ArSerialConnection Class Reference

For connecting to devices through a serial port. More...

#include <ArSerialConnection.h>

Inheritance diagram for ArSerialConnection:

List of all members.

Public Types
enum	Open {   OPEN_COULD_NOT_OPEN_PORT = 1, OPEN_COULD_NOT_SET_UP_PORT, OPEN_INVALID_BAUD_RATE, OPEN_COULD_NOT_SET_BAUD,   OPEN_ALREADY_OPEN }
Public Member Functions
	ArSerialConnection ()
	Constructor.
virtual bool	close (void)
	Closes the connection.
int	getBaud (void)
	Gets what the current baud rate is set to.
bool	getCTS (void)
	Sees how the CTS line is set (true = high).
bool	getDCD (void)
	Sees how the DCD line is set (true = high).
bool	getDSR (void)
	Sees how the DSR line is set (true = high).
bool	getHardwareControl (void)
	Gets whether the hardware control lines are enabled or disabled.
virtual const char *	getOpenMessage (int messageNumber)
	Gets the string of the message associated with opening the device.
const char *	getPort (void)
bool	getRing (void)
	Sees how the Ring line is set (true = high).
virtual int	getStatus (void)
	Gets the status of the connection, which is one of the enum status.
virtual ArTime	getTimeRead (int index)
	Gets the time data was read in.
int	internalOpen (void)
virtual bool	isTimeStamping (void)
	sees if timestamping is really going on or not
int	open (const char *port=NULL)
virtual bool	openSimple (void)
	Opens the connection again, using the values from setLocation or.
virtual int	read (const char *data, unsigned int size, unsigned int msWait=0)
	Reads data from connection.
bool	setBaud (int baud)
	Sets the baud rate on the connection.
bool	setHardwareControl (bool hardwareControl)
	Sets whether to enable or disable the hardware control lines.
void	setPort (const char *port=NULL)
virtual int	write (const char *data, unsigned int size)
	Writes data to connection.
virtual	~ArSerialConnection ()
	Destructor also closes the connection.
Protected Member Functions
int	baudToRate (int baud)
void	buildStrMap (void)
int	rateToBaud (int rate)
void	startTimeStamping (void)
Protected Attributes
int	myBaudRate
bool	myHardwareControl
int	myPort
std::string	myPortName
int	myStatus
ArStrMap	myStrMap
bool	myTakingTimeStamps

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Detailed Description

For connecting to devices through a serial port.

Definition at line 40 of file ArSerialConnection.h.

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Member Enumeration Documentation

enum ArSerialConnection::Open

Enumeration values: OPEN_COULD_NOT_OPEN_PORT  Could not open the port. OPEN_COULD_NOT_SET_UP_PORT  Could not set up the port. OPEN_INVALID_BAUD_RATE  Baud rate is not valid. OPEN_COULD_NOT_SET_BAUD  Baud rate valid, but could not set it. OPEN_ALREADY_OPEN  Connection was already open. Definition at line 96 of file ArSerialConnection.h.

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Member Function Documentation

bool ArSerialConnection::close (  void   )  [virtual]

Closes the connection. Returns: whether the close succeeded or not Reimplemented from ArDeviceConnection. Definition at line 201 of file ArSerialConnection_LIN.cpp. References ArLog::log(). Referenced by ~ArSerialConnection().

int ArSerialConnection::getBaud (  void   )

Gets what the current baud rate is set to. Returns: the current baud rate of the connection Definition at line 287 of file ArSerialConnection_LIN.cpp. Referenced by ArRobot::asyncConnectHandler().

bool ArSerialConnection::getHardwareControl (  void   )

Gets whether the hardware control lines are enabled or disabled. Returns: true if hardware control of lines is enabled, false otherwise Definition at line 364 of file ArSerialConnection_LIN.cpp.

const char * ArSerialConnection::getOpenMessage (  int  messageNumber  )  [virtual]

Gets the string of the message associated with opening the device. Each class inherited from this one has an open method which returns 0 for success or an integer which can be passed into this function to obtain a string describing the reason for failure Parameters: messageNumber  the number returned from the open Returns: the error description associated with the messageNumber Implements ArDeviceConnection. Definition at line 69 of file ArSerialConnection_LIN.cpp.

const char * ArSerialConnection::getPort (  void   )

Gets the port this is using See also: ArUtil::COM1, ArUtil::COM2, ArUtil::COM3, ArUtil::COM4 Definition at line 184 of file ArSerialConnection_LIN.cpp. Referenced by ArSimpleConnector::setupRobot().

int ArSerialConnection::getStatus (  void   )  [virtual]

Gets the status of the connection, which is one of the enum status. Gets the status of the connection, which is one of the enum status. If you want to get a string to go along with the number, use getStatusMessage Returns: the status of the connection See also: getStatusMessage Implements ArDeviceConnection. Definition at line 447 of file ArSerialConnection_LIN.cpp. Referenced by setBaud(), and setHardwareControl().

ArTime ArSerialConnection::getTimeRead (  int  index  )  [virtual]

Gets the time data was read in. Parameters: index  looks like this is the index back in the number of bytes last read in Returns: the time the last read data was read in Implements ArDeviceConnection. Definition at line 452 of file ArSerialConnection_LIN.cpp. References ArTime::setMSec(), ArTime::setSec(), and ArTime::setToNow().

bool ArSerialConnection::isTimeStamping (  void   )  [virtual]

sees if timestamping is really going on or not Returns: true if real timestamping is happening, false otherwise Implements ArDeviceConnection. Definition at line 479 of file ArSerialConnection_LIN.cpp.

int ArSerialConnection::open (  const char *  port = NULL  )

Opens the serial port See also: ArUtil::COM1, ArUtil::COM2, ArUtil::COM3, ArUtil::COM4 Definition at line 195 of file ArSerialConnection_LIN.cpp. References setPort().

int ArSerialConnection::read (  const char *  data, unsigned int  size, unsigned int  msWait = 0 )  [virtual]

Reads data from connection. Reads data from connection Parameters: data  pointer to a character array to read the data into size  maximum number of bytes to read msWait  read blocks for this many milliseconds (not at all for == 0) Returns: number of bytes read, or -1 for failure See also: write, writePacket Implements ArDeviceConnection. Definition at line 399 of file ArSerialConnection_LIN.cpp. References ArTime::addMSec(), ArLog::log(), ArTime::mSecTo(), and ArTime::setToNow().

bool ArSerialConnection::setBaud (  int  baud  )

Sets the baud rate on the connection. Parameters: rate  the baud rate to set the connection to Returns: whether the set succeeded See also: getBaud Definition at line 231 of file ArSerialConnection_LIN.cpp. References getStatus(), and ArLog::log(). Referenced by ArRobot::asyncConnectHandler(), ArSick::disconnect(), ArRobot::disconnect(), ArSick::internalConnectHandler(), and ArSimpleConnector::setupRobot().

bool ArSerialConnection::setHardwareControl (  bool  hardwareControl  )

Sets whether to enable or disable the hardware control lines. Parameters: hardwareControl  true to enable hardware control of lines Returns: true if the set succeeded Definition at line 336 of file ArSerialConnection_LIN.cpp. References getStatus(), and ArLog::log().

void ArSerialConnection::setPort (  const char *  port = NULL  )

Sets the port this connection will use See also: ArUtil::COM1, ArUtil::COM2, ArUtil::COM3, ArUtil::COM4 Definition at line 173 of file ArSerialConnection_LIN.cpp. Referenced by open(), ArSimpleConnector::setupLaserArbitrary(), and ArSimpleConnector::setupRobot().

int ArSerialConnection::write (  const char *  data, unsigned int  size )  [virtual]

Writes data to connection. Writes data to connection Parameters: data  pointer to a character array to write the data from size  number of bytes to write Returns: number of bytes read, or -1 for failure See also: read, writePacket Implements ArDeviceConnection. Definition at line 369 of file ArSerialConnection_LIN.cpp. References ArLog::log().

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

• ArSerialConnection.h
• ArSerialConnection_LIN.cpp
• ArSerialConnection_WIN.cpp

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