SerialPort Class Reference

Send and receive messages from e-puck. More...

#include <serialPort.hpp>

Collaboration diagram for SerialPort:

Detailed Description

Send and receive messages from e-puck.

This class connects and communicates with the e-puck robot through the serial interface. Only one instance must be created and shared among the device interfaces.

Warning

Not thread safe

Author

Renato Florentino Garcia

Date

August 2008

Public Member Functions
	SerialPort (std::string &serialPort)
	Constructor of SerialPort class. More...
std::string	getError () const
	Return the last error. More...
int	initialize ()
	Open the serial port device and set the configurations for it.
int	recvInt () const
	Receive a signed interger from e-puck. More...
unsigned	recvUnsigned () const
	Receive an unsigned interger from e-puck. More...
char	recvChar () const
	Receive a char from e-puck. More...
int	recvUnsignedCharArray (unsigned char *const array, unsigned length) const
	Receive an array of unsigned char from e-puck. More...
void	sendInt (int message) const
	Send an integer to e-puck. More...
void	sendChar (char message) const
	Send a character to e-puck. More...

Private Attributes
int	fileDescriptor
std::string	serialPort
std::string	errorDescription
struct termios	termios_backup

Constructor & Destructor Documentation

SerialPort()

SerialPort::SerialPort

(

std::string &

serialPort

)

Constructor of SerialPort class.

This constructor only creates the object, it don't open or initialize the serial port device.

Parameters

serialPort

A absolute path for the serial port device (e.g. "/dev/rfcomm0").

Member Function Documentation

getError()

std::string SerialPort::getError ( ) const

inline

Return the last error.

Return the description of last error.

Returns

A std::string describing the error.

References initialize(), recvChar(), recvInt(), recvUnsigned(), recvUnsignedCharArray(), sendChar(), and sendInt().

Here is the call graph for this function:

recvChar()

char SerialPort::recvChar

(

)

const

Receive a char from e-puck.

Wait indefinitely one byte to arrive from e-puck and converts them to char.

Returns

The received char.

Referenced by EpuckLEDs::EpuckLEDs(), getError(), EpuckCamera::Initialize(), EpuckPosition2d::SetVel(), and EpuckPosition2d::StopMotors().

recvInt()

int SerialPort::recvInt

(

)

const

Receive a signed interger from e-puck.

Wait indefinitely two bytes to arrive from e-puck and converts them to signed integer.

Returns

The received signed integer.

Referenced by getError(), EpuckIR::GetIRData(), EpuckPosition2d::SetOdometry(), and EpuckPosition2d::UpdateOdometry().

recvUnsigned()

unsigned SerialPort::recvUnsigned

(

)

const

Receive an unsigned interger from e-puck.

Wait indefinitely two bytes to arrive from e-puck and converts them to unsigned integer.

Returns

The received unsigned integer.

Referenced by getError(), and EpuckCamera::Initialize().

recvUnsignedCharArray()

int SerialPort::recvUnsignedCharArray	(	unsigned char *const	array,
		unsigned	length
	)		const

Receive an array of unsigned char from e-puck.

Parameters

array	Pointer to array where the received char will be put.
length	Length of array that will be received.

Referenced by getError(), and EpuckCamera::GetImage().

sendChar()

void SerialPort::sendChar

(

char

message

)

const

Send a character to e-puck.

Send one character to e-puck.

Parameters

message

The charecter to be sent.

Referenced by EpuckInterface::EpuckInterface(), EpuckLEDs::EpuckLEDs(), and getError().

sendInt()

void SerialPort::sendInt

(

int

message

)

const

Send an integer to e-puck.

Send two bytes to e-puck. It's an integer number up to 65535.

Parameters

message

The integer to be sent.

Referenced by getError(), EpuckCamera::Initialize(), and EpuckPosition2d::SetVel().

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

• serialPort.hpp
• serialPort.cpp