mrpt::hwdrivers::CInterfaceFTDI Class Reference

Detailed Description

A definition of a CStream actually representing a USB connection to a FTDI chip.

This class implements the communication with FT245BM / FT245RL chips. Using this class makes a program to depend on:

• Windows: "FT2XX.DLL" and the device drivers (see FTDI website).
• Linux: "libusb.so" (quite standard!), and "libftdi.so" only if linking against the dynamic library.

If there is any error during the communications (or loading the Windows DLL), a std::exception will be raised.

To write bulk data, use CStream::ReadBuffer and CStream::WriteBuffer. See also the derived classes for higher level communication: CInterfaceFTDIMessages

Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like DLL not found, etc...)

VERSIONS:

• 11/APR/2005: Initial development. JLBC
• 16/FEB/2007: Integration into the MRPT framework. Support for device serial numbers. JLBC
• 15/APR/2008: Implemented for Linux using libftdi. JLBC

See also

CInterfaceFTDIMessages, CStream

Definition at line 74 of file CInterfaceFTDI.h.

#include <mrpt/hwdrivers/CInterfaceFTDI.h>

Inheritance diagram for mrpt::hwdrivers::CInterfaceFTDI:

Public Types
enum	TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
	Used in CStream::Seek. More...

Public Member Functions
	CInterfaceFTDI ()
	Constructor, which loads driver interface (the DLL under Windows). More...
virtual	~CInterfaceFTDI ()
	Destructor, which closes the connection with the chip and unloads the driver interface. More...
	CInterfaceFTDI (const CInterfaceFTDI &o)
	This object cannot be copied. More...
CInterfaceFTDI &	operator= (const CInterfaceFTDI &o)
	This object cannot be copied. More...
bool	isOpen ()
	Checks whether the chip has been successfully open. More...
void	OpenBySerialNumber (const std::string &serialNumber)
	Open by device serial number. More...
void	OpenByDescription (const std::string &description)
	Open by device description. More...
void	Close ()
	Close the USB device. More...
void	ResetDevice ()
	Reset the USB device. More...
void	Purge ()
	Purge the I/O buffers. More...
void	SetLatencyTimer (unsigned char latency_ms)
	Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. More...
void	SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms)
	Change read & write timeouts, in milliseconds. More...
void	ListAllDevices (TFTDIDeviceList &outList)
	Generates a list with all FTDI devices connected right now. More...
size_t	ReadSync (void *Buffer, size_t Count)
	Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...
size_t	WriteSync (const void *Buffer, size_t Count)
	Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. More...
virtual size_t	ReadBufferImmediate (void *Buffer, size_t Count)
	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). More...
size_t	ReadBuffer (void *Buffer, size_t Count)
	Reads a block of bytes from the stream into Buffer. More...
template<typename T >
size_t	ReadBufferFixEndianness (T *ptr, size_t ElementCount)
	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. More...
void	WriteBuffer (const void *Buffer, size_t Count)
	Writes a block of bytes to the stream from Buffer. More...
template<typename T >
void	WriteBufferFixEndianness (const T *ptr, size_t ElementCount)
	Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More...
virtual uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
	Introduces a pure virtual method for moving to a specified position in the streamed resource. More...
void	WriteObject (const CSerializable *o)
	Writes an object to the stream. More...
CSerializablePtr	ReadObject ()
	Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...
void	ReadObject (CSerializable *existingObj)
	Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More...
CStream &	operator<< (const CSerializablePtr &pObj)
	Write an object to a stream in the binary MRPT format. More...
CStream &	operator<< (const CSerializable &obj)
	Write an object to a stream in the binary MRPT format. More...
CStream &	operator>> (CSerializablePtr &pObj)
CStream &	operator>> (CSerializable &obj)
template<typename STORED_TYPE , typename CAST_TO_TYPE >
void	ReadAsAndCastTo (CAST_TO_TYPE &read_here)
	Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast. More...
virtual int	printf (const char *fmt,...) MRPT_printf_format_check(2
	Writes a string to the stream in a textual form. More...
template<typename CONTAINER_TYPE >
virtual int void	printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator=',')
	Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T. More...
void	sendMessage (const utils::CMessage &msg)
	Send a message to the device. More...
bool	receiveMessage (utils::CMessage &msg)
	Tries to receive a message from the device. More...
bool	getline (std::string &out_str)
	Reads from the stream until a ' ' character is found ('' characters are ignored). More...

