roship_io::connection::SerialConnection Class Reference

A class for serial communication in a ROS2 context. More...

#include <serial_connection.hpp>

Inheritance diagram for roship_io::connection::SerialConnection:

Collaboration diagram for roship_io::connection::SerialConnection:

Classes
struct	Params
	Configuration parameters for the SerialConnection. More...

Public Member Functions
	SerialConnection (rclcpp::Node::SharedPtr node)
	Constructor for SerialConnection.
void	serialCallback (const std::vector< byte > &datagram)
	Callback function for handling received serial data.
void	sendToDevice (const io_interfaces::msg::RawPacket msg)
	Sends data to the connected serial device.
void	spin_once ()
	Performs a single iteration of the ROS 2 spin loop.
Public Member Functions inherited from roship_io::connection::IoConnection< transport::LspSerial >
	IoConnection (rclcpp::Node::SharedPtr node)

Protected Attributes
rclcpp::TimerBase::SharedPtr	timer_
std::shared_ptr< transport::LspSerial >	serial_ptr_
rclcpp::Publisher< io_interfaces::msg::RawPacket >::SharedPtr	raw_pub_
rclcpp::Subscription< io_interfaces::msg::RawPacket >::SharedPtr	raw_sub_
Params	params_
Protected Attributes inherited from roship_io::connection::IoConnection< transport::LspSerial >
rclcpp::Node::SharedPtr	node_ptr_
std::shared_ptr< transport::LspSerial >	trasnport_ptr_

Additional Inherited Members
Public Types inherited from roship_io::connection::IoConnection< transport::LspSerial >
typedef std::shared_ptr< IoConnection >	SharedPtr

Detailed Description

A class for serial communication in a ROS2 context.

This class handles serial communication within a ROS2 node, using the LspSerial class for the actual serial communication. It subscribes to messages to be sent to the device and publishes messages received from the device.

Constructor & Destructor Documentation

SerialConnection()

SerialConnection::SerialConnection

(

rclcpp::Node::SharedPtr

node

)

Constructor for SerialConnection.

Parameters

node	Shared pointer to the ROS2 node.

Member Function Documentation

sendToDevice()

void SerialConnection::sendToDevice

(

const io_interfaces::msg::RawPacket

msg

)

Sends data to the connected serial device.

Parameters

msg	The message containing the data to be sent.

serialCallback()

void SerialConnection::serialCallback

(

const std::vector< byte > &

datagram

)

Callback function for handling received serial data.

Parameters

datagram

The received data as a vector of bytes.

spin_once()

void SerialConnection::spin_once

(

)

Performs a single iteration of the ROS 2 spin loop.

Member Data Documentation

params_

Params roship_io::connection::SerialConnection::params_

protected

raw_pub_

rclcpp::Publisher<io_interfaces::msg::RawPacket>::SharedPtr roship_io::connection::SerialConnection::raw_pub_

protected

raw_sub_

rclcpp::Subscription<io_interfaces::msg::RawPacket>::SharedPtr roship_io::connection::SerialConnection::raw_sub_

protected

serial_ptr_

std::shared_ptr<transport::LspSerial> roship_io::connection::SerialConnection::serial_ptr_

protected

timer_

rclcpp::TimerBase::SharedPtr roship_io::connection::SerialConnection::timer_

protected

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

• roship_io/include/roship_io/connection/serial_connection.hpp
• roship_io/src/serial_connection.cpp