Changeset 12 for trunk/shared_serial/include

Timestamp:

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

Author:

wcaarls

Message:

Updated shared_serial to revision 1017

Location:

trunk/shared_serial/include/shared_serial

Files:

• LxSerial.h (modified) (1 diff)
• client.h (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);
 };