Detailed Description

The low-level serial communication class.

Definition at line 27 of file serialinterface.h.

#include <xSens_MT4/xcommunication/include/xsens/serialinterface.h>

Inheritance diagram for SerialInterface:

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

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

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

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

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

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

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

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

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

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

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

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

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

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

XsResultValue	open (const XsPortInfo &portInfo, uint32_t readBufSize=XS_DEFAULT_READ_BUFFER_SIZE, uint32_t writeBufSize=XS_DEFAULT_WRITE_BUFFER_SIZE)
	Open a communication channel to the given port info. More...

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

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

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

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, XsSize 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 readonly or not. 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...

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

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

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

Private Attributes
XsFileHandle *	rx_log

XsFileHandle *	tx_log

Constructor & Destructor Documentation

◆ SerialInterface()

SerialInterface::SerialInterface ( )

Default constructor, initializes all members to their default values.

Definition at line 60 of file serialinterface.cpp.

References m_baudrate, m_endTime, m_handle, m_lastResult, m_port, m_portname, m_timeout, rx_log, tx_log, XBR_Invalid, and XRV_OK.

◆ ~SerialInterface()

SerialInterface::~SerialInterface ( )

virtual

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

Definition at line 80 of file serialinterface.cpp.

References closeLive().

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Member Function Documentation

◆ appendData()

XsResultValue IoInterface::appendData ( const XsByteArray & bdata )

virtualinherited

Write data to the end of the file.

The function writes the given data to the file at the end. The current write position is also moved to the end of the file.

Parameters

bdata The byte data to append to the file

Returns: XRV_OK if the write was successful

Reimplemented in IoInterfaceFile.

Definition at line 77 of file iointerface.cpp.

References void(), and XRV_INVALIDOPERATION.

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◆ cancelIo()

void SerialInterface::cancelIo ( void ) const

virtual

Cancel any pending io requests.

Reimplemented from IoInterface.

Definition at line 755 of file serialinterface.cpp.

◆ close()

XsResultValue SerialInterface::close ( void )

virtual

Close the serial communication port.

Implements IoInterface.

Definition at line 92 of file serialinterface.cpp.

References closeLive().

Referenced by closeLive().

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◆ closeAndDelete()

XsResultValue IoInterface::closeAndDelete ( void )

virtualinherited

Close the file and delete it.

Returns: XRV_OK if the file was closed and deleted successfully

Reimplemented in IoInterfaceFile.

Definition at line 83 of file iointerface.cpp.

References XRV_INVALIDOPERATION.

◆ closeLive()

XsResultValue SerialInterface::closeLive ( void )

Close the serial communication port.

Definition at line 94 of file serialinterface.cpp.

References close(), mrpt::system::os::fclose(), flushData(), isOpen(), m_endTime, m_handle, m_lastResult, rx_log, tx_log, XRV_ERROR, XRV_NOPORTOPEN, and XRV_OK.

Referenced by close(), open(), and ~SerialInterface().

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◆ create()

XsResultValue IoInterface::create ( const XsString & filename )

virtualinherited

Create an empty file.

Parameters

filename The desired (path+)name of the file

Returns: XRV_OK if the file was created successfully

Reimplemented in IoInterfaceFile.

Definition at line 85 of file iointerface.cpp.

References void(), and XRV_INVALIDOPERATION.

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◆ deleteData()

XsResultValue IoInterface::deleteData	(	XsFilePos	start,
		XsSize	length
	)

virtualinherited

Delete the given data from the file.

The function erases the given data from the file at the given write position. This operation may take a while to complete, but is faster than insertData.

The write position is not changed and the read position is checked for validity upon function exit.

Parameters

start	The offset of the first byte to delete
length	The total number of bytes to delete

Returns: XRV_OK if the data was deleted successfully

Reimplemented in IoInterfaceFile.

Definition at line 91 of file iointerface.cpp.

