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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::hwdrivers::CSerialPort Class Reference<div class="ingroups"><a class="el" href="group__mrpt__hwdrivers__grp.html">[mrpt-hwdrivers]</a></div></div> </div>
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<!-- doxytag: class="mrpt::hwdrivers::CSerialPort" --><!-- doxytag: inherits="mrpt::utils::CStream" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A communications serial port built as an implementation of a <a class="el" 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...">utils::CStream</a>. </p>
<p>On communication errors (eg. the given port number does not exist, timeouts,...), most of the methods will raise an exception of the class "std::exception"</p>
<p>The serial port to open is passed in the constructor in the form of a string description, which is platform dependent.</p>
<p>In windows they are numbered "COM1"-"COM4" and "\\.\COMXXX" for numbers above. It is recomended to always use the prefix "\\.\" despite the actual port number.</p>
<p>In Linux the name must refer to the device, for example: "ttyUSB0","ttyS0". If the name string does not start with "/" (an absolute path), the constructor will assume the prefix "/dev/".</p>
<p>History:</p>
<ul>
<li>1/DEC/2005: (JLBC) First version</li>
<li>20/DEC/2006: (JLBC) Integration into the MRPT framework</li>
<li>12/DEC/2007: (JLBC) Added support for Linux.</li>
</ul>
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000003">Todo:</a></b></dt><dd>Add the internal buffer to the Windows implementation also</dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_serial_port_8h_source.html">mrpt/hwdrivers/CSerialPort.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hwdrivers::CSerialPort:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1hwdrivers_1_1_c_serial_port__inherit__graph.png" border="0" usemap="#mrpt_1_1hwdrivers_1_1_c_serial_port_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hwdrivers_1_1_c_serial_port_inherit__map" id="mrpt_1_1hwdrivers_1_1_c_serial_port_inherit__map">
<area shape="rect" id="node2" 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..." alt="" coords="29,5,168,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hwdrivers_1_1_c_serial_port-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">TSeekOrigin</a> { <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059a41fe2275587eb7fb10ddbddd86af2beb">sFromBeginning</a> = 0,
<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059ad45b9078d6eec3c607e7df0b7a2c66c0">sFromCurrent</a> = 1,
<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059ad1818126a04dd7285e23554157f9f309">sFromEnd</a> = 2
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a2f3bc9d222cb31abf8d759591142fe84" title="Introduces a pure virtual method for moving to a specified position in the streamed resource...">CStream::Seek</a>. <a href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#ab2a0aed041c0440d1f1574dd678f6a71">CSerialPort</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &portName, bool openNow=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#ab2a0aed041c0440d1f1574dd678f6a71"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a0e71781fbf23f42cc25af74d78e058c0">CSerialPort</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor: it does not open any port - later you must call "setSerialPortName" and then "open". <a href="#a0e71781fbf23f42cc25af74d78e058c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a9d5c1eb24c587ea7236edb3523877c1d">~CSerialPort</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a9d5c1eb24c587ea7236edb3523877c1d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a10fa34ac629f13a9b71d033ab206ceec">setSerialPortName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &COM_name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the serial port to open (it is an error to try to change this while open yet). <a href="#a10fa34ac629f13a9b71d033ab206ceec"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a03cb0b1386c46d33d1e2e76b26631960">open</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Open the port. <a href="#a03cb0b1386c46d33d1e2e76b26631960"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#ae19c4daded35c306df9e267790dfd1ac">open</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &COM_name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Open the given serial port. <a href="#ae19c4daded35c306df9e267790dfd1ac"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#aadde2ff2c71d948fde9d4d0c298a8408">close</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Close the port. <a href="#aadde2ff2c71d948fde9d4d0c298a8408"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a187391b16256758341f207d06d7aee4b">isOpen</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns if port has been correctly open. <a href="#a187391b16256758341f207d06d7aee4b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#afc3c1468929ad537899463a14d1c922c">purgeBuffers</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Purge tx and rx buffers. <a href="#afc3c1468929ad537899463a14d1c922c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a1578a1948eb40d9a29ee6f73e21d1523">setConfig</a> (int baudRate, int parity=0, int bits=8, int nStopBits=1, bool enableFlowControl=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the configuration of the port. <a href="#a1578a1948eb40d9a29ee6f73e21d1523"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a8043fa1a06c953db8954a4f99fb4bfd5">setTimeouts</a> (int ReadIntervalTimeout, int ReadTotalTimeoutMultiplier, int ReadTotalTimeoutConstant, int WriteTotalTimeoutMultiplier, int WriteTotalTimeoutConstant)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the timeouts of the port, in milliseconds. <a href="#a8043fa1a06c953db8954a4f99fb4bfd5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a904492a0d8468b5361d43c591be6537a">Read</a> (void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Implements the virtual method responsible for reading from the stream - Unlike <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a>, this method will not raise an exception on zero bytes read, as long as there is not any fatal error in the communications. <a href="#a904492a0d8468b5361d43c591be6537a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#ad104282d392e65166aec2cd082d7126d">ReadString</a> (const int total_timeout_ms=-1, bool *out_timeout=NULL, const char *eol_chars="\r\n")</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads one text line from the serial port in POSIX "canonical mode". <a href="#ad104282d392e65166aec2cd082d7126d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#aa52c71861393fc9aa6a664b0bf1b6ac9">Write</a> (const void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Implements the virtual method responsible for writing to the stream. <a href="#aa52c71861393fc9aa6a664b0bf1b6ac9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#aee53d9ee907c1f860d8d18b8d01c8b5a">Seek</a> (long Offset, <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">CStream::TSeekOrigin</a> Origin=sFromBeginning)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method for moving to a specified position in the streamed resource. <a href="#aee53d9ee907c1f860d8d18b8d01c8b5a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a4b7eb59f30e4082f08521f7c1529aa38">getTotalBytesCount</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the total amount of bytes in the stream. <a href="#a4b7eb59f30e4082f08521f7c1529aa38"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a540aa4dca43d9c60939831e4febbf885">getPosition</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one. <a href="#a540aa4dca43d9c60939831e4febbf885"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d">ReadBuffer</a> (void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads a block of bytes from the stream into Buffer </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, or if ZERO bytes are read. </td></tr>
</table>
</dd>
</dl>
<a href="#a1b8cd3d084b5a95a3f65c6eed6e7cc6d"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">size_t </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ab3f8382b9a971abc79414464fffc7937">ReadBufferFixEndianness</a> (T *ptr, size_t ElementCount)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. <a href="#ab3f8382b9a971abc79414464fffc7937"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aa38fe9bc49615cfae5de267903b2399b">ReadBufferImmediate</a> (void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). <a href="#aa38fe9bc49615cfae5de267903b2399b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621">WriteBuffer</a> (const void *Buffer, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Writes a block of bytes to the stream from Buffer. <a href="#a276005e7110c9de74ff3277b3f7bf621"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ae229ab566ba2b9e6d2c39e32c2a9ecab">WriteBufferFixEndianness</a> (const T *ptr, size_t ElementCount)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). <a href="#ae229ab566ba2b9e6d2c39e32c2a9ecab"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a3d0bf6d8bf299f8c2bf08dc2798a525f">CopyFrom</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> *Source, size_t Count)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copies a specified number of bytes from one stream to another. <a href="#a3d0bf6d8bf299f8c2bf08dc2798a525f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aa0e9fb01aaced829b0043d50bf616c03">WriteObject</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> *o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Writes an object to the stream. <a href="#aa0e9fb01aaced829b0043d50bf616c03"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a290510e87656433dfd093cc31d34371c">ReadObject</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. <a href="#a290510e87656433dfd093cc31d34371c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a097cb147fd764a0fa7d86de9734fce3c">ReadObject</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> *existingObj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. <a href="#a097cb147fd764a0fa7d86de9734fce3c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a0bbc0a924370c19c8afcd809272af0a9">operator<<</a> (const <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> &pObj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Write an object to a stream in the binary MRPT format. <a href="#a0bbc0a924370c19c8afcd809272af0a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b7e00957f3d9c15b2e689a43084e592">operator<<</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Write an object to a stream in the binary MRPT format. <a href="#a1b7e00957f3d9c15b2e689a43084e592"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a47ecf9142e139b0b48526c2792bebe99">operator>></a> (<a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aeb5ef746d5dc057e535f5188c5e01d74">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> &obj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1e02f8771e15e54157cda18fb63872a3">printf</a> (const char *fmt,...) MRPT_printf_format_check(2</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Writes a string to the stream in a textual form. <a href="#a1e02f8771e15e54157cda18fb63872a3"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">virtual int void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ab93e0c6185c8c3b82abd067962650947">printf_vector</a> (const char *fmt, const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > &V)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Prints a vector in the format [A,B,C,...] using <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1e02f8771e15e54157cda18fb63872a3" title="Writes a string to the stream in a textual form.">CStream::printf</a>, and the fmt string for <b>each</b> vector element. <a href="#ab93e0c6185c8c3b82abd067962650947"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a108c4d9cadd58b1ec0800c6c4816ff55">sendMessage</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> &msg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Send a message to the device. <a href="#a108c4d9cadd58b1ec0800c6c4816ff55"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a95eb299dfa91e1d5962e2acd5bb671a6">receiveMessage</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> &msg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tries to receive a message from the device. <a href="#a95eb299dfa91e1d5962e2acd5bb671a6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a4e9a487df9170de72ae0ecc21bc4e867">getline</a> (<a class="el" href="classstd_1_1string.html">std::string</a> &out_str)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads from the stream until a '<br/>
