Detailed Description

A definition of a CStream actually representing a USB connection to a FTDI chip.

This class implements the communication with FT245BM / FT245RL chips. Using this class makes a program to depend on:

Windows: "FT2XX.DLL" and the device drivers (see FTDI website).
Linux: "libusb.so" (quite standard!), and "libftdi.so" only if linking against the dynamic library.

If there is any error during the communications (or loading the Windows DLL), a std::exception will be raised.

To write bulk data, use CStream::ReadBuffer and CStream::WriteBuffer.

Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like DLL not found, etc...)

VERSIONS:

11/APR/2005: Initial development. JLBC
16/FEB/2007: Integration into the MRPT framework. Support for device serial numbers. JLBC
15/APR/2008: Implemented for Linux using libftdi. JLBC

See also: CStream

Definition at line 75 of file CInterfaceFTDI.h.

#include <mrpt/comms/CInterfaceFTDI.h>

Inheritance diagram for mrpt::comms::CInterfaceFTDI:

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

Public Member Functions
	CInterfaceFTDI ()
	Constructor, which loads driver interface (the DLL under Windows). More...

virtual	~CInterfaceFTDI ()
	Destructor, which closes the connection with the chip and unloads the driver interface. More...

	CInterfaceFTDI (const CInterfaceFTDI &o)
	This object cannot be copied. More...

CInterfaceFTDI &	operator= (const CInterfaceFTDI &o)
	This object cannot be copied. More...

bool	isOpen ()
	Checks whether the chip has been successfully open. More...

void	OpenBySerialNumber (const std::string &serialNumber)
	Open by device serial number. More...

void	OpenByDescription (const std::string &description)
	Open by device description. More...

void	Close ()
	Close the USB device. More...

void	ResetDevice ()
	Reset the USB device. More...

void	Purge ()
	Purge the I/O buffers. More...

void	SetLatencyTimer (unsigned char latency_ms)
	Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. More...

void	SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
	Change read & write timeouts, in milliseconds. More...

void	ListAllDevices (TFTDIDeviceList &outList)
	Generates a list with all FTDI devices connected right now. More...

size_t	ReadSync (void *Buffer, size_t Count)
	Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...

size_t	WriteSync (const void *Buffer, size_t Count)
	Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. 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...

size_t	ReadBuffer (void *Buffer, size_t Count)
	Reads a block of bytes from the stream into Buffer. More...

template<typename T >
size_t	ReadBufferFixEndianness (T *ptr, size_t ElementCount)
	Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. More...

void	WriteBuffer (const void *Buffer, size_t Count)
	Writes a block of bytes to the stream from Buffer. More...

template<typename T >
void	WriteBufferFixEndianness (const T *ptr, size_t ElementCount)
	Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More...

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

void	WriteObject (const CSerializable *o)
	Writes an object to the stream. More...

void	WriteObject (const CSerializable &o)

CSerializable::Ptr	ReadObject ()
	Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...

template<typename T >
T::Ptr	ReadObject ()
	Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...

void	ReadObject (CSerializable *existingObj)
	Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More...

template<typename... T>
mrpt::utils::variant< T... >	ReadVariant ()
	Reads a variant from stream, its class determined at runtime, and returns a variant to the object. More...

template<typename T >
void	WriteVariant (T t)
	Writes a Variant to the stream. More...

template<typename T >
T	ReadPOD ()
	Reads a simple POD type and returns by value. More...

CStream &	operator<< (const CSerializable::Ptr &pObj)
	Write an object to a stream in the binary MRPT format. More...

CStream &	operator<< (const CSerializable &obj)
	Write an object to a stream in the binary MRPT format. More...

CStream &	operator>> (CSerializable::Ptr &pObj)

CStream &	operator>> (CSerializable &obj)

template<typename STORED_TYPE , typename CAST_TO_TYPE >
void	ReadAsAndCastTo (CAST_TO_TYPE &read_here)
	Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast. 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...

void	sendMessage (const utils::CMessage &msg)
	Send a message to the device. More...

bool	receiveMessage (utils::CMessage &msg)
	Tries to receive a message from the device. More...