References void(), and XRV_INVALIDOPERATION.

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◆ 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.

Parameters

mask	Indicates which lines are to be manipulated and which should be left alone.
state	Contains the new state of the control lines.

Returns: XRV_OK if the function succeeded

Definition at line 156 of file serialinterface.cpp.

References isOpen(), m_handle, m_lastResult, status, XCL_DTR, XCL_RTS, XRV_ERROR, XRV_NOPORTOPEN, and XRV_OK.

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◆ find()

XsResultValue IoInterface::find	(	const XsByteArray &	needleV,
		XsFilePos &	pos
	)

virtualinherited

Find a string of bytes in the file.

The function searches from the current read position until the given needle is found. If the needle is not found, XsResultValue::NOT_FOUND is returned. The function will update the seek position to the first character of the found needle.

Parameters

needleV	The byte string to find.
pos	The position where needleV was found. This will point to the first character of the found needleV.

Returns: XRV_OK if the data was found, XRV_ENDOFFILE if it wasn't found

Reimplemented in IoInterfaceFile.

Definition at line 98 of file iointerface.cpp.

References void(), and XRV_INVALIDOPERATION.

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◆ flushData()

XsResultValue SerialInterface::flushData ( void )

virtual

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 222 of file serialinterface.cpp.

References m_endTime, m_handle, m_lastResult, XRV_ERROR, and XRV_OK.

Referenced by closeLive().

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◆ getBaudrate()

XsBaudRate SerialInterface::getBaudrate ( void ) const

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

Definition at line 237 of file serialinterface.cpp.

References isOpen(), m_baudrate, and XBR_Invalid.

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◆ getFileSize()

XsFilePos IoInterface::getFileSize ( void ) const

virtualinherited

Return the size of the file.

Returns: The size of the file.

Reimplemented in IoInterfaceFile.

Definition at line 105 of file iointerface.cpp.

◆ getHandle()

XsIoHandle SerialInterface::getHandle ( void ) const

Return the handle of the port.

Definition at line 243 of file serialinterface.cpp.

References m_handle.

◆ getLastResult()

XsResultValue SerialInterface::getLastResult ( void ) const

virtual

Return the error code of the last operation.

Implements IoInterface.

Definition at line 252 of file serialinterface.cpp.

References m_lastResult.

◆ getName()

XsResultValue IoInterface::getName ( XsString & filename ) const

virtualinherited

Retrieve the filename that was last successfully opened.

Parameters

filename The XsString which will contain the filename.

Returns: XRV_OK

Reimplemented in IoInterfaceFile.

Definition at line 107 of file iointerface.cpp.

References void(), and XRV_INVALIDOPERATION.

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◆ getPortName()

void SerialInterface::getPortName ( XsString & portname ) const

Retrieve the port name that was last successfully opened.

Definition at line 247 of file serialinterface.cpp.

References m_portname.

◆ getPortNumber()

uint16_t SerialInterface::getPortNumber ( void ) const

Retrieve the port number that was last successfully opened.

Definition at line 245 of file serialinterface.cpp.

References m_port.

◆ getReadPosition()

XsFilePos IoInterface::getReadPosition ( void ) const

virtualinherited

Return the current read position.

Returns: The current read position.

Reimplemented in IoInterfaceFile.

Definition at line 113 of file iointerface.cpp.

◆ getTimeout()

uint32_t SerialInterface::getTimeout ( void ) const

virtual

Return the current timeout value.

Implements StreamInterface.

Definition at line 257 of file serialinterface.cpp.

References m_timeout.

◆ getWritePosition()

XsFilePos IoInterface::getWritePosition ( void ) const

virtualinherited

Return the current write position.

Returns: The current write position.

Reimplemented in IoInterfaceFile.

Definition at line 115 of file iointerface.cpp.

◆ insertData()

XsResultValue IoInterface::insertData	(	XsFilePos	start,
		const XsByteArray &	data
	)

virtualinherited

Insert the given data into the file.

