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mrpt::hwdrivers::CSerialPort Class Referenceabstract
[mrpt-hwdrivers]

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:

Todo:
Add the internal buffer to the Windows implementation also

Definition at line 43 of file CSerialPort.h.

#include <mrpt/hwdrivers/CSerialPort.h>

Inheritance diagram for mrpt::hwdrivers::CSerialPort:
Inheritance graph

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=NULL, 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 (int64_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 (int64_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...
 
CSerializablePtr 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...
 
CStream & operator<< (const CSerializablePtr &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>> (CSerializablePtr &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

template<bool EXISTING_OBJ>
void internal_ReadObject (CSerializablePtr &newObj, CSerializable *existingObj=NULL)
 A common template code for both versions of CStream::ReadObject() 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 42 of file CStream.h.

Constructor & Destructor Documentation

◆ CSerialPort() [1/2]

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

Constructor.

Parameters
portNameThe serial port to open. See comments at the begining of this page.
openNowWhether to try to open the port now. If not selected, the port should be open later with "open()".

Definition at line 51 of file CSerialPort.cpp.

References open().

◆ CSerialPort() [2/2]

CSerialPort::CSerialPort ( )

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

Definition at line 65 of file CSerialPort.cpp.

◆ ~CSerialPort()

CSerialPort::~CSerialPort ( )
virtual

Destructor.

Definition at line 78 of file CSerialPort.cpp.

References close(), and isOpen().

Member Function Documentation

◆ close()

void CSerialPort::close ( )

Close the port.

If is already closed, results in no action.

Definition at line 533 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::CGPSInterface::tryToOpenTheCOM(), mrpt::hwdrivers::CGillAnemometer::~CGillAnemometer(), mrpt::hwdrivers::CGyroKVHDSP3000::~CGyroKVHDSP3000(), mrpt::hwdrivers::CNTRIPEmitter::~CNTRIPEmitter(), mrpt::hwdrivers::CRaePID::~CRaePID(), and ~CSerialPort().

◆ 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 680 of file CStream.cpp.

◆ getPosition()

uint64_t mrpt::hwdrivers::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 178 of file CSerialPort.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getTotalBytesCount()

uint64_t mrpt::hwdrivers::CSerialPort::getTotalBytesCount ( )
inlinevirtual

Returns the total amount of bytes in the stream.

Implements mrpt::utils::CStream.

Definition at line 169 of file CSerialPort.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ internal_ReadObject()

template<bool EXISTING_OBJ>
void CStream::internal_ReadObject ( CSerializablePtr &  newObj,
CSerializable *  existingObj = NULL 
)
protectedinherited

A common template code for both versions of CStream::ReadObject()

  • EXISTING_OBJ=true -> read in the object passed as argument
  • EXISTING_OBJ=false -> build a new object and return it

Definition at line 357 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::format(), mrpt::utils::CSerializable::GetRuntimeClass(), mrpt::utils::registerAllPendingClasses(), SERIALIZATION_END_FLAG, THROW_EXCEPTION, THROW_EXCEPTION_FMT, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, THROW_TYPED_EXCEPTION, and version.

◆ isOpen()

bool CSerialPort::isOpen ( ) const

Returns if port has been correctly open.

Definition at line 183 of file CSerialPort.cpp.

References hCOM.

Referenced by mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CHokuyoURG::ensureStreamIsOpen(), mrpt::hwdrivers::CNTRIPEmitter::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), purgeBuffers(), Read(), ReadString(), setConfig(), mrpt::hwdrivers::CGPSInterface::setSerialPortName(), setTimeouts(), mrpt::hwdrivers::CCANBusReader::tryToOpenComms(), mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms(), mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM(), Write(), mrpt::hwdrivers::CNTRIPEmitter::~CNTRIPEmitter(), and ~CSerialPort().

◆ open() [1/2]

void CSerialPort::open ( )

Open the port.

If is already open results in no action.

Exceptions
std::exceptionOn communication errors

Definition at line 87 of file CSerialPort.cpp.

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

Referenced by CSerialPort(), mrpt::hwdrivers::CHokuyoURG::ensureStreamIsOpen(), mrpt::hwdrivers::CNTRIPEmitter::initialize(), mrpt::hwdrivers::CCANBusReader::tryToOpenComms(), mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().

◆ open() [2/2]

void mrpt::hwdrivers::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::exceptionOn communication errors or a different serial port already open.

Definition at line 79 of file CSerialPort.h.

References THROW_EXCEPTION.

◆ operator<<() [1/2]

CStream & CStream::operator<< ( const CSerializablePtr &  pObj)
inherited

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

Definition at line 211 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 218 of file CStream.cpp.

◆ operator>>() [1/2]

CStream & CStream::operator>> ( CSerializablePtr &  pObj)
inherited

Definition at line 224 of file CStream.cpp.

