UartStream Class Reference

Implements both InStream and OutStream for the LPC3XXX Standard UART. More...

#include <UartStream.h>

Inheritance diagram for UartStream:

Collaboration diagram for UartStream:

Public Types
enum	Baudrate {   B_50, B_75, B_110, B_134,   B_150, B_200, B_300, B_600,   B_1200, B_1800, B_2400, B_4800,   B_9600, B_19200, B_38400, B_57600,   B_115200, B_230400 }
	Baudrates as per termios. More...
enum	UartId {   NOT_UART, UART1_TX0, UART2_TX1, UART3_S1,   UART4_S2, UART5_S0, UART6_S3, UART7_TX2,   UART_A0, UART_A1, UART_A2, UART_A3,   UART_A4, UART_A5, UART_A6, UART_A7,   UART_B0, UART_B1, UART_B2, UART_B3,   UART_B4, UART_B5, UART_B6, UART_B7 }
	UARTS. More...
enum	UartError {   OK = 0, BUFFER_FULL, TIMEOUT, CANNOT_OPEN_SERIAL_PORT,   CANNOT_GET_DEVICE_SETTINGS, BAD_BAUD_RATE_FOR_PORT, BAD_PARAMETERS_FOR_PORT, PORT_NOT_OPEN,   WRITE_CHAR_LOST }
	UART Errors. More...

