Detailed Description

A communications serial port built as an implementation of a utils::CStream.

On communication errors (eg. the given port number does not exist, timeouts,...), most of the methods will raise an exception of the class std::exception

The serial port to open is passed in the constructor in the form of a string description, which is platform dependent.

In Windows they are numbered "COM1"-"COM4" and "\\.\COMXXX" for numbers above. It is recomended to always use the prefix "\\.\" despite the actual port number.

In Linux the name must refer to the device, for example: "ttyUSB0","ttyS0". If the name string does not start with "/" (an absolute path), the constructor will assume the prefix "/dev/".

History:

1/DEC/2005: (JLBC) First version
20/DEC/2006: (JLBC) Integration into the MRPT framework
12/DEC/2007: (JLBC) Added support for Linux.
22/AUG/2017: (JLBC) Moved to new module mrpt-comms

Todo:: Add the internal buffer to the Windows implementation also

Definition at line 41 of file CSerialPort.h.

#include <mrpt/comms/CSerialPort.h>

Inheritance diagram for mrpt::comms::CSerialPort:

Public Types
enum	TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
	Used in CStream::Seek. More...

Public Member Functions
	CSerialPort (const std::string &portName, bool openNow=true)
	Constructor. More...

	CSerialPort ()=default
	Default constructor: it does not open any port - later you must call "setSerialPortName" and then "open". More...

	~CSerialPort () override
	Destructor. More...

void	setSerialPortName (const std::string &COM_name)
	Sets the serial port to open (it is an error to try to change this while open yet). More...

void	open ()
	Open the port. More...

void	open (const std::string &COM_name)
	Open the given serial port. More...

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

bool	isOpen () const
	Returns if port has been correctly open. More...

void	purgeBuffers ()
	Purge tx and rx buffers. More...

void	setConfig (int baudRate, int parity=0, int bits=8, int nStopBits=1, bool enableFlowControl=false)
	Changes the configuration of the port. More...

void	setTimeouts (int ReadIntervalTimeout, int ReadTotalTimeoutMultiplier, int ReadTotalTimeoutConstant, int WriteTotalTimeoutMultiplier, int WriteTotalTimeoutConstant)
	Changes the timeouts of the port, in milliseconds. More...

size_t	Read (void *Buffer, size_t Count) override
	Implements the virtual method responsible for reading from the stream - Unlike CStream::ReadBuffer, this method will not raise an exception on zero bytes read, as long as there is not any fatal error in the communications. More...

std::string	ReadString (const int total_timeout_ms=-1, bool out_timeout=nullptr, const char eol_chars="\")
	Reads one text line from the serial port in POSIX "canonical mode". More...

size_t	Write (const void *Buffer, size_t Count) override
	Introduces a pure virtual method responsible for writing to the stream. More...

uint64_t	Seek (int64_t off, CStream::TSeekOrigin o=sFromBeginning) override
	not applicable in a serial port More...

uint64_t	getTotalBytesCount () const override
	not applicable in a serial port More...

uint64_t	getPosition () const override
	not applicable in a serial port More...

virtual size_t	ReadBufferImmediate (void *Buffer, size_t Count)
	Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More...

virtual uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
	Introduces a pure virtual method for moving to a specified position in the streamed resource. More...

virtual int	printf (const char *fmt,...) MRPT_printf_format_check(2
	Writes a string to the stream in a textual form. More...

template<typename CONTAINER_TYPE >
virtual int void	printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator=',')
	Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element `T`. More...

bool	getline (std::string &out_str)
	Reads from the stream until a ' ' character is found ('' characters are ignored). More...

Protected Attributes
std::string	m_serialName
	The complete name of the serial port device (i.e. More...

int	m_baudRate {0}

int	m_totalTimeout_ms {0}

int	m_interBytesTimeout_ms {0}

mrpt::system::CTicTac	m_timer

void *	hCOM {nullptr}

Friends
class	PosixSignalDispatcherImpl

Member Enumeration Documentation

◆ TSeekOrigin

enum mrpt::io::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 32 of file io/CStream.h.

Constructor & Destructor Documentation

◆ CSerialPort() [1/2]

CSerialPort::CSerialPort	(	const std::string &	portName,
		bool	openNow = `true`
	)

Constructor.

