SerialCOM Class Reference

Class SerialCOM. More...

#include <serial_com.h>

Public Member Functions
	SerialCOM (std::string port, unsigned int baud_rate)
	Constructor. More...
void	writeString (std::string s)
	Write a string to the serial device. More...
std::string	readLine (void)
	Blocks until a line is received from the serial device. More...
void	initialize_stream (int iter=3)
	Setup up stream by reading the values a couple times first. More...

Private Attributes
boost::asio::io_service	io
	Boost io service. More...
boost::asio::serial_port	serial
	Boost serial port handle. More...

Detailed Description

Class SerialCOM.

This class handles all the serial communication between the PC and the exoskeleton board. It's based on boost::asio. See https://www.boost.org/doc/libs/1_75_0/doc/html/boost_asio.html.

Definition at line 12 of file serial_com.h.

Constructor & Destructor Documentation

SerialCOM()

SerialCOM::SerialCOM ( std::string  port, unsigned int  baud_rate  )

inline

Constructor.

Constructor.

Parameters

port	device name, example "/dev/ttyUSB0" or "COM4".
baud_rate	communication speed, example 9600 or 115200.

Exceptions

boost::system::system_error

if cannot open the serial device.

Definition at line 23 of file serial_com.h.

    : io(), serial(io,port)
    {
        serial.set_option(boost::asio::serial_port_base::baud_rate(baud_rate));
    }

Member Function Documentation

initialize_stream()

void SerialCOM::initialize_stream

(

int

iter = 3

)

Setup up stream by reading the values a couple times first.

Parameters

iter	Number of times to read for warming up.

Definition at line 45 of file serial_com.cpp.

{
    // Read first (iter) lines to start
    for (size_t i = 0; i < iter; i++)
    {
      std::string incoming_str = this->readLine();
    }
}

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readLine()

std::string SerialCOM::readLine

(

void

)

Blocks until a line is received from the serial device.

Blocks until a line is received from the serial device. Eventual '
' or '\r
' characters at the end of the string are removed.

Returns

a string containing the received line.

Exceptions

boost::system::system_error

on failure.

Definition at line 19 of file serial_com.cpp.

{
    //Reading data char by char, code is optimized for simplicity, not speed
    using namespace boost;
    char c;
    std::string result;
    for(;;)
    {
        asio::read(serial,asio::buffer(&c,1));
        switch(c)
        {
            case '\r':
                break;
            case '\n':
                return result;
            default:
                result+=c;
        }
    }
}

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writeString()

void SerialCOM::writeString

(

std::string

s

)

Write a string to the serial device.

Write a string to the serial device.

Parameters

s	string to write.

Exceptions

boost::system::system_error

on failure.

Definition at line 8 of file serial_com.cpp.

{
    boost::asio::write(serial,boost::asio::buffer(s.c_str(),s.size()));
}

Member Data Documentation

io

boost::asio::io_service SerialCOM::io

private

Boost io service.

Definition at line 40 of file serial_com.h.

serial

boost::asio::serial_port SerialCOM::serial

private

Boost serial port handle.

Definition at line 43 of file serial_com.h.

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

• include/serial_com.h
• src/serial_com.cpp