Protected Member Functions
size_t	Read (void *Buffer, size_t Count)
	Introduces a pure virtual method responsible for reading from the stream. More...
size_t	Write (const void *Buffer, size_t Count)
	Introduces a pure virtual method responsible for writing to the stream. More...
uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)
	This virtual method does nothing in this class. More...
uint64_t	getTotalBytesCount ()
	This virtual method does nothing in this class. More...
uint64_t	getPosition ()
	This virtual method does nothing in this class. More...
void	ftdi_read (void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead)
void	ftdi_write (const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes)
void	recursive_fill_list_devices (void *usb_device_structure, TFTDIDeviceList &outList)
	Process recursively a USB device and its children: More...
template<bool EXISTING_OBJ>
void	internal_ReadObject (CSerializablePtr &newObj, CSerializable *existingObj=NULL)
	A common template code for both versions of CStream::ReadObject() More...

Protected Attributes
mrpt::utils::circular_buffer< uint8_t >	m_readBuffer
	Used in Read. More...
void *	m_ftdi_context

Member Enumeration Documentation

TSeekOrigin

enum mrpt::utils::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 42 of file CStream.h.

Constructor & Destructor Documentation

CInterfaceFTDI() [1/2]

mrpt::hwdrivers::CInterfaceFTDI::CInterfaceFTDI

(

)

Constructor, which loads driver interface (the DLL under Windows).

~CInterfaceFTDI()

virtual mrpt::hwdrivers::CInterfaceFTDI::~CInterfaceFTDI ( )

virtual

Destructor, which closes the connection with the chip and unloads the driver interface.

CInterfaceFTDI() [2/2]

mrpt::hwdrivers::CInterfaceFTDI::CInterfaceFTDI

(

const CInterfaceFTDI &

o

)

This object cannot be copied.

Member Function Documentation

Close()

void mrpt::hwdrivers::CInterfaceFTDI::Close

(

)

Close the USB device.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed(), and mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame().

ftdi_read()

void mrpt::hwdrivers::CInterfaceFTDI::ftdi_read ( void *  lpvBuffer, unsigned long  dwBuffSize, unsigned long *  lpdwBytesRead  )

protected

Referenced by Read(), and ReadBufferImmediate().

ftdi_write()

void mrpt::hwdrivers::CInterfaceFTDI::ftdi_write ( const void *  lpvBuffer, unsigned long  dwBuffSize, unsigned long *  lpdwBytes  )

protected

Referenced by Write().

getline()

bool CStream::getline ( std::string &  out_str )

inherited

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns

false on EOF or any other read error.

Definition at line 680 of file CStream.cpp.

getPosition()

uint64_t CInterfaceFTDI::getPosition ( )

protectedvirtual

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 84 of file CInterfaceFTDI_common.cpp.

getTotalBytesCount()

uint64_t CInterfaceFTDI::getTotalBytesCount ( )

protectedvirtual

This virtual method does nothing in this class.

Implements mrpt::utils::CStream.

Definition at line 76 of file CInterfaceFTDI_common.cpp.

internal_ReadObject()

template<bool EXISTING_OBJ>

void CStream::internal_ReadObject ( CSerializablePtr &  newObj, CSerializable *  existingObj = NULL  )

protectedinherited

A common template code for both versions of CStream::ReadObject()

• EXISTING_OBJ=true -> read in the object passed as argument
• EXISTING_OBJ=false -> build a new object and return it

Definition at line 357 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::TRuntimeClassId::createObject(), mrpt::utils::findRegisteredClass(), mrpt::format(), mrpt::utils::CSerializable::GetRuntimeClass(), mrpt::utils::registerAllPendingClasses(), SERIALIZATION_END_FLAG, THROW_EXCEPTION, THROW_EXCEPTION_FMT, THROW_STACKED_EXCEPTION_CUSTOM_MSG2, THROW_TYPED_EXCEPTION, and version.

isOpen()

bool mrpt::hwdrivers::CInterfaceFTDI::isOpen

(

)

Checks whether the chip has been successfully open.

See also

OpenBySerialNumber, OpenByDescription

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected(), mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

ListAllDevices()

void mrpt::hwdrivers::CInterfaceFTDI::ListAllDevices

(

TFTDIDeviceList &

outList

)

Generates a list with all FTDI devices connected right now.

