flange_serial_open

This is a function for opening the flange serial transfer port in the robot controller.

Definition
DRFLEx.h within class CDRFLEx, public section (line 876)

bool flange_serial_open(
    int nPort,
    int baudrate = 115200,
    BYTE_SIZE eByteSize = BYTE_SIZE_EIGHTBITS,
    PARITY_CHECK eParity = PARITY_CHECK_NONE,
    STOP_BITS eStopBits = STOPBITS_ONE)
{
    return _flange_serial_open(_rbtCtrl, nPort, baudrate, eByteSize, eParity, eStopBits);
};

Parameter

Parameter Name	Data Type	Default Value	Description
nPort	int		Serial port index 0: x1 1: x2
baudrate	int	115200	Baudrate setting for serial communication. Supported values: 2400, 4800, 9600, 19200, 38400, 57600, 115200, etc.
eByteSize	BYTE_SIZE	BYTE_SIZE_EIGHTBITS	Data bit length
eParity	PARITY_CHECK	PARITY_CHECK_NONE	Parity configuration
eStopBits	STOP_BITS	STOPBITS_ONE	Stop bit configuration

Return

Value	Description
0	Error: failed to open serial port.
1	Success: serial port successfully opened.

Example

Drfl.flange_serial_open(115200, 0);

Drfl.flange_serial_write(0, "test123");

LPFLANGE_SER_BD_PARAM temp = Drfl.flange_serial_read(4, 5);
cout << "Serial read S = " << temp->_pSnd << endl;
cout << "Serial read R = " << (int)temp->_iSize << endl;

Drfl.flange_serial_close(0);

This example opens the flange serial port (channel 0) at 115200 baud, sends a test string, reads back a response buffer, and closes the serial connection.