A definition of a CStream actually representing a USB connection to a FTDI chip.
This class implements the communication with FT245BM / FT245RL chips. Using this class makes a program to depend on:
If there is any error during the communications (or loading the Windows DLL), a std::exception will be raised.
To write bulk data, use CStream::ReadBuffer and CStream::WriteBuffer. See also the derived classes for higher level communication: CInterfaceFTDIMessages
Warning: Avoid defining an object of this class in a global scope if you want to catch all potential exceptions during the constructors (like DLL not found, etc...)
VERSIONS:
Definition at line 74 of file CInterfaceFTDI.h.
#include <mrpt/hwdrivers/CInterfaceFTDI.h>
Public Types | |
enum | TSeekOrigin { sFromBeginning = 0 , sFromCurrent = 1 , sFromEnd = 2 } |
Used in CStream::Seek. More... | |
Public Member Functions | |
CInterfaceFTDI () | |
Constructor, which loads driver interface (the DLL under Windows). More... | |
virtual | ~CInterfaceFTDI () |
Destructor, which closes the connection with the chip and unloads the driver interface. More... | |
CInterfaceFTDI (const CInterfaceFTDI &o) | |
This object cannot be copied. More... | |
CInterfaceFTDI & | operator= (const CInterfaceFTDI &o) |
This object cannot be copied. More... | |
bool | isOpen () |
Checks whether the chip has been successfully open. More... | |
void | OpenBySerialNumber (const std::string &serialNumber) |
Open by device serial number. More... | |
void | OpenByDescription (const std::string &description) |
Open by device description. More... | |
void | Close () |
Close the USB device. More... | |
void | ResetDevice () |
Reset the USB device. More... | |
void | Purge () |
Purge the I/O buffers. More... | |
void | SetLatencyTimer (unsigned char latency_ms) |
Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic. More... | |
void | SetTimeouts (unsigned long dwReadTimeout_ms, unsigned long dwWriteTimeout_ms) |
Change read & write timeouts, in milliseconds. More... | |
void | ListAllDevices (TFTDIDeviceList &outList) |
Generates a list with all FTDI devices connected right now. More... | |
size_t | ReadSync (void *Buffer, size_t Count) |
Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error. More... | |
size_t | WriteSync (const void *Buffer, size_t Count) |
Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error. More... | |
virtual size_t | ReadBufferImmediate (void *Buffer, size_t Count) |
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream). More... | |
size_t | ReadBuffer (void *Buffer, size_t Count) |
Reads a block of bytes from the stream into Buffer. More... | |
template<typename T > | |
size_t | ReadBufferFixEndianness (T *ptr, size_t ElementCount) |
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture. More... | |
void | WriteBuffer (const void *Buffer, size_t Count) |
Writes a block of bytes to the stream from Buffer. More... | |
template<typename T > | |
void | WriteBufferFixEndianness (const T *ptr, size_t ElementCount) |
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness). More... | |
size_t | CopyFrom (mrpt::utils::CStream *Source, size_t Count) |
Copies a specified number of bytes from one stream to another. More... | |
virtual uint64_t | Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0 |
Introduces a pure virtual method for moving to a specified position in the streamed resource. More... | |
void | WriteObject (const CSerializable *o) |
Writes an object to the stream. More... | |
CSerializablePtr | ReadObject () |
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More... | |
void | ReadObject (CSerializable *existingObj) |
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in. More... | |
CStream & | operator<< (const CSerializablePtr &pObj) |
Write an object to a stream in the binary MRPT format. More... | |
CStream & | operator<< (const CSerializable &obj) |
Write an object to a stream in the binary MRPT format. More... | |
CStream & | operator>> (CSerializablePtr &pObj) |
CStream & | operator>> (CSerializable &obj) |
virtual int | printf (const char *fmt,...) MRPT_printf_format_check(2 |
Writes a string to the stream in a textual form. More... | |
template<typename T > | |
virtual int void | printf_vector (const char *fmt, const std::vector< T > &V) |
Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element. More... | |
void | sendMessage (const utils::CMessage &msg) |
Send a message to the device. More... | |
bool | receiveMessage (utils::CMessage &msg) |
Tries to receive a message from the device. More... | |
bool | getline (std::string &out_str) |
Reads from the stream until a ' ' character is found ('\r' characters are ignored). More... | |
Protected Member Functions | |
size_t | Read (void *Buffer, size_t Count) |
Introduces a pure virtual method responsible for reading from the stream. More... | |
size_t | Write (const void *Buffer, size_t Count) |
Introduces a pure virtual method responsible for writing to the stream. More... | |
uint64_t | Seek (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning) |
This virtual method does nothing in this class. More... | |
uint64_t | getTotalBytesCount () |
This virtual method does nothing in this class. More... | |
uint64_t | getPosition () |
This virtual method does nothing in this class. More... | |
void | ftdi_read (void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytesRead) |
void | ftdi_write (const void *lpvBuffer, unsigned long dwBuffSize, unsigned long *lpdwBytes) |
void | recursive_fill_list_devices (void *usb_device_structure, TFTDIDeviceList &outList) |
Process recursively a USB device and its children: More... | |
template<bool EXISTING_OBJ> | |
CSerializable * | internal_ReadObject (CSerializable *existingObj=NULL) |
A common template code for both versions of CStream::ReadObject() More... | |
Protected Attributes | |
mrpt::utils::circular_buffer< uint8_t > | m_readBuffer |
Used in Read. More... | |
void * | m_ftdi_context |
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inherited |
mrpt::hwdrivers::CInterfaceFTDI::CInterfaceFTDI | ( | ) |
Constructor, which loads driver interface (the DLL under Windows).