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

Protected Member Functions
size_t	Read (void *Buffer, size_t Count)
	Introduces a pure virtual method responsible for reading from the stream. More...

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

uint64_t	Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)
	This virtual method does nothing in this class. More...

uint64_t	getTotalBytesCount ()
	This virtual method does nothing in this class. More...

uint64_t	getPosition ()
	This virtual method does nothing in this class. More...

void	ftdi_read (void lpvBuffer, unsigned long dwBuffSize, unsigned long lpdwBytesRead)

void	ftdi_write (const void lpvBuffer, unsigned long dwBuffSize, unsigned long lpdwBytes)

void	recursive_fill_list_devices (void *usb_device_structure, TFTDIDeviceList &outList)
	Process recursively a USB device and its children: More...

void	internal_ReadObject (CSerializable *newObj, const std::string &className, bool isOldFormat, int8_t version)
	Read the object. More...

void	internal_ReadObjectHeader (std::string &className, bool &isOldFormat, int8_t &version)
	Read the object Header. More...

Protected Attributes
mrpt::utils::circular_buffer< uint8_t >	m_readBuffer
	Used in Read. More...

void *	m_ftdi_context

Member Enumeration Documentation

◆ TSeekOrigin

enum mrpt::utils::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 45 of file CStream.h.

Constructor & Destructor Documentation

◆ CInterfaceFTDI() [1/2]

mrpt::comms::CInterfaceFTDI::CInterfaceFTDI ( )

Constructor, which loads driver interface (the DLL under Windows).

◆ ~CInterfaceFTDI()

virtual mrpt::comms::CInterfaceFTDI::~CInterfaceFTDI ( )

virtual

Destructor, which closes the connection with the chip and unloads the driver interface.

◆ CInterfaceFTDI() [2/2]

mrpt::comms::CInterfaceFTDI::CInterfaceFTDI ( const CInterfaceFTDI & o )

This object cannot be copied.

Member Function Documentation

◆ Close()

void mrpt::comms::CInterfaceFTDI::Close ( )

Close the USB device.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed(), and mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame().

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◆ ftdi_read()

void mrpt::comms::CInterfaceFTDI::ftdi_read	(	void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytesRead
	)

protected

Referenced by Read(), and ReadBufferImmediate().

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◆ ftdi_write()

void mrpt::comms::CInterfaceFTDI::ftdi_write	(	const void *	lpvBuffer,
		unsigned long	dwBuffSize,
		unsigned long *	lpdwBytes
	)

protected

Referenced by Write().

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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 780 of file CStream.cpp.

◆ getPosition()

uint64_t CInterfaceFTDI::getPosition ( )

protectedvirtual

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 84 of file CInterfaceFTDI_common.cpp.

◆ getTotalBytesCount()

uint64_t CInterfaceFTDI::getTotalBytesCount ( )

protectedvirtual

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 80 of file CInterfaceFTDI_common.cpp.

◆ internal_ReadObject()

void CStream::internal_ReadObject	(	CSerializable *	newObj,
		const std::string &	className,
		bool	isOldFormat,
		int8_t	version
	)

protectedinherited

Read the object.

Definition at line 523 of file CStream.cpp.

References SERIALIZATION_END_FLAG, THROW_EXCEPTION, THROW_EXCEPTION_FMT, and THROW_TYPED_EXCEPTION.

Referenced by mrpt::utils::CStream::ReadObject(), and mrpt::utils::CStream::ReadVariant().

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◆ internal_ReadObjectHeader()

void CStream::internal_ReadObjectHeader	(	std::string &	className,
		bool &	isOldFormat,
		int8_t &	version
	)

protectedinherited

Read the object Header.

Definition at line 420 of file CStream.cpp.

