serialstream

Serial streaming driver. More...

Serial streaming driver.

The serialstream driver reads form a serial port continuously and publishes the data. Currently this is usable with the SickS3000 driver and the Nav200 driver. This driver does no interpretation of data output, merely reading it and publishing it, or, if it is sent a data command it will write whatever it recieves onto the serial port

Compile-time dependencies

• none

Provides

• opaque

Requires

• none

Configuration requests

• none

Configuration file options

• port (string)
  • Default: "/dev/ttyS0"
  • Serial port to which laser is attached. If you are using a USB/232 or USB/422 converter, this will be "/dev/ttyUSBx".
• transfer_rate (integer)
  • Rate desired for data transfers, negotiated after connection
  • Default: 38400
  • Baud rate. Valid values are 9600, 19200, 38400, 125k, 250k, 500k
• buffer_size (integer
  • The size of the buffer to be used when reading, this is the maximum that can be read in one read command
  • Default 4096
• parity
  • The parity that you want. Vaid vaules are "none" (default), "even", "odd"

Example

driver
(
  name "sicks3000"
  provides ["laser:0"]
  requires ["opaque:0"]
)

driver
(
  name "serialstream"
  provides ["opaque:0]
  port "/dev/ttyS0"
)

Author

Toby Collett