Public Member Functions
	UartStream (const ConfigURI &uartCfg, const ConfigURI &baudCfg, const double timeoutSec, Logger &logger, size_t bufferSize=1, bool blocking=false)
	Constructor. More...
	~UartStream ()
	Destructor. More...
const char *	getName ()
	Returns uart name. More...
UartStream &	open ()
UartStream &	openAtBaudrate (UartStream::Baudrate baud)
OutStream &	write (const char *data, size_t length=0xFFFFFFFF)
	If length is unspecified, strlen is used to determine the length. More...
UartStream &	readLine (char *buf, size_t bufsize)
	Fills buffer until: buffer size is exceeded, CR, LF, or ETX character is received, or the serial timeout has expired. More...
UartStream &	readLines (char *buf, size_t bufsize, size_t lines)
	Fills buffer with given number of lines (CR/LF) until buffer size is exceeded or timeout has expired or ETX character is received. More...
InStream &	read (char *buf, size_t num)
	reads num bytes from stream to the buffer More...
UartStream &	readUntil (char *buf, size_t num, const unsigned char match, bool flushUntil=false)
UartStream &	readUntil (char *buf, size_t num, const char *match, unsigned int matchLen, bool flushUntil=false)
UartStream &	readUntil (char *buf, size_t num, const unsigned char *match, unsigned int matchLen, bool flushUntil=false)
size_t	canReadUntil (const unsigned char match)
size_t	canReadUntil (const char *match, int matchLen=0, int maxCheck=0)
size_t	canReadUntil (const unsigned char *match, int matchLen=0, int maxCheck=0)
UartStream &	flushCRLF ()
	Flushes CR and LF characters out of the buffer until there are no more characters. More...
UartStream &	flush (int num=-1)
	Flushes any characters out of the buffer until there are no more characters, or if num is positive, until the specified number of characters are flushed. More...
UartStream &	close ()
UartStream &	setStartTimeout (const double timeout)
UartStream &	resetStartTimeout ()
const char *	uartIdToString (UartId uart)
UartStream::UartError	getError ()
bool	hasError ()
const char *	errorString ()
virtual bool	eof ()
	Indicates if the end of file has been reached. More...
virtual bool	isReadable ()
	indicates whether the stream can actually be read from. More...
virtual bool	isWritable ()
	indicates whether the stream can actually be written to. More...
void	waitForBufferEmpty ()
size_t	dataAvailable ()
size_t	dataBuffered ()
void	setDebug (bool debugOn)
void	enableUART (void)
void	disableUART (void)
void	fillInBuffer ()
Public Member Functions inherited from InStream
virtual	~InStream ()
	Destructor. More...
InStream &	readChar (signed char &value)
	reads a single byte to the input buffer/stream More...
InStream &	readCharHex (signed char &byte)
	reads a single unsigned char from the input buffer/stream as 2 hex chars More...
InStream &	readUCharHex (unsigned char &byte)
	reads a single unsigned char from the input buffer/stream as 2 hex chars More...
virtual InStream &	readLine (char *buf, unsigned int bufsize)
InStream &	readShort (short &value)
	reads a single short from the input buffer/stream More...
InStream &	readShort (unsigned short &value)
	reads a single short from the input buffer/stream More...
InStream &	readShortHex (short &word)
	reads a single short from the input buffer/stream as 4 hex chars More...
InStream &	readUShortHex (unsigned short &value)
	reads a single unsigned short from the input buffer/stream as 4 hex chars More...
InStream &	readUShortCompact (unsigned short &value)
	reads an unsigned short integer as 1 to 3 bytes, encoded as follows: xxxxxxx0 - 7 bit value, encoded in 1 byte xxxxxx01+1byte - 14 bit value, encoded in 2 bytes xxxxx011+2bytes - 16 bit value, encoded in 3 bytes More...
InStream &	readInt24 (int &medInt)
	reads a 3-byte integer to the input buffer/stream only works on little-endian machines! More...
InStream &	readInt (int &value)
	reads a 4-byte integer to the input buffer/stream More...
InStream &	readLongLong (long long &value)
	reads a 8-byte integer to the input buffer/stream More...
InStream &	readLongLongCompact (long long &value)
	reads a signed long long integer as 1 to 9 bytes, encoded as follows: 0xxxxxxx - 7 bit value, encoded in 1 byte 10xxxxxx+1byte - 14 bit value, encoded in 2 bytes 110xxxxx+2bytes - 21 bit value, encoded in 3 bytes 1110xxxx+3bytes - 28 bit value, encoded in 4 bytes 11110xxx+4bytes - 35 bit value, encoded in 5 bytes 111110xx+5bytes - 42 bit value, encoded in 6 bytes 1111110x+6bytes - 49 bit value, encoded in 7 bytes 11111110+7bytes - 56 bit value, encoded in 8 bytes 11111111+8bytes - 64 bit value, encoded in 9 bytes More...
InStream &	readFloat (float &value)
	reads a 4-byte float to the input buffer/stream More...
InStream &	readFloat2 (float &value)
	reads a 2-byte float to the input buffer/stream More...
InStream &	readFloat3 (float &value)
	reads a 3-byte float to the input buffer/stream More...
InStream &	readDouble (double &value)
	reads a 8-byte double to the input buffer/stream More...
virtual InStream &	readUntil (char *buf, unsigned int num, unsigned char match)
size_t	bytesRead ()
	Indicates the number of bytes read in the last operation. More...
size_t	getBytesRead ()
	Indicates the number of bytes read in the last operation. More...
size_t	getTotalBytesRead ()
	Indicates the total number of bytes read;. More...
Public Member Functions inherited from OutStream
virtual	~OutStream ()
	Destructor. More...
virtual OutStream &	writeHex (const char *buffer, size_t num)
	writes num bytes from buffer to the output buffer/stream as hex chars More...
virtual OutStream &	write (const char *buffer)
	writes zero-terminated buffer to the output buffer/stream More...
virtual OutStream &	writeHex (const char *buffer)
	writes zero-terminated buffer to the output buffer/stream More...
OutStream &	operator<< (const Str buffer)
	write a Str, using stream operator More...
OutStream &	operator<< (const char buffer[])
	write a Str, using stream operator More...
OutStream &	operator<< (const char byte)
	write a Str, using stream operator More...
OutStream &	operator<< (const signed char byte)
	write a Str, using stream operator More...
OutStream &	operator<< (const unsigned char byte)
	write a Str, using stream operator More...
OutStream &	operator<< (const int number)
	write a Str, using stream operator More...
OutStream &	writeChar (const signed char value)
	writes a single byte to the output buffer/stream More...
OutStream &	writeCharHex (const signed char byte)
	writes a single signed char to the output buffer/stream as 2 hex chars More...
OutStream &	writeUCharHex (const unsigned char byte)
	writes a single unsigned char to the output buffer/stream as 2 hex chars More...
OutStream &	writeInteger (const int number, const unsigned int radix=10)
	writes an integer as a base-radix string More...
OutStream &	writeNumber (const double number, const unsigned int radix=10)
OutStream &	writeShort (const short value)
	writes a single short to the output buffer/stream More...
OutStream &	writeShortHex (const short word)
	writes a single short to the output buffer/stream as 4 hex chars More...
OutStream &	writeUShortHex (const unsigned short word)
	writes a single unsigned short to the output buffer/stream as 4 hex chars More...
OutStream &	writeUShortCompact (const unsigned short &value)
	writes an unsigned short integer as 1 to 3 bytes, encoded as follows: xxxxxxx0 - 7 bit value, encoded in 1 byte xxxxxx01+1byte - 14 bit value, encoded in 2 bytes xxxxx011+2bytes - 16 bit value, encoded in 3 bytes More...
OutStream &	writeInt24 (const int medInt)
	writes a 3-byte integer to the output buffer/stream only works on little-endian machines! More...
OutStream &	writeInt (const int value)
	writes a 4-byte integer to the output buffer/stream More...
OutStream &	writeLongLong (const long long value)
	writes a 8-byte integer to the output buffer/stream More...
OutStream &	writeLongLongCompact (const long long &value)
	writes a signed long long integer as 1 to 9 bytes, encoded as follows: 0xxxxxxx - 7 bit value, encoded in 1 byte 10xxxxxx+1byte - 14 bit value, encoded in 2 bytes 110xxxxx+2bytes - 21 bit value, encoded in 3 bytes 1110xxxx+3bytes - 28 bit value, encoded in 4 bytes 11110xxx+4bytes - 35 bit value, encoded in 5 bytes 111110xx+5bytes - 42 bit value, encoded in 6 bytes 1111110x+6bytes - 49 bit value, encoded in 7 bytes 11111110+7bytes - 56 bit value, encoded in 8 bytes 11111111+8bytes - 64 bit value, encoded in 9 bytes More...
OutStream &	writeFloat (const float value)
	writes a 4-byte float to the output buffer/stream More...
OutStream &	writeFloat2 (const float value)
	writes a 2-byte float to the output buffer/stream More...
OutStream &	writeFloat3 (const float value)
	writes a 3-byte float to the output buffer/stream More...
OutStream &	writeDouble (const double value)
	writes a 8-byte double to the output buffer/stream More...
OutStream &	writeDouble6 (const double value)
size_t	bytesWritten ()

Private Member Functions
	UartStream (const UartStream &old)
void	serGetChar (unsigned char *c, int *success, const Timespan &timeout=Timespan::INVALID_TIMESPAN)
void	initializePort (UartStream::UartId)
const char *	uartToDevice (UartId uart)

Static Private Member Functions
static Str	LookupFilename (const ConfigURI &uartCfg, Logger &logger)
static Baudrate	LookupBaudrate (const ConfigURI &baudCfg, Logger &logger)
static UartId	DeviceToUART (const Str &name)
static const speed_t	BaudToSpeed (Baudrate baud)

Private Attributes
int	serPortFd_
Str	filename_
UartId	uartId_
UartStream::Baudrate	defaultBaudrate_
Timespan	startTimeout_
Timespan	defaultStartTimeout_
Timespan	betweenTimeout_
UartStream::UartError	lastError_
Logger	logger_
char	pushedChar_
char *	pushedChars_
size_t	bufferSize_
int	bufferPos_
bool	blocking_
bool	debug_

Static Private Attributes
static const Timespan	SLEEP_TIME
	A 10 millisecond sleep. More...