The function writes the given data to the file at the current write position. This operation may take a while to complete.

The write position is placed at the end of the inserted data.

Parameters

start	The offset in the file to write the first byte
data	The data to insert in the file

Returns: XRV_OK if the data was inserted successfully

Reimplemented in IoInterfaceFile.

Definition at line 117 of file iointerface.cpp.

References void(), and XRV_INVALIDOPERATION.

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◆ isOpen()

bool SerialInterface::isOpen ( void ) const

virtual

Return whether the communication port is open or not.

Implements IoInterface.

Definition at line 259 of file serialinterface.cpp.

References m_handle.

Referenced by closeLive(), escape(), getBaudrate(), open(), readData(), setTimeout(), and writeData().

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◆ isReadOnly()

bool IoInterface::isReadOnly ( void ) const

virtualinherited

Return whether the file is readonly or not.

Returns: true if the file is readonly

Reimplemented in IoInterfaceFile.

Definition at line 124 of file iointerface.cpp.

◆ open() [1/2]

XsResultValue SerialInterface::open	(	const XsPortInfo &	portInfo,
		uint32_t	readBufSize = `XS_DEFAULT_READ_BUFFER_SIZE`,
		uint32_t	writeBufSize = `XS_DEFAULT_WRITE_BUFFER_SIZE`
	)

virtual

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)

Returns: XRV_OK if the device was opened successfully

Stored settings about the serial port

Reimplemented from IoInterface.

Definition at line 281 of file serialinterface.cpp.

References closeLive(), FALSE, isOpen(), JLALERT, JLDEBUG, m_baudrate, m_endTime, m_handle, m_lastResult, m_port, m_portname, m_timeout, setTimeout(), mrpt::system::os::sprintf(), void(), XRV_ALREADYOPEN, XRV_ERROR, XRV_INPUTCANNOTBEOPENED, and XRV_OK.

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◆ open() [2/2]

XsResultValue IoInterface::open	(	const XsString &	filename,
		bool	createNew,
		bool	readOnly
	)

virtualinherited

Open a file.

Parameters

filename	The name of the file to open
createNew	When true, the file will be created if it doesn't exist yet
readOnly	When true, the file will be marked as read only for IoInterfaceFile, preventing accidental writes to the file.

Returns: XRV_OK if the file was opened successfully

See also: createFile

Reimplemented in IoInterfaceFile.

Definition at line 126 of file iointerface.cpp.

References void(), and XRV_INVALIDOPERATION.

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◆ readData()

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

virtual

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 517 of file serialinterface.cpp.

References mrpt::system::os::fopen(), isOpen(), JLALERT, JLTRACE, m_baudrate, m_handle, m_lastResult, m_port, m_portname, m_timeout, makeFilenameUnique(), rx_log, mrpt::system::os::sprintf(), XRV_ERROR, XRV_NOFILEORPORTOPEN, XRV_NOPORTOPEN, XRV_OK, XRV_TIMEOUT, and XS_MAX_FILENAME_LENGTH.

Referenced by waitForData().

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◆ setReadPosition()

XsResultValue IoInterface::setReadPosition ( XsFilePos pos )

virtualinherited

Set the new absolute read position.

The read position is checked against the filesize first.

Parameters

pos	The new read position

Returns: XRV_OK if the read position was updated successfully

Reimplemented in IoInterfaceFile.

Definition at line 135 of file iointerface.cpp.

References void(), and XRV_INVALIDOPERATION.

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◆ 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 610 of file serialinterface.cpp.

References isOpen(), JLDEBUG, m_handle, m_lastResult, m_timeout, XRV_ERROR, and XRV_OK.

Referenced by open().

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◆ setWritePosition()

XsResultValue IoInterface::setWritePosition ( XsFilePos pos = -1 )

virtualinherited

Set the new absolute write position.

The write position is checked against the filesize first.

