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<div class="title">CSerialPort.h</div> </div>
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<a href="_c_serial_port_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CSERIALPORT_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CSERIALPORT_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <mrpt/config.h></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_stream_8h.html">mrpt/utils/CStream.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_tic_tac_8h.html">mrpt/utils/CTicTac.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="stl__extensions_8h.html">mrpt/utils/stl_extensions.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <queue></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">namespace </span>mrpt
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">namespace </span>hwdrivers
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">using namespace </span>mrpt::utils;<span class="comment"></span>
<a name="l00045"></a>00045 <span class="comment"> /** A communications serial port built as an implementation of a utils::CStream.</span>
<a name="l00046"></a>00046 <span class="comment"> * On communication errors (eg. the given port number does not exist, timeouts,...), most of the methods will</span>
<a name="l00047"></a>00047 <span class="comment"> * raise an exception of the class "std::exception"</span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * The serial port to open is passed in the constructor in the form of a string description,</span>
<a name="l00050"></a>00050 <span class="comment"> * which is platform dependent.</span>
<a name="l00051"></a>00051 <span class="comment"> *</span>
<a name="l00052"></a>00052 <span class="comment"> * In windows they are numbered "COM1"-"COM4" and "\\.\COMXXX" for numbers above.</span>
<a name="l00053"></a>00053 <span class="comment"> * It is recomended to always use the prefix "\\.\" despite the actual port number.</span>
<a name="l00054"></a>00054 <span class="comment"> *</span>
<a name="l00055"></a>00055 <span class="comment"> * In Linux the name must refer to the device, for example: "ttyUSB0","ttyS0". If the name string does not</span>
<a name="l00056"></a>00056 <span class="comment"> * start with "/" (an absolute path), the constructor will assume the prefix "/dev/".</span>
<a name="l00057"></a>00057 <span class="comment"> *</span>
<a name="l00058"></a>00058 <span class="comment"> * History:</span>
<a name="l00059"></a>00059 <span class="comment"> * - 1/DEC/2005: (JLBC) First version</span>
<a name="l00060"></a>00060 <span class="comment"> * - 20/DEC/2006: (JLBC) Integration into the MRPT framework</span>
<a name="l00061"></a>00061 <span class="comment"> * - 12/DEC/2007: (JLBC) Added support for Linux.</span>
<a name="l00062"></a>00062 <span class="comment"> *</span>
<a name="l00063"></a>00063 <span class="comment"> * \todo Add the internal buffer to the Windows implementation also</span>
<a name="l00064"></a>00064 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00065"></a>00065 <span class="comment"> */</span>
<a name="l00066"></a>00066 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CSerialPort : <span class="keyword">public</span> <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>
<a name="l00067"></a>00067 {
<a name="l00068"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#add4c77b4b723b23f290f674d9e5395a7">00068</a> <span class="keyword">friend</span> <span class="keyword">class </span>PosixSignalDispatcherImpl;
<a name="l00069"></a>00069 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Constructor</span>
<a name="l00071"></a>00071 <span class="comment"> * \param portName The serial port to open. See comments at the begining of this page.</span>
<a name="l00072"></a>00072 <span class="comment"> * \param openNow Whether to try to open the port now. If not selected, the port should be open later with "open()".</span>
<a name="l00073"></a>00073 <span class="comment"> *</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a>( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &portName, <span class="keywordtype">bool</span> openNow = <span class="keyword">true</span> );
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Default constructor: it does not open any port - later you must call "setSerialPortName" and then "open"</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a>00079 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a>();
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Destructor</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a>00083 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a>();
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** Sets the serial port to open (it is an error to try to change this while open yet).</span>
