C++ serial port class for ROS. More...

#include "inc/CerealPort.h"

Public Member Functions
int	baudRate ()
	Get the current baud rate. More...

	CerealPort ()
	Constructor. More...

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

int	flush ()
	Wrapper around tcflush. More...

void	open (const char *port_name, int baud_rate=115200)
	Open the serial port. More...

void	pauseStream ()
	Pause streaming. More...

bool	portOpen ()
	Check whether the port is open or not. More...

int	read (char *data, int max_length, int timeout=-1)
	Read from the port. More...

bool	readBetween (std::string *data, char start, char end, int timeout=-1)
	Read from the serial port between a start char and an end char. More...

int	readBytes (char *data, int length, int timeout=-1)
	Read a fixed number of bytes from the serial port. More...

int	readLine (char *data, int length, int timeout=-1)
	Read a line from the serial port. More...

bool	readLine (std::string *data, int timeout=-1)
	Read a line from the serial port. More...

void	resumeStream ()
	Resume streaming. More...

bool	startReadBetweenStream (boost::function< void(std::string *)> f, char start, char end)
	Start a stream of readBetween() More...

bool	startReadLineStream (boost::function< void(std::string *)> f)
	Start a stream of readLine(std::string*, int) More...

bool	startReadStream (boost::function< void(char *, int)> f)
	Start a stream of read() More...

void	stopStream ()
	Stop streaming. More...

int	write (const char *data, int length=-1)
	Write to the port. More...

	~CerealPort ()
	Destructor. More...

Private Member Functions
void	readBetweenThread (char start, char end)
	Thread for a stream of readBetween() More...

void	readLineThread ()
	Thread for a stream of readLine(std::string*, int) More...

void	readThread ()
	Thread for a stream of read() More...

Private Attributes
int	baud_
	Baud rate. More...

int	fd_
	File descriptor. More...

boost::function< void(std::string *)>	readBetweenCallback
	Stream readBetween callback boost function. More...

boost::function< void(char *, int)>	readCallback
	Stream read callback boost function. More...

boost::function< void(std::string *)>	readLineCallback
	Stream readLine callback boost function. More...

bool	stream_paused_
	Whether streaming is paused or not. More...

bool	stream_stopped_
	Whether streaming is stopped or not. More...

boost::thread *	stream_thread_
	Stream thread. More...

Detailed Description

C++ serial port class for ROS.

This class was based on the serial port code found on the hokuyo_node as suggested by Blaise Gassend on the ros-users mailling list.

Definition at line 70 of file CerealPort.h.

Constructor & Destructor Documentation

cereal::CerealPort::CerealPort ( )

Constructor.

Definition at line 59 of file CerealPort.cpp.

cereal::CerealPort::~CerealPort ( )

Destructor.

Definition at line 64 of file CerealPort.cpp.

Member Function Documentation

int cereal::CerealPort::baudRate ( )

inline

Get the current baud rate.

Definition at line 98 of file CerealPort.h.

void cereal::CerealPort::close ( )

Close the serial port.

This call essentially wraps close.

Definition at line 133 of file CerealPort.cpp.

int cereal::CerealPort::flush ( )

Wrapper around tcflush.

Definition at line 341 of file CerealPort.cpp.

void cereal::CerealPort::open	(	const char *	port_name,
		int	baud_rate = `115200`
	)

Open the serial port.

This opens the serial port for communication. Wrapper for open.

Parameters

port_name	A null terminated character array containing the name of the port.
baud_rate	Baud rate of the serial port. Defaults to 115200.

Todo:: tcsetattr returns true if at least one attribute was set. Hence, we might not have set everything on success.

Definition at line 69 of file CerealPort.cpp.

void cereal::CerealPort::pauseStream ( )

Pause streaming.

Definition at line 467 of file CerealPort.cpp.

bool cereal::CerealPort::portOpen ( )

inline

Check whether the port is open or not.

Definition at line 95 of file CerealPort.h.

int cereal::CerealPort::read	(	char *	data,
		int	max_length,
		int	timeout = `-1`
	)

Read from the port.

This function allows to read data from the serial port. Simple wrapper for read.

Parameters

data	Data coming from the serial port.
max_length	Maximum length of the incoming data.
timeout	Timeout in milliseconds.

Returns: Number of bytes read.

Definition at line 159 of file CerealPort.cpp.

bool cereal::CerealPort::readBetween	(	std::string *	data,
		char	start,
		char	end,
		int	timeout = `-1`
	)

Read from the serial port between a start char and an end char.

This function allows to read data from the serial port between a start and an end char.

Parameters

data	Data coming from the serial port.
start	Start character of the incoming data stream.
end	End character of the incoming data stream.
timeout	Timeout in milliseconds.

Returns: Whether the read was successful or not.