OpenByDescription()

void mrpt::hwdrivers::CInterfaceFTDI::OpenByDescription

(

const std::string &

description

)

Open by device description.

OpenBySerialNumber()

void mrpt::hwdrivers::CInterfaceFTDI::OpenBySerialNumber

(

const std::string &

serialNumber

)

Open by device serial number.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

operator<<() [1/2]

CStream & CStream::operator<< ( const CSerializablePtr &  pObj )

inherited

Write an object to a stream in the binary MRPT format.

Definition at line 211 of file CStream.cpp.

operator<<() [2/2]

CStream & CStream::operator<< ( const CSerializable &  obj )

inherited

Write an object to a stream in the binary MRPT format.

Definition at line 218 of file CStream.cpp.

operator=()

CInterfaceFTDI& mrpt::hwdrivers::CInterfaceFTDI::operator=

(

const CInterfaceFTDI &

o

)

This object cannot be copied.

operator>>() [1/2]

CStream & CStream::operator>> ( CSerializablePtr &  pObj )

inherited

Definition at line 224 of file CStream.cpp.

operator>>() [2/2]

CStream & CStream::operator>> ( CSerializable &  obj )

inherited

Definition at line 230 of file CStream.cpp.

printf()

int CStream::printf ( const char *  fmt,   ...  )

virtualinherited

Writes a string to the stream in a textual form.

See also

CStdOutStream

Definition at line 507 of file CStream.cpp.

References MRPT_END, MRPT_START, and vsnprintf.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::utils::TMatchingPairList::dumpToFile(), mrpt::obs::gnss::Message_NMEA_GGA::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_PZS::dumpToStream(), mrpt::obs::gnss::Message_TOPCON_SATS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_GLL::dumpToStream(), mrpt::obs::gnss::Message_NMEA_RMC::dumpToStream(), mrpt::obs::CObservationGPS::dumpToStream(), mrpt::obs::gnss::Message_NMEA_VTG::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NMEA_ZDA::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::dumpToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::dumpToStream(), mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions::dumpToTextStream(), mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream(), mrpt::slam::CICP::TConfigParams::dumpToTextStream(), mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::dumpToTextStream(), mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions::dumpToTextStream(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::dumpToTextStream(), mrpt::vision::CFeatureExtraction::TOptions::dumpToTextStream(), mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::utils::CLoadableOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToTextStream(), mrpt::slam::CGridMapAligner::TConfigParams::dumpToTextStream(), mrpt::graphslam::TSlidingWindow::dumpToTextStream(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::dumpToTextStream(), mrpt::maps::CBeaconMap::TInsertionOptions::dumpToTextStream(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions::dumpToTextStream(), mrpt::slam::CRangeBearingKFSLAM::TOptions::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), mrpt::maps::CPointsMap::TInsertionOptions::dumpToTextStream(), mrpt::vision::TStereoSystemParams::dumpToTextStream(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::dumpToTextStream(), mrpt::vision::CFeature::dumpToTextStream(), mrpt::maps::CLandmarksMap::TInsertionOptions::dumpToTextStream(), mrpt::maps::CPointsMap::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams::dumpToTextStream(), mrpt::maps::CColouredPointsMap::TColourOptions::dumpToTextStream(), mrpt::maps::CLandmarksMap::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::TSetOfMetricMapInitializers::dumpToTextStream(), mrpt::vision::TMatchingOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream(), mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::vision::TMultiResDescMatchOptions::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::vision::TMultiResDescOptions::dumpToTextStream(), mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D_MRF::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CHeightGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::dumpToTextStream_map_specific(), mrpt::maps::CLandmarksMap::TMapDefinition::dumpToTextStream_map_specific(), mrpt::utils::CLoadableOptions::dumpVar_bool(), mrpt::utils::CLoadableOptions::dumpVar_double(), mrpt::utils::CLoadableOptions::dumpVar_float(), mrpt::utils::CLoadableOptions::dumpVar_int(), mrpt::utils::CLoadableOptions::dumpVar_string(), mrpt::synch::CCriticalSection::enter(), generic_dump_BESTPOS(), generic_dump_MARKTIME(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common(), mrpt::synch::CCriticalSection::leave(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation(), mrpt::maps::CRandomFieldGridMap3D::saveAsCSV(), mrpt::poses::CPoseInterpolatorBase< 3 >::saveInterpolatedToTextFile(), mrpt::utils::CTimeLogger::saveToCSVFile(), and mrpt::poses::CPoseInterpolatorBase< 3 >::saveToTextFile().

printf_vector()

template<typename CONTAINER_TYPE >

virtual int void mrpt::utils::CStream::printf_vector ( const char *  fmt, const CONTAINER_TYPE &  V, char  separator = ','  )

inlineinherited

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element T.