<a name="l00086"></a>00086 <span class="comment"> * \sa open, close</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a10fa34ac629f13a9b71d033ab206ceec">00088</a> <span class="keywordtype">void</span> setSerialPortName( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &COM_name )
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <span class="keywordflow">if</span> (isOpen()) <a class="code" href="mrpt__macros_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"Cannot change serial port while open"</span>);
<a name="l00091"></a>00091 m_serialName = COM_name;
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** Open the port. If is already open results in no action.</span>
<a name="l00095"></a>00095 <span class="comment"> * \exception std::exception On communication errors</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 <span class="keywordtype">void</span> open();
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Open the given serial port. If it is already open and the name does not match, an exception is raised.</span>
<a name="l00100"></a>00100 <span class="comment"> * \exception std::exception On communication errors or a different serial port already open.</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#ae19c4daded35c306df9e267790dfd1ac">00102</a> <span class="keywordtype">void</span> open(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &COM_name)
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 <span class="keywordflow">if</span> (isOpen() && m_serialName!=COM_name) <a class="code" href="mrpt__macros_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"Cannot change serial port while open"</span>);
<a name="l00105"></a>00105 <span class="keywordflow">if</span> (!isOpen())
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 setSerialPortName(COM_name);
<a name="l00108"></a>00108 open();
<a name="l00109"></a>00109 }
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** Close the port. If is already closed, results in no action.</span>
<a name="l00114"></a>00114 <span class="comment"> */</span>
<a name="l00115"></a>00115 <span class="keywordtype">void</span> close();
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Returns if port has been correctly open.</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a>00119 <span class="keywordtype">bool</span> isOpen();
<a name="l00120"></a>00120 <span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment"> /** Purge tx and rx buffers.</span>
<a name="l00122"></a>00122 <span class="comment"> * \exception std::exception On communication errors</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a>00124 <span class="keywordtype">void</span> purgeBuffers();
<a name="l00125"></a>00125 <span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment"> /** Changes the configuration of the port.</span>
<a name="l00127"></a>00127 <span class="comment"> * \param parity 0:No parity, 1:Odd, 2:Even (WINDOWS ONLY: 3:Mark, 4:Space)</span>
<a name="l00128"></a>00128 <span class="comment"> * \param baudRate The desired baud rate Accepted values: 50 - 230400</span>
<a name="l00129"></a>00129 <span class="comment"> * \param bits Bits per word (typ. 8) Accepted values: 5,6,7,8.</span>
<a name="l00130"></a>00130 <span class="comment"> * \param nStopBits Stop bits (typ. 1) Accepted values: 1,2</span>
<a name="l00131"></a>00131 <span class="comment"> * \param enableFlowControl Whether to enable the hardware flow control (RTS/CTS) (default=no)</span>
<a name="l00132"></a>00132 <span class="comment"> * \exception std::exception On communication errors</span>
<a name="l00133"></a>00133 <span class="comment"> */</span>
<a name="l00134"></a>00134 <span class="keywordtype">void</span> setConfig(
<a name="l00135"></a>00135 <span class="keywordtype">int</span> baudRate,
<a name="l00136"></a>00136 <span class="keywordtype">int</span> parity = 0,
<a name="l00137"></a>00137 <span class="keywordtype">int</span> bits = 8,
<a name="l00138"></a>00138 <span class="keywordtype">int</span> nStopBits = 1,
<a name="l00139"></a>00139 <span class="keywordtype">bool</span> enableFlowControl=<span class="keyword">false</span>);
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Changes the timeouts of the port, in milliseconds.</span>
<a name="l00142"></a>00142 <span class="comment"> * \exception std::exception On communication errors</span>
<a name="l00143"></a>00143 <span class="comment"> */</span>
<a name="l00144"></a>00144 <span class="keywordtype">void</span> setTimeouts(
<a name="l00145"></a>00145 <span class="keywordtype">int</span> ReadIntervalTimeout,
<a name="l00146"></a>00146 <span class="keywordtype">int</span> ReadTotalTimeoutMultiplier,
<a name="l00147"></a>00147 <span class="keywordtype">int</span> ReadTotalTimeoutConstant,