Additional Inherited Members
Protected Member Functions inherited from InStream
	InStream ()
	Protected Constructor for abstract class. More...
void	zeroBytesRead ()
void	incBytesRead ()
void	incBytesRead (size_t incRead)
void	setBytesRead (size_t lastRead)
void	zeroTotalBytesRead ()
Protected Member Functions inherited from OutStream
	OutStream ()
	Protected Constructor for abstract class. More...
Protected Attributes inherited from OutStream
size_t	lastWritten_
Static Protected Attributes inherited from OutStream
static const unsigned char	HEX_CHARS [] = "0123456789ABCDEF"

Detailed Description

Implements both InStream and OutStream for the LPC3XXX Standard UART.

Constructor & Destructor Documentation

UartStream::UartStream	(	const ConfigURI &	uartCfg,
		const ConfigURI &	baudCfg,
		const double	timeoutSec,
		Logger &	logger,
		size_t	bufferSize = 1,
		bool	blocking = false
	)

Constructor.

param uartCfg name of uart device definition in vehicle.cfg file param baudCfg name of baud rate definition in vehicle.cfg file param timeoutSec inter-character timeout param logger logger of the owning component param bufferSize size of buffer for readUntil operations param blocking set to true to idle processor waiting for timeoutSec

References bufferSize_, pushedChar_, and pushedChars_.

UartStream::~UartStream

(

)

Destructor.

References bufferSize_, close(), isReadable(), and pushedChars_.

UartStream::UartStream ( const UartStream &  old )

private

Member Function Documentation

const speed_t UartStream::BaudToSpeed ( Baudrate  baud )

staticprivate

References B_110, B_115200, B_1200, B_134, B_150, B_1800, B_19200, B_200, B_230400, B_2400, B_300, B_38400, B_4800, B_50, B_57600, B_600, B_75, and B_9600.

Referenced by openAtBaudrate().

size_t UartStream::canReadUntil

(

const unsigned char

match

)

References bufferPos_, fillInBuffer(), isReadable(), and pushedChars_.

Referenced by AcousticModem_Benthos_ATM900::clearUserPrompt(), DAT::clearUserPrompt(), NAL9602::cmdMode(), NAL9602::fillBuffer(), NAL9602::getMTQueueSignalStrength(), NAL9602::getReceivedSignalStrength(), BPC1::menusInitialized(), AcousticModem_Benthos_ATM900::readAndParseResponses(), DAT::readAndParseResponses(), Rowe_600::readEnsemble(), DVL_micro::readNQ1(), NAL9602::requestGSV(), Batt_Ocean_Server::run(), ISUS::runnable(), Aanderaa_O2::runnable(), CANONSampler::runnable(), VemcoVR2C::runnable(), CANONSampler::sampleStatus(), NAL9602::sendingVerify(), NAL9602::sessionMTQueueVerify(), Aanderaa_O2::starting(), ISUS::starting(), AcousticModem_Benthos_ATM900::starting(), and DAT::starting().

size_t UartStream::canReadUntil	(	const char *	match,
		int	matchLen = 0,
		int	maxCheck = 0
	)

References bufferPos_, bufferSize_, fillInBuffer(), isReadable(), and pushedChars_.

size_t UartStream::canReadUntil	(	const unsigned char *	match,
		int	matchLen = 0,
		int	maxCheck = 0
	)

References bufferPos_, bufferSize_, fillInBuffer(), isReadable(), and pushedChars_.

UartStream & UartStream::close

(

)

References lastError_, PORT_NOT_OPEN, and serPortFd_.

Referenced by openAtBaudrate(), ElevatorServo::pause(), MassServo::pause(), Aanderaa_O2::pause(), DVL_micro::pause(), BuoyancyServo::pause(), RudderServo::pause(), Turbulence_NPS::pause(), PNI_TCM::pause(), AHRS_3DMGX3::pause(), ThrusterServo::pause(), CTD_NeilBrown::pause(), AHRS_sp3003D::pause(), VemcoVR2C::start(), ISUS::start(), Aanderaa_O2::start(), CANONSampler::start(), WetLabsBB2FL::start(), SCPI::stop(), VemcoVR2C::stop(), ISUS::stop(), CANONSampler::stop(), Rowe_600::stop(), DVL_micro::stopped(), ElevatorServo::stopped(), MassServo::stopped(), RudderServo::stopped(), BuoyancyServo::stopped(), AcousticModem_Benthos_ATM900::stopped(), WetLabsBB2FL::stopped(), Turbulence_NPS::stopped(), DAT::stopped(), ThrusterServo::stopped(), PNI_TCM::stopped(), AHRS_3DMGX3::stopped(), CTD_NeilBrown::stopped(), AHRS_sp3003D::stopped(), BPC1::stopped(), NAL9602::stopped(), Batt_Ocean_Server::uninitialize(), DVL_micro::uninitialize(), CANONSampler::uninitialize(), Aanderaa_O2::uninitialize(), VemcoVR2C::uninitialize(), ISUS::uninitialize(), AcousticModem_Benthos_ATM900::uninitialize(), WetLabsBB2FL::uninitialize(), Turbulence_NPS::uninitialize(), DAT::uninitialize(), PNI_TCM::uninitialize(), AHRS_3DMGX3::uninitialize(), CTD_NeilBrown::uninitialize(), AHRS_sp3003D::uninitialize(), BPC1::uninitialize(), Rowe_600::uninitialize(), NAL9602::uninitialize(), and ~UartStream().

size_t UartStream::dataAvailable

(

)

References bufferPos_, fillInBuffer(), and isReadable().