' character is found ('' characters are ignored). <a href="#a4e9a487df9170de72ae0ecc21bc4e867"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a745d1afce763f62e2442e84def604f5e">m_serialName</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The complete name of the serial port device (i.e. <a href="#a745d1afce763f62e2442e84def604f5e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a16505d3ea29e4fa59c78259dcacf62ec">m_baudRate</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a85811760a23b65bf0afb9b602dfb30a8">m_totalTimeout_ms</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#ab47a30a46807583c0e6bf51d3db5e201">m_interBytesTimeout_ms</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">CTicTac</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#acbeaa295e70b1dfb1ddce9e3c783cb0e">m_timer</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used only in <em>ReadString</em>. <a href="#acbeaa295e70b1dfb1ddce9e3c783cb0e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#aa2894ce4310d8a094ab396fec983fc79">hCOM</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The file handle (-1: Not open) <a href="#aa2894ce4310d8a094ab396fec983fc79"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#add4c77b4b723b23f290f674d9e5395a7">PosixSignalDispatcherImpl</a></td></tr>
</table>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="aab22931626d22c919a50183386d24059"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::TSeekOrigin" ref="aab22931626d22c919a50183386d24059" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">mrpt::utils::CStream::TSeekOrigin</a><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Used in <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a2f3bc9d222cb31abf8d759591142fe84" title="Introduces a pure virtual method for moving to a specified position in the streamed resource...">CStream::Seek</a>. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="aab22931626d22c919a50183386d24059a41fe2275587eb7fb10ddbddd86af2beb"></a><!-- doxytag: member="sFromBeginning" ref="aab22931626d22c919a50183386d24059a41fe2275587eb7fb10ddbddd86af2beb" args="" -->sFromBeginning</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="aab22931626d22c919a50183386d24059ad45b9078d6eec3c607e7df0b7a2c66c0"></a><!-- doxytag: member="sFromCurrent" ref="aab22931626d22c919a50183386d24059ad45b9078d6eec3c607e7df0b7a2c66c0" args="" -->sFromCurrent</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="aab22931626d22c919a50183386d24059ad1818126a04dd7285e23554157f9f309"></a><!-- doxytag: member="sFromEnd" ref="aab22931626d22c919a50183386d24059ad1818126a04dd7285e23554157f9f309" args="" -->sFromEnd</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_stream_8h_source.html#l00060">60</a> of file <a class="el" href="_c_stream_8h_source.html">CStream.h</a>.</p>
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</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ab2a0aed041c0440d1f1574dd678f6a71"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::CSerialPort" ref="ab2a0aed041c0440d1f1574dd678f6a71" args="(const std::string &portName, bool openNow=true)" -->
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<td class="memname">mrpt::hwdrivers::CSerialPort::CSerialPort </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>portName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>openNow</em> = <code>true</code> </td>
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<td>)</td>
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<p>Constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">portName</td><td>The serial port to open. See comments at the begining of this page. </td></tr>
<tr><td class="paramname">openNow</td><td>Whether to try to open the port now. If not selected, the port should be open later with "open()". </td></tr>
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</dd>
</dl>
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<a class="anchor" id="a0e71781fbf23f42cc25af74d78e058c0"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::CSerialPort" ref="a0e71781fbf23f42cc25af74d78e058c0" args="()" -->
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<td class="memname">mrpt::hwdrivers::CSerialPort::CSerialPort </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<p>Default constructor: it does not open any port - later you must call "setSerialPortName" and then "open". </p>
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<a class="anchor" id="a9d5c1eb24c587ea7236edb3523877c1d"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::~CSerialPort" ref="a9d5c1eb24c587ea7236edb3523877c1d" args="()" -->
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<td class="memname">virtual mrpt::hwdrivers::CSerialPort::~CSerialPort </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<div class="memdoc">
<p>Destructor. </p>
</div>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aadde2ff2c71d948fde9d4d0c298a8408"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::close" ref="aadde2ff2c71d948fde9d4d0c298a8408" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CSerialPort::close </td>
<td>(</td>
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<p>Close the port. </p>
<p>If is already closed, results in no action. </p>
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</div>
<a class="anchor" id="a3d0bf6d8bf299f8c2bf08dc2798a525f"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::CopyFrom" ref="a3d0bf6d8bf299f8c2bf08dc2798a525f" args="(CStream *Source, size_t Count)" -->
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<td class="memname">size_t mrpt::utils::CStream::CopyFrom </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> * </td>
<td class="paramname"><em>Source</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
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<td>)</td>
<td></td><td><code> [inherited]</code></td>
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<p>Copies a specified number of bytes from one stream to another. </p>
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<a class="anchor" id="a4e9a487df9170de72ae0ecc21bc4e867"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::getline" ref="a4e9a487df9170de72ae0ecc21bc4e867" args="(std::string &out_str)" -->
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<td class="memname">bool mrpt::utils::CStream::getline </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>out_str</em></td><td>)</td>
<td><code> [inherited]</code></td>
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<p>Reads from the stream until a '<br/>
' character is found ('' characters are ignored). </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on EOF or any other read error. </dd></dl>