Template Parameters

CONTAINER_TYPE

can be any vector<T>, deque<T> or alike.

Definition at line 208 of file CStream.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

Purge()

void mrpt::hwdrivers::CInterfaceFTDI::Purge

(

)

Purge the I/O buffers.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect().

Read()

size_t CInterfaceFTDI::Read ( void *  Buffer, size_t  Count  )

protectedvirtual

Introduces a pure virtual method responsible for reading from the stream.

It integrates a cache buffer to speed-up sequences of many, small readings.

Implements mrpt::utils::CStream.

Definition at line 20 of file CInterfaceFTDI_common.cpp.

References mrpt::utils::circular_buffer< T >::available(), ftdi_read(), m_readBuffer, min, mrpt::utils::circular_buffer< T >::pop_many(), mrpt::utils::circular_buffer< T >::push_many(), and mrpt::utils::circular_buffer< T >::size().

ReadAsAndCastTo()

template<typename STORED_TYPE , typename CAST_TO_TYPE >

void mrpt::utils::CStream::ReadAsAndCastTo ( CAST_TO_TYPE &  read_here )

inlineinherited

Read a value from a stream stored in a type different of the target variable, making the conversion via static_cast.

Useful for coding backwards compatible de-serialization blocks

Definition at line 194 of file CStream.h.

ReadBuffer()

size_t CStream::ReadBuffer ( void *  Buffer, size_t  Count  )

inherited

Reads a block of bytes from the stream into Buffer.

Exceptions

std::exception

On any error, or if ZERO bytes are read.

Returns

The amound of bytes actually read.

Note

This method is endianness-dependent.

See also

ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,

Definition at line 45 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::compress::zip::compress_gz_data_block(), mrpt::compress::zip::decompress(), mrpt::compress::zip::decompress_gz_file(), mrpt::hwdrivers::CGPSInterface::doProcess(), fill_input_buffer(), mrpt::system::loadBinaryFile(), mrpt::utils::CMemoryStream::loadBufferFromFile(), and mrpt::hwdrivers::CHokuyoURG::purgeBuffers().

ReadBufferFixEndianness()

template<typename T >

size_t mrpt::utils::CStream::ReadBufferFixEndianness ( T *  ptr, size_t  ElementCount  )

inlineinherited

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.

Parameters

ElementCount	The number of elements (not bytes) to read.
ptr	A pointer to the first output element in an array (or std::vector<>, etc...).

Returns

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:

uint32_t  N;
s >> N;
vector<float>  vec(N);
if (N)
  s.ReadBufferFixEndianness<float>(&vec[0],N);

Exceptions

std::exception

On any error, or if ZERO bytes are read.

See also

ReadBufferFixEndianness, ReadBuffer

Definition at line 95 of file CStream.h.

References mrpt::mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::math::operator>>(), and triangle_readFromStream().

ReadBufferImmediate()

size_t CInterfaceFTDI::ReadBufferImmediate ( void *  Buffer, size_t  Count  )

virtual

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).

In this class this method actually behaves as expected and does not fallback to ReadBuffer().

Exceptions

std::exception

On any error, or if ZERO bytes are read.

Reimplemented from mrpt::utils::CStream.

Definition at line 92 of file CInterfaceFTDI_common.cpp.

References ftdi_read().

ReadObject() [1/2]

CSerializablePtr CStream::ReadObject ( )

inherited

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

Exceptions

std::exception	On I/O error or undefined class.
mrpt::utils::CExceptionEOF	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 std::exception instead.

Definition at line 486 of file CStream.cpp.

Referenced by mrpt::utils::mrpt_recv_from_zmq(), mrpt::utils::mrpt_recv_from_zmq_into(), mrpt::utils::OctetVectorToObject(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::utils::RawStringToObject(), mrpt::utils::StringToObject(), and TEST().