Parameters

portName	The serial port to open. See comments at the begining of this page.
openNow	Whether to try to open the port now. If not selected, the port should be open later with "open()".

Definition at line 54 of file CSerialPort.cpp.

References open().

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◆ CSerialPort() [2/2]

mrpt::comms::CSerialPort::CSerialPort ( )

default

Default constructor: it does not open any port - later you must call "setSerialPortName" and then "open".

◆ ~CSerialPort()

CSerialPort::~CSerialPort ( )

override

Destructor.

Definition at line 61 of file CSerialPort.cpp.

References close(), mrpt::exception_to_str(), and isOpen().

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Member Function Documentation

◆ close()

void CSerialPort::close ( )

Close the port.

If is already closed, results in no action.

Definition at line 625 of file CSerialPort.cpp.

References hCOM, MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CNTRIPEmitter::initialize(), Read(), ReadString(), mrpt::hwdrivers::CGillAnemometer::~CGillAnemometer(), mrpt::hwdrivers::CNTRIPEmitter::~CNTRIPEmitter(), mrpt::hwdrivers::CRaePID::~CRaePID(), and ~CSerialPort().

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◆ getline()

bool CStream::getline ( std::string & out_str )

inherited

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns: false on EOF or any other read error.

Definition at line 69 of file CStream.cpp.

◆ getPosition()

uint64_t CSerialPort::getPosition ( ) const

overridevirtual

not applicable in a serial port

Implements mrpt::io::CStream.

Definition at line 938 of file CSerialPort.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getTotalBytesCount()

uint64_t CSerialPort::getTotalBytesCount ( ) const

overridevirtual

not applicable in a serial port

Implements mrpt::io::CStream.

Definition at line 930 of file CSerialPort.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ isOpen()

bool CSerialPort::isOpen ( ) const

Returns if port has been correctly open.

Definition at line 190 of file CSerialPort.cpp.

References hCOM.

Referenced by mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CNTRIPEmitter::initialize(), open(), purgeBuffers(), Read(), ReadString(), setConfig(), setSerialPortName(), setTimeouts(), mrpt::hwdrivers::CCANBusReader::tryToOpenComms(), Write(), mrpt::hwdrivers::CNTRIPEmitter::~CNTRIPEmitter(), and ~CSerialPort().

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◆ open() [1/2]

void CSerialPort::open ( )

Open the port.

If is already open results in no action.

Exceptions

std::exception On communication errors

Definition at line 93 of file CSerialPort.cpp.

References hCOM, m_serialName, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by CSerialPort(), mrpt::hwdrivers::CNTRIPEmitter::initialize(), and mrpt::hwdrivers::CCANBusReader::tryToOpenComms().

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◆ open() [2/2]

void CSerialPort::open ( const std::string & COM_name )

Open the given serial port.

If it is already open and the name does not match, an exception is raised.

Exceptions

std::exception On communication errors or a different serial port already open.

Definition at line 73 of file CSerialPort.cpp.

References isOpen(), m_serialName, open(), setSerialPortName(), and THROW_EXCEPTION.

Referenced by open().

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◆ printf()

int CStream::printf	(	const char *	fmt,
			...
	)

virtualinherited

Writes a string to the stream in a textual form.

See also: CStdOutStream

Definition at line 30 of file CStream.cpp.

References MRPT_END, MRPT_START, and mrpt::system::os::vsnprintf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::io::CStream::printf_vector(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ printf_vector()

template<typename CONTAINER_TYPE >

virtual int void mrpt::io::CStream::printf_vector	(	const char *	fmt,
		const CONTAINER_TYPE &	V,
		char	separator = `','`
	)

inlineinherited

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T.

Template Parameters

CONTAINER_TYPE can be any vector<T>, deque<T> or alike.

Definition at line 102 of file io/CStream.h.

References mrpt::io::CStream::printf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

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◆ purgeBuffers()

void CSerialPort::purgeBuffers ( )

Purge tx and rx buffers.

Exceptions

std::exception On communication errors

Definition at line 899 of file CSerialPort.cpp.

References hCOM, isOpen(), MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CNTRIPEmitter::initialize(), mrpt::hwdrivers::CHokuyoURG::purgeBuffers(), and mrpt::hwdrivers::CCANBusReader::setupSerialComms().