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<a class="anchor" id="a540aa4dca43d9c60939831e4febbf885"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::getPosition" ref="a540aa4dca43d9c60939831e4febbf885" args="()" -->
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<td class="memname">uint64_t mrpt::hwdrivers::CSerialPort::getPosition </td>
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<td><code> [inline, virtual]</code></td>
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<p>Method for getting the current cursor position, where 0 is the first byte and TotalBytesCount-1 the last one. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a4b7674b79b6c69683c30bc9e7302c88f">mrpt::utils::CStream</a>.</p>
<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00201">201</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="a4b7eb59f30e4082f08521f7c1529aa38"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::getTotalBytesCount" ref="a4b7eb59f30e4082f08521f7c1529aa38" args="()" -->
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<td><code> [inline, virtual]</code></td>
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<p>Returns the total amount of bytes in the stream. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a86ad2f8a14100b0d793bbf88d4b6f3c1">mrpt::utils::CStream</a>.</p>
<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00192">192</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="a187391b16256758341f207d06d7aee4b"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::isOpen" ref="a187391b16256758341f207d06d7aee4b" args="()" -->
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<p>Returns if port has been correctly open. </p>
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<a class="anchor" id="a03cb0b1386c46d33d1e2e76b26631960"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::open" ref="a03cb0b1386c46d33d1e2e76b26631960" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CSerialPort::open </td>
<td>(</td>
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<p>Open the port. </p>
<p>If is already open results in no action. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
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</dd>
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<a class="anchor" id="ae19c4daded35c306df9e267790dfd1ac"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::open" ref="ae19c4daded35c306df9e267790dfd1ac" args="(const std::string &COM_name)" -->
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<td class="memname">void mrpt::hwdrivers::CSerialPort::open </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>COM_name</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Open the given serial port. </p>
<p>If it is already open and the name does not match, an exception is raised. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors or a different serial port already open. </td></tr>
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</dd>
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<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00102">102</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
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<a class="anchor" id="a0bbc0a924370c19c8afcd809272af0a9"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::operator<<" ref="a0bbc0a924370c19c8afcd809272af0a9" args="(const CSerializablePtr &pObj)" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a>& mrpt::utils::CStream::operator<< </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> & </td>
<td class="paramname"><em>pObj</em></td><td>)</td>
<td><code> [inherited]</code></td>
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<p>Write an object to a stream in the binary MRPT format. </p>
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<a class="anchor" id="a1b7e00957f3d9c15b2e689a43084e592"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::operator<<" ref="a1b7e00957f3d9c15b2e689a43084e592" args="(const CSerializable &obj)" -->
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<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> & </td>
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<td><code> [inherited]</code></td>
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</table>
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<div class="memdoc">
<p>Write an object to a stream in the binary MRPT format. </p>
</div>
</div>
<a class="anchor" id="a47ecf9142e139b0b48526c2792bebe99"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::operator>>" ref="a47ecf9142e139b0b48526c2792bebe99" args="(CSerializablePtr &pObj)" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a>& mrpt::utils::CStream::operator>> </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> & </td>
<td class="paramname"><em>pObj</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="aeb5ef746d5dc057e535f5188c5e01d74"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::operator>>" ref="aeb5ef746d5dc057e535f5188c5e01d74" args="(CSerializable &obj)" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a>& mrpt::utils::CStream::operator>> </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a1e02f8771e15e54157cda18fb63872a3"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::printf" ref="a1e02f8771e15e54157cda18fb63872a3" args="(const char *fmt,...) MRPT_printf_format_check(2" -->
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<td class="memname">virtual int mrpt::utils::CStream::printf </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>fmt</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname"><em>...</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Writes a string to the stream in a textual form. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_std_out_stream.html" title="This CStdOutStream derived class allow printing to standard out, normally the console text output...">CStdOutStream</a> </dd></dl>
</div>
</div>
<a class="anchor" id="ab93e0c6185c8c3b82abd067962650947"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::printf_vector" ref="ab93e0c6185c8c3b82abd067962650947" args="(const char *fmt, const std::vector< T > &V)" -->
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<div class="memtemplate">
template<typename T > </div>
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<td class="memname">virtual int void mrpt::utils::CStream::printf_vector </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>fmt</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1vector.html">std::vector</a>< T > & </td>
