Changeset 12 for trunk

Timestamp:

08/29/12 16:52:22 (12 years ago)

Author:

wcaarls

Message:

Updated shared_serial to revision 1017

Location:

trunk/shared_serial

Files:

• include/shared_serial/LxSerial.h (modified) (1 diff)
• include/shared_serial/client.h (modified) (1 diff)
• launch/rs232usb.lauch (deleted)
• launch/rs232usb.launch (added)
• mainpage.dox (modified) (1 diff)
• src/LxSerial.cpp (modified) (1 diff)
• src/server.cpp (modified) (1 diff)

trunk/shared_serial/include/shared_serial/LxSerial.h

@@ -86 +86 @@
 
         public:
-                                                LxSerial();
-                virtual                  ~LxSerial();
-                virtual bool    port_open(const std::string& portname, LxSerial::PortType port_type);   // open serial port. If overridden, make sure you set s_port_name!!
-                virtual bool    is_port_open();
+                        LxSerial();
+                         ~LxSerial();
+                bool    port_open(const std::string& portname, LxSerial::PortType port_type);   // open serial port. If overridden, make sure you set s_port_name!!
+                bool    is_port_open();
                 std::string&    get_port_name();
-                virtual bool    set_speed(LxSerial::PortSpeed baudrate );                                               // enumerated
-                virtual bool    set_speed_int(const int baudrate);      // Set speed by integer value directly - UNPROTECTED!
-                void                    set_clear_echo(bool clear);                                                                             // clear echoed charackters from input and detect collisions on write
-                virtual bool    port_close();
-                virtual int             port_read(unsigned char* buffer, int numBytes) const;
-                virtual int     port_read(unsigned char* buffer, int numBytes, int seconds, int microseconds);
-                virtual int             port_write(unsigned char* buffer, int numBytes);
-                virtual void    flush_buffer();                                                                                                 // flush input and output buffers
+                bool    set_speed(LxSerial::PortSpeed baudrate );                                               // enumerated
+                bool    set_speed_int(const int baudrate);      // Set speed by integer value directly - UNPROTECTED!
+                void    set_clear_echo(bool clear);                                                                             // clear echoed charackters from input and detect collisions on write
+                bool    port_close();
+                int     port_read(unsigned char* buffer, int numBytes) const;
+                int     port_read(unsigned char* buffer, int numBytes, int seconds, int microseconds);
+                int     port_write(unsigned char* buffer, int numBytes);
+                void    flush_buffer();                                                                                                 // flush input and output buffers
 
 };

trunk/shared_serial/include/shared_serial/client.h

@@ -4 +4 @@
 #include <ros/ros.h>
 
+/// shared_serial client interface class.
 class SerialClient
 {
   protected:
-    ros::NodeHandle nh_;
-    ros::ServiceClient connect_service_;
-    ros::ServiceClient sendto_service_;
-    ros::ServiceClient recv_service_;
-    ros::ServiceClient sendrecv_service_;
-    ros::Publisher     send_topic_;
-    ros::Publisher     close_topic_;
-    ros::Publisher     flush_topic_;
+    ros::NodeHandle nh_;                  ///< ROS node handle.
+    ros::ServiceClient connect_service_;  ///< Service client for connect function.
+    ros::ServiceClient sendto_service_;   ///< Service client for sendto function.
+    ros::ServiceClient recv_service_;     ///< Service client for recv function.
+    ros::ServiceClient sendrecv_service_; ///< Service client for sendrecv function.
+    ros::Publisher     send_topic_;       ///< Publisher for send function.
+    ros::Publisher     close_topic_;      ///< Published for close function.
+    ros::Publisher     flush_topic_;      ///< Publisher for flush function.
 
   public:
+    /// Initialize interface.
+    /** \param path Path to server node. */
     void init(const char *path="/comm");
 
+    /// Lock serial port.
+    /**
+     * \param timeout Lock time in [s]
+     * \returns Socket identifier.
+     */
     int connect(float timeout);
+    
+    /// Send data over serial port.
+    /**
+     * \param socket Socket identifier (when 0, the port is locked first).
+     * \param data Data to send.
+     * \param length Length of \c data parameter.
+     * \param timeout Lock time in [s].
+     * \returns Socket identifier.
+     */
     int sendto(int socket, const unsigned char *data, size_t length, float timeout);
+    
+    /// Receive data from serial port.
+    /**
+     * \param sock Socket identifier (when 0, the port is locked first).
+     * \param length Length of data to receive.
+     * \param recv_timeout Time to wait for data in [s].
+     * \param sock_timeout Lock time in [s].
+     * \param data Data buffer, at least \c length bytes long.
+     * \param[out] data_length Number of bytes received.
+     * \returns Socket identifier.
+     */
     int recv(int socket, int length, float recv_timeout, float sock_timeout, unsigned char *data, size_t *data_length);
+    
+    /// Coalesced send and receive.
+    /**
+     * \param socket Socket identifier (when 0, the port is locked first).
+     * \param send_data Data to send.
+     * \param send_length Length of \c send_data parameter in bytes.
+     * \param recv_length Length of data to receive.
+     * \param recv_timeout Time to wait for data in [s].
+     * \param sock_timeout Lock time in [s].
+     * \param recv_data Receive data buffer, at least \c recv_length bytes long.
+     * \param[out] recv_data_length Number of bytes received.
+     * \returns Socket identifier.
+     */
     int sendrecv(int socket, const unsigned char *send_data, size_t send_length, size_t recv_length, float recv_timeout, float sock_timeout, unsigned char *recv_data, size_t *recv_data_length);
+    
+    /// Send data over already locked serial port.
+    /**
+     * \param socket Socket identifier.
+     * \param data Data to send.
+     * \param length Length of \c data parameter in bytes.
+     * \param timeout Lock time in [s].
+     * \note This function is asynchronous.
+     */
     void send(int socket, const unsigned char *data, size_t length, float timeout);
+    
+    /// Unlock serial port.
+    /**
+     * \param socket Socket identifier.
+     * \note This function is asynchronous.
+     */
     void close(int socket);
+    
+    /// Flush serial port.
+    /**
+     * \param socket Socket identifier.
+     * \param timeout Lock time in [s].
+     * \note This function is asynchronous.
+     */
     void flush(int socket, float timeout);
 };

trunk/shared_serial/mainpage.dox

@@ -12 +12 @@
 \section codeapi Code API
 
-The API is internal and not meant to be used. See the <a href="index-msg.html">message and service documentation</a> instead.
+The client API is a single class, called SerialClient. You can also use the messages and services defined in the <a href="index-msg.html">message and service documentation</a>.
 
 <!--

trunk/shared_serial/src/LxSerial.cpp

@@ -455 +455 @@
 LxSerial::~LxSerial()
 {
-        // Warn when you forgot to close the port before destruction.
-        // We CANNOT call port_close() here, because port_close is a virtual function
-        // and virtual functions cannot be called in constructors and destructors.
         if (hPort != INVALID_DEVICE_HANDLE)
-                printf("[LxSerial] Warning: you didn't call port_close before calling the destructor.\n");
-}
+                port_close();
+}

trunk/shared_serial/src/server.cpp

@@ -116 +116 @@
   ROS_ASSERT(nh_.getParam("port_type", port_type));
   ROS_ASSERT(nh_.getParam("baud_rate", baud_rate));
-  nh_.param<double>("watchdog_interval", watchdog_interval, 1);
+  nh_.param<double>("watchdog_interval", watchdog_interval, 10);
 
   if (port_type == "RS232")