◆ operator>>() [2/2]

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

Definition at line 230 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 507 of file CStream.cpp.

References MRPT_END, MRPT_START, and vsnprintf.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::utils::TMatchingPairList::dumpToFile(), mrpt::obs::gnss::Message_NMEA_GGA::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_PZS::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_SATS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_GLL::dumpToStream(), mrpt::obs::gnss::Message_NMEA_RMC::dumpToStream(), mrpt::obs::CObservationGPS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_VTG::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NMEA_ZDA::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::dumpToStream(), mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions::dumpToTextStream(), mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream(), mrpt::slam::CICP::TConfigParams::dumpToTextStream(), mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::dumpToTextStream(), mrpt::vision::CFeatureExtraction::TOptions::dumpToTextStream(), mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::utils::CLoadableOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToTextStream(), mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream(), mrpt::graphslam::TSlidingWindow::dumpToTextStream(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TInsertionOptions::dumpToTextStream(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM::TOptions::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), mrpt::maps::CPointsMap::TInsertionOptions::dumpToTextStream(), mrpt::vision::TStereoSystemParams::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::vision::CFeature::dumpToTextStream(), mrpt::maps::CLandmarksMap::TInsertionOptions::dumpToTextStream(), mrpt::maps::CPointsMap::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::dumpToTextStream(), mrpt::maps::CColouredPointsMap::TColourOptions::dumpToTextStream(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::TSetOfMetricMapInitializers::dumpToTextStream(), mrpt::vision::TMatchingOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::vision::TMultiResDescOptions::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CLandmarksMap::TMapDefinition::dumpToTextStream_map_specific(), mrpt::utils::CLoadableOptions::dumpVar_bool(), mrpt::utils::CLoadableOptions::dumpVar_double(), mrpt::utils::CLoadableOptions::dumpVar_float(), mrpt::utils::CLoadableOptions::dumpVar_int(), mrpt::utils::CLoadableOptions::dumpVar_string(), mrpt::synch::CCriticalSection::enter(), generic_dump_BESTPOS(), generic_dump_MARKTIME(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common(), mrpt::synch::CCriticalSection::leave(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation(), mrpt::maps::CRandomFieldGridMap3D::saveAsCSV(), mrpt::poses::CPoseInterpolatorBase< 3 >::saveInterpolatedToTextFile(), mrpt::utils::CTimeLogger::saveToCSVFile(), and mrpt::poses::CPoseInterpolatorBase< 3 >::saveToTextFile().

◆ 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_TYPEcan be any vector<T>, deque<T> or alike.

Definition at line 208 of file CStream.h.

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

◆ purgeBuffers()

void CSerialPort::purgeBuffers ( )

Purge tx and rx buffers.

Exceptions
std::exceptionOn communication errors

Definition at line 802 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().

◆ 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::exceptionOn communication errors

Implements mrpt::utils::CStream.

Definition at line 556 of file CSerialPort.cpp.

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

Referenced by mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitACK(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame(), mrpt::hwdrivers::CCANBusReader::waitACK(), mrpt::hwdrivers::CCANBusReader::waitContinuousSampleFrame(), mrpt::hwdrivers::CSickLaserSerial::waitContinuousSampleFrame(), mrpt::hwdrivers::CCANBusReader::waitForVersion(), and mrpt::hwdrivers::CCANBusReader::waitIncomingFrame().

◆ 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 194 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::exceptionOn 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 45 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(), and mrpt::hwdrivers::CHokuyoURG::purgeBuffers().

◆ 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
ElementCountThe number of elements (not bytes) to read.
ptrA 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::exceptionOn any error, or if ZERO bytes are read.
See also
ReadBufferFixEndianness, ReadBuffer

Definition at line 95 of file CStream.h.

References mrpt::mrpt::utils::reverseBytesInPlace().

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

◆ 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::exceptionOn any error, or if ZERO bytes are read.

Reimplemented in mrpt::hwdrivers::CInterfaceFTDI.

Definition at line 113 of file CStream.h.

◆ ReadObject() [1/2]

CSerializablePtr CStream::ReadObject ( )
inherited

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

Exceptions
std::exceptionOn I/O error or undefined class.
mrpt::utils::CExceptionEOFOn 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 486 of file CStream.cpp.

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

◆ ReadObject() [2/2]

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::exceptionOn I/O error or different class found.
mrpt::utils::CExceptionEOFOn 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 498 of file CStream.cpp.

◆ ReadString()

std::string CSerialPort::ReadString ( const int  total_timeout_ms = -1,
bool *  out_timeout = NULL,
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_charsA line reception is finished when one of these characters is found. Default: LF (10), CR (13).
total_timeout_msIf >0, the maximum number of milliseconds to wait.
out_timeoutIf provided, will hold true on return if a timeout ocurred, false on a valid read.
Returns
The read string, without the final
Exceptions
std::exceptionOn communication errors

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

Definition at line 644 of file CSerialPort.cpp.