<td class="paramname"><em>V</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Prints a vector in the format [A,B,C,...] using <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1e02f8771e15e54157cda18fb63872a3" title="Writes a string to the stream in a textual form.">CStream::printf</a>, and the fmt string for <b>each</b> vector element. </p>
<p>Definition at line <a class="el" href="_c_stream_8h_source.html#l00219">219</a> of file <a class="el" href="_c_stream_8h_source.html">CStream.h</a>.</p>
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<a class="anchor" id="afc3c1468929ad537899463a14d1c922c"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::purgeBuffers" ref="afc3c1468929ad537899463a14d1c922c" args="()" -->
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<td class="memname">void mrpt::hwdrivers::CSerialPort::purgeBuffers </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Purge tx and rx buffers. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a904492a0d8468b5361d43c591be6537a"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::Read" ref="a904492a0d8468b5361d43c591be6537a" args="(void *Buffer, size_t Count)" -->
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<td class="memname">size_t mrpt::hwdrivers::CSerialPort::Read </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Implements the virtual method responsible for reading from the stream - Unlike <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a>, this method will not raise an exception on zero bytes read, as long as there is not any fatal error in the communications. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1ab0c4a0857bc41248808dc8b75d32d9">mrpt::utils::CStream</a>.</p>
</div>
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<a class="anchor" id="a1b8cd3d084b5a95a3f65c6eed6e7cc6d"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::ReadBuffer" ref="a1b8cd3d084b5a95a3f65c6eed6e7cc6d" args="(void *Buffer, size_t Count)" -->
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<td class="memname">size_t mrpt::utils::CStream::ReadBuffer </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads a block of bytes from the stream into Buffer </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, or if ZERO bytes are read. </td></tr>
</table>
</dd>
</dl>
</p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The amound of bytes actually read. </dd></dl>
<dl class="note"><dt><b>Note:</b></dt><dd>This method is endianness-dependent. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aa38fe9bc49615cfae5de267903b2399b" title="Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read...">ReadBufferImmediate</a> ; Important, see: <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ab3f8382b9a971abc79414464fffc7937" title="Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream s...">ReadBufferFixEndianness</a>, </dd></dl>
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</div>
<a class="anchor" id="ab3f8382b9a971abc79414464fffc7937"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::ReadBufferFixEndianness" ref="ab3f8382b9a971abc79414464fffc7937" args="(T *ptr, size_t ElementCount)" -->
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template<typename T > </div>
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<tr>
<td class="memname">size_t mrpt::utils::CStream::ReadBufferFixEndianness </td>
<td>(</td>
<td class="paramtype">T * </td>
<td class="paramname"><em>ptr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>ElementCount</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">ElementCount</td><td>The number of elements (not bytes) to read. </td></tr>
<tr><td class="paramname">ptr</td><td>A pointer to the first output element in an array (or std::vector<>, etc...). </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>The amound of *bytes* (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage: <div class="fragment"><pre class="fragment"> uint32_t N;
s >> N;
vector<float> vec(N);
<span class="keywordflow">if</span> (N)
s.ReadBufferFixEndianness<<span class="keywordtype">float</span>>(&vec[0],N);
</pre></div> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, or if ZERO bytes are read. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ab3f8382b9a971abc79414464fffc7937" title="Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream s...">ReadBufferFixEndianness</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">ReadBuffer</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_stream_8h_source.html#l00109">109</a> of file <a class="el" href="_c_stream_8h_source.html">CStream.h</a>.</p>
<p>References <a class="el" href="bits_8h_source.html#l00172">mrpt::utils::reverseBytesInPlace()</a>.</p>
<p>Referenced by <a class="el" href="ops__vectors_8h_source.html#l00163">mrpt::math::operator>>()</a>.</p>
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<a class="anchor" id="aa38fe9bc49615cfae5de267903b2399b"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::ReadBufferImmediate" ref="aa38fe9bc49615cfae5de267903b2399b" args="(void *Buffer, size_t Count)" -->
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<td class="memname">virtual size_t mrpt::utils::CStream::ReadBufferImmediate </td>
<td>(</td>
<td class="paramtype">void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). </p>
<p>Note that this method will fallback to <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">ReadBuffer()</a> in most <a class="el" 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> classes but in some hardware-related classes. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, or if ZERO bytes are read. </td></tr>
</table>
</dd>
</dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_interface_f_t_d_i.html#ad6585545a46cf2f851ff4a83aaf0c02d">mrpt::hwdrivers::CInterfaceFTDI</a>.</p>
<p>Definition at line <a class="el" href="_c_stream_8h_source.html#l00127">127</a> of file <a class="el" href="_c_stream_8h_source.html">CStream.h</a>.</p>
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<a class="anchor" id="a290510e87656433dfd093cc31d34371c"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::ReadObject" ref="a290510e87656433dfd093cc31d34371c" args="()" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_serializable_ptr.html">CSerializablePtr</a> mrpt::utils::CStream::ReadObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On I/O error or undefined class. </td></tr>
