urcl::ToolCommSetup::parity_

private

Definition at line 242 of file tool_communication.h.

◆ rx_idle_chars_

RxIdleCharsT urcl::ToolCommSetup::rx_idle_chars_

private

Definition at line 245 of file tool_communication.h.

◆ stop_bits_

StopBitsT urcl::ToolCommSetup::stop_bits_

private

Definition at line 244 of file tool_communication.h.

◆ tool_voltage_

ToolVoltage urcl::ToolCommSetup::tool_voltage_

private

Definition at line 241 of file tool_communication.h.

◆ tx_idle_chars_

TxIdleCharsT urcl::ToolCommSetup::tx_idle_chars_

private

Definition at line 246 of file tool_communication.h.

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

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ RxIdleCharsT

◆ StopBitsT

◆ TxIdleCharsT

Constructor & Destructor Documentation

◆ ToolCommSetup()

◆ ~ToolCommSetup()

Member Function Documentation

◆ getBaudRate()

◆ getParity()

◆ getRxIdleChars()

◆ getStopBits()

◆ getToolVoltage()

◆ getTxIdleChars()

◆ setBaudRate()

◆ setParity()

◆ setRxIdleChars()

◆ setStopBits()

◆ setToolVoltage()

◆ setTxIdleChars()

Member Data Documentation

◆ baud_rate_

◆ baud_rates_allowed_

◆ parity_

◆ rx_idle_chars_

◆ stop_bits_

◆ tool_voltage_

◆ tx_idle_chars_