Parameters

pos	The new write position

Returns: XRV_OK if the write position was updated successfully

Reimplemented in IoInterfaceFile.

Definition at line 141 of file iointerface.cpp.

References void(), and XRV_INVALIDOPERATION.

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◆ waitForData()

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

virtual

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 669 of file serialinterface.cpp.

References JLTRACE, m_lastResult, m_timeout, readData(), XRV_OK, XRV_TIMEOUT, and XsTime_getTimeOfDay().

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◆ writeData()

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

virtual

Write the data contained in data to the device.

Parameters

data	The data to write to the device.
written	An optional XsSize 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 702 of file serialinterface.cpp.

References mrpt::system::os::fopen(), isOpen(), m_baudrate, m_handle, m_lastResult, m_port, m_portname, makeFilenameUnique(), mrpt::system::os::sprintf(), tx_log, XRV_ERROR, XRV_NOPORTOPEN, XRV_OK, and XS_MAX_FILENAME_LENGTH.

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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 37 of file serialinterface.h.

Referenced by getBaudrate(), open(), readData(), SerialInterface(), and writeData().

◆ 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 40 of file serialinterface.h.

Referenced by closeLive(), flushData(), open(), and SerialInterface().

◆ m_handle

XsIoHandle SerialInterface::m_handle

protected

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

Definition at line 54 of file serialinterface.h.

Referenced by closeLive(), escape(), flushData(), getHandle(), isOpen(), open(), readData(), SerialInterface(), setTimeout(), and writeData().

◆ m_lastResult

XsResultValue SerialInterface::m_lastResult

mutableprotected

The last result of an operation.

Definition at line 42 of file serialinterface.h.

Referenced by closeLive(), escape(), flushData(), getLastResult(), open(), readData(), SerialInterface(), setTimeout(), waitForData(), and writeData().

◆ m_port

uint16_t SerialInterface::m_port

protected

The opened COM port nr.

Definition at line 44 of file serialinterface.h.

Referenced by getPortNumber(), open(), readData(), SerialInterface(), and writeData().

◆ m_portname

char SerialInterface::m_portname[32]

protected

The name of the open serial port.

Definition at line 46 of file serialinterface.h.

Referenced by getPortName(), open(), readData(), SerialInterface(), and writeData().

◆ 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 50 of file serialinterface.h.

Referenced by getTimeout(), open(), readData(), SerialInterface(), setTimeout(), and waitForData().

◆ rx_log

XsFileHandle* SerialInterface::rx_log

private

Definition at line 32 of file serialinterface.h.

Referenced by closeLive(), readData(), and SerialInterface().

◆ tx_log

XsFileHandle* SerialInterface::tx_log

private

Definition at line 33 of file serialinterface.h.

Referenced by closeLive(), SerialInterface(), and writeData().

Detailed Description

Public Member Functions

Protected Attributes

Private Attributes

Constructor & Destructor Documentation

◆ SerialInterface()

◆ ~SerialInterface()

Member Function Documentation

◆ appendData()

◆ cancelIo()

◆ close()

◆ closeAndDelete()

◆ closeLive()

◆ create()

◆ deleteData()

◆ escape()

◆ find()

◆ flushData()

◆ getBaudrate()

◆ getFileSize()

◆ getHandle()

◆ getLastResult()

◆ getName()

◆ getPortName()

◆ getPortNumber()

◆ getReadPosition()

◆ getTimeout()

◆ getWritePosition()

◆ insertData()

◆ isOpen()

◆ isReadOnly()

◆ open() [1/2]

◆ open() [2/2]

◆ readData()

◆ setReadPosition()

◆ setTimeout()

◆ setWritePosition()

◆ waitForData()

◆ writeData()

Member Data Documentation

◆ m_baudrate

◆ m_endTime

◆ m_handle

◆ m_lastResult

◆ m_port

◆ m_portname

◆ m_timeout

◆ rx_log

◆ tx_log