mrpt::hwdrivers::CInterfaceFTDIMessages Class Reference

An implementation of message passing over a FTDI USB link. More...

#include <mrpt/hwdrivers/CInterfaceFTDIMessages.h>

Inheritance diagram for mrpt::hwdrivers::CInterfaceFTDIMessages:

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Collaboration diagram for mrpt::hwdrivers::CInterfaceFTDIMessages:

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List of all members.

Public Member Functions
	CInterfaceFTDIMessages ()
	Constructor.
virtual	~CInterfaceFTDIMessages ()
	Destructor.
void	sendMessage (const utils::CMessage &msg)
	Send a message to the device.
bool	receiveMessage (utils::CMessage &msg)
	Tries to receive a message from the device.

Detailed Description

An implementation of message passing over a FTDI USB link.

The limit for the body size is 255 bytes. The frame format is an array of bytes, in this order:

                        <START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>

                                <START_FLAG>    = 0x69
                                <HEADER>                = A header byte
                                <LENGHT>                = Number of bytes of BODY
                                <BODY>                  = N x bytes
                                <END_FLAG>              = 0X96
                                         Total length   =       <LENGTH> + 4

See also:: CInterfaceFTDI

Definition at line 54 of file CInterfaceFTDIMessages.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CInterfaceFTDIMessages::CInterfaceFTDIMessages ( )

Constructor.

virtual mrpt::hwdrivers::CInterfaceFTDIMessages::~CInterfaceFTDIMessages ( ) [virtual]

Destructor.

Member Function Documentation

bool mrpt::hwdrivers::CInterfaceFTDIMessages::receiveMessage ( utils::CMessage & msg )

Tries to receive a message from the device.

Exceptions:

std::exception

On communication errors

Returns:: True if successful, false if there is no new data from the device (but communications seem to work fine)

void mrpt::hwdrivers::CInterfaceFTDIMessages::sendMessage ( const utils::CMessage & msg )

Send a message to the device.

Note that only the low byte from the "type" field will be used.