References ASSERT_, THROW_EXCEPTION, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, and THROW_TYPED_EXCEPTION.

Referenced by mrpt::utils::CStream::ReadObject(), and mrpt::utils::CStream::ReadVariant().

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◆ isOpen()

bool mrpt::comms::CInterfaceFTDI::isOpen ( )

Checks whether the chip has been successfully open.

See also: OpenBySerialNumber, OpenByDescription

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected(), mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

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◆ ListAllDevices()

void mrpt::comms::CInterfaceFTDI::ListAllDevices ( TFTDIDeviceList & outList )

Generates a list with all FTDI devices connected right now.

◆ OpenByDescription()

void mrpt::comms::CInterfaceFTDI::OpenByDescription ( const std::string & description )

Open by device description.

◆ OpenBySerialNumber()

void mrpt::comms::CInterfaceFTDI::OpenBySerialNumber ( const std::string & serialNumber )

Open by device serial number.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

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◆ operator<<() [1/2]

CStream & CStream::operator<< ( const CSerializable::Ptr & pObj )

inherited

Write an object to a stream in the binary MRPT format.

Definition at line 201 of file CStream.cpp.

◆ operator<<() [2/2]

CStream & CStream::operator<< ( const CSerializable & obj )

inherited

Write an object to a stream in the binary MRPT format.

Definition at line 208 of file CStream.cpp.

◆ operator=()

CInterfaceFTDI& mrpt::comms::CInterfaceFTDI::operator= ( const CInterfaceFTDI & o )

This object cannot be copied.

◆ operator>>() [1/2]

CStream & CStream::operator>> ( CSerializable::Ptr & pObj )

inherited

Definition at line 214 of file CStream.cpp.

◆ operator>>() [2/2]

CStream & CStream::operator>> ( CSerializable & obj )

inherited

Definition at line 220 of file CStream.cpp.

◆ printf()

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

virtualinherited

Writes a string to the stream in a textual form.

See also: CStdOutStream

Definition at line 597 of file CStream.cpp.

References MRPT_END, MRPT_START, and vsnprintf.

◆ printf_vector()

template<typename CONTAINER_TYPE >

virtual int void mrpt::utils::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 370 of file CStream.h.

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

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

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◆ Purge()

void mrpt::comms::CInterfaceFTDI::Purge ( )

Purge the I/O buffers.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect().

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◆ Read()

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

protectedvirtual

Introduces a pure virtual method responsible for reading from the stream.

It integrates a cache buffer to speed-up sequences of many, small readings.

Implements mrpt::utils::CStream.

Definition at line 21 of file CInterfaceFTDI_common.cpp.

References mrpt::utils::circular_buffer< T >::available(), ftdi_read(), m_readBuffer, min, mrpt::utils::circular_buffer< T >::pop_many(), mrpt::utils::circular_buffer< T >::push_many(), and mrpt::utils::circular_buffer< T >::size().

Referenced by ReadSync().

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◆ ReadAsAndCastTo()

template<typename STORED_TYPE , typename CAST_TO_TYPE >

void mrpt::utils::CStream::ReadAsAndCastTo ( CAST_TO_TYPE & read_here )

inlineinherited

Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast.

Useful for coding backwards compatible de-serialization blocks

Definition at line 353 of file CStream.h.

◆ ReadBuffer()

size_t CStream::ReadBuffer	(	void *	Buffer,
		size_t	Count
	)

inherited

Reads a block of bytes from the stream into Buffer.

Exceptions

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

Returns: The amound of bytes actually read.

Note: This method is endianness-dependent.

See also: ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,

Definition at line 40 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::compress::zip::compress_gz_data_block(), mrpt::compress::zip::decompress(), mrpt::compress::zip::decompress_gz_file(), mrpt::hwdrivers::CGPSInterface::doProcess(), fill_input_buffer(), mrpt::system::loadBinaryFile(), mrpt::utils::CMemoryStream::loadBufferFromFile(), mrpt::hwdrivers::CHokuyoURG::purgeBuffers(), mrpt::utils::CStream::ReadBufferFixEndianness(), and mrpt::utils::CStream::ReadBufferImmediate().

