#include <visp3/core/vpSerial.h>

Public Types
enum	bytesize_t { fivebits = 5 , sixbits = 6 , sevenbits = 7 , eightbits = 8 }

enum	parity_t { parity_none = 0 , parity_odd = 1 , parity_even = 2 }

enum	stopbits_t { stopbits_one = 1 , stopbits_two = 2 }

enum	flowcontrol_t { flowcontrol_none = 0 , flowcontrol_software , flowcontrol_hardware }

Public Member Functions
	vpSerial (const std::string &port="", unsigned long baudrate=9600, bytesize_t bytesize=eightbits, parity_t parity=parity_none, stopbits_t stopbits=stopbits_one, flowcontrol_t flowcontrol=flowcontrol_none)

virtual	~vpSerial ()

int	available ()

void	close ()

unsigned long	getBaudrate ()

bytesize_t	getBytesize ()

flowcontrol_t	getFlowcontrol ()

parity_t	getParity ()

std::string	getPort ()

stopbits_t	getStopbits ()

void	open ()

bool	read (char *c, long timeout_s)

std::string	readline (const std::string &eol)

void	setBaudrate (const unsigned long baudrate)

void	setBytesize (const bytesize_t &bytesize)

void	setFlowcontrol (const flowcontrol_t &flowcontrol)

void	setParity (const parity_t &parity)

void	setPort (const std::string &port)

void	setStopbits (const stopbits_t &stopbits)

void	write (const std::string &s)

Detailed Description

This class allows a serial port communication between 2 devices.

The following example shows how to write a string on port /dev/ttyUSB0 using the default constructor:

#include <visp3/core/vpSerial.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
#ifndef WIN32
  vpSerial serial("/dev/ttyUSB0");
  serial.write("Hello world");
#endif
}

Note: This class is not implemented on windows-like OS.

Examples: mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, testSerialRead.cpp, and testSerialWrite.cpp.

Definition at line 70 of file vpSerial.h.

Member Enumeration Documentation

◆ bytesize_t

enum vpSerial::bytesize_t

Defines the possible byte sizes for the serial port.

Enumerator
fivebits	Data is encoded with 5 bits.
sixbits	Data is encoded with 6 bits.
sevenbits	Data is encoded with 7 bits.
eightbits	Data is encoded with 8 bits.

Definition at line 76 of file vpSerial.h.

◆ flowcontrol_t

enum vpSerial::flowcontrol_t

Defines the possible flowcontrol types for the serial port.

Enumerator
flowcontrol_none	No flow control.
flowcontrol_software	Software flow control.
flowcontrol_hardware	Hardware flow control.

Definition at line 106 of file vpSerial.h.

◆ parity_t

enum vpSerial::parity_t

Defines the possible parity types for the serial port.

Enumerator
parity_none	No parity check.
parity_odd	Check for odd parity.
parity_even	Check for even parity.

Definition at line 87 of file vpSerial.h.

◆ stopbits_t

enum vpSerial::stopbits_t

Defines the possible stopbit types for the serial port.

Enumerator
stopbits_one	1 stop bit is used
stopbits_two	2 stop bits are used

Definition at line 97 of file vpSerial.h.

Constructor & Destructor Documentation

◆ vpSerial()

BEGIN_VISP_NAMESPACE vpSerial::vpSerial	(	const std::string &	port = `""`,
		unsigned long	baudrate = `9600`,
		bytesize_t	bytesize = `eightbits`,
		parity_t	parity = `parity_none`,
		stopbits_t	stopbits = `stopbits_one`,
		flowcontrol_t	flowcontrol = `flowcontrol_none`
	)

Creates a serial port object that opens the port if the parameter is not empty.

#include <visp3/core/vpSerial.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
#ifndef WIN32
  vpSerial serial("/dev/ttyUSB0");
#endif
}

Otherwise the port needs to be opened using open().

#include <visp3/core/vpSerial.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
#ifndef WIN32
  vpSerial serial;
  serial.setPort("/dev/ttyUSB0");
  serial.open();
#endif
}

Parameters

[in]	port	: Serial port name. A string similar to `/dev/ttyUSB0`, `/dev/ttySO`, `/dev/ttyAMA0`...
[in]	baudrate	: The baudrate parameter. Common values are 9600, 115200...
[in]	bytesize	: Size of each byte in the serial transmission of data. Default is 8 bits.
[in]	parity	: Parity parameter. Default is without parity check.
[in]	stopbits	: Number of stop bits used. Default is 1 stop bit.
[in]	flowcontrol	: Type of flow control used. Default is no flow control.

Definition at line 104 of file vpSerial.cpp.

References open().

◆ ~vpSerial()

vpSerial::~vpSerial ( )

virtual

Destructor that closes the serial port.

Definition at line 116 of file vpSerial.cpp.

References close().

Member Function Documentation

◆ available()

int vpSerial::available ( )

Return the number of characters in the buffer.

Definition at line 174 of file vpSerial.cpp.

References vpException::fatalError.

◆ close()

void vpSerial::close ( )

Closes the serial port.

See also: open()

Definition at line 192 of file vpSerial.cpp.

