.. _flange_serial_open:

flange_serial_open
------------------------------------------
This function opens the **flange serial transfer port** in the robot controller.

**Definition** |br|
``DRFLEx.h`` within class `CDRFLEx`, public section

.. code-block:: cpp

    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**

.. list-table::
   :widths: 20 20 20 40
   :header-rows: 1

   * - **Parameter Name**
     - **Data Type**
     - **Default Value**
     - **Description**
   * - nPort
     - int
     - -
     - **Serial port index** |br|
       1: X1, 2: X2 (X2 only on M/H models)
   * - baudrate
     - int
     - 115200
     - Baudrate setting for serial communication. |br|
       Supported values: 2400, 4800, 9600, 19200, 38400, 57600, 115200, etc.
   * - eByteSize
     - :ref:`BYTE_SIZE <enum_byte_size>`
     - BYTE_SIZE_EIGHTBITS
     - Data bit length
   * - eParity
     - :ref:`PARITY_CHECK <enum_parity_check>`
     - PARITY_CHECK_NONE
     - Parity configuration
   * - eStopBits
     - :ref:`STOP_BITS <enum_stop_bits>`
     - STOPBITS_ONE
     - Stop bit configuration

.. Note::
   On a rev2 flange, only nPort is used; baudrate, eByteSize, eParity and eStopBits are ignored. On a rev1 flange, nPort is ignored.

**Return**

.. list-table::
   :widths: 25 75
   :header-rows: 1

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

.. note::

   The flange board revision used by the flange serial and flange I/O functions is read at open_connection.

**Example**

.. code-block:: cpp

    char buf[] = "test123";
    Drfl.flange_serial_open(1, 115200);
    Drfl.flange_serial_write(7, buf, 1);

    LPFLANGE_SER_RXD_INFO_EX temp = Drfl.flange_serial_read(4.5, 1);
    printf("Serial read : %.*s\n", temp->_iSize, (const char*)temp->_cRxd);
    printf("Serial cnt  : %d\n", temp->_iSize);

    Drfl.flange_serial_close(1);

This example opens flange serial port 1 (X1) at **115200 baud**, sends a 7-byte test string, reads back the response, and closes the serial connection.