Referenced by AcousticModem_Benthos_ATM900::paused(), Rowe_600::readEnsemble(), PNI_TCM::receiveGetDataResp(), NAL9602::requestFix(), AcousticModem_Benthos_ATM900::runnable(), BPC1::runnable(), NAL9602::sendingTransmit(), AcousticModem_Benthos_ATM900::starting(), DVL_micro::starting(), DAT::starting(), and PNI_TCM::starting().

size_t UartStream::dataBuffered

(

)

References bufferPos_, and isReadable().

Referenced by Rowe_600::readEnsemble().

UartStream::UartId UartStream::DeviceToUART ( const Str &  name )

staticprivate

References Str::compare(), NOT_UART, UART1_TX0, UART2_TX1, UART3_S1, UART4_S2, UART5_S0, UART6_S3, UART7_TX2, UART_A0, UART_A1, UART_A2, UART_A3, UART_A4, UART_A5, UART_A6, UART_A7, UART_B0, UART_B1, UART_B2, UART_B3, UART_B4, UART_B5, UART_B6, and UART_B7.

void UartStream::disableUART

(

void

)

References NOT_UART, LPC3Reg::P0OutpClrPhys_, UART1_SHUTDOWN, UART1_TX0, UART2_SHUTDOWN, UART2_TX1, UART3_S1, UART3_SHUTDOWN, UART4_S2, UART4_SHUTDOWN, UART5_S0, UART5_SHUTDOWN, UART6_S3, UART7_SHUTDOWN, UART7_TX2, UART_A0, UART_A1, UART_A2, UART_A3, UART_A4, UART_A5, UART_A6, UART_A7, UART_B0, UART_B1, UART_B2, UART_B3, UART_B4, UART_B5, UART_B6, UART_B7, and uartId_.

Referenced by ESPComponent::stopPPP(), Batt_Ocean_Server::uninitialize(), DVL_micro::uninitialize(), and NAL9602::uninitialize().

void UartStream::enableUART

(

void

)

References NOT_UART, LPC3Reg::P0OutpSetPhys_, UART1_SHUTDOWN, UART1_TX0, UART2_SHUTDOWN, UART2_TX1, UART3_S1, UART3_SHUTDOWN, UART4_S2, UART4_SHUTDOWN, UART5_S0, UART5_SHUTDOWN, UART6_S3, UART7_SHUTDOWN, UART7_TX2, UART_A0, UART_A1, UART_A2, UART_A3, UART_A4, UART_A5, UART_A6, UART_A7, UART_B0, UART_B1, UART_B2, UART_B3, UART_B4, UART_B5, UART_B6, UART_B7, and uartId_.

Referenced by Batt_Ocean_Server::initialize(), DVL_micro::resume(), CANONSampler::start(), VemcoVR2C::start(), AcousticModem_Benthos_ATM900::start(), DAT::start(), DVL_micro::start(), BPC1::start(), NAL9602::start(), and ESPComponent::startPPP().

virtual bool UartStream::eof ( )

inlinevirtual

Indicates if the end of file has been reached.

Implements InStream.

References isReadable().

const char * UartStream::errorString

(

)

References BAD_BAUD_RATE_FOR_PORT, BAD_PARAMETERS_FOR_PORT, BUFFER_FULL, CANNOT_GET_DEVICE_SETTINGS, CANNOT_OPEN_SERIAL_PORT, lastError_, OK, PORT_NOT_OPEN, TIMEOUT, and WRITE_CHAR_LOST.

Referenced by NAL9602::fillBuffer(), NAL9602::getFix(), NAL9602::getMTQueueSignalStrength(), EZServoServo::getPosition(), NAL9602::getReceivedSignalStrength(), EZServoServo::getVelocityCmd(), BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), Batt_Ocean_Server::initialize(), EZServoServo::initializeStart(), NAL9602::initiateSession(), RudderServo::initRudder(), ThrusterServo::initThruster(), EZServoServo::isCommunicating(), NAL9602::parseGSV(), BPC1::parseWriteDataA(), BPC1::parseWriteDataB(), AHRS_sp3003D::readAccelVecBin(), AcousticModem_Benthos_ATM900::readAndParseResponses(), DAT::readAndParseResponses(), Batt_Ocean_Server::readDataA(), Batt_Ocean_Server::readDataB(), Rowe_600::readEnsemble(), AHRS_sp3003D::readMagneticsBin(), DVL_micro::readNQ1(), AHRS_3DMGX3::readTemperature(), AHRS_3DMGX3::readTransducers(), Turbulence_NPS::receive(), CTD_NeilBrown::receive(), PNI_TCM::receiveGetDataResp(), AHRS_sp3003D::receiveHeadingMagBin(), AHRS_sp3003D::receivePitchRollBin(), AHRS_sp3003D::receiveTransducers(), DVL_micro::resume(), MassServo::resume(), ElevatorServo::resume(), RudderServo::resume(), BuoyancyServo::resume(), Turbulence_NPS::resume(), AHRS_3DMGX3::resume(), ThrusterServo::resume(), PNI_TCM::resume(), CTD_NeilBrown::resume(), AHRS_sp3003D::resume(), MassServo::resuming(), NAL9602::retrieveAndQueueIncoming(), MassServo::runnable(), ElevatorServo::runnable(), VemcoVR2C::runnable(), RudderServo::runnable(), BuoyancyServo::runnable(), WetLabsBB2FL::runnable(), ThrusterServo::runnable(), SCPI::start(), ISUS::start(), VemcoVR2C::start(), CANONSampler::start(), AcousticModem_Benthos_ATM900::start(), WetLabsBB2FL::start(), DAT::start(), Turbulence_NPS::start(), PNI_TCM::start(), AHRS_3DMGX3::start(), DVL_micro::start(), CTD_NeilBrown::start(), AHRS_sp3003D::start(), BPC1::start(), Rowe_600::start(), NAL9602::start(), MassServo::starting(), ElevatorServo::starting(), BuoyancyServo::starting(), RudderServo::starting(), WetLabsBB2FL::starting(), PNI_TCM::starting(), ThrusterServo::starting(), AHRS_sp3003D::tryUartComms(), NAL9602::verifySessionXmit(), and MassServo::waitForHoming().

void UartStream::fillInBuffer

(

)

References bufferPos_, bufferSize_, InStream::bytesRead(), pushedChars_, read(), and serPortFd_.