<a name="l00148"></a>00148 <span class="keywordtype">int</span> WriteTotalTimeoutMultiplier,
<a name="l00149"></a>00149 <span class="keywordtype">int</span> WriteTotalTimeoutConstant );
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Implements the virtual method responsible for reading from the stream - Unlike CStream::ReadBuffer, this method will not raise an exception on zero bytes read, as long as there is not any fatal error in the communications.</span>
<a name="l00153"></a>00153 <span class="comment"> * \exception std::exception On communication errors</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a>00155 <span class="keywordtype">size_t</span> Read(<span class="keywordtype">void</span> *Buffer, <span class="keywordtype">size_t</span> Count);
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /** Reads one text line from the serial port in POSIX "canonical mode".</span>
<a name="l00158"></a>00158 <span class="comment"> * This method reads from the serial port until one of the characters in \a eol are found.</span>
<a name="l00159"></a>00159 <span class="comment"> * \param eol_chars A line reception is finished when one of these characters is found. Default: LF (10), CR (13).</span>
<a name="l00160"></a>00160 <span class="comment"> * \param total_timeout_ms If >0, the maximum number of milliseconds to wait.</span>
<a name="l00161"></a>00161 <span class="comment"> * \param out_timeout If provided, will hold true on return if a timeout ocurred, false on a valid read.</span>
<a name="l00162"></a>00162 <span class="comment"> * \return The read string, without the final</span>
<a name="l00163"></a>00163 <span class="comment"> * \exception std::exception On communication errors</span>
<a name="l00164"></a>00164 <span class="comment"> */</span>
<a name="l00165"></a>00165 std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> ReadString(<span class="keyword">const</span> <span class="keywordtype">int</span> total_timeout_ms=-1, <span class="keywordtype">bool</span> *out_timeout =NULL, <span class="keyword">const</span> <span class="keywordtype">char</span> *eol_chars = <span class="stringliteral">"\r\n"</span>);
<a name="l00166"></a>00166 <span class="comment"></span>
<a name="l00167"></a>00167 <span class="comment"> /** Implements the virtual method responsible for writing to the stream.</span>
<a name="l00168"></a>00168 <span class="comment"> * Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.</span>
<a name="l00169"></a>00169 <span class="comment"> * \exception std::exception On communication errors</span>
<a name="l00170"></a>00170 <span class="comment"> */</span>
<a name="l00171"></a>00171 <span class="keywordtype">size_t</span> Write(<span class="keyword">const</span> <span class="keywordtype">void</span> *Buffer, <span class="keywordtype">size_t</span> Count);
<a name="l00172"></a>00172
<a name="l00173"></a>00173 <span class="comment"></span>
<a name="l00174"></a>00174 <span class="comment"> /** Introduces a pure virtual method for moving to a specified position in the streamed resource.</span>
<a name="l00175"></a>00175 <span class="comment"> * he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:</span>
<a name="l00176"></a>00176 <span class="comment"> * - sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.</span>
<a name="l00177"></a>00177 <span class="comment"> * - sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.</span>
<a name="l00178"></a>00178 <span class="comment"> * - sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.</span>
<a name="l00179"></a>00179 <span class="comment"> * \return Seek returns the new value of the Position property.</span>
<a name="l00180"></a>00180 <span class="comment"> */</span>
<a name="l00181"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#aee53d9ee907c1f860d8d18b8d01c8b5a">00181</a> uint64_t Seek(<span class="keywordtype">long</span> Offset, <a class="code" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059" title="Used in CStream::Seek.">CStream::TSeekOrigin</a> Origin = sFromBeginning)
<a name="l00182"></a>00182 {
<a name="l00183"></a>00183 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00184"></a>00184 <a class="code" href="mrpt__macros_8h.html#acc2e7c5641dd177b8a1c6f2d2470c8b7" title="Can be used to avoid "not used parameters" warnings from the compiler.">MRPT_UNUSED_PARAM</a>(Origin);
<a name="l00185"></a>00185 <a class="code" href="mrpt__macros_8h.html#acc2e7c5641dd177b8a1c6f2d2470c8b7" title="Can be used to avoid "not used parameters" warnings from the compiler.">MRPT_UNUSED_PARAM</a>(Offset);
<a name="l00186"></a>00186 <a class="code" href="mrpt__macros_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"Method not applicable to serial communications port CStream!"</span>);
