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

virtual	~CSerialPort ()
	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)
	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)
	Implements the virtual method responsible for writing to the stream. More...

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

uint64_t	getTotalBytesCount ()
	Returns the total amount of bytes in the stream. More...

uint64_t	getPosition ()
	Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one. 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...

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...

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

int	m_baudRate

int	m_totalTimeout_ms

int	m_interBytesTimeout_ms

mrpt::utils::CTicTac	m_timer
	Used only in ReadString. More...

int	hCOM
	The file handle (-1: Not open) More...

Friends
class	PosixSignalDispatcherImpl

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

◆ 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 53 of file CSerialPort.cpp.

References open().

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◆ CSerialPort() [2/2]

CSerialPort::CSerialPort ( )

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

Definition at line 67 of file CSerialPort.cpp.

◆ ~CSerialPort()

CSerialPort::~CSerialPort ( )

virtual

Destructor.

Definition at line 80 of file CSerialPort.cpp.

References close(), 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 620 of file CSerialPort.cpp.

References hCOM, MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNTRIPEmitter::initialize(), Read(), ReadString(), mrpt::hwdrivers::CGillAnemometer::~CGillAnemometer(), mrpt::hwdrivers::CGyroKVHDSP3000::~CGyroKVHDSP3000(), 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 780 of file CStream.cpp.

◆ getPosition()

uint64_t mrpt::comms::CSerialPort::getPosition ( )

inlinevirtual

Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one.

Implements mrpt::utils::CStream.

Definition at line 202 of file CSerialPort.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getTotalBytesCount()

uint64_t mrpt::comms::CSerialPort::getTotalBytesCount ( )

inlinevirtual

Returns the total amount of bytes in the stream.

Implements mrpt::utils::CStream.

Definition at line 191 of file CSerialPort.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ 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 CSerialPort::isOpen ( ) const

Returns if port has been correctly open.

Definition at line 185 of file CSerialPort.cpp.

References hCOM.

Referenced by mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CNTRIPEmitter::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), open(), purgeBuffers(), Read(), ReadString(), setConfig(), setSerialPortName(), setTimeouts(), mrpt::hwdrivers::CCANBusReader::tryToOpenComms(), mrpt::hwdrivers::CSickLaserSerial::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 88 of file CSerialPort.cpp.

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

Referenced by mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen(), CSerialPort(), mrpt::hwdrivers::CNTRIPEmitter::initialize(), open(), mrpt::hwdrivers::CCANBusReader::tryToOpenComms(), and mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms().

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◆ open() [2/2]

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

inline

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 90 of file CSerialPort.h.

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

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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>>() [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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◆ purgeBuffers()

void CSerialPort::purgeBuffers ( )

Purge tx and rx buffers.

Exceptions

std::exception On communication errors

Definition at line 891 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::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CHokuyoURG::purgeBuffers(), mrpt::hwdrivers::CCANBusReader::setupSerialComms(), mrpt::hwdrivers::CHokuyoURG::turnOn(), and mrpt::hwdrivers::CGPSInterface::unsetJAVAD_AIM_mode().

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◆ Read()

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

virtual

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::utils::CStream.

Definition at line 643 of file CSerialPort.cpp.

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

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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()

virtual size_t mrpt::utils::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 129 of file CStream.h.

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

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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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◆ 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 731 of file CSerialPort.cpp.

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

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::doProcess().

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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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◆ Seek() [1/2]

uint64_t mrpt::comms::CSerialPort::Seek	(	uint64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

inline

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.

Definition at line 179 of file CSerialPort.h.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ 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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◆ 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 197 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::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CCANBusReader::setupSerialComms(), mrpt::hwdrivers::CCANBusReader::tryToOpenComms(), mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms(), and mrpt::hwdrivers::CHokuyoURG::turnOn().

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◆ setSerialPortName()

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

inline

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 74 of file CSerialPort.h.

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 559 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(), mrpt::hwdrivers::CCANBusReader::tryToOpenComms(), mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms(), and mrpt::hwdrivers::CHokuyoURG::turnOn().

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◆ Write()

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

virtual

Implements the 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.

Exceptions

std::exception On communication errors

Todo:: Add support for write timeout here

Implements mrpt::utils::CStream.

Definition at line 826 of file CSerialPort.cpp.

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

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::changeMode(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGyroKVHDSP3000::resetIncrementalAngle(), mrpt::hwdrivers::CCANBusReader::sendCommandToCANReader(), and mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK().

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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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◆ 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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Friends And Related Function Documentation

◆ PosixSignalDispatcherImpl

friend class PosixSignalDispatcherImpl

friend

Definition at line 49 of file CSerialPort.h.

Member Data Documentation

◆ hCOM

int mrpt::comms::CSerialPort::hCOM

protected

The file handle (-1: Not open)

Definition at line 228 of file CSerialPort.h.

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

◆ m_baudRate

int mrpt::comms::CSerialPort::m_baudRate

protected

Definition at line 215 of file CSerialPort.h.

Referenced by setConfig().

◆ m_interBytesTimeout_ms

int mrpt::comms::CSerialPort::m_interBytesTimeout_ms

protected

Definition at line 216 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 214 of file CSerialPort.h.

Referenced by open(), and setSerialPortName().

◆ m_timer

mrpt::utils::CTicTac mrpt::comms::CSerialPort::m_timer

protected

Used only in ReadString.

Definition at line 219 of file CSerialPort.h.

Referenced by Read(), and ReadString().

◆ m_totalTimeout_ms

int mrpt::comms::CSerialPort::m_totalTimeout_ms

protected

Definition at line 216 of file CSerialPort.h.

Referenced by Read(), and setTimeouts().

Detailed Description

Public Types

Public Member Functions

Protected 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()

◆ internal_ReadObject()

◆ internal_ReadObjectHeader()

◆ isOpen()

◆ open() [1/2]

◆ open() [2/2]

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ operator>>() [1/2]

◆ operator>>() [2/2]

◆ printf()

◆ printf_vector()

◆ purgeBuffers()

◆ Read()

◆ ReadAsAndCastTo()

◆ ReadBuffer()

◆ ReadBufferFixEndianness()

◆ ReadBufferImmediate()

◆ ReadObject() [1/3]

◆ ReadObject() [2/3]

◆ ReadObject() [3/3]

◆ ReadPOD()

◆ ReadString()

◆ ReadVariant()

◆ receiveMessage()

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ sendMessage()

◆ setConfig()

◆ setSerialPortName()

◆ setTimeouts()

◆ Write()

◆ WriteBuffer()

◆ WriteBufferFixEndianness()

◆ WriteObject() [1/2]

◆ WriteObject() [2/2]

◆ WriteVariant()

Friends And Related Function Documentation

◆ PosixSignalDispatcherImpl

Member Data Documentation

◆ hCOM

◆ m_baudRate

◆ m_interBytesTimeout_ms

◆ m_serialName

◆ m_timer

◆ m_totalTimeout_ms