Referenced by canReadUntil(), dataAvailable(), flush(), read(), and serGetChar().

UartStream & UartStream::flush

(

int

num = -1

)

Flushes any characters out of the buffer until there are no more characters, or if num is positive, until the specified number of characters are flushed.

References bufferPos_, bufferSize_, fillInBuffer(), InStream::incBytesRead(), NOT_UART, serGetChar(), SLEEP_TIME, Timespan::sleepFor(), uartId_, Timespan::ZERO_TIMESPAN, and InStream::zeroBytesRead().

Referenced by NAL9602::clearMOBuffer(), DVL_micro::endPing(), NAL9602::fillBuffer(), NAL9602::getFix(), NAL9602::getMTQueueSignalStrength(), NAL9602::getReceivedSignalStrength(), BuoyancyServo::initBuoyancy(), Batt_Ocean_Server::initialize(), NAL9602::initiateSession(), ThrusterServo::initThruster(), Rowe_600::pause(), BPC1::pausing(), AHRS_sp3003D::readAccelVecBin(), Batt_Ocean_Server::readDataA(), Batt_Ocean_Server::readDataB(), AHRS_sp3003D::readMagneticsBin(), AHRS_3DMGX3::readTemperature(), AHRS_3DMGX3::readTransducers(), PNI_TCM::receiveGetDataResp(), NAL9602::requestFix(), NAL9602::requestGSV(), AHRS_sp3003D::requestHeadingMagBin(), AHRS_sp3003D::requestPitchRollBin(), AHRS_sp3003D::requestTransducers(), DVL_micro::resume(), BPC1::resume(), Rowe_600::resume(), PNI_TCM::resuming(), NAL9602::retrieveAndQueueIncoming(), SCPI::runnable(), BPC1::runnable(), NAL9602::sendingFillBuffer(), NAL9602::sendingVerify(), SCPI::start(), AcousticModem_Benthos_ATM900::start(), DAT::start(), DVL_micro::start(), BPC1::start(), Rowe_600::start(), ISUS::starting(), AcousticModem_Benthos_ATM900::starting(), PNI_TCM::starting(), BPC1::starting(), DVL_micro::startPing(), AHRS_sp3003D::tryUartComms(), BuoyancyServo::uninitialize(), and NAL9602::waking().

UartStream & UartStream::flushCRLF

(

)

Flushes CR and LF characters out of the buffer until there are no more characters.

May need to "push" a character back onto the stream if necessary.

References bufferPos_, InStream::incBytesRead(), pushedChars_, serGetChar(), and Timespan::ZERO_TIMESPAN.

Referenced by NAL9602::clearMOBuffer(), AcousticModem_Benthos_ATM900::clearUserPrompt(), DAT::clearUserPrompt(), NAL9602::getFix(), EZServoServo::getPosition(), EZServoServo::getVelocityCmd(), BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), Batt_Ocean_Server::initialize(), NAL9602::initiateSession(), RudderServo::initRudder(), ThrusterServo::initThruster(), EZServoServo::isCommunicating(), NAL9602::parseGSV(), Batt_Ocean_Server::readDataA(), Batt_Ocean_Server::readDataB(), CTD_NeilBrown::receive(), MassServo::resuming(), ElevatorServo::runnable(), MassServo::runnable(), BuoyancyServo::runnable(), VemcoVR2C::runnable(), ISUS::runnable(), RudderServo::runnable(), ThrusterServo::runnable(), SCPI::starting(), ElevatorServo::starting(), MassServo::starting(), RudderServo::starting(), BuoyancyServo::starting(), AcousticModem_Benthos_ATM900::starting(), DAT::starting(), and ThrusterServo::starting().

UartStream::UartError UartStream::getError ( )

inline

References lastError_.

Referenced by Turbulence_NPS::receive(), CTD_NeilBrown::receive(), WetLabsBB2FL::runnable(), and WetLabsBB2FL::starting().

const char* UartStream::getName ( void  )

inlinevirtual

Returns uart name.

Implements InStream.

References uartId_, and uartIdToString().

bool UartStream::hasError ( )

inline

References lastError_, and OK.

