Detailed Description

Definition at line 44 of file linux/net_serial.h.

#include <rplidar/src/arch/linux/net_serial.h>

Inheritance diagram for rp::arch::net::raw_serial:

Public Types
enum	{ SERIAL_RX_BUFFER_SIZE = 512, SERIAL_TX_BUFFER_SIZE = 128 }

enum	{ SERIAL_RX_BUFFER_SIZE = 512, SERIAL_TX_BUFFER_SIZE = 128 }

enum	{ SERIAL_RX_BUFFER_SIZE = 512, SERIAL_TX_BUFFER_SIZE = 128, SERIAL_RX_TIMEOUT = 2000, SERIAL_TX_TIMEOUT = 2000 }

enum	{ ANS_OK = 0, ANS_TIMEOUT = -1, ANS_DEV_ERR = -2 }

Public Member Functions
	raw_serial ()

virtual	~raw_serial ()

virtual bool	bind (const char *portname, uint32_t baudrate, uint32_t flags=0)

virtual bool	open ()

virtual void	close ()

virtual void	flush (_u32 flags)

virtual int	waitfordata (size_t data_count, _u32 timeout=-1, size_t *returned_size=nullptr)

virtual int	senddata (const unsigned char *data, size_t size)

virtual int	recvdata (unsigned char *data, size_t size)

virtual int	waitforsent (_u32 timeout=-1, size_t *returned_size=nullptr)

virtual int	waitforrecv (_u32 timeout=-1, size_t *returned_size=nullptr)

virtual size_t	rxqueue_count ()

virtual void	setDTR ()

virtual void	clearDTR ()

_u32	getTermBaudBitmap (_u32 baud)

	raw_serial ()

virtual	~raw_serial ()

virtual bool	bind (const char *portname, uint32_t baudrate, uint32_t flags=0)

virtual bool	open ()

virtual void	close ()

virtual void	flush (_u32 flags)

virtual int	waitfordata (_word_size_t data_count, _u32 timeout=-1, _word_size_t *returned_size=nullptr)

virtual int	senddata (const unsigned char *data, _word_size_t size)

virtual int	recvdata (unsigned char *data, _word_size_t size)

virtual int	waitforsent (_u32 timeout=-1, _word_size_t *returned_size=nullptr)

virtual int	waitforrecv (_u32 timeout=-1, _word_size_t *returned_size=nullptr)

virtual size_t	rxqueue_count ()

virtual void	setDTR ()

virtual void	clearDTR ()

_u32	getTermBaudBitmap (_u32 baud)

	raw_serial ()

virtual	~raw_serial ()

virtual bool	bind (const char *portname, _u32 baudrate, _u32 flags=0)

virtual bool	open ()

virtual void	close ()

virtual void	flush (_u32 flags)

virtual int	waitfordata (size_t data_count, _u32 timeout=-1, size_t *returned_size=nullptr)

virtual int	senddata (const unsigned char *data, size_t size)

virtual int	recvdata (unsigned char *data, size_t size)

virtual int	waitforsent (_u32 timeout=-1, size_t *returned_size=nullptr)

virtual int	waitforrecv (_u32 timeout=-1, size_t *returned_size=nullptr)

virtual size_t	rxqueue_count ()

virtual void	setDTR ()

virtual void	clearDTR ()

virtual bool	isOpened ()

Static Public Member Functions
static serial_rxtx *	CreateRxTx ()

static void	ReleaseRxTx (serial_rxtx *)

Protected Member Functions
bool	open (const char *portname, uint32_t baudrate, uint32_t flags=0)

void	_init ()

bool	open (const char *portname, uint32_t baudrate, uint32_t flags=0)

void	_init ()

bool	open (const char *portname, _u32 baudrate, _u32 flags)

void	_init ()

Protected Attributes
char	_portName [200]

uint32_t	_baudrate

uint32_t	_flags

int	serial_fd

size_t	required_tx_cnt

size_t	required_rx_cnt

OVERLAPPED	_ro

OVERLAPPED	_wo

OVERLAPPED	_wait_o

volatile HANDLE	_serial_handle

DCB	_dcb

COMMTIMEOUTS	_co

volatile bool	_is_serial_opened

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
SERIAL_RX_BUFFER_SIZE
SERIAL_TX_BUFFER_SIZE

Definition at line 47 of file linux/net_serial.h.