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◆ Read()

size_t CSerialPort::Read	(	void *	Buffer,
		size_t	Count
	)

overridevirtual

Implements the virtual method responsible for reading from the stream - Unlike CStream::ReadBuffer, this method will not raise an exception on zero bytes read, as long as there is not any fatal error in the communications.

Exceptions

std::exception On communication errors

Implements mrpt::io::CStream.

Definition at line 648 of file CSerialPort.cpp.

References close(), hCOM, isOpen(), m_interBytesTimeout_ms, m_timer, m_totalTimeout_ms, MRPT_END, MRPT_START, mrpt::system::CTicTac::Tac(), THROW_EXCEPTION, and mrpt::system::CTicTac::Tic().

Referenced by mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CCANBusReader::waitACK(), mrpt::hwdrivers::CCANBusReader::waitContinuousSampleFrame(), mrpt::hwdrivers::CCANBusReader::waitForVersion(), and mrpt::hwdrivers::CCANBusReader::waitIncomingFrame().

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◆ ReadBufferImmediate()

virtual size_t mrpt::io::CStream::ReadBufferImmediate	(	void *	Buffer,
		size_t	Count
	)

inlinevirtualinherited

Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).

Note that this method will fallback to ReadBuffer() in most CStream classes but in some hardware-related classes.

Exceptions

std::exception On any error, or if ZERO bytes are read.

Reimplemented in mrpt::comms::CInterfaceFTDI.

Definition at line 62 of file io/CStream.h.

References mrpt::io::CStream::Read().

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◆ ReadString()

std::string CSerialPort::ReadString	(	const int	total_timeout_ms = `-1`,
		bool *	out_timeout = `nullptr`,
		const char *	eol_chars = `"\r\n"`
	)

Reads one text line from the serial port in POSIX "canonical mode".

This method reads from the serial port until one of the characters in eol are found.

Parameters

eol_chars	A line reception is finished when one of these characters is found. Default: LF (10), CR (13).
total_timeout_ms	If >0, the maximum number of milliseconds to wait.
out_timeout	If provided, will hold true on return if a timeout ocurred, false on a valid read.

Returns: The read string, without the final

Exceptions

std::exception On communication errors

This method reads from the serial port until one of the characters in eol are found.

Definition at line 739 of file CSerialPort.cpp.

References ASSERT_, close(), hCOM, isOpen(), m_timer, MRPT_TRY_END, MRPT_TRY_START, mrpt::system::CTicTac::Tac(), THROW_EXCEPTION, and mrpt::system::CTicTac::Tic().

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◆ Seek() [1/2]

virtual uint64_t mrpt::io::CStream::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

pure virtualinherited

Introduces a pure virtual method for moving to a specified position in the streamed resource.

he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:

sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.
Returns
Seek returns the new value of the Position property.

Implemented in mrpt::io::CPipeBaseEndPoint, mrpt::io::CFileStream, mrpt::io::CFileGZInputStream, mrpt::io::CFileGZOutputStream, mrpt::io::CMemoryStream, mrpt::io::CFileOutputStream, and mrpt::io::CFileInputStream.

◆ Seek() [2/2]

uint64_t CSerialPort::Seek	(	int64_t	off,
		CStream::TSeekOrigin	o = `sFromBeginning`
	)

override

not applicable in a serial port

Definition at line 920 of file CSerialPort.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ setConfig()

void CSerialPort::setConfig	(	int	baudRate,
		int	parity = `0`,
		int	bits = `8`,
		int	nStopBits = `1`,
		bool	enableFlowControl = `false`
	)

Changes the configuration of the port.

Parameters

parity	0:No parity, 1:Odd, 2:Even (WINDOWS ONLY: 3:Mark, 4:Space)
baudRate	The desired baud rate Accepted values: 50 - 230400
bits	Bits per word (typ. 8) Accepted values: 5,6,7,8.
nStopBits	Stop bits (typ. 1) Accepted values: 1,2
enableFlowControl	Whether to enable the hardware flow control (RTS/CTS) (default=no)

Exceptions

std::exception On communication errors

Definition at line 202 of file CSerialPort.cpp.