Referenced by NAL9602::fillBuffer(), NAL9602::getFix(), NAL9602::getMTQueueSignalStrength(), EZServoServo::getPosition(), NAL9602::getReceivedSignalStrength(), EZServoServo::getVelocityCmd(), BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), Batt_Ocean_Server::initialize(), EZServoServo::initializeStart(), NAL9602::initiateSession(), RudderServo::initRudder(), ThrusterServo::initThruster(), EZServoServo::isCommunicating(), NAL9602::parseGSV(), BPC1::parseWriteDataA(), BPC1::parseWriteDataB(), AHRS_sp3003D::readAccelVecBin(), AcousticModem_Benthos_ATM900::readAndParseResponses(), DAT::readAndParseResponses(), Batt_Ocean_Server::readDataA(), Batt_Ocean_Server::readDataB(), Rowe_600::readEnsemble(), AHRS_sp3003D::readMagneticsBin(), DVL_micro::readNQ1(), AHRS_3DMGX3::readTemperature(), AHRS_3DMGX3::readTransducers(), Turbulence_NPS::receive(), CTD_NeilBrown::receive(), PNI_TCM::receiveGetDataResp(), AHRS_sp3003D::receiveHeadingMagBin(), AHRS_sp3003D::receivePitchRollBin(), AHRS_sp3003D::receiveTransducers(), DVL_micro::resume(), MassServo::resume(), ElevatorServo::resume(), RudderServo::resume(), BuoyancyServo::resume(), Turbulence_NPS::resume(), AHRS_3DMGX3::resume(), ThrusterServo::resume(), PNI_TCM::resume(), CTD_NeilBrown::resume(), AHRS_sp3003D::resume(), MassServo::resuming(), NAL9602::retrieveAndQueueIncoming(), MassServo::runnable(), ElevatorServo::runnable(), RudderServo::runnable(), VemcoVR2C::runnable(), BuoyancyServo::runnable(), WetLabsBB2FL::runnable(), ThrusterServo::runnable(), SCPI::start(), VemcoVR2C::start(), ISUS::start(), CANONSampler::start(), AcousticModem_Benthos_ATM900::start(), WetLabsBB2FL::start(), DAT::start(), Turbulence_NPS::start(), DVL_micro::start(), PNI_TCM::start(), AHRS_3DMGX3::start(), CTD_NeilBrown::start(), AHRS_sp3003D::start(), BPC1::start(), Rowe_600::start(), NAL9602::start(), SCPI::starting(), MassServo::starting(), ElevatorServo::starting(), BuoyancyServo::starting(), RudderServo::starting(), WetLabsBB2FL::starting(), PNI_TCM::starting(), ThrusterServo::starting(), AHRS_sp3003D::tryUartComms(), NAL9602::verifySessionXmit(), and MassServo::waitForHoming().

void UartStream::initializePort ( UartStream::UartId  uart )

private

References NOT_UART, LPC3Reg::PioMuxClrPhys_, LPC3Reg::PioMuxSetPhys_, LPC3Reg::U4ClkPhys_, LPC3Reg::U4DllPhys_, UART1_TX0, UART2_TX1, UART3_S1, UART4_S2, UART5_S0, UART6_S3, UART7_TX2, UART_A0, UART_A1, UART_A2, UART_A3, UART_A4, UART_A5, UART_A6, UART_A7, UART_B0, UART_B1, UART_B2, UART_B3, UART_B4, UART_B5, UART_B6, UART_B7, LPC3Reg::UartClkCtrl_, LPC3Reg::UartClkModePhys_, and LPC3Reg::UartCtrlPhys_.

Referenced by openAtBaudrate().

virtual bool UartStream::isReadable ( )

inlinevirtual

indicates whether the stream can actually be read from.

Implements InStream.

References serPortFd_.

Referenced by canReadUntil(), dataAvailable(), dataBuffered(), eof(), ISUS::start(), VemcoVR2C::start(), Aanderaa_O2::start(), CANONSampler::start(), WetLabsBB2FL::start(), DVL_micro::stopped(), ElevatorServo::stopped(), MassServo::stopped(), RudderServo::stopped(), BuoyancyServo::stopped(), AcousticModem_Benthos_ATM900::stopped(), WetLabsBB2FL::stopped(), DAT::stopped(), Turbulence_NPS::stopped(), AHRS_3DMGX3::stopped(), ThrusterServo::stopped(), PNI_TCM::stopped(), CTD_NeilBrown::stopped(), AHRS_sp3003D::stopped(), BPC1::stopped(), NAL9602::stopped(), and ~UartStream().

virtual bool UartStream::isWritable ( )

inlinevirtual

indicates whether the stream can actually be written to.

Implements OutStream.

References serPortFd_.

UartStream::Baudrate UartStream::LookupBaudrate ( const ConfigURI &  baudCfg, Logger &  logger  )

staticprivate

References B_110, B_115200, B_1200, B_134, B_150, B_1800, B_19200, B_200, B_230400, B_2400, B_300, B_38400, B_4800, B_50, B_57600, B_600, B_75, B_9600, Units::BIT_PER_SECOND, Syslog::FAULT, Slate::ReadOnce(), and Logger::syslog().

Str UartStream::LookupFilename ( const ConfigURI &  uartCfg, Logger &  logger  )

staticprivate

References StrValue::asString(), and Slate::ReadOnce().

UartStream& UartStream::open ( )

inline

References defaultBaudrate_, and openAtBaudrate().

Referenced by Batt_Ocean_Server::initialize(), EZServoServo::initializeStart(), openAtBaudrate(), DVL_micro::resume(), ElevatorServo::resume(), MassServo::resume(), BuoyancyServo::resume(), RudderServo::resume(), Turbulence_NPS::resume(), PNI_TCM::resume(), AHRS_3DMGX3::resume(), ThrusterServo::resume(), CTD_NeilBrown::resume(), AHRS_sp3003D::resume(), SCPI::start(), VemcoVR2C::start(), Aanderaa_O2::start(), CANONSampler::start(), ISUS::start(), AcousticModem_Benthos_ATM900::start(), WetLabsBB2FL::start(), Turbulence_NPS::start(), DAT::start(), DVL_micro::start(), AHRS_3DMGX3::start(), PNI_TCM::start(), CTD_NeilBrown::start(), AHRS_sp3003D::start(), BPC1::start(), Rowe_600::start(), and NAL9602::start().