ReadObject() [2/2]

void CStream::ReadObject ( CSerializable *  existingObj )

inherited

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

Exceptions

std::exception	On I/O error or different class found.
mrpt::utils::CExceptionEOF	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 std::exception instead.

Definition at line 498 of file CStream.cpp.

ReadSync()

size_t mrpt::hwdrivers::CInterfaceFTDI::ReadSync ( void *  Buffer, size_t  Count  )

inline

Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 126 of file CInterfaceFTDI.h.

Referenced by mrpt::hwdrivers::CSickLaserUSB::waitContinuousSampleFrame().

receiveMessage()

bool CStream::receiveMessage ( utils::CMessage &  msg )

inherited

Tries to receive a message from the device.

Exceptions

std::exception

On communication errors

Returns

True if successful, false if there is no new data from the device (but communications seem to work fine)

See also

The frame format is described in sendMessage()

Definition at line 590 of file CStream.cpp.

References mrpt::utils::CMessage::content, MAKEWORD16B, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

Referenced by mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

recursive_fill_list_devices()

void mrpt::hwdrivers::CInterfaceFTDI::recursive_fill_list_devices ( void *  usb_device_structure, TFTDIDeviceList &  outList  )

protected

Process recursively a USB device and its children:

ResetDevice()

void mrpt::hwdrivers::CInterfaceFTDI::ResetDevice

(

)

Reset the USB device.

Referenced by mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

Seek() [1/2]

virtual uint64_t mrpt::utils::CStream::Seek ( int64_t  Offset, CStream::TSeekOrigin  Origin = sFromBeginning  )

pure virtualinherited

Introduces a pure virtual method for moving to a specified position in the streamed resource.

he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:

• sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
• sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
• 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.

  Returns

  Seek returns the new value of the Position property.

Implemented in mrpt::utils::CClientTCPSocket, mrpt::utils::CFileStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CMemoryStream, mrpt::utils::CFileInputStream, and mrpt::utils::CStdOutStream.

Seek() [2/2]

uint64_t CInterfaceFTDI::Seek ( int64_t  Offset, CStream::TSeekOrigin  Origin = sFromBeginning  )

protected

This virtual method does nothing in this class.

Definition at line 66 of file CInterfaceFTDI_common.cpp.

References MRPT_UNUSED_PARAM.

sendMessage()

void CStream::sendMessage ( const utils::CMessage &  msg )

inherited

Send a message to the device.

Note that only the low byte from the "type" field will be used.

For frames of size < 255 the frame format is an array of bytes in this order:

<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

For frames of size > 255 the frame format is an array of bytes in this order:

<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

Exceptions

std::exception

On communication errors

Definition at line 556 of file CStream.cpp.

References mrpt::utils::CMessage::content, mrpt::system::os::memcpy(), MRPT_END, MRPT_START, and mrpt::utils::CMessage::type.

Referenced by mrpt::hwdrivers::CServoeNeck::disableServo(), mrpt::hwdrivers::CServoeNeck::enableServo(), mrpt::hwdrivers::CRoboticHeadInterface::Get3SoundBuffer(), mrpt::hwdrivers::CRoboticHeadInterface::GetGain(), mrpt::hwdrivers::CServoeNeck::getRegisterValue(), mrpt::hwdrivers::CRoboticHeadInterface::GetSoundLocation(), mrpt::hwdrivers::CServoeNeck::queryFirmwareVersion(), mrpt::hwdrivers::CBoardENoses::queryFirmwareVersion(), mrpt::hwdrivers::CRoboticHeadInterface::SetGain(), mrpt::hwdrivers::CServoeNeck::setRegisterValue(), and mrpt::hwdrivers::CServoeNeck::setRegisterValueAndSpeed().

SetLatencyTimer()

void mrpt::hwdrivers::CInterfaceFTDI::SetLatencyTimer

(

unsigned char

latency_ms

)

Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

SetTimeouts()

void mrpt::hwdrivers::CInterfaceFTDI::SetTimeouts	(	unsigned long	dwReadTimeout_ms,
		unsigned long	dwWriteTimeout_ms
	)

Change read & write timeouts, in milliseconds.

Referenced by mrpt::hwdrivers::CServoeNeck::checkConnectionAndConnect(), and mrpt::hwdrivers::CSickLaserUSB::checkControllerIsConnected().

