Driver for the RS-232 serial port on the roboRIO. More...

#include <frc/SerialPort.h>

Public Types
enum	Port { kOnboard = 0 , kMXP = 1 , kUSB = 2 , kUSB1 = 2 , kUSB2 = 3 }
	Serial port. More...

enum	Parity { kParity_None = 0 , kParity_Odd = 1 , kParity_Even = 2 , kParity_Mark = 3 , kParity_Space = 4 }
	Represents the parity to use for serial communications. More...

enum	StopBits { kStopBits_One = 10 , kStopBits_OnePointFive = 15 , kStopBits_Two = 20 }
	Represents the number of stop bits to use for Serial Communication. More...

enum	FlowControl { kFlowControl_None = 0 , kFlowControl_XonXoff = 1 , kFlowControl_RtsCts = 2 , kFlowControl_DtrDsr = 4 }
	Represents what type of flow control to use for serial communication. More...

enum	WriteBufferMode { kFlushOnAccess = 1 , kFlushWhenFull = 2 }
	Represents which type of buffer mode to use when writing to a serial port. More...

Public Member Functions
	SerialPort (int baudRate, Port port=kOnboard, int dataBits=8, Parity parity=kParity_None, StopBits stopBits=kStopBits_One)
	Create an instance of a Serial Port class. More...

	SerialPort (int baudRate, std::string_view portName, Port port=kOnboard, int dataBits=8, Parity parity=kParity_None, StopBits stopBits=kStopBits_One)
	Create an instance of a Serial Port class. More...

	~SerialPort ()

	SerialPort (SerialPort &&rhs)=default

SerialPort &	operator= (SerialPort &&rhs)=default

void	SetFlowControl (FlowControl flowControl)
	Set the type of flow control to enable on this port. More...

void	EnableTermination (char terminator='\n')
	Enable termination and specify the termination character. More...

void	DisableTermination ()
	Disable termination behavior. More...

int	GetBytesReceived ()
	Get the number of bytes currently available to read from the serial port. More...

int	Read (char *buffer, int count)
	Read raw bytes out of the buffer. More...

int	Write (const char *buffer, int count)
	Write raw bytes to the buffer. More...

int	Write (std::string_view buffer)
	Write raw bytes to the buffer. More...

void	SetTimeout (units::second_t timeout)
	Configure the timeout of the serial port. More...

void	SetReadBufferSize (int size)
	Specify the size of the input buffer. More...

void	SetWriteBufferSize (int size)
	Specify the size of the output buffer. More...

void	SetWriteBufferMode (WriteBufferMode mode)
	Specify the flushing behavior of the output buffer. More...

void	Flush ()
	Force the output buffer to be written to the port. More...

void	Reset ()
	Reset the serial port driver to a known state. More...

Detailed Description

Driver for the RS-232 serial port on the roboRIO.

The current implementation uses the VISA formatted I/O mode. This means that all traffic goes through the formatted buffers. This allows the intermingled use of Printf(), Scanf(), and the raw buffer accessors Read() and Write().

More information can be found in the NI-VISA User Manual here: http://www.ni.com/pdf/manuals/370423a.pdf and the NI-VISA Programmer's Reference Manual here: http://www.ni.com/pdf/manuals/370132c.pdf

Member Enumeration Documentation

◆ FlowControl

enum frc::SerialPort::FlowControl

Represents what type of flow control to use for serial communication.

Enumerator
kFlowControl_None	No flow control.
kFlowControl_XonXoff	XON/XOFF flow control.
kFlowControl_RtsCts	RTS/CTS flow control.
kFlowControl_DtrDsr	DTS/DSR flow control.

◆ Parity

enum frc::SerialPort::Parity

Represents the parity to use for serial communications.

Enumerator
kParity_None	No parity.
kParity_Odd	Odd parity.
kParity_Even	Even parity.
kParity_Mark	Parity bit always on.
kParity_Space	Parity bit always off.

◆ Port

enum frc::SerialPort::Port

Serial port.

Enumerator
kOnboard	Onboard serial port on the roboRIO.
kMXP	MXP (roboRIO MXP) serial port.
kUSB	USB serial port (same as KUSB1).
kUSB1	USB serial port 1.
kUSB2	USB serial port 2.

◆ StopBits

enum frc::SerialPort::StopBits

Represents the number of stop bits to use for Serial Communication.

Enumerator
kStopBits_One	One stop bit.
kStopBits_OnePointFive	One and a half stop bits.
kStopBits_Two	Two stop bits.

◆ WriteBufferMode

enum frc::SerialPort::WriteBufferMode

Represents which type of buffer mode to use when writing to a serial port.

Enumerator
kFlushOnAccess	Flush the buffer on each access.
kFlushWhenFull	Flush the buffer when it is full.

Constructor & Destructor Documentation

◆ SerialPort() [1/3]

frc::SerialPort::SerialPort	(	int	baudRate,
		Port	port = `kOnboard`,
		int	dataBits = `8`,
		Parity	parity = `kParity_None`,
		StopBits	stopBits = `kStopBits_One`
	)

explicit

Create an instance of a Serial Port class.