<tr><td class="paramname"><a class="el" href="classmrpt_1_1utils_1_1_c_exception_e_o_f.html" title="Used in mrpt::utils::CStream.">mrpt::utils::CExceptionEOF</a></td><td>On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain <a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a> instead. </td></tr>
</table>
</dd>
</dl>
<p>Referenced by <a class="el" href="ops__matrices_8h_source.html#l00062">mrpt::math::operator>>()</a>.</p>
</div>
</div>
<a class="anchor" id="a097cb147fd764a0fa7d86de9734fce3c"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::ReadObject" ref="a097cb147fd764a0fa7d86de9734fce3c" args="(CSerializable *existingObj)" -->
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<td class="memname">void mrpt::utils::CStream::ReadObject </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> * </td>
<td class="paramname"><em>existingObj</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On I/O error or different class found. </td></tr>
<tr><td class="paramname"><a class="el" href="classmrpt_1_1utils_1_1_c_exception_e_o_f.html" title="Used in mrpt::utils::CStream.">mrpt::utils::CExceptionEOF</a></td><td>On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain <a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a> instead. </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="ad104282d392e65166aec2cd082d7126d"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::ReadString" ref="ad104282d392e65166aec2cd082d7126d" args="(const int total_timeout_ms=-1, bool *out_timeout=NULL, const char *eol_chars="\r\n")" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::hwdrivers::CSerialPort::ReadString </td>
<td>(</td>
<td class="paramtype">const int </td>
<td class="paramname"><em>total_timeout_ms</em> = <code>-1</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool * </td>
<td class="paramname"><em>out_timeout</em> = <code>NULL</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>eol_chars</em> = <code>"\r\n"</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Reads one text line from the serial port in POSIX "canonical mode". </p>
<p>This method reads from the serial port until one of the characters in <em>eol</em> are found. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">eol_chars</td><td>A line reception is finished when one of these characters is found. Default: LF (10), CR (13). </td></tr>
<tr><td class="paramname">total_timeout_ms</td><td>If >0, the maximum number of milliseconds to wait. </td></tr>
<tr><td class="paramname">out_timeout</td><td>If provided, will hold true on return if a timeout ocurred, false on a valid read. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>The read string, without the final </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a95eb299dfa91e1d5962e2acd5bb671a6"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::receiveMessage" ref="a95eb299dfa91e1d5962e2acd5bb671a6" args="(utils::CMessage &msg)" -->
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<td class="memname">bool mrpt::utils::CStream::receiveMessage </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> & </td>
<td class="paramname"><em>msg</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Tries to receive a message from the device. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>True if successful, false if there is no new data from the device (but communications seem to work fine) </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>The frame <a class="el" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8" title="A std::string version of C sprintf.">format</a> is described in <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a108c4d9cadd58b1ec0800c6c4816ff55" title="Send a message to the device.">sendMessage()</a> </dd></dl>
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<a class="anchor" id="aee53d9ee907c1f860d8d18b8d01c8b5a"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::Seek" ref="aee53d9ee907c1f860d8d18b8d01c8b5a" args="(long Offset, CStream::TSeekOrigin Origin=sFromBeginning)" -->
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<td class="memname">uint64_t mrpt::hwdrivers::CSerialPort::Seek </td>
<td>(</td>
<td class="paramtype">long </td>
<td class="paramname"><em>Offset</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#aab22931626d22c919a50183386d24059">CStream::TSeekOrigin</a> </td>
<td class="paramname"><em>Origin</em> = <code>sFromBeginning</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, virtual]</code></td>
</tr>
</table>
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<p>Introduces a pure virtual method for moving to a specified position in the streamed resource. </p>
<p>he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:</p>
<ul>
<li>sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.</li>
<li>sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.</li>
<li>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. <dl class="return"><dt><b>Returns:</b></dt><dd>Seek returns the new value of the Position property. </dd></dl>
</li>
</ul>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a2f3bc9d222cb31abf8d759591142fe84">mrpt::utils::CStream</a>.</p>
<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00181">181</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00311">MRPT_UNUSED_PARAM</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="a108c4d9cadd58b1ec0800c6c4816ff55"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::sendMessage" ref="a108c4d9cadd58b1ec0800c6c4816ff55" args="(const utils::CMessage &msg)" -->
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<td class="memname">void mrpt::utils::CStream::sendMessage </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_message.html">utils::CMessage</a> & </td>
<td class="paramname"><em>msg</em></td><td>)</td>
<td><code> [inherited]</code></td>
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</table>
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<div class="memdoc">
<p>Send a message to the device. </p>
<p>Note that only the low byte from the "type" field will be used.</p>
<p>For frames of size < 255 the frame format is an array of bytes in this order: </p>
<div class="fragment"><pre class="fragment"> <START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
<START_FLAG> = 0x69
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 4
</pre></div><p>For frames of size > 255 the frame format is an array of bytes in this order: </p>
<div class="fragment"><pre class="fragment"> <START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY> <END_FLAG>