UartStream & UartStream::openAtBaudrate

(

UartStream::Baudrate

baud

)

References Timespan::asFloat(), BAD_BAUD_RATE_FOR_PORT, BAD_PARAMETERS_FOR_PORT, BaudToSpeed(), blocking_, bufferPos_, CANNOT_GET_DEVICE_SETTINGS, CANNOT_OPEN_SERIAL_PORT, close(), defaultStartTimeout_, Syslog::INFO, initializePort(), lastError_, logger_, NOT_UART, OK, open(), serPortFd_, Logger::syslog(), uartId_, and uartToDevice().

Referenced by open().

InStream & UartStream::read ( char *  buffer, size_t  num  )

virtual

reads num bytes from stream to the buffer

Implements InStream.

References betweenTimeout_, bufferPos_, InStream::bytesRead(), Timestamp::elapsed(), fillInBuffer(), InStream::getBytesRead(), InStream::incBytesRead(), lastError_, Timestamp::Now(), OK, pushedChars_, SLEEP_TIME, Timespan::sleepFor(), startTimeout_, TIMEOUT, and InStream::zeroBytesRead().

Referenced by NAL9602::fillBuffer(), fillInBuffer(), NAL9602::getMTQueueSignalStrength(), NAL9602::getReceivedSignalStrength(), BPC1::parseWriteDataA(), BPC1::parseWriteDataB(), Rowe_600::pause(), AHRS_sp3003D::readAccelVecBin(), Rowe_600::readEnsemble(), AHRS_sp3003D::readMagneticsBin(), AHRS_3DMGX3::readTemperature(), AHRS_3DMGX3::readTransducers(), Turbulence_NPS::receive(), PNI_TCM::receiveGetDataResp(), AHRS_sp3003D::receiveHeadingMagBin(), AHRS_sp3003D::receivePitchRollBin(), MassServo::resuming(), Rowe_600::resuming(), NAL9602::retrieveAndQueueIncoming(), MassServo::runnable(), ElevatorServo::runnable(), RudderServo::runnable(), Aanderaa_O2::runnable(), BuoyancyServo::runnable(), serGetChar(), Aanderaa_O2::starting(), AcousticModem_Benthos_ATM900::starting(), DAT::starting(), and PNI_TCM::starting().

UartStream& UartStream::readLine ( char *  buf, size_t  bufsize  )

inline

Fills buffer until: buffer size is exceeded, CR, LF, or ETX character is received, or the serial timeout has expired.

References readLines().

Referenced by EZServoServo::getPosition(), EZServoServo::getVelocityCmd(), BuoyancyServo::initBuoyancy(), ElevatorServo::initElevator(), Batt_Ocean_Server::initialize(), NAL9602::initiateSession(), RudderServo::initRudder(), ThrusterServo::initThruster(), EZServoServo::isCommunicating(), Batt_Ocean_Server::readDataA(), Batt_Ocean_Server::readDataB(), DVL_micro::readNQ1(), CTD_NeilBrown::receive(), AHRS_sp3003D::receiveTransducers(), MassServo::resuming(), ElevatorServo::runnable(), MassServo::runnable(), RudderServo::runnable(), ISUS::runnable(), VemcoVR2C::runnable(), BuoyancyServo::runnable(), ThrusterServo::runnable(), SCPI::starting(), ElevatorServo::starting(), MassServo::starting(), BuoyancyServo::starting(), RudderServo::starting(), ThrusterServo::starting(), and AHRS_sp3003D::tryUartComms().

UartStream & UartStream::readLines	(	char *	buf,
		size_t	bufsize,
		size_t	lines
	)

Fills buffer with given number of lines (CR/LF) until buffer size is exceeded or timeout has expired or ETX character is received.

References BUFFER_FULL, debug_, InStream::getBytesRead(), InStream::incBytesRead(), lastError_, OK, serGetChar(), startTimeout_, TIMEOUT, and InStream::zeroBytesRead().

Referenced by NAL9602::getFix(), and readLine().

UartStream& UartStream::readUntil ( char *  buf, size_t  num, const unsigned char  match, bool  flushUntil = false  )

inline

Referenced by NAL9602::clearMOBuffer(), AcousticModem_Benthos_ATM900::clearUserPrompt(), DAT::clearUserPrompt(), Batt_Ocean_Server::initialize(), NAL9602::initiateSession(), NAL9602::parseGSV(), AcousticModem_Benthos_ATM900::readAndParseResponses(), DAT::readAndParseResponses(), Batt_Ocean_Server::readDataA(), Batt_Ocean_Server::readDataB(), Turbulence_NPS::receive(), CTD_NeilBrown::receive(), NAL9602::retrieveAndQueueIncoming(), CANONSampler::runnable(), WetLabsBB2FL::runnable(), CANONSampler::sampleStatus(), AcousticModem_Benthos_ATM900::starting(), WetLabsBB2FL::starting(), DAT::starting(), and NAL9602::verifySessionXmit().

UartStream & UartStream::readUntil	(	char *	buf,
		size_t	num,
		const char *	match,
		unsigned int	matchLen,
		bool	flushUntil = false
	)

References BUFFER_FULL, Timestamp::elapsed(), InStream::getBytesRead(), InStream::incBytesRead(), lastError_, Timestamp::Now(), OK, serGetChar(), startTimeout_, TIMEOUT, and InStream::zeroBytesRead().

UartStream & UartStream::readUntil	(	char *	buf,
		size_t	num,
		const unsigned char *	match,
		unsigned int	matchLen,
		bool	flushUntil = false
	)

References BUFFER_FULL, Timestamp::elapsed(), InStream::getBytesRead(), InStream::incBytesRead(), lastError_, Timestamp::Now(), OK, serGetChar(), startTimeout_, TIMEOUT, and InStream::zeroBytesRead().

UartStream& UartStream::resetStartTimeout ( )

inline

References defaultStartTimeout_, and startTimeout_.