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

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

◆ receiveMessage()

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

Tries to receive a message from the device.

Exceptions
std::exceptionOn 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 590 of file CStream.cpp.

References mrpt::utils::CMessage::content, MAKEWORD16B, 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::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), 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().

◆ Seek() [1/2]

virtual uint64_t mrpt::utils::CStream::Seek ( int64_t  Offset,
CStream::TSeekOrigin  Origin = sFromBeginning 
)
pure virtualinherited

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

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

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

Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.

◆ Seek() [2/2]

uint64_t mrpt::hwdrivers::CSerialPort::Seek ( int64_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 158 of file CSerialPort.h.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ 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::exceptionOn communication errors

Definition at line 556 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().

◆ 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
parity0:No parity, 1:Odd, 2:Even (WINDOWS ONLY: 3:Mark, 4:Space)
baudRateThe desired baud rate Accepted values: 50 - 230400
bitsBits per word (typ. 8) Accepted values: 5,6,7,8.
nStopBitsStop bits (typ. 1) Accepted values: 1,2
enableFlowControlWhether to enable the hardware flow control (RTS/CTS) (default=no)
Exceptions
std::exceptionOn communication errors

Definition at line 195 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(), mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM(), and mrpt::hwdrivers::CHokuyoURG::turnOn().

◆ setSerialPortName()

void mrpt::hwdrivers::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 65 of file CSerialPort.h.

References THROW_EXCEPTION.

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

◆ setTimeouts()

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

Changes the timeouts of the port, in milliseconds.

Exceptions
std::exceptionOn communication errors

Definition at line 477 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(), mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM(), and mrpt::hwdrivers::CHokuyoURG::turnOn().

◆ 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::exceptionOn communication errors
Todo:
Add support for write timeout here

Implements mrpt::utils::CStream.

Definition at line 737 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().

◆ WriteBuffer()

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

Writes a block of bytes to the stream from Buffer.

Exceptions
std::exceptionOn any error
See also
Important, see: WriteBufferFixEndianness
Note
This method is endianness-dependent.

Definition at line 67 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::compress::zip::compress(), mrpt::utils::CMessage::deserializeIntoExistingObject(), mrpt::utils::CMessage::deserializeIntoNewObject(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), empty_output_buffer(), mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_writeToStream(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::ObjectToString(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::utils::operator<<(), mrpt::utils::CMemoryStream::saveBufferToFile(), mrpt::hwdrivers::CHokuyoURG::sendCmd(), mrpt::hwdrivers::CGPSInterface::sendCustomCommand(), mrpt::hwdrivers::CBoardENoses::setActiveChamber(), mrpt::utils::StringToObject(), term_destination(), mrpt::system::vectorToBinaryFile(), mrpt::nav::CLogFileRecord::writeToStream(), mrpt::maps::CHeightGridMap2D_MRF::writeToStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::CReflectivityGridMap2D::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), mrpt::maps::CRandomFieldGridMap3D::writeToStream(), mrpt::utils::CImage::writeToStream(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ 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
ElementCountThe number of elements (not bytes) to write.
ptrA 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::exceptionOn any error
See also
WriteBuffer

Definition at line 139 of file CStream.h.

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

◆ WriteObject()

void CStream::WriteObject ( const CSerializable *  o)
inherited

Writes an object to the stream.

Definition at line 166 of file CStream.cpp.

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

Referenced by mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), and mrpt::utils::CMessage::serializeObject().

Friends And Related Function Documentation

◆ PosixSignalDispatcherImpl

friend class PosixSignalDispatcherImpl
friend

Definition at line 45 of file CSerialPort.h.

Member Data Documentation

◆ hCOM

int mrpt::hwdrivers::CSerialPort::hCOM
protected

The file handle (-1: Not open)

Definition at line 202 of file CSerialPort.h.

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

◆ m_baudRate

int mrpt::hwdrivers::CSerialPort::m_baudRate
protected

Definition at line 190 of file CSerialPort.h.

Referenced by setConfig().

◆ m_interBytesTimeout_ms

int mrpt::hwdrivers::CSerialPort::m_interBytesTimeout_ms
protected

Definition at line 191 of file CSerialPort.h.

Referenced by Read(), and setTimeouts().

◆ m_serialName

std::string mrpt::hwdrivers::CSerialPort::m_serialName
protected

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

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

Definition at line 189 of file CSerialPort.h.

Referenced by open().

◆ m_timer

mrpt::utils::CTicTac mrpt::hwdrivers::CSerialPort::m_timer
protected

Used only in ReadString.

Definition at line 193 of file CSerialPort.h.

Referenced by Read(), and ReadString().

◆ m_totalTimeout_ms

int mrpt::hwdrivers::CSerialPort::m_totalTimeout_ms
protected

Definition at line 191 of file CSerialPort.h.

Referenced by Read(), and setTimeouts().



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