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frc::SerialPort Class Reference

Driver for the RS-232 serial port on the roboRIO. More...

#include <SerialPort.h>

Inheritance diagram for frc::SerialPort:
frc::ErrorBase

Public Types

enum  Parity {
  kParity_None = 0, kParity_Odd = 1, kParity_Even = 2, kParity_Mark = 3,
  kParity_Space = 4
}
 
enum  StopBits { kStopBits_One = 10, kStopBits_OnePointFive = 15, kStopBits_Two = 20 }
 
enum  FlowControl { kFlowControl_None = 0, kFlowControl_XonXoff = 1, kFlowControl_RtsCts = 2, kFlowControl_DtrDsr = 4 }
 
enum  WriteBufferMode { kFlushOnAccess = 1, kFlushWhenFull = 2 }
 
enum  Port {
  kOnboard = 0, kMXP = 1, kUSB = 2, kUSB1 = 2,
  kUSB2 = 3
}
 

Public Member Functions

 SerialPort (int baudRate, Port port=kOnboard, int dataBits=8, Parity parity=kParity_None, StopBits stopBits=kStopBits_One)
 Create an instance of a Serial Port class. More...
 
 SerialPort (int baudRate, const wpi::Twine &portName, Port port=kOnboard, int dataBits=8, Parity parity=kParity_None, StopBits stopBits=kStopBits_One)
 Create an instance of a Serial Port class. More...
 
 SerialPort (SerialPort &&rhs)
 
SerialPortoperator= (SerialPort &&rhs)
 
void SetFlowControl (FlowControl flowControl)
 Set the type of flow control to enable on this port. More...
 
void EnableTermination (char terminator= '\n')
 Enable termination and specify the termination character. More...
 
void DisableTermination ()
 Disable termination behavior.
 
int GetBytesReceived ()
 Get the number of bytes currently available to read from the serial port. More...
 
int Read (char *buffer, int count)
 Read raw bytes out of the buffer. More...
 
int Write (const char *buffer, int count)
 Write raw bytes to the buffer. More...
 
int Write (wpi::StringRef buffer)
 Write raw bytes to the buffer. More...
 
void SetTimeout (double timeout)
 Configure the timeout of the serial port. More...
 
void SetReadBufferSize (int size)
 Specify the size of the input buffer. More...
 
void SetWriteBufferSize (int size)
 Specify the size of the output buffer. More...
 
void SetWriteBufferMode (WriteBufferMode mode)
 Specify the flushing behavior of the output buffer. More...
 
void Flush ()
 Force the output buffer to be written to the port. More...
 
void Reset ()
 Reset the serial port driver to a known state. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static const ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Detailed Description

Driver for the RS-232 serial port on the roboRIO.

The current implementation uses the VISA formatted I/O mode. This means that all traffic goes through the fomatted buffers. This allows the intermingled use of Printf(), Scanf(), and the raw buffer accessors Read() and Write().

More information can be found in the NI-VISA User Manual here: http://www.ni.com/pdf/manuals/370423a.pdf and the NI-VISA Programmer's Reference Manual here: http://www.ni.com/pdf/manuals/370132c.pdf

Constructor & Destructor Documentation

frc::SerialPort::SerialPort ( int  baudRate,
Port  port = kOnboard,
int  dataBits = 8,
Parity  parity = kParity_None,
StopBits  stopBits = kStopBits_One 
)

Create an instance of a Serial Port class.

Parameters
baudRateThe baud rate to configure the serial port.
portThe physical port to use
dataBitsThe number of data bits per transfer. Valid values are between 5 and 8 bits.
paritySelect the type of parity checking to use.
stopBitsThe number of stop bits to use as defined by the enum StopBits.
frc::SerialPort::SerialPort ( int  baudRate,
const wpi::Twine portName,
Port  port = kOnboard,
int  dataBits = 8,
Parity  parity = kParity_None,
StopBits  stopBits = kStopBits_One 
)

Create an instance of a Serial Port class.

Parameters
baudRateThe baud rate to configure the serial port.
portThe physical port to use
portNameThe direct port name to use
dataBitsThe number of data bits per transfer. Valid values are between 5 and 8 bits.
paritySelect the type of parity checking to use.
stopBitsThe number of stop bits to use as defined by the enum StopBits.

Member Function Documentation

void frc::SerialPort::EnableTermination ( char  terminator = '\n')

Enable termination and specify the termination character.

Termination is currently only implemented for receive. When the the terminator is recieved, the Read() or Scanf() will return fewer bytes than requested, stopping after the terminator.

Parameters
terminatorThe character to use for termination.
void frc::SerialPort::Flush ( )

Force the output buffer to be written to the port.

This is used when SetWriteBufferMode() is set to kFlushWhenFull to force a flush before the buffer is full.

int frc::SerialPort::GetBytesReceived ( )

Get the number of bytes currently available to read from the serial port.

Returns
The number of bytes available to read
int frc::SerialPort::Read ( char *  buffer,
int  count 
)

Read raw bytes out of the buffer.

Parameters
bufferPointer to the buffer to store the bytes in.
countThe maximum number of bytes to read.
Returns
The number of bytes actually read into the buffer.
void frc::SerialPort::Reset ( )

Reset the serial port driver to a known state.

Empty the transmit and receive buffers in the device and formatted I/O.

void frc::SerialPort::SetFlowControl ( FlowControl  flowControl)

Set the type of flow control to enable on this port.

By default, flow control is disabled.

void frc::SerialPort::SetReadBufferSize ( int  size)

Specify the size of the input buffer.

Specify the amount of data that can be stored before data from the device is returned to Read or Scanf. If you want data that is recieved to be returned immediately, set this to 1.

It the buffer is not filled before the read timeout expires, all data that has been received so far will be returned.

Parameters
sizeThe read buffer size.
void frc::SerialPort::SetTimeout ( double  timeout)

Configure the timeout of the serial port.

This defines the timeout for transactions with the hardware. It will affect reads and very large writes.

Parameters
timeoutThe number of seconds to to wait for I/O.
void frc::SerialPort::SetWriteBufferMode ( WriteBufferMode  mode)

Specify the flushing behavior of the output buffer.

When set to kFlushOnAccess, data is synchronously written to the serial port after each call to either Printf() or Write().

When set to kFlushWhenFull, data will only be written to the serial port when the buffer is full or when Flush() is called.

Parameters
modeThe write buffer mode.
void frc::SerialPort::SetWriteBufferSize ( int  size)

Specify the size of the output buffer.

Specify the amount of data that can be stored before being transmitted to the device.

Parameters
sizeThe write buffer size.
int frc::SerialPort::Write ( const char *  buffer,
int  count 
)

Write raw bytes to the buffer.

Parameters
bufferPointer to the buffer to read the bytes from.
countThe maximum number of bytes to write.
Returns
The number of bytes actually written into the port.
int frc::SerialPort::Write ( wpi::StringRef  buffer)

Write raw bytes to the buffer.

Use Write({data, len}) to get a buffer that is shorter than the length of the string.

Parameters
bufferStringRef to the buffer to read the bytes from.
Returns
The number of bytes actually written into the port.

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