Parameters

baudRate	The baud rate to configure the serial port.
port	The physical port to use
dataBits	The number of data bits per transfer. Valid values are between 5 and 8 bits.
parity	Select the type of parity checking to use.
stopBits	The number of stop bits to use as defined by the enum StopBits.

◆ SerialPort() [2/3]

frc::SerialPort::SerialPort	(	int	baudRate,
		std::string_view	portName,
		Port	port = `kOnboard`,
		int	dataBits = `8`,
		Parity	parity = `kParity_None`,
		StopBits	stopBits = `kStopBits_One`
	)

Create an instance of a Serial Port class.

Prefer to use the constructor that doesn't take a port name, but in some cases the automatic detection might not work correctly.

Parameters

baudRate	The baud rate to configure the serial port.
port	The physical port to use
portName	The direct port name to use
dataBits	The number of data bits per transfer. Valid values are between 5 and 8 bits.
parity	Select the type of parity checking to use.
stopBits	The number of stop bits to use as defined by the enum StopBits.

◆ ~SerialPort()

frc::SerialPort::~SerialPort ( )

◆ SerialPort() [3/3]

frc::SerialPort::SerialPort ( SerialPort && rhs )

default

Member Function Documentation

◆ DisableTermination()

void frc::SerialPort::DisableTermination ( )

Disable termination behavior.

◆ EnableTermination()

void frc::SerialPort::EnableTermination ( char terminator = '\n' )

Enable termination and specify the termination character.

Termination is currently only implemented for receive. When the the terminator is received, the Read() or Scanf() will return fewer bytes than requested, stopping after the terminator.

Parameters

terminator The character to use for termination.

◆ Flush()

void frc::SerialPort::Flush ( )

Force the output buffer to be written to the port.

This is used when SetWriteBufferMode() is set to kFlushWhenFull to force a flush before the buffer is full.

◆ GetBytesReceived()

int frc::SerialPort::GetBytesReceived ( )

Get the number of bytes currently available to read from the serial port.

Returns: The number of bytes available to read

◆ operator=()

SerialPort & frc::SerialPort::operator= ( SerialPort && rhs )

default

◆ Read()

int frc::SerialPort::Read	(	char *	buffer,
		int	count
	)

Read raw bytes out of the buffer.

Parameters

buffer	Pointer to the buffer to store the bytes in.
count	The maximum number of bytes to read.

Returns: The number of bytes actually read into the buffer.

◆ Reset()

void frc::SerialPort::Reset ( )

Reset the serial port driver to a known state.

Empty the transmit and receive buffers in the device and formatted I/O.

◆ SetFlowControl()

void frc::SerialPort::SetFlowControl ( FlowControl flowControl )

Set the type of flow control to enable on this port.

By default, flow control is disabled.

◆ SetReadBufferSize()

void frc::SerialPort::SetReadBufferSize ( int size )

Specify the size of the input buffer.

Specify the amount of data that can be stored before data from the device is returned to Read or Scanf. If you want data that is received to be returned immediately, set this to 1.

It the buffer is not filled before the read timeout expires, all data that has been received so far will be returned.

Parameters

size	The read buffer size.

◆ SetTimeout()

void frc::SerialPort::SetTimeout ( units::second_t timeout )

Configure the timeout of the serial port.

This defines the timeout for transactions with the hardware. It will affect reads and very large writes.

Parameters

timeout The time to wait for I/O.

◆ SetWriteBufferMode()

void frc::SerialPort::SetWriteBufferMode ( WriteBufferMode mode )

Specify the flushing behavior of the output buffer.

When set to kFlushOnAccess, data is synchronously written to the serial port after each call to either Printf() or Write().

When set to kFlushWhenFull, data will only be written to the serial port when the buffer is full or when Flush() is called.

Parameters

mode	The write buffer mode.

◆ SetWriteBufferSize()

void frc::SerialPort::SetWriteBufferSize ( int size )

Specify the size of the output buffer.

Specify the amount of data that can be stored before being transmitted to the device.

Parameters

size	The write buffer size.

◆ Write() [1/2]

int frc::SerialPort::Write	(	const char *	buffer,
		int	count
	)

Write raw bytes to the buffer.

Parameters

buffer	Pointer to the buffer to read the bytes from.
count	The maximum number of bytes to write.

Returns: The number of bytes actually written into the port.

◆ Write() [2/2]

int frc::SerialPort::Write ( std::string_view buffer )

Write raw bytes to the buffer.

Use Write({data, len}) to get a buffer that is shorter than the length of the string.

Parameters

buffer the buffer to read the bytes from.

Returns: The number of bytes actually written into the port.

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

frc/SerialPort.h

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ FlowControl

◆ Parity

◆ Port

◆ StopBits

◆ WriteBufferMode

Constructor & Destructor Documentation

◆ SerialPort() [1/3]

◆ SerialPort() [2/3]

◆ ~SerialPort()

◆ SerialPort() [3/3]

Member Function Documentation

◆ DisableTermination()

◆ EnableTermination()

◆ Flush()

◆ GetBytesReceived()

◆ operator=()

◆ Read()

◆ Reset()

◆ SetFlowControl()

◆ SetReadBufferSize()

◆ SetTimeout()

◆ SetWriteBufferMode()

◆ SetWriteBufferSize()

◆ Write() [1/2]

◆ Write() [2/2]