<START_FLAG> = 0x79
<HEADER> = A header byte
<LENGHT> = Number of bytes of BODY
<BODY> = N x bytes
<END_FLAG> = 0X96
Total length = <LENGTH> + 5
</pre></div><dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a1578a1948eb40d9a29ee6f73e21d1523"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::setConfig" ref="a1578a1948eb40d9a29ee6f73e21d1523" args="(int baudRate, int parity=0, int bits=8, int nStopBits=1, bool enableFlowControl=false)" -->
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<td class="memname">void mrpt::hwdrivers::CSerialPort::setConfig </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>baudRate</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>parity</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>bits</em> = <code>8</code>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>nStopBits</em> = <code>1</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>enableFlowControl</em> = <code>false</code> </td>
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<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Changes the configuration of the port. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">parity</td><td>0:No parity, 1:Odd, 2:Even (WINDOWS ONLY: 3:Mark, 4:Space) </td></tr>
<tr><td class="paramname">baudRate</td><td>The desired baud rate Accepted values: 50 - 230400 </td></tr>
<tr><td class="paramname">bits</td><td>Bits per word (typ. 8) Accepted values: 5,6,7,8. </td></tr>
<tr><td class="paramname">nStopBits</td><td>Stop bits (typ. 1) Accepted values: 1,2 </td></tr>
<tr><td class="paramname">enableFlowControl</td><td>Whether to enable the hardware flow control (RTS/CTS) (default=no) </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a10fa34ac629f13a9b71d033ab206ceec"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::setSerialPortName" ref="a10fa34ac629f13a9b71d033ab206ceec" args="(const std::string &COM_name)" -->
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<td class="memname">void mrpt::hwdrivers::CSerialPort::setSerialPortName </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>COM_name</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Sets the serial port to open (it is an error to try to change this while open yet). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a03cb0b1386c46d33d1e2e76b26631960" title="Open the port.">open</a>, <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#aadde2ff2c71d948fde9d4d0c298a8408" title="Close the port.">close</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00088">88</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
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<a class="anchor" id="a8043fa1a06c953db8954a4f99fb4bfd5"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::setTimeouts" ref="a8043fa1a06c953db8954a4f99fb4bfd5" args="(int ReadIntervalTimeout, int ReadTotalTimeoutMultiplier, int ReadTotalTimeoutConstant, int WriteTotalTimeoutMultiplier, int WriteTotalTimeoutConstant)" -->
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<td class="memname">void mrpt::hwdrivers::CSerialPort::setTimeouts </td>
<td>(</td>
<td class="paramtype">int </td>
<td class="paramname"><em>ReadIntervalTimeout</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>ReadTotalTimeoutMultiplier</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>ReadTotalTimeoutConstant</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>WriteTotalTimeoutMultiplier</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>WriteTotalTimeoutConstant</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Changes the timeouts of the port, in milliseconds. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="aa52c71861393fc9aa6a664b0bf1b6ac9"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::Write" ref="aa52c71861393fc9aa6a664b0bf1b6ac9" args="(const void *Buffer, size_t Count)" -->
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<td class="memname">size_t mrpt::hwdrivers::CSerialPort::Write </td>
<td>(</td>
<td class="paramtype">const void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Implements the virtual method responsible for writing to the stream. </p>
<p>Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On communication errors </td></tr>
</table>
</dd>
</dl>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a171c27fa5b26f5486d34bcbca550cb91">mrpt::utils::CStream</a>.</p>
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<a class="anchor" id="a276005e7110c9de74ff3277b3f7bf621"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::WriteBuffer" ref="a276005e7110c9de74ff3277b3f7bf621" args="(const void *Buffer, size_t Count)" -->
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<td class="memname">void mrpt::utils::CStream::WriteBuffer </td>
<td>(</td>
<td class="paramtype">const void * </td>
<td class="paramname"><em>Buffer</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>Count</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Writes a block of bytes to the stream from Buffer. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd>Important, see: <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#ae229ab566ba2b9e6d2c39e32c2a9ecab" title="Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running arch...">WriteBufferFixEndianness</a> </dd></dl>
<dl class="note"><dt><b>Note:</b></dt><dd>This method is endianness-dependent. </dd></dl>
</div>
</div>
<a class="anchor" id="ae229ab566ba2b9e6d2c39e32c2a9ecab"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::WriteBufferFixEndianness" ref="ae229ab566ba2b9e6d2c39e32c2a9ecab" args="(const T *ptr, size_t ElementCount)" -->
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<div class="memtemplate">
template<typename T > </div>
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<td class="memname">void mrpt::utils::CStream::WriteBufferFixEndianness </td>
<td>(</td>
<td class="paramtype">const T * </td>
<td class="paramname"><em>ptr</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>ElementCount</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
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</table>
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<p>Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">ElementCount</td><td>The number of elements (not bytes) to write. </td></tr>
<tr><td class="paramname">ptr</td><td>A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: <div class="fragment"><pre class="fragment"> vector<float> vec = ...