Referenced by NAL9602::clearMOBuffer(), AHRS_sp3003D::getCompassHdg(), NAL9602::getFix(), Batt_Ocean_Server::initialize(), NAL9602::initiateSession(), NAL9602::parseGSV(), NAL9602::retrieveAndQueueIncoming(), and MassServo::starting().

void UartStream::serGetChar ( unsigned char *  c, int *  success, const Timespan &  timeout = Timespan::INVALID_TIMESPAN  )

private

References betweenTimeout_, bufferPos_, bufferSize_, Timestamp::elapsed(), fillInBuffer(), Timespan::INVALID_TIMESPAN, Timestamp::Now(), pushedChars_, read(), serPortFd_, SLEEP_TIME, and Timespan::sleepFor().

Referenced by flush(), flushCRLF(), readLines(), and readUntil().

void UartStream::setDebug ( bool  debugOn )

inline

References debug_.

UartStream& UartStream::setStartTimeout ( const double  timeout )

inline

References startTimeout_.

Referenced by NAL9602::clearMOBuffer(), AHRS_sp3003D::getCompassHdg(), NAL9602::getFix(), Batt_Ocean_Server::initialize(), NAL9602::initiateSession(), NAL9602::parseGSV(), NAL9602::retrieveAndQueueIncoming(), and MassServo::starting().

const char * UartStream::uartIdToString

(

UartId

uart

)

References Str::cStr(), filename_, NOT_UART, UART1_TX0, UART2_TX1, UART3_S1, UART4_S2, UART5_S0, UART6_S3, UART7_TX2, UART_A0, UART_A1, UART_A2, UART_A3, UART_A4, UART_A5, UART_A6, UART_A7, UART_B0, UART_B1, UART_B2, UART_B3, UART_B4, UART_B5, UART_B6, and UART_B7.

Referenced by getName().

const char * UartStream::uartToDevice ( UartId  uart )

private

References Str::cStr(), filename_, NOT_UART, UART1_TX0, UART2_TX1, UART3_S1, UART4_S2, UART5_S0, UART6_S3, UART7_TX2, UART_A0, UART_A1, UART_A2, UART_A3, UART_A4, UART_A5, UART_A6, UART_A7, UART_B0, UART_B1, UART_B2, UART_B3, UART_B4, UART_B5, UART_B6, and UART_B7.

Referenced by openAtBaudrate().

void UartStream::waitForBufferEmpty

(

)

References Timestamp::elapsed(), LPC3Reg::Hsu2Level_, NOT_UART, Timestamp::Now(), SLEEP_TIME, Timespan::sleepFor(), LPC3Reg::U3LsrPhys_, LPC3Reg::U4LsrPhys_, LPC3Reg::U5LsrPhys_, LPC3Reg::U6LsrPhys_, UART1_TX0, UART2_TX1, UART3_S1, UART4_S2, UART5_S0, UART6_S3, UART7_TX2, UART_A0, UART_A1, UART_A2, UART_A3, UART_A4, UART_A5, UART_A6, UART_A7, UART_B0, UART_B1, UART_B2, UART_B3, UART_B4, UART_B5, UART_B6, UART_B7, and uartId_.

Referenced by AHRS_3DMGX3::readTemperature().

OutStream & UartStream::write ( const char *  data, size_t  length = 0xFFFFFFFF  )

virtual

If length is unspecified, strlen is used to determine the length.

Implements OutStream.

References debug_, lastError_, serPortFd_, uartId_, and WRITE_CHAR_LOST.

Referenced by NAL9602::fillBuffer(), PNI_TCM::resuming(), and PNI_TCM::starting().

Member Data Documentation

Timespan UartStream::betweenTimeout_

private

Referenced by read(), and serGetChar().

bool UartStream::blocking_

private

Referenced by openAtBaudrate().

int UartStream::bufferPos_

private

Referenced by canReadUntil(), dataAvailable(), dataBuffered(), fillInBuffer(), flush(), flushCRLF(), openAtBaudrate(), read(), and serGetChar().

size_t UartStream::bufferSize_

private

Referenced by canReadUntil(), fillInBuffer(), flush(), serGetChar(), UartStream(), and ~UartStream().

bool UartStream::debug_

private

Referenced by readLines(), setDebug(), and write().

UartStream::Baudrate UartStream::defaultBaudrate_

private

Referenced by open().

Timespan UartStream::defaultStartTimeout_

private

Referenced by openAtBaudrate(), and resetStartTimeout().

Str UartStream::filename_

private

Referenced by uartIdToString(), and uartToDevice().

UartStream::UartError UartStream::lastError_

private

Referenced by close(), errorString(), getError(), hasError(), openAtBaudrate(), read(), readLines(), readUntil(), and write().

Logger UartStream::logger_

private

Referenced by openAtBaudrate().

char UartStream::pushedChar_

private

Referenced by UartStream().

char* UartStream::pushedChars_

private

Referenced by canReadUntil(), fillInBuffer(), flushCRLF(), read(), serGetChar(), UartStream(), and ~UartStream().

int UartStream::serPortFd_

private

Referenced by close(), fillInBuffer(), isReadable(), isWritable(), openAtBaudrate(), serGetChar(), and write().

const Timespan UartStream::SLEEP_TIME

staticprivate

A 10 millisecond sleep.

Referenced by flush(), read(), serGetChar(), and waitForBufferEmpty().

Timespan UartStream::startTimeout_

private

Referenced by read(), readLines(), readUntil(), resetStartTimeout(), and setStartTimeout().

UartId UartStream::uartId_

private

Referenced by disableUART(), enableUART(), flush(), getName(), openAtBaudrate(), waitForBufferEmpty(), and write().

---

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

• /Volumes/ubuntu_share/lrauv-application/Source/io/UartStream.h
• /Volumes/ubuntu_share/lrauv-application/Source/io/UartStream.cpp