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◆ ReadBufferFixEndianness()

template<typename T >

size_t mrpt::utils::CStream::ReadBufferFixEndianness	(	T *	ptr,
		size_t	ElementCount
	)

inlineinherited

Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.

Parameters

ElementCount	The number of elements (not bytes) to read.
ptr	A pointer to the first output element in an array (or std::vector<>, etc...).

Returns: The amound of bytes (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage:
uint32_t N;
s >> N;
vector<float> vec(N);
if (N)
s.ReadBufferFixEndianness<float>(&vec[0],N);

Exceptions

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

See also: ReadBufferFixEndianness, ReadBuffer

Definition at line 108 of file CStream.h.

References mrpt::utils::CStream::ReadBuffer(), and mrpt::mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::math::operator>>(), mrpt::utils::CStream::ReadPOD(), and triangle_readFromStream().

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◆ ReadBufferImmediate()

size_t CInterfaceFTDI::ReadBufferImmediate	(	void *	Buffer,
		size_t	Count
	)

virtual

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).

In this class this method actually behaves as expected and does not fallback to ReadBuffer().

Exceptions

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

Reimplemented from mrpt::utils::CStream.

Definition at line 88 of file CInterfaceFTDI_common.cpp.

References ftdi_read().

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◆ ReadObject() [1/3]

CSerializable::Ptr mrpt::utils::CStream::ReadObject ( )

inlineinherited

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

Exceptions

std::exception	On I/O error or undefined class.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 207 of file CStream.h.

Referenced by mrpt::utils::mrpt_recv_from_zmq(), mrpt::utils::mrpt_recv_from_zmq_into(), mrpt::utils::OctetVectorToObject(), mrpt::utils::operator>>(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::utils::StringToObject(), and TEST().

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◆ ReadObject() [2/3]

template<typename T >

T::Ptr mrpt::utils::CStream::ReadObject ( )

inlineinherited

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

This version is similar to mrpt::make_aligned_shared<T>.

Exceptions

std::exception	On I/O error or undefined class.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 217 of file CStream.h.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::utils::CStream::internal_ReadObject(), and mrpt::utils::CStream::internal_ReadObjectHeader().

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◆ ReadObject() [3/3]

void CStream::ReadObject ( CSerializable * existingObj )

inherited

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

Exceptions

std::exception	On I/O error or different class found.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 566 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::findRegisteredClass(), mrpt::format(), mrpt::utils::CSerializable::GetRuntimeClass(), THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

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◆ ReadPOD()

template<typename T >

T mrpt::utils::CStream::ReadPOD ( )

inlineinherited

Reads a simple POD type and returns by value.

Useful when stream >> var; cannot be used becuase of errors of misaligned reference binding. Use with macro MRPT_READ_POD to avoid typing the type T yourself.

Note: [New in MRPT 2.0.0]; Write operator s << var; is safe for misaligned variables.

Definition at line 325 of file CStream.h.

References mrpt::utils::CStream::ReadBufferFixEndianness().

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◆ ReadSync()

size_t mrpt::comms::CInterfaceFTDI::ReadSync	(	void *	Buffer,
		size_t	Count
	)

inline

Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 131 of file CInterfaceFTDI.h.

References Read().

Referenced by mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame().

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◆ ReadVariant()

template<typename... T>

mrpt::utils::variant<T...> mrpt::utils::CStream::ReadVariant ( )

inlineinherited

Reads a variant from stream, its class determined at runtime, and returns a variant to the object.

To be compatible with the current polymorphic system this support smart pointer types. For pointer types, This will bind to the first possible pointer type. variant<CSerializable::Ptr, CRenderizable::Ptr>

Exceptions

std::exception	On I/O error or undefined class.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Definition at line 282 of file CStream.h.

References mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::utils::CStream::internal_ReadObject(), mrpt::utils::CStream::internal_ReadObjectHeader(), mrpt::utils::CStream::ReadVariant_helper(), and THROW_EXCEPTION_FMT.

Referenced by mrpt::utils::operator>>().

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◆ receiveMessage()

bool CStream::receiveMessage ( utils::CMessage & msg )

inherited

Tries to receive a message from the device.

Exceptions

std::exception On communication errors

Returns: True if successful, false if there is no new data from the device (but communications seem to work fine)

See also: The frame format is described in sendMessage()

Definition at line 686 of file CStream.cpp.

References mrpt::utils::CMessage::content, MAKEWORD16B, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

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◆ recursive_fill_list_devices()

void mrpt::comms::CInterfaceFTDI::recursive_fill_list_devices	(	void *	usb_device_structure,
		TFTDIDeviceList &	outList
	)

protected

Process recursively a USB device and its children:

◆ ResetDevice()

void mrpt::comms::CInterfaceFTDI::ResetDevice ( )

Reset the USB device.

Referenced by mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

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◆ Seek() [1/2]

uint64_t CInterfaceFTDI::Seek	(	uint64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

protected

This virtual method does nothing in this class.

Definition at line 70 of file CInterfaceFTDI_common.cpp.

References MRPT_UNUSED_PARAM.

◆ Seek() [2/2]

virtual uint64_t mrpt::utils::CStream::Seek	(	uint64_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::utils::CFileStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CFileOutputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.

◆ sendMessage()

void CStream::sendMessage ( const utils::CMessage & msg )

inherited

Send a message to the device.

Note that only the low byte from the "type" field will be used.

For frames of size < 255 the frame format is an array of bytes in this order:

<START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
       <START_FLAG>    = 0x69
       <HEADER>                = A header byte
       <LENGHT>                = Number of bytes of BODY
       <BODY>                  = N x bytes
       <END_FLAG>              = 0X96
Total length   =       <LENGTH> + 4

For frames of size > 255 the frame format is an array of bytes in this order:

 <START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY>
<END_FLAG>
        <START_FLAG>    = 0x79
        <HEADER>                = A header byte
        <LENGHT>                = Number of bytes of BODY
        <BODY>                  = N x bytes
        <END_FLAG>              = 0X96
 Total length   =       <LENGTH> + 5

Exceptions

std::exception On communication errors

Definition at line 649 of file CStream.cpp.

References mrpt::utils::CMessage::content, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

Referenced by mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

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◆ SetLatencyTimer()

void mrpt::comms::CInterfaceFTDI::SetLatencyTimer ( unsigned char latency_ms )

Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

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◆ SetTimeouts()

void mrpt::comms::CInterfaceFTDI::SetTimeouts	(	unsigned long	dwReadTimeout_ms,
		unsigned long	dwWriteTimeout_ms
	)

Change read & write timeouts, in milliseconds.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

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◆ Write()

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

protectedvirtual

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::utils::CStream.

Definition at line 60 of file CInterfaceFTDI_common.cpp.

References ftdi_write().

Referenced by WriteSync().

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◆ WriteBuffer()

void CStream::WriteBuffer	(	const void *	Buffer,
		size_t	Count
	)

inherited

Writes a block of bytes to the stream from Buffer.

Exceptions

std::exception On any error

See also: Important, see: WriteBufferFixEndianness

Note: This method is endianness-dependent.

Definition at line 64 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

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◆ WriteBufferFixEndianness()

template<typename T >

void mrpt::utils::CStream::WriteBufferFixEndianness	(	const T *	ptr,
		size_t	ElementCount
	)

inlineinherited

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

Parameters

ElementCount	The number of elements (not bytes) to write.
ptr	A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: vector<float> vec = ... uint32_t N = vec.size(); s << N if (N) s.WriteBufferFixEndianness<float>(&vec[0],N);

Exceptions

std::exception On any error

See also: WriteBuffer

Definition at line 159 of file CStream.h.