Definition at line 289 of file CerealPort.cpp.

void cereal::CerealPort::readBetweenThread	(	char	start,
		char	end
	)

private

Thread for a stream of readBetween()

Stream version of the readBetween function.

Parameters

start	Start character of the incoming data stream.
end	End character of the incoming data stream.

Definition at line 437 of file CerealPort.cpp.

int cereal::CerealPort::readBytes	(	char *	data,
		int	length,
		int	timeout = `-1`
	)

Read a fixed number of bytes from the serial port.

This function allows to read a fixed number of data bytes from the serial port, no more, no less.

Parameters

data	Data coming from the serial port.
length	Fixed length of the incoming data.
timeout	Timeout in milliseconds.

See Also: read()

Returns: Number of bytes read.

Definition at line 183 of file CerealPort.cpp.

int cereal::CerealPort::readLine	(	char *	data,
		int	length,
		int	timeout = `-1`
	)

Read a line from the serial port.

This function allows to read a line from the serial port. Data is return as char*

Parameters

data	Data coming from the serial port.
length	Length of the incoming data.
timeout	Timeout in milliseconds.

See Also: readLine(std::string*, int)

Returns: Number of bytes read.

Definition at line 212 of file CerealPort.cpp.

bool cereal::CerealPort::readLine	(	std::string *	data,
		int	timeout = `-1`
	)

Read a line from the serial port.

This function allows to read a line from the serial port. Data is return as std::string

Parameters

data	Data coming from the serial port.
timeout	Timeout in milliseconds.

See Also: readLine(char*, int, int)

Returns: Whether the read was successful or not.

Definition at line 245 of file CerealPort.cpp.

void cereal::CerealPort::readLineThread ( )

private

Thread for a stream of readLine(std::string*, int)

Stream version of the readLine function.

Definition at line 403 of file CerealPort.cpp.

void cereal::CerealPort::readThread ( )

private

Thread for a stream of read()

Stream version of the read function.

Definition at line 362 of file CerealPort.cpp.

void cereal::CerealPort::resumeStream ( )

Resume streaming.

Definition at line 472 of file CerealPort.cpp.

bool cereal::CerealPort::startReadBetweenStream	(	boost::function< void(std::string *)>	f,
		char	start,
		char	end
	)

Start a stream of readBetween()

Stream version of the readBetween() function.

Parameters

f	Callback boost function to receive the data.
start	Start character of the incoming data stream.
end	End character of the incoming data stream.

See Also: readBetween()

Returns: True if successful false if a stream is already running.

Definition at line 424 of file CerealPort.cpp.

bool cereal::CerealPort::startReadLineStream ( boost::function< void(std::string *)> f )

Start a stream of readLine(std::string*, int)

Stream version of the readLine(std::string*, int) function.

Parameters

f	Callback boost function to receive the data.

See Also: readLine(std::string*, int)

Returns: True if successful false if a stream is already running.

Definition at line 390 of file CerealPort.cpp.

bool cereal::CerealPort::startReadStream ( boost::function< void(char *, int)> f )

Start a stream of read()

Stream version of the read function.

Parameters

f	Callback boost function to receive the data.

See Also: read()

Returns: True if successful false if a stream is already running.

Definition at line 349 of file CerealPort.cpp.

void cereal::CerealPort::stopStream ( )

Stop streaming.

Definition at line 458 of file CerealPort.cpp.

int cereal::CerealPort::write	(	const char *	data,
		int	length = `-1`
	)

Write to the port.

This function allows to send data through the serial port. Wraper for write.

Parameters

data	Data to send in a character array or null terminated c string.
length	Number of bytes being sent. Defaults to -1 if sending a c string.

Returns: Number of bytes writen.

Definition at line 145 of file CerealPort.cpp.

Member Data Documentation

int cereal::CerealPort::baud_

private

Baud rate.

Definition at line 232 of file CerealPort.h.

int cereal::CerealPort::fd_

private

File descriptor.

Definition at line 230 of file CerealPort.h.

boost::function<void(std::string*)> cereal::CerealPort::readBetweenCallback

private

Stream readBetween callback boost function.

Definition at line 266 of file CerealPort.h.

boost::function<void(char*, int)> cereal::CerealPort::readCallback

private

Stream read callback boost function.

Definition at line 262 of file CerealPort.h.

boost::function<void(std::string*)> cereal::CerealPort::readLineCallback

private

Stream readLine callback boost function.

Definition at line 264 of file CerealPort.h.

bool cereal::CerealPort::stream_paused_

private

Whether streaming is paused or not.

Definition at line 269 of file CerealPort.h.

bool cereal::CerealPort::stream_stopped_

private

Whether streaming is stopped or not.

Definition at line 271 of file CerealPort.h.

boost::thread* cereal::CerealPort::stream_thread_

private

Stream thread.

Definition at line 259 of file CerealPort.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation