xsens::Cmt1s Class Reference

The low-level serial communication class. More...

#include <Robots/SeaBeeIII/IMUDataServer/cmt1.h>

Public Member Functions
	Cmt1s ()
	Default constructor, initializes all members to their default values.
	~Cmt1s ()
	Destructor, de-initializes, frees memory allocated for buffers, etc.
XsensResultValue	close (void)
	Close the serial communication port.
XsensResultValue	escape (const CmtControlLine mask, const CmtControlLine state)
	Manipulate the Serial control lines.
XsensResultValue	flushData (void)
	Flush all data to be transmitted / received.
uint32_t	getBaudrate (void) const
	Return the baudrate that is currently being used by the port.
HANDLE	getHandle (void) const
	Return the handle of the port.
uint16_t	getPortNr (void) const
	Retrieve the port number that was last successfully opened.
void	getPortName (char *portname) const
	Retrieve the port name that was last successfully opened.
XsensResultValue	getLastResult (void) const
	Return the error code of the last operation.
uint32_t	getTimeout (void) const
	Return the current timeout value.
bool	isOpen (void) const
	Return whether the communication port is open or not.
XsensResultValue	open (const char *portName, const uint32_t baudRate=CMT_DEFAULT_BAUD_RATE, uint32_t readBufSize=CMT_DEFAULT_READ_BUFFER_SIZE, uint32_t writeBufSize=CMT_DEFAULT_WRITE_BUFFER_SIZE)
	Open a communcation channel to the given serial port name.
XsensResultValue	readData (const uint32_t maxLength, uint8_t data, uint32_t length=NULL)
	Read data from the serial port and put it into the data buffer.
XsensResultValue	setCallbackFunction (CmtCallbackType tp, int32_t instance, CmtCallbackFunction func, void *param)
	Set the callback function for when bytes have been received.
XsensResultValue	setTimeout (const uint32_t ms=CMT1_DEFAULT_TIMEOUT)
	Set the default timeout value to use in blocking operations.
XsensResultValue	waitForData (const uint32_t maxLength, uint8_t data, uint32_t length=NULL)
	Wait for data to arrive or a timeout to occur.
XsensResultValue	writeData (const uint32_t length, const uint8_t data, uint32_t written)
	Write the data to the serial port.
Protected Types
typedef int32_t	HANDLE
Protected Attributes
uint32_t	m_baudrate
	The baudrate that was last set to be used by the port.
uint32_t	m_endTime
	The time at which an operation will end in ms, used by several functions.
bool	m_isOpen
	Indicates if the port is open or not.
XsensResultValue	m_lastResult
	The last result of an operation.
uint16_t	m_port
	The opened COM port nr.
char	m_portname [32]
uint32_t	m_timeout
termios	m_commState
	Stored settings about the serial port.
int32_t	m_handle
	The serial port handle.

Detailed Description

The low-level serial communication class.

Definition at line 65 of file cmt1.h.

Constructor & Destructor Documentation

xsens::Cmt1s::Cmt1s ( )

Default constructor, initializes all members to their default values.

Definition at line 154 of file cmt1.cpp.

References CMT1_DEFAULT_TIMEOUT, m_baudrate, m_endTime, m_isOpen, m_lastResult, m_port, and m_timeout.

xsens::Cmt1s::~Cmt1s ( )

Destructor, de-initializes, frees memory allocated for buffers, etc.

Definition at line 172 of file cmt1.cpp.

References close().

Member Function Documentation

XsensResultValue xsens::Cmt1s::close ( void )

Close the serial communication port.

Definition at line 179 of file cmt1.cpp.

References m_endTime, m_handle, m_isOpen, and m_lastResult.

Referenced by xsens::Cmt2s::close(), and ~Cmt1s().

XsensResultValue xsens::Cmt1s::escape	(	const CmtControlLine	mask,
		const CmtControlLine	state
	)

Manipulate the Serial control lines.

The function manipulates the serial control lines that are indicated by the mask parameter. Note that only the DTR and RTS lines can be set by win32.

Parameters:

	mask	Indicates which lines are to be manipulated and which should be left alone.
	state	Contains the new state of the control lines.

Definition at line 219 of file cmt1.cpp.

References m_handle, m_isOpen, and m_lastResult.

XsensResultValue xsens::Cmt1s::flushData ( void )

Flush all data to be transmitted / received.

This function tries to send and receive any remaining data immediately and does not return until the buffers are empty.

Definition at line 278 of file cmt1.cpp.

References m_endTime, m_handle, and m_lastResult.

Referenced by xsens::Cmt3::gotoConfig().

uint32_t xsens::Cmt1s::getBaudrate ( void ) const [inline]

Return the baudrate that is currently being used by the port.

Definition at line 133 of file cmt1.h.

References m_baudrate.

Referenced by xsens::Cmt2s::getBaudrate().

HANDLE xsens::Cmt1s::getHandle ( void ) const [inline]

Return the handle of the port.

Definition at line 135 of file cmt1.h.

References m_handle.

XsensResultValue xsens::Cmt1s::getLastResult ( void ) const [inline]

Return the error code of the last operation.

Definition at line 141 of file cmt1.h.

References m_lastResult.

void xsens::Cmt1s::getPortName ( char * portname ) const [inline]

Retrieve the port name that was last successfully opened.

Definition at line 139 of file cmt1.h.

uint16_t xsens::Cmt1s::getPortNr ( void ) const [inline]

Retrieve the port number that was last successfully opened.

Definition at line 137 of file cmt1.h.

References m_port.

Referenced by xsens::Cmt2s::close(), xsens::Cmt2s::getPortNr(), xsens::Cmt3::gotoConfig(), xsens::Cmt3::gotoMeasurement(), xsens::Cmt3::initBus(), xsens::Cmt2s::readMessage(), xsens::Cmt2s::waitForMessage(), and xsens::Cmt2s::writeMessage().

uint32_t xsens::Cmt1s::getTimeout ( void ) const [inline]

Return the current timeout value.

Definition at line 143 of file cmt1.h.

References m_timeout.

bool xsens::Cmt1s::isOpen ( void ) const [inline]

Return whether the communication port is open or not.

Definition at line 145 of file cmt1.h.

References m_isOpen.

Referenced by xsens::Cmt2s::isOpen().

XsensResultValue xsens::Cmt1s::open	(	const char *	portName,
		const uint32_t	baudRate = `CMT_DEFAULT_BAUD_RATE`,
		uint32_t	readBufSize = `CMT_DEFAULT_READ_BUFFER_SIZE`,
		uint32_t	writeBufSize = `CMT_DEFAULT_WRITE_BUFFER_SIZE`
	)

Open a communcation channel to the given serial port name.

The port is automatically initialized to the given baudrate. If the baudrate is set to 0, the baud rate is automatically detected. If possible.

Definition at line 292 of file cmt1.cpp.

References m_baudrate, m_commState, m_endTime, m_handle, m_isOpen, m_lastResult, m_port, m_timeout, and setTimeout().

Referenced by xsens::Cmt2s::open().

XsensResultValue xsens::Cmt1s::readData	(	const uint32_t	maxLength,
		uint8_t *	data,
		uint32_t *	length = `NULL`
	)

Read data from the serial port and put it into the data buffer.

This function reads as much data as possible from the com port (non-blocking) and put as much data as will fit into the data buffer. Any excess data is stored in the m_readBuffer member variable. If there was enough data in m_readBuffer to fulfill the request, the data parameter is first filled and the port is polled afterwards.

Parameters:

	maxLength	The maximum amount of data read.
	data	Pointer to a buffer that will store the received data.
	length	The number of bytes placed into `data`.

Definition at line 449 of file cmt1.cpp.

References CMT_CALLBACK_ONBYTESRECEIVED, m_baudrate, m_handle, m_isOpen, m_lastResult, and m_port.

Referenced by xsens::Cmt2s::readMessage(), waitForData(), and xsens::Cmt2s::waitForMessage().

XsensResultValue xsens::Cmt1s::setCallbackFunction	(	CmtCallbackType	tp,
		int32_t	instance,
		CmtCallbackFunction	func,
		void *	param
	)

Set the callback function for when bytes have been received.

Definition at line 503 of file cmt1.cpp.

References CMT_CALLBACK_ONBYTESRECEIVED, and m_lastResult.

XsensResultValue xsens::Cmt1s::setTimeout ( const uint32_t ms = CMT1_DEFAULT_TIMEOUT )

Set the default timeout value to use in blocking operations.

This function sets the value of m_timeout. There is no infinity value. The value 0 means that all blocking operations now become polling (non-blocking) operations. If the value is set to or from 0, the low-level serial port settings may be changed in addition to the m_timeout value.

Definition at line 517 of file cmt1.cpp.

References m_commState, m_handle, m_isOpen, m_lastResult, and m_timeout.

Referenced by open(), and xsens::Cmt2s::setTimeout().

XsensResultValue xsens::Cmt1s::waitForData	(	const uint32_t	maxLength,
		uint8_t *	data,
		uint32_t *	length = `NULL`
	)

Wait for data to arrive or a timeout to occur.

The function waits until maxLength data is available or until a timeout occurs. The function returns success if data is available or XsensResultValue::TIMEOUT if a timeout occurred. A timeout value of 0 indicates that the default timeout stored in the class should be used.

Definition at line 562 of file cmt1.cpp.

References xsens::getTimeOfDay(), m_lastResult, m_timeout, and readData().