<a name="l00187"></a>00187 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00188"></a>00188 }
<a name="l00189"></a>00189 <span class="comment"></span>
<a name="l00190"></a>00190 <span class="comment"> /** Returns the total amount of bytes in the stream.</span>
<a name="l00191"></a>00191 <span class="comment"> */</span>
<a name="l00192"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a4b7eb59f30e4082f08521f7c1529aa38">00192</a> uint64_t getTotalBytesCount()
<a name="l00193"></a>00193 {
<a name="l00194"></a>00194 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00195"></a>00195 <a class="code" href="mrpt__macros_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"Method not applicable to serial communications port CStream!"</span>);
<a name="l00196"></a>00196 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00197"></a>00197 }
<a name="l00198"></a>00198 <span class="comment"></span>
<a name="l00199"></a>00199 <span class="comment"> /** Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one.</span>
<a name="l00200"></a>00200 <span class="comment"> */</span>
<a name="l00201"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a540aa4dca43d9c60939831e4febbf885">00201</a> uint64_t getPosition()
<a name="l00202"></a>00202 {
<a name="l00203"></a>00203 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00204"></a>00204 <a class="code" href="mrpt__macros_8h.html#aaa3f404ea85a6575a7139f8d101370ba">THROW_EXCEPTION</a>(<span class="stringliteral">"Method not applicable to serial communications port CStream!"</span>);
<a name="l00205"></a>00205 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00206"></a>00206 }
<a name="l00207"></a>00207
<a name="l00208"></a>00208 <span class="keyword">protected</span>:
<a name="l00209"></a>00209 <span class="comment"></span>
<a name="l00210"></a>00210 <span class="comment"> /** The complete name of the serial port device (i.e. "\\.\COM10","/dev/ttyS2",...)</span>
<a name="l00211"></a>00211 <span class="comment"> */</span>
<a name="l00212"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a745d1afce763f62e2442e84def604f5e">00212</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a745d1afce763f62e2442e84def604f5e" title="The complete name of the serial port device (i.e.">m_serialName</a>;
<a name="l00213"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a16505d3ea29e4fa59c78259dcacf62ec">00213</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a16505d3ea29e4fa59c78259dcacf62ec">m_baudRate</a>;
<a name="l00214"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a85811760a23b65bf0afb9b602dfb30a8">00214</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a85811760a23b65bf0afb9b602dfb30a8">m_totalTimeout_ms</a>,m_interBytesTimeout_ms;
<a name="l00215"></a>00215
<a name="l00216"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#acbeaa295e70b1dfb1ddce9e3c783cb0e">00216</a> <a class="code" href="classmrpt_1_1utils_1_1_c_tic_tac.html" title="This class implements a high-performance stopwatch.">CTicTac</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#acbeaa295e70b1dfb1ddce9e3c783cb0e" title="Used only in ReadString.">m_timer</a>; <span class="comment">//!< Used only in \a ReadString</span>
<a name="l00217"></a>00217 <span class="comment"></span>
<a name="l00218"></a>00218 <span class="preprocessor"> #ifdef MRPT_OS_WINDOWS</span>
<a name="l00219"></a>00219 <span class="preprocessor"></span> <span class="comment">// WINDOWS</span>
<a name="l00220"></a>00220 <span class="keywordtype">void</span> *hCOM;
<a name="l00221"></a>00221 <span class="preprocessor"> #else</span>
<a name="l00222"></a>00222 <span class="preprocessor"></span> <span class="comment">// LINUX</span><span class="comment"></span>
<a name="l00223"></a>00223 <span class="comment"> /** The file handle (-1: Not open)</span>
<a name="l00224"></a>00224 <span class="comment"> */</span>
<a name="l00225"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#aa2894ce4310d8a094ab396fec983fc79">00225</a> <span class="keywordtype">int</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#aa2894ce4310d8a094ab396fec983fc79" title="The file handle (-1: Not open)">hCOM</a>;
<a name="l00226"></a>00226 <span class="comment">// size_t ReadUnbuffered(void *Buffer, size_t Count); // JL: Remove??</span>
<a name="l00227"></a>00227 <span class="preprocessor"> #endif</span>
<a name="l00228"></a>00228 <span class="preprocessor"></span>
<a name="l00229"></a>00229 }; <span class="comment">// end of class</span>
<a name="l00230"></a>00230
<a name="l00231"></a>00231 } <span class="comment">// end of namespace</span>
<a name="l00232"></a>00232 } <span class="comment">// end of namespace</span>
<a name="l00233"></a>00233
<a name="l00234"></a>00234 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