Write()

size_t CInterfaceFTDI::Write ( const void *  Buffer, size_t  Count  )

protectedvirtual

Introduces a pure virtual method responsible for writing to the stream.

Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.

Implements mrpt::utils::CStream.

Definition at line 56 of file CInterfaceFTDI_common.cpp.

References ftdi_write().

WriteBuffer()

void CStream::WriteBuffer ( const void *  Buffer, size_t  Count  )

inherited

Writes a block of bytes to the stream from Buffer.

Exceptions

std::exception

On any error

See also

Important, see: WriteBufferFixEndianness

Note

This method is endianness-dependent.

Definition at line 67 of file CStream.cpp.

References ASSERT_, and THROW_EXCEPTION.

Referenced by mrpt::compress::zip::compress(), mrpt::utils::CMessage::deserializeIntoExistingObject(), mrpt::utils::CMessage::deserializeIntoNewObject(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), empty_output_buffer(), mrpt::hwdrivers::CGPSInterface::implement_parser_NOVATEL_OEM6(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_GENERIC_SHORT_FRAME::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_RANGECMP::internal_writeToStream(), mrpt::obs::gnss::Message_NV_OEM6_VERSION::internal_writeToStream(), mrpt::utils::mrpt_recv_from_zmq_buf(), mrpt::utils::ObjectToString(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::utils::operator<<(), mrpt::utils::CMemoryStream::saveBufferToFile(), mrpt::hwdrivers::CHokuyoURG::sendCmd(), mrpt::hwdrivers::CGPSInterface::sendCustomCommand(), mrpt::hwdrivers::CBoardENoses::setActiveChamber(), mrpt::utils::StringToObject(), term_destination(), mrpt::system::vectorToBinaryFile(), mrpt::nav::CLogFileRecord::writeToStream(), mrpt::maps::CHeightGridMap2D_MRF::writeToStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::CReflectivityGridMap2D::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), mrpt::maps::CRandomFieldGridMap3D::writeToStream(), mrpt::utils::CImage::writeToStream(), and mrpt::opengl::CRenderizable::writeToStreamRender().

WriteBufferFixEndianness()

template<typename T >

void mrpt::utils::CStream::WriteBufferFixEndianness ( const T *  ptr, size_t  ElementCount  )

inlineinherited

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

Parameters

ElementCount	The number of elements (not bytes) to write.
ptr	A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: vector<float> vec = ... uint32_t N = vec.size(); s << N if (N) s.WriteBufferFixEndianness<float>(&vec[0],N);

Exceptions

std::exception

On any error

See also

WriteBuffer

Definition at line 139 of file CStream.h.

Referenced by triangle_writeToStream(), mrpt::math::CMatrix::writeToStream(), mrpt::math::CMatrixD::writeToStream(), mrpt::maps::CColouredPointsMap::writeToStream(), mrpt::maps::CWeightedPointsMap::writeToStream(), mrpt::maps::CSimplePointsMap::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::maps::COccupancyGridMap2D::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

WriteObject()

void CStream::WriteObject ( const CSerializable *  o )

inherited

Writes an object to the stream.

Definition at line 166 of file CStream.cpp.

References ASSERT_, mrpt::utils::TRuntimeClassId::className, mrpt::utils::CSerializable::GetRuntimeClass(), MRPT_END, MRPT_START, SERIALIZATION_END_FLAG, version, and mrpt::utils::CSerializable::writeToStream().

Referenced by mrpt::utils::mrpt_send_to_zmq(), mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), and mrpt::utils::CMessage::serializeObject().

WriteSync()

size_t mrpt::hwdrivers::CInterfaceFTDI::WriteSync ( const void *  Buffer, size_t  Count  )

inline

Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.

Definition at line 133 of file CInterfaceFTDI.h.

Member Data Documentation

m_ftdi_context

void* mrpt::hwdrivers::CInterfaceFTDI::m_ftdi_context

protected

Definition at line 227 of file CInterfaceFTDI.h.

m_readBuffer

mrpt::utils::circular_buffer<uint8_t> mrpt::hwdrivers::CInterfaceFTDI::m_readBuffer

protected

Used in Read.

Definition at line 150 of file CInterfaceFTDI.h.

Referenced by Read().