◆ anonymous enum

anonymous enum

Enumerator
SERIAL_RX_BUFFER_SIZE
SERIAL_TX_BUFFER_SIZE

Definition at line 47 of file macOS/net_serial.h.

◆ anonymous enum

anonymous enum

Enumerator
SERIAL_RX_BUFFER_SIZE
SERIAL_TX_BUFFER_SIZE
SERIAL_RX_TIMEOUT
SERIAL_TX_TIMEOUT

Definition at line 47 of file win32/net_serial.h.

◆ anonymous enum

anonymous enum

inherited

Enumerator
ANS_OK
ANS_TIMEOUT
ANS_DEV_ERR

Definition at line 45 of file abs_rxtx.h.

Constructor & Destructor Documentation

◆ raw_serial() [1/3]

rp::arch::net::raw_serial::raw_serial ( )

Definition at line 45 of file linux/net_serial.cpp.

References _init().

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◆ ~raw_serial() [1/3]

rp::arch::net::raw_serial::~raw_serial ( )

virtual

Definition at line 51 of file linux/net_serial.cpp.

References close().

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◆ raw_serial() [2/3]

rp::arch::net::raw_serial::raw_serial ( )

◆ ~raw_serial() [2/3]

virtual rp::arch::net::raw_serial::~raw_serial ( )

virtual

◆ raw_serial() [3/3]

rp::arch::net::raw_serial::raw_serial ( )

◆ ~raw_serial() [3/3]

virtual rp::arch::net::raw_serial::~raw_serial ( )

virtual

Member Function Documentation

◆ _init() [1/3]

void rp::arch::net::raw_serial::_init ( )

protected

◆ _init() [2/3]

void rp::arch::net::raw_serial::_init ( )

protected

Definition at line 275 of file linux/net_serial.cpp.

References _portName, required_rx_cnt, required_tx_cnt, and serial_fd.

Referenced by raw_serial().

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◆ _init() [3/3]

void rp::arch::net::raw_serial::_init ( )

protected

◆ bind() [1/3]

virtual bool rp::arch::net::raw_serial::bind	(	const char *	portname,
		uint32_t	baudrate,
		uint32_t	flags = `0`
	)

virtual

Implements rp::hal::serial_rxtx.

◆ bind() [2/3]

bool rp::arch::net::raw_serial::bind	(	const char *	portname,
		uint32_t	baudrate,
		uint32_t	flags = `0`
	)

virtual

Implements rp::hal::serial_rxtx.

Definition at line 53 of file linux/net_serial.cpp.

References _baudrate, _flags, and _portName.

◆ bind() [3/3]

virtual bool rp::arch::net::raw_serial::bind	(	const char *	portname,
		_u32	baudrate,
		_u32	flags = `0`
	)

virtual

Implements rp::hal::serial_rxtx.

◆ clearDTR() [1/3]

void rp::arch::net::raw_serial::clearDTR ( )

virtual

Implements rp::hal::serial_rxtx.

Definition at line 267 of file linux/net_serial.cpp.

References rp::hal::serial_rxtx::isOpened(), and serial_fd.

Referenced by open().

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◆ clearDTR() [2/3]

virtual void rp::arch::net::raw_serial::clearDTR ( )

virtual

Implements rp::hal::serial_rxtx.

◆ clearDTR() [3/3]

virtual void rp::arch::net::raw_serial::clearDTR ( )

virtual

Implements rp::hal::serial_rxtx.

◆ close() [1/3]

virtual void rp::arch::net::raw_serial::close ( )

virtual

Implements rp::hal::serial_rxtx.

◆ close() [2/3]

void rp::arch::net::raw_serial::close ( )

virtual

Implements rp::hal::serial_rxtx.

Definition at line 124 of file linux/net_serial.cpp.

References rp::hal::serial_rxtx::_is_serial_opened, and serial_fd.

Referenced by open(), and ~raw_serial().

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◆ close() [3/3]

virtual void rp::arch::net::raw_serial::close ( )

virtual

Implements rp::hal::serial_rxtx.

◆ CreateRxTx()

serial_rxtx * rp::hal::serial_rxtx::CreateRxTx ( )

staticinherited

Definition at line 319 of file linux/net_serial.cpp.

Referenced by rp::standalone::rplidar::RPlidarDriverSerialImpl::RPlidarDriverSerialImpl().