uint32_t N = vec.size();
s << N
<span class="keywordflow">if</span> (N)
s.WriteBufferFixEndianness<<span class="keywordtype">float</span>>(&vec[0],N);
</pre></div> </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">WriteBuffer</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_stream_8h_source.html#l00153">153</a> of file <a class="el" href="_c_stream_8h_source.html">CStream.h</a>.</p>
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<a class="anchor" id="aa0e9fb01aaced829b0043d50bf616c03"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::WriteObject" ref="aa0e9fb01aaced829b0043d50bf616c03" args="(const CSerializable *o)" -->
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<td class="memname">void mrpt::utils::CStream::WriteObject </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html">CSerializable</a> * </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [inherited]</code></td>
</tr>
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<div class="memdoc">
<p>Writes an object to the stream. </p>
</div>
</div>
<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="add4c77b4b723b23f290f674d9e5395a7"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::PosixSignalDispatcherImpl" ref="add4c77b4b723b23f290f674d9e5395a7" args="" -->
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<td class="memname">friend class PosixSignalDispatcherImpl<code> [friend]</code></td>
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<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00068">68</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aa2894ce4310d8a094ab396fec983fc79"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::hCOM" ref="aa2894ce4310d8a094ab396fec983fc79" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#aa2894ce4310d8a094ab396fec983fc79">mrpt::hwdrivers::CSerialPort::hCOM</a><code> [protected]</code></td>
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<div class="memdoc">
<p>The file handle (-1: Not open) </p>
<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00225">225</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
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<a class="anchor" id="a16505d3ea29e4fa59c78259dcacf62ec"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::m_baudRate" ref="a16505d3ea29e4fa59c78259dcacf62ec" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a16505d3ea29e4fa59c78259dcacf62ec">mrpt::hwdrivers::CSerialPort::m_baudRate</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00213">213</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
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<a class="anchor" id="ab47a30a46807583c0e6bf51d3db5e201"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::m_interBytesTimeout_ms" ref="ab47a30a46807583c0e6bf51d3db5e201" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#ab47a30a46807583c0e6bf51d3db5e201">mrpt::hwdrivers::CSerialPort::m_interBytesTimeout_ms</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00214">214</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
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<a class="anchor" id="a745d1afce763f62e2442e84def604f5e"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::m_serialName" ref="a745d1afce763f62e2442e84def604f5e" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a745d1afce763f62e2442e84def604f5e">mrpt::hwdrivers::CSerialPort::m_serialName</a><code> [protected]</code></td>
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<p>The complete name of the serial port device (i.e. </p>
<p>"\\.\COM10","/dev/ttyS2",...) </p>
<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00212">212</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
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<a class="anchor" id="acbeaa295e70b1dfb1ddce9e3c783cb0e"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::m_timer" ref="acbeaa295e70b1dfb1ddce9e3c783cb0e" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_tic_tac.html">CTicTac</a> <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#acbeaa295e70b1dfb1ddce9e3c783cb0e">mrpt::hwdrivers::CSerialPort::m_timer</a><code> [protected]</code></td>
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<p>Used only in <em>ReadString</em>. </p>
<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00216">216</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
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<a class="anchor" id="a85811760a23b65bf0afb9b602dfb30a8"></a><!-- doxytag: member="mrpt::hwdrivers::CSerialPort::m_totalTimeout_ms" ref="a85811760a23b65bf0afb9b602dfb30a8" args="" -->
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<td class="memname">int <a class="el" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html#a85811760a23b65bf0afb9b602dfb30a8">mrpt::hwdrivers::CSerialPort::m_totalTimeout_ms</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_serial_port_8h_source.html#l00214">214</a> of file <a class="el" href="_c_serial_port_8h_source.html">CSerialPort.h</a>.</p>
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<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>