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virtual |
Destructor, which closes the connection with the chip and unloads the driver interface.
mrpt::hwdrivers::CInterfaceFTDI::CInterfaceFTDI | ( | const CInterfaceFTDI & | o | ) |
This object cannot be copied.
void mrpt::hwdrivers::CInterfaceFTDI::Close | ( | ) |
Close the USB device.
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inherited |
Copies a specified number of bytes from one stream to another.
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protected |
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protected |
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inherited |
Reads from the stream until a '
' character is found ('\r' characters are ignored).
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protectedvirtual |
This virtual method does nothing in this class.
Implements mrpt::utils::CStream.
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protectedvirtual |
This virtual method does nothing in this class.
Implements mrpt::utils::CStream.
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protectedinherited |
A common template code for both versions of CStream::ReadObject()
bool mrpt::hwdrivers::CInterfaceFTDI::isOpen | ( | ) |
Checks whether the chip has been successfully open.
void mrpt::hwdrivers::CInterfaceFTDI::ListAllDevices | ( | TFTDIDeviceList & | outList | ) |
Generates a list with all FTDI devices connected right now.
void mrpt::hwdrivers::CInterfaceFTDI::OpenByDescription | ( | const std::string & | description | ) |
Open by device description.
void mrpt::hwdrivers::CInterfaceFTDI::OpenBySerialNumber | ( | const std::string & | serialNumber | ) |
Open by device serial number.
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inherited |
Write an object to a stream in the binary MRPT format.
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inherited |
Write an object to a stream in the binary MRPT format.
CInterfaceFTDI& mrpt::hwdrivers::CInterfaceFTDI::operator= | ( | const CInterfaceFTDI & | o | ) |
This object cannot be copied.
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inherited |
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inherited |
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virtualinherited |
Writes a string to the stream in a textual form.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::dumpToTextStream(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::dumpToTextStream().
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inlineinherited |
void mrpt::hwdrivers::CInterfaceFTDI::Purge | ( | ) |
Purge the I/O buffers.
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protectedvirtual |
Introduces a pure virtual method responsible for reading from the stream.
It integrates a cache buffer to speed-up sequences of many, small readings.
Implements mrpt::utils::CStream.
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inherited |
Reads a block of bytes from the stream into Buffer.
std::exception | On any error, or if ZERO bytes are read. |
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inlineinherited |
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.
ElementCount | The number of elements (not bytes) to read. |
ptr | A pointer to the first output element in an array (or std::vector<>, etc...). |
std::exception | On any error, or if ZERO bytes are read. |
Definition at line 95 of file CStream.h.
References mrpt::utils::reverseBytesInPlace().
Referenced by mrpt::math::operator>>().
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virtual |
Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).
In this class this method actually behaves as expected and does not fallback to ReadBuffer().
std::exception | On any error, or if ZERO bytes are read. |
Reimplemented from mrpt::utils::CStream.
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inherited |
Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.
std::exception | On I/O error or undefined class. |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
Referenced by mrpt::math::operator>>().
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inherited |
Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.
std::exception | On I/O error or different class found. |
mrpt::utils::CExceptionEOF | On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead. |
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inline |
Tries to read, raising no exception if not all the bytes are available, but raising one if there is some communication error.
Definition at line 126 of file CInterfaceFTDI.h.
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inherited |
Tries to receive a message from the device.
std::exception | On communication errors |
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protected |
Process recursively a USB device and its children:
void mrpt::hwdrivers::CInterfaceFTDI::ResetDevice | ( | ) |
Reset the USB device.
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protected |
This virtual method does nothing in this class.
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pure virtualinherited |
Introduces a pure virtual method for moving to a specified position in the streamed resource.
he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:
Implemented in mrpt::utils::CMemoryStream, mrpt::utils::CFileStream, mrpt::utils::CFileOutputStream, mrpt::utils::CFileInputStream, mrpt::utils::CFileGZInputStream, mrpt::utils::CClientTCPSocket, and mrpt::utils::CStdOutStream.
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inherited |
Send a message to the device.
Note that only the low byte from the "type" field will be used.
For frames of size < 255 the frame format is an array of bytes in this order:
For frames of size > 255 the frame format is an array of bytes in this order:
std::exception | On communication errors |
void mrpt::hwdrivers::CInterfaceFTDI::SetLatencyTimer | ( | unsigned char | latency_ms | ) |
Change the latency timer (in milliseconds) implemented on the FTDI chip: for a few ms, data is not sent to the PC waiting for possible more data, to save USB trafic.
void mrpt::hwdrivers::CInterfaceFTDI::SetTimeouts | ( | unsigned long | dwReadTimeout_ms, |
unsigned long | dwWriteTimeout_ms | ||
) |
Change read & write timeouts, in milliseconds.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to the stream.
Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written.
Implements mrpt::utils::CStream.
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inherited |
Writes a block of bytes to the stream from Buffer.
std::exception | On any error |
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inlineinherited |
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).
ElementCount | The number of elements (not bytes) to write. |
ptr | A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: vector<float> vec = ...
uint32_t N = vec.size();
s << N
if (N)
s.WriteBufferFixEndianness<float>(&vec[0],N);
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std::exception | On any error |
Definition at line 139 of file CStream.h.
Referenced by mrpt::math::operator<<().
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inherited |
Writes an object to the stream.
Referenced by mrpt::math::operator<<().
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inline |
Tries to write, raising no exception if not all the bytes are available, but raising one if there is some communication error.
Definition at line 133 of file CInterfaceFTDI.h.
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protected |
Definition at line 227 of file CInterfaceFTDI.h.
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protected |
Used in Read.
Definition at line 150 of file CInterfaceFTDI.h.
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