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◆ flush() [1/3]

void rp::arch::net::raw_serial::flush ( _u32 flags )

virtual

Implements rp::hal::serial_rxtx.

Definition at line 165 of file linux/net_serial.cpp.

References serial_fd.

◆ flush() [2/3]

virtual void rp::arch::net::raw_serial::flush ( _u32 flags )

virtual

Implements rp::hal::serial_rxtx.

◆ flush() [3/3]

virtual void rp::arch::net::raw_serial::flush ( _u32 flags )

virtual

Implements rp::hal::serial_rxtx.

◆ getTermBaudBitmap() [1/2]

_u32 rp::arch::net::raw_serial::getTermBaudBitmap ( _u32 baud )

Definition at line 282 of file linux/net_serial.cpp.

References BAUD_CONV.

Referenced by open().

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◆ getTermBaudBitmap() [2/2]

_u32 rp::arch::net::raw_serial::getTermBaudBitmap ( _u32 baud )

◆ isOpened()

virtual bool rp::hal::serial_rxtx::isOpened ( )

inlinevirtualinherited

Definition at line 80 of file abs_rxtx.h.

References rp::hal::serial_rxtx::_is_serial_opened.

Referenced by clearDTR(), open(), recvdata(), rxqueue_count(), senddata(), setDTR(), waitfordata(), and waitforrecv().

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◆ open() [1/6]

bool rp::arch::net::raw_serial::open ( )

virtual

Implements rp::hal::serial_rxtx.

Definition at line 52 of file linux/net_serial.cpp.

References _baudrate, _flags, and _portName.

Referenced by open().

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◆ open() [2/6]

virtual bool rp::arch::net::raw_serial::open ( )

virtual

Implements rp::hal::serial_rxtx.

◆ open() [3/6]

virtual bool rp::arch::net::raw_serial::open ( )

virtual

Implements rp::hal::serial_rxtx.

◆ open() [4/6]

bool rp::arch::net::raw_serial::open	(	const char *	portname,
		_u32	baudrate,
		_u32	flags
	)

protected

◆ open() [5/6]

bool rp::arch::net::raw_serial::open	(	const char *	portname,
		uint32_t	baudrate,
		uint32_t	flags = `0`
	)

protected

Definition at line 61 of file linux/net_serial.cpp.

References rp::hal::serial_rxtx::_is_serial_opened, clearDTR(), close(), getTermBaudBitmap(), rp::hal::serial_rxtx::isOpened(), open(), and serial_fd.

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◆ open() [6/6]

bool rp::arch::net::raw_serial::open	(	const char *	portname,
		uint32_t	baudrate,
		uint32_t	flags = `0`
	)

protected

◆ recvdata() [1/3]

int rp::arch::net::raw_serial::recvdata	(	unsigned char *	data,
		size_t	size
	)

virtual

Implements rp::hal::serial_rxtx.

Definition at line 154 of file linux/net_serial.cpp.

References rp::hal::serial_rxtx::isOpened(), required_rx_cnt, and serial_fd.

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◆ recvdata() [2/3]

virtual int rp::arch::net::raw_serial::recvdata	(	unsigned char *	data,
		size_t	size
	)

virtual

Implements rp::hal::serial_rxtx.

◆ recvdata() [3/3]

int rp::arch::net::raw_serial::recvdata	(	unsigned char *	data,
		_word_size_t	size
	)

virtual

Definition at line 155 of file macOS/net_serial.cpp.

◆ ReleaseRxTx()

void rp::hal::serial_rxtx::ReleaseRxTx ( serial_rxtx * rxtx )

staticinherited

Definition at line 324 of file linux/net_serial.cpp.

Referenced by rp::standalone::rplidar::RPlidarDriverSerialImpl::~RPlidarDriverSerialImpl().

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◆ rxqueue_count() [1/3]

size_t rp::arch::net::raw_serial::rxqueue_count ( )

virtual

Implements rp::hal::serial_rxtx.

Definition at line 250 of file linux/net_serial.cpp.

References rp::hal::serial_rxtx::isOpened(), and serial_fd.

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◆ rxqueue_count() [2/3]

virtual size_t rp::arch::net::raw_serial::rxqueue_count ( )

virtual

Implements rp::hal::serial_rxtx.

◆ rxqueue_count() [3/3]

virtual size_t rp::arch::net::raw_serial::rxqueue_count ( )

virtual

Implements rp::hal::serial_rxtx.