References mrpt::utils::CStream::WriteBuffer().

Referenced by mrpt::math::operator<<(), triangle_writeToStream(), mrpt::math::CMatrix::writeToStream(), mrpt::math::CMatrixD::writeToStream(), mrpt::maps::CWeightedPointsMap::writeToStream(), mrpt::maps::CColouredPointsMap::writeToStream(), mrpt::maps::CSimplePointsMap::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

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◆ WriteObject() [1/2]

void CStream::WriteObject ( const CSerializable * o )

inherited

Writes an object to the stream.

Definition at line 158 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::CSerializable::GetRuntimeClass(), MRPT_END, MRPT_START, SERIALIZATION_END_FLAG, and mrpt::utils::CSerializable::writeToStream().

Referenced by mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::math::operator<<(), mrpt::utils::CMessage::serializeObject(), and mrpt::utils::CStream::WriteVariant().

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◆ WriteObject() [2/2]

void mrpt::utils::CStream::WriteObject ( const CSerializable & o )

inlineinherited

Definition at line 198 of file CStream.h.

References mrpt::utils::CStream::WriteObject().

Referenced by mrpt::utils::CStream::WriteObject().

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◆ WriteSync()

size_t mrpt::comms::CInterfaceFTDI::WriteSync	(	const void *	Buffer,
		size_t	Count
	)

inline

Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 135 of file CInterfaceFTDI.h.

References Write().

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◆ WriteVariant()

template<typename T >

void mrpt::utils::CStream::WriteVariant ( T t )

inlineinherited

Writes a Variant to the stream.

Definition at line 312 of file CStream.h.

References mrpt::utils::CStream::WriteObject().

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Member Data Documentation

◆ m_ftdi_context

void* mrpt::comms::CInterfaceFTDI::m_ftdi_context

protected

Definition at line 243 of file CInterfaceFTDI.h.

◆ m_readBuffer

mrpt::utils::circular_buffer<uint8_t> mrpt::comms::CInterfaceFTDI::m_readBuffer

protected

Used in Read.

Definition at line 158 of file CInterfaceFTDI.h.

Referenced by Read().

Detailed Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ TSeekOrigin

Constructor & Destructor Documentation

◆ CInterfaceFTDI() [1/2]

◆ ~CInterfaceFTDI()

◆ CInterfaceFTDI() [2/2]

Member Function Documentation

◆ Close()

◆ ftdi_read()

◆ ftdi_write()

◆ getline()

◆ getPosition()

◆ getTotalBytesCount()

◆ internal_ReadObject()

◆ internal_ReadObjectHeader()

◆ isOpen()

◆ ListAllDevices()

◆ OpenByDescription()

◆ OpenBySerialNumber()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ operator=()

◆ operator>>() [1/2]

◆ operator>>() [2/2]

◆ printf()

◆ printf_vector()

◆ Purge()

◆ Read()

◆ ReadAsAndCastTo()

◆ ReadBuffer()

◆ ReadBufferFixEndianness()

◆ ReadBufferImmediate()

◆ ReadObject() [1/3]

◆ ReadObject() [2/3]

◆ ReadObject() [3/3]

◆ ReadPOD()

◆ ReadSync()

◆ ReadVariant()

◆ receiveMessage()

◆ recursive_fill_list_devices()

◆ ResetDevice()

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ sendMessage()

◆ SetLatencyTimer()

◆ SetTimeouts()

◆ Write()

◆ WriteBuffer()

◆ WriteBufferFixEndianness()

◆ WriteObject() [1/2]

◆ WriteObject() [2/2]

◆ WriteSync()

◆ WriteVariant()

Member Data Documentation

◆ m_ftdi_context

◆ m_readBuffer