SerialStream#

rb::SerialStream exposes an SDK-managed serial-device connection. It sits next to the main robot client and is useful when you need asynchronous serial I/O through the same SDK surface.

Header

#include <rby1-sdk/robot.h>

Declaration

Namespace	`rb`
Kind	`class`
Primary role	Open, monitor, and write to an SDK-managed serial stream.

Public Member Functions

Method	Purpose	Notes
`Connect(...)` and `Disconnect()`	Open or close the serial stream.	`Connect(...)` optionally prints verbose diagnostics.
`IsOpened()`, `IsDone()`, `IsCancelled()`	Inspect the current state of the stream.	Useful when the stream is managed asynchronously.
`SetReadCallback(...)`	Register a callback for incoming serial data.	The callback receives decoded strings.
`Write(...)` and `WriteByte(...)`	Send bytes or strings to the device.	Overloads cover raw byte buffers and string payloads.
`Wait()` and `WaitFor(...)`	Block until the stream finishes.	`WaitFor(...)` is the timed variant.

Numeric Parameters & Encodings

Method	Unit / encoding	Notes
`WaitFor(timeout_ms)`	`ms`	Timeout for waiting on stream shutdown.
`WriteByte(...)`	Byte value	Raw serial byte payload, not an SDK-level physical unit.

Detailed Reference

class SerialStream#

Serial communication stream interface.

Provides bidirectional serial communication with devices connected to the robot. Supports asynchronous read/write operations with callback-based data handling.

Public Functions

~SerialStream()#

bool Connect(bool verbose) const#

Connect to the serial device.

Establishes a connection to the serial device with the configured parameters.

Parameters:: verbose – Enable verbose logging during connection (default: false).
Returns:: True if connection was successful, false otherwise.

void Disconnect() const#

Disconnect from the serial device.

Closes the serial connection and releases associated resources.

bool IsCancelled() const#

Check if the serial stream has been cancelled.

Returns:: True if the stream was cancelled, false otherwise.

bool IsDone() const#

Check if the serial stream is done.

Returns:: True if the stream has completed or been closed, false otherwise.

bool IsOpened() const#

Check if the serial port is opened.

Returns:: True if the serial port is currently open, false otherwise.

void SetReadCallback(const std::function<void(const std::string&)> &cb)#

Set callback function for incoming data.

Registers a callback function that will be called whenever data is received from the serial device.

Parameters:: cb – Callback function that receives incoming data as a string.

void Wait() const#

Wait for the serial stream to complete.

Blocks until the serial stream is closed or an error occurs.

bool WaitFor(int timeout_ms) const#

Wait for the serial stream to complete with timeout.

Parameters:: timeout_ms – Timeout in milliseconds.
Returns:: True if stream completed normally, false if timeout occurred.

bool Write(const char *data)#

Write null-terminated string data to the serial port.

Parameters:: data – Null-terminated string data to write.
Returns:: True if write was successful, false otherwise.

bool Write(const char *data, int n)#

Write binary data to the serial port.

Parameters:

data – Pointer to data buffer.
n – Number of bytes to write.

Returns:

True if write was successful, false otherwise.

bool Write(const std::string &data)#

Write string data to the serial port.

Parameters:: data – String data to write.
Returns:: True if write was successful, false otherwise.

bool WriteByte(char ch)#

Write a single byte to the serial port.

Parameters:: ch – Byte to write.
Returns:: True if write was successful, false otherwise.

Related Types

Examples

module_test/* examples are the closest reference points when the workflow involves direct peripheral communication.