◆ senddata() [1/3]

int rp::arch::net::raw_serial::senddata	(	const unsigned char *	data,
		size_t	size
	)

virtual

Implements rp::hal::serial_rxtx.

Definition at line 132 of file linux/net_serial.cpp.

References rp::hal::serial_rxtx::isOpened(), required_tx_cnt, and serial_fd.

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◆ senddata() [2/3]

int rp::arch::net::raw_serial::senddata	(	const unsigned char *	data,
		_word_size_t	size
	)

virtual

Definition at line 133 of file macOS/net_serial.cpp.

◆ senddata() [3/3]

virtual int rp::arch::net::raw_serial::senddata	(	const unsigned char *	data,
		size_t	size
	)

virtual

Implements rp::hal::serial_rxtx.

◆ setDTR() [1/3]

void rp::arch::net::raw_serial::setDTR ( )

virtual

Implements rp::hal::serial_rxtx.

Definition at line 259 of file linux/net_serial.cpp.

References rp::hal::serial_rxtx::isOpened(), and serial_fd.

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◆ setDTR() [2/3]

virtual void rp::arch::net::raw_serial::setDTR ( )

virtual

Implements rp::hal::serial_rxtx.

◆ setDTR() [3/3]

virtual void rp::arch::net::raw_serial::setDTR ( )

virtual

Implements rp::hal::serial_rxtx.

◆ waitfordata() [1/3]

int rp::arch::net::raw_serial::waitfordata	(	_word_size_t	data_count,
		_u32	timeout = `-1`,
		_word_size_t *	returned_size = `nullptr`
	)

virtual

Definition at line 181 of file macOS/net_serial.cpp.

◆ waitfordata() [2/3]

int rp::arch::net::raw_serial::waitfordata	(	size_t	data_count,
		_u32	timeout = `-1`,
		size_t *	returned_size = `nullptr`
	)

virtual

Implements rp::hal::serial_rxtx.

Definition at line 180 of file linux/net_serial.cpp.

References _baudrate, rp::hal::serial_rxtx::ANS_DEV_ERR, rp::hal::serial_rxtx::ANS_TIMEOUT, rp::hal::serial_rxtx::isOpened(), and serial_fd.

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◆ waitfordata() [3/3]

virtual int rp::arch::net::raw_serial::waitfordata	(	size_t	data_count,
		_u32	timeout = `-1`,
		size_t *	returned_size = `nullptr`
	)

virtual

Implements rp::hal::serial_rxtx.

◆ waitforrecv() [1/3]

int rp::arch::net::raw_serial::waitforrecv	(	_u32	timeout = `-1`,
		size_t *	returned_size = `nullptr`
	)

virtual

Implements rp::hal::serial_rxtx.

Definition at line 172 of file linux/net_serial.cpp.

References rp::hal::serial_rxtx::isOpened(), and required_rx_cnt.

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◆ waitforrecv() [2/3]

virtual int rp::arch::net::raw_serial::waitforrecv	(	_u32	timeout = `-1`,
		size_t *	returned_size = `nullptr`
	)

virtual

Implements rp::hal::serial_rxtx.

◆ waitforrecv() [3/3]

int rp::arch::net::raw_serial::waitforrecv	(	_u32	timeout = `-1`,
		_word_size_t *	returned_size = `nullptr`
	)

virtual

Definition at line 173 of file macOS/net_serial.cpp.

◆ waitforsent() [1/3]

int rp::arch::net::raw_serial::waitforsent	(	_u32	timeout = `-1`,
		size_t *	returned_size = `nullptr`
	)

virtual

Implements rp::hal::serial_rxtx.

Definition at line 166 of file linux/net_serial.cpp.

References required_tx_cnt.

◆ waitforsent() [2/3]

int rp::arch::net::raw_serial::waitforsent	(	_u32	timeout = `-1`,
		_word_size_t *	returned_size = `nullptr`
	)

virtual

Definition at line 167 of file macOS/net_serial.cpp.

◆ waitforsent() [3/3]

virtual int rp::arch::net::raw_serial::waitforsent	(	_u32	timeout = `-1`,
		size_t *	returned_size = `nullptr`
	)

virtual

Implements rp::hal::serial_rxtx.

Member Data Documentation

◆ _baudrate

uint32_t rp::arch::net::raw_serial::_baudrate

protected

Definition at line 82 of file linux/net_serial.h.

Referenced by bind(), open(), and waitfordata().