References vpException::fatalError.

Referenced by ~vpSerial().

◆ getBaudrate()

unsigned long vpSerial::getBaudrate ( )

inline

Return the baud rate; 9600, 115200...

See also: setBaudrate()

Definition at line 125 of file vpSerial.h.

◆ getBytesize()

bytesize_t vpSerial::getBytesize ( )

inline

Return the byte size.

See also: setBytesize()

Definition at line 131 of file vpSerial.h.

◆ getFlowcontrol()

flowcontrol_t vpSerial::getFlowcontrol ( )

inline

Return the flow control type.

See also: setFlowcontrol()

Definition at line 137 of file vpSerial.h.

◆ getParity()

parity_t vpSerial::getParity ( )

inline

Return parity.

See also: setParity()

Definition at line 143 of file vpSerial.h.

◆ getPort()

std::string vpSerial::getPort ( )

inline

Return the serial port name like /dev/ttyUSB0, /dev/ttySO, /dev/ttyAMA0...

See also: setPort()

Definition at line 149 of file vpSerial.h.

◆ getStopbits()

stopbits_t vpSerial::getStopbits ( )

inline

Return number of stop bits used.

See also: setStopbits()

Definition at line 155 of file vpSerial.h.

◆ open()

void vpSerial::open ( )

Open the serial port. If the serial port name is empty, or if the serial port is already opened an exception vpException::fatalError is thrown.

The following example shows how to open the serial port /dev/ttyUSB0 without using the constructor:

#include <visp3/core/vpSerial.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
#ifndef _WIN32
  vpSerial serial;
 
  serial.setPort("/dev/ttyUSB0");
  serial.setBaudrate(9600);
  serial.setBytesize(vpSerial::eightbits);
  serial.setParity(vpSerial::parity_none);
  serial.setStopbits(vpSerial::stopbits_one);
  serial.setFlowcontrol(vpSerial::flowcontrol_none);
 
  serial.open();
#endif
}

Definition at line 240 of file vpSerial.cpp.

References vpException::fatalError.

Referenced by vpSerial().

◆ read()

bool vpSerial::read	(	char *	c,
		long	timeout_s
	)

Read one character at a time.

Parameters

[out]	c	: Character that is read.
[in]	timeout_s	: Timeout in seconds.

Returns: true if success, false otherwise.

Definition at line 275 of file vpSerial.cpp.

References vpException::fatalError.

Referenced by readline().

◆ readline()

std::string vpSerial::readline ( const std::string & eol )

Reads a set of characters until a given delimiter has been received.

Parameters

[in] eol : End of line delimiter. A typical example is "\n".

Returns: A string containing the data that has been read.

Examples: testSerialRead.cpp.

Definition at line 309 of file vpSerial.cpp.

References read().

◆ setBaudrate()

void vpSerial::setBaudrate ( const unsigned long baudrate )

Set serial baud rate. Typical values are 9600, 19200, 38400, 57600, 115200...

See also: getBaudrate()

Definition at line 122 of file vpSerial.cpp.

◆ setBytesize()

void vpSerial::setBytesize ( const bytesize_t & bytesize )

Set byte size.

See also: getBytesize()

Definition at line 128 of file vpSerial.cpp.

◆ setFlowcontrol()

void vpSerial::setFlowcontrol ( const flowcontrol_t & flowcontrol )

Set flow control type.

See also: getFlowcontrol()

Definition at line 134 of file vpSerial.cpp.

◆ setParity()

void vpSerial::setParity ( const parity_t & parity )

Set parity.

See also: getParity()

Definition at line 140 of file vpSerial.cpp.

◆ setPort()

void vpSerial::setPort ( const std::string & port )

Set the serial port name. The name is a string similar to /dev/ttyUSB0, /dev/ttySO, /dev/ttyAMA0...

#include <visp3/core/vpSerial.h>
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
int main()
{
#ifndef WIN32
  vpSerial serial;
  serial.setPort("/dev/ttyUSB0");
  serial.open();
#endif
}

See also: getPort()

Definition at line 169 of file vpSerial.cpp.

◆ setStopbits()

void vpSerial::setStopbits ( const stopbits_t & stopbits )

Set number of stop bits.

See also: getStopbits()

Definition at line 146 of file vpSerial.cpp.

◆ write()

void vpSerial::write ( const std::string & s )

Writes a string to the serial port.

Parameters

[in] s : The data to write.

Examples: mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, and testSerialWrite.cpp.

Definition at line 332 of file vpSerial.cpp.

References vpException::fatalError.

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ bytesize_t

◆ flowcontrol_t

◆ parity_t

◆ stopbits_t

Constructor & Destructor Documentation

◆ vpSerial()

◆ ~vpSerial()

Member Function Documentation

◆ available()

◆ close()

◆ getBaudrate()

◆ getBytesize()

◆ getFlowcontrol()

◆ getParity()

◆ getPort()

◆ getStopbits()

◆ open()

◆ read()

◆ readline()

◆ setBaudrate()

◆ setBytesize()

◆ setFlowcontrol()

◆ setParity()

◆ setPort()

◆ setStopbits()

◆ write()