Class real_time_tools::UsbStream¶
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class
real_time_tools
::
UsbStream
¶ This class has for purpose to interact with devices and files alike as the linux philosophie does.
Depending on the current Operating system it uses the available real time APIs.
Public Functions
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UsbStream
()¶ Construct a new fstream object.
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~UsbStream
()¶ Destroy the fstream object.
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bool
open_device
(const std::string &file_name)¶ This method allows you to open a port or a file.
- Parameters
file_name
:
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bool
set_port_config
(const PortConfig &user_config)¶ Set the _port_config object parametrize the port configuration.
- Return
true
- Return
false
- Parameters
user_config
: is the configuration of the port. (see struct PortConfig)
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bool
close_device
()¶ Stop the device communication.
- Return
true success
- Return
false problem occured
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bool
read_device
(std::vector<uint8_t> &msg, const bool stream_on = true)¶ Read the port or the file.
- Return
true
- Return
false
- Parameters
msg
: is the command sent before this command was executed.stream_on
: define if we just read on the fly or we wait until we get the correct amount of data.
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bool
write_device
(const std::vector<uint8_t> &msg)¶ Write msg in the port or the file.
- Return
true success
- Return
false problem occured
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bool
activate_stream_mode
()¶ Activate the stream mode.
The read method is not blocking.
- Return
true success
- Return
false problem occured
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bool
set_poll_mode_timeout
(double timeout_in_second)¶ Set the poll mode timeout.
The read_device method is blocking until timeout.
- Return
true success
- Return
false problem occured
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bool
flush
(int duration_ms = 150)¶ Flush the current port.
- Return
true
- Return
false
Public Static Functions
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std::string
msg_debug_string
(const std::vector<uint8_t> &msg, long int until = -1)¶ Display the uint8_t message in hexadecimal format.
- Return
std::string the debug string
- Parameters
msg
: is the message to be displayeduntil
: is a bound on the number of displayed bytes. “-1” means display all.
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bool
test_msg_equal
(const std::vector<uint8_t> &msg1, const std::vector<uint8_t> &msg2)¶ Test if two message are the same or not.
- Return
true
- Return
false
- Parameters
msg1
:msg2
:
Private Members
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std::string
file_name_
¶ Private methods.
Attributes This is the path tot the device file
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int
file_id_
¶ This is the port id.
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ssize_t
return_value_
¶ This is the return value of the different POSIX/Xenomai methods.
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bool
timeout_set_
¶ Verify that the timeout value has been set.
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double
timeout_
¶ The timeout for the poll mode in seconds.
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std::vector<uint8_t>
buffer_
¶ Internal buffer that is supposed to be much bigger than the message sent or received to avoid memory problems.
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