◆ _co

COMMTIMEOUTS rp::arch::net::raw_serial::_co

protected

Definition at line 88 of file win32/net_serial.h.

◆ _dcb

DCB rp::arch::net::raw_serial::_dcb

protected

Definition at line 87 of file win32/net_serial.h.

◆ _flags

uint32_t rp::arch::net::raw_serial::_flags

protected

Definition at line 83 of file linux/net_serial.h.

Referenced by bind(), and open().

◆ _is_serial_opened

volatile bool rp::hal::serial_rxtx::_is_serial_opened

protectedinherited

Definition at line 82 of file abs_rxtx.h.

Referenced by close(), rp::hal::serial_rxtx::isOpened(), and open().

◆ _portName

char rp::arch::net::raw_serial::_portName

protected

Definition at line 81 of file linux/net_serial.h.

Referenced by _init(), bind(), and open().

◆ _ro

OVERLAPPED rp::arch::net::raw_serial::_ro

protected

Definition at line 84 of file win32/net_serial.h.

◆ _serial_handle

volatile HANDLE rp::arch::net::raw_serial::_serial_handle

protected

Definition at line 86 of file win32/net_serial.h.

◆ _wait_o

OVERLAPPED rp::arch::net::raw_serial::_wait_o

protected

Definition at line 85 of file win32/net_serial.h.

◆ _wo

OVERLAPPED rp::arch::net::raw_serial::_wo

protected

Definition at line 84 of file win32/net_serial.h.

◆ required_rx_cnt

size_t rp::arch::net::raw_serial::required_rx_cnt

protected

Definition at line 88 of file linux/net_serial.h.

Referenced by _init(), recvdata(), and waitforrecv().

◆ required_tx_cnt

size_t rp::arch::net::raw_serial::required_tx_cnt

protected

Definition at line 87 of file linux/net_serial.h.

Referenced by _init(), senddata(), and waitforsent().

◆ serial_fd

int rp::arch::net::raw_serial::serial_fd

protected

Definition at line 85 of file linux/net_serial.h.

Referenced by _init(), clearDTR(), close(), flush(), open(), recvdata(), rxqueue_count(), senddata(), setDTR(), and waitfordata().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ raw_serial() [1/3]

◆ ~raw_serial() [1/3]

◆ raw_serial() [2/3]

◆ ~raw_serial() [2/3]

◆ raw_serial() [3/3]

◆ ~raw_serial() [3/3]

Member Function Documentation

◆ _init() [1/3]

◆ _init() [2/3]

◆ _init() [3/3]

◆ bind() [1/3]

◆ bind() [2/3]

◆ bind() [3/3]

◆ clearDTR() [1/3]

◆ clearDTR() [2/3]

◆ clearDTR() [3/3]

◆ close() [1/3]

◆ close() [2/3]

◆ close() [3/3]

◆ CreateRxTx()

◆ flush() [1/3]

◆ flush() [2/3]

◆ flush() [3/3]

◆ getTermBaudBitmap() [1/2]

◆ getTermBaudBitmap() [2/2]

◆ isOpened()

◆ open() [1/6]

◆ open() [2/6]

◆ open() [3/6]

◆ open() [4/6]

◆ open() [5/6]

◆ open() [6/6]

◆ recvdata() [1/3]

◆ recvdata() [2/3]

◆ recvdata() [3/3]

◆ ReleaseRxTx()

◆ rxqueue_count() [1/3]

◆ rxqueue_count() [2/3]

◆ rxqueue_count() [3/3]

◆ senddata() [1/3]

◆ senddata() [2/3]

◆ senddata() [3/3]

◆ setDTR() [1/3]

◆ setDTR() [2/3]

◆ setDTR() [3/3]

◆ waitfordata() [1/3]

◆ waitfordata() [2/3]

◆ waitfordata() [3/3]

◆ waitforrecv() [1/3]

◆ waitforrecv() [2/3]

◆ waitforrecv() [3/3]

◆ waitforsent() [1/3]

◆ waitforsent() [2/3]

◆ waitforsent() [3/3]

Member Data Documentation

◆ _baudrate

◆ _co

◆ _dcb

◆ _flags

◆ _is_serial_opened

◆ _portName

◆ _ro

◆ _serial_handle

◆ _wait_o

◆ _wo

◆ required_rx_cnt

◆ required_tx_cnt

◆ serial_fd