References ASSERT_, hCOM, isOpen(), m_baudRate, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CNTRIPEmitter::initialize(), mrpt::hwdrivers::CCANBusReader::setupSerialComms(), mrpt::hwdrivers::CCANBusReader::tryToOpenComms(), and mrpt::hwdrivers::CHokuyoURG::turnOn().

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◆ setSerialPortName()

void CSerialPort::setSerialPortName ( const std::string & COM_name )

Sets the serial port to open (it is an error to try to change this while open yet).

See also: open, close

Definition at line 84 of file CSerialPort.cpp.

References isOpen(), m_serialName, and THROW_EXCEPTION.

Referenced by open(), mrpt::hwdrivers::CCANBusReader::tryToOpenComms(), and mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms().

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◆ setTimeouts()

void CSerialPort::setTimeouts	(	int	ReadIntervalTimeout,
		int	ReadTotalTimeoutMultiplier,
		int	ReadTotalTimeoutConstant,
		int	WriteTotalTimeoutMultiplier,
		int	WriteTotalTimeoutConstant
	)

Changes the timeouts of the port, in milliseconds.

Exceptions

std::exception On communication errors

Definition at line 564 of file CSerialPort.cpp.

References hCOM, isOpen(), m_interBytesTimeout_ms, m_totalTimeout_ms, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CNTRIPEmitter::initialize(), and mrpt::hwdrivers::CCANBusReader::tryToOpenComms().

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◆ Write()

size_t CSerialPort::Write	(	const void *	Buffer,
		size_t	Count
	)

overridevirtual

Introduces a pure virtual method responsible for writing to the stream.

Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.

Implements mrpt::io::CStream.

Definition at line 834 of file CSerialPort.cpp.

References mrpt::containers::end(), hCOM, isOpen(), MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CNTRIPEmitter::doProcess(), and mrpt::hwdrivers::CCANBusReader::sendCommandToCANReader().

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Friends And Related Function Documentation

◆ PosixSignalDispatcherImpl

friend class PosixSignalDispatcherImpl

friend

Definition at line 43 of file CSerialPort.h.

Member Data Documentation

◆ hCOM

void* mrpt::comms::CSerialPort::hCOM {nullptr}

protected

Definition at line 160 of file CSerialPort.h.

Referenced by close(), isOpen(), open(), purgeBuffers(), Read(), ReadString(), setConfig(), setTimeouts(), and Write().

◆ m_baudRate

int mrpt::comms::CSerialPort::m_baudRate {0}

protected

Definition at line 155 of file CSerialPort.h.

Referenced by setConfig().

◆ m_interBytesTimeout_ms

int mrpt::comms::CSerialPort::m_interBytesTimeout_ms {0}

protected

Definition at line 156 of file CSerialPort.h.

Referenced by Read(), and setTimeouts().

◆ m_serialName

std::string mrpt::comms::CSerialPort::m_serialName

protected

The complete name of the serial port device (i.e.

"\\.\COM10","/dev/ttyS2",...)

Definition at line 154 of file CSerialPort.h.

Referenced by open(), and setSerialPortName().

◆ m_timer

mrpt::system::CTicTac mrpt::comms::CSerialPort::m_timer

protected

Definition at line 157 of file CSerialPort.h.

Referenced by Read(), and ReadString().

◆ m_totalTimeout_ms

int mrpt::comms::CSerialPort::m_totalTimeout_ms {0}

protected

Definition at line 156 of file CSerialPort.h.

Referenced by Read(), and setTimeouts().

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ TSeekOrigin

Constructor & Destructor Documentation

◆ CSerialPort() [1/2]

◆ CSerialPort() [2/2]

◆ ~CSerialPort()

Member Function Documentation

◆ close()

◆ getline()

◆ getPosition()

◆ getTotalBytesCount()

◆ isOpen()

◆ open() [1/2]

◆ open() [2/2]

◆ printf()

◆ printf_vector()

◆ purgeBuffers()

◆ Read()

◆ ReadBufferImmediate()

◆ ReadString()

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ setConfig()

◆ setSerialPortName()

◆ setTimeouts()

◆ Write()

Friends And Related Function Documentation

◆ PosixSignalDispatcherImpl

Member Data Documentation

◆ hCOM

◆ m_baudRate

◆ m_interBytesTimeout_ms

◆ m_serialName

◆ m_timer

◆ m_totalTimeout_ms