397 lines
13 KiB
C++
397 lines
13 KiB
C++
/** @file serial.h
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* @brief 串口通信
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*/
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#ifndef AUBO_SDK_SERIAL_INTERFACE_H
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#define AUBO_SDK_SERIAL_INTERFACE_H
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#include <vector>
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#include <memory>
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#include <aubo/type_def.h>
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#include <aubo/global_config.h>
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namespace arcs {
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namespace common_interface {
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class ARCS_ABI_EXPORT Serial
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{
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public:
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Serial();
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virtual ~Serial();
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/**
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* \chinese
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* 打开TCP/IP以太网通信串口
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*
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* @param device 设备名
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* @param baud 波特率
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* @param stop_bits 停止位
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* @param even 校验位
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* @param serial_name 串口名称
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* @return 返回值
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*
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* @par Python函数原型
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* serialOpen(self: pyaubo_sdk.Serial, arg0: str, arg1: int, arg2: float,
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* arg3: int, arg4: str) -> int
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*
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* @par Lua函数原型
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* serialOpen(device: string, baud: number, stop_bits: number, even: number,
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* serial_name: string) -> nil
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* \endchinese
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* \english
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* Open TCP/IP ethernet communication serial
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*
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* @param device
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* @param baud
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* @param stop_bits
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* @param even
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* @param serial_name
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* @return
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*
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* @par Python function prototype
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* serialOpen(self: pyaubo_sdk.Serial, arg0: str, arg1: int, arg2: float,
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* arg3: int, arg4: str) -> int
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*
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* @par Lua function prototype
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* serialOpen(device: string, baud: number, stop_bits: number, even: number,
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* serial_name: string) -> nil
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* \endenglish
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*/
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int serialOpen(const std::string &device, int baud, float stop_bits,
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int even, const std::string &serial_name = "serial_0");
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/**
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* \chinese
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* 关闭TCP/IP串口通信
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* 关闭与服务器的串口连接。
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*
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* @param serial_name 串口名称
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* @return 返回值
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*
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* @par Python函数原型
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* serialClose(self: pyaubo_sdk.Serial, arg0: str) -> int
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*
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* @par Lua函数原型
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* serialClose(serial_name: string) -> nil
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* \endchinese
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* \english
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* Close TCP/IP serial communication
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* Close down the serial connection to the server.
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*
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* @param serial_name
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* @return
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*
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* @par Python function prototype
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* serialClose(self: pyaubo_sdk.Serial, arg0: str) -> int
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*
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* @par Lua function prototype
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* serialClose(serial_name: string) -> nil
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* \endenglish
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*/
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int serialClose(const std::string &serial_name = "serial_0");
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/**
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* \chinese
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* 从串口读取指定数量的字节。字节为网络字节序。一次最多可读取30个值。
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*
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* @param variable 变量
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* @param serial_name 串口名称
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* @return 返回值
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*
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* @par Python函数原型
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* serialReadByte(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int
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*
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* @par Lua函数原型
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* serialReadByte(variable: string, serial_name: string) -> number
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* \endchinese
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* \english
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* Reads a number of bytes from the serial. Bytes are in network byte
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* order. A maximum of 30 values can be read in one command.
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*
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* @param variable
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* @param serial_name
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* @return
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*
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* @par Python function prototype
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* serialReadByte(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int
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*
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* @par Lua function prototype
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* serialReadByte(variable: string, serial_name: string) -> number
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* \endenglish
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*/
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int serialReadByte(const std::string &variable,
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const std::string &serial_name = "serial_0");
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/**
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* \chinese
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* 从串口读取指定数量的字节。字节为网络字节序。一次最多可读取30个值。
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* 返回读取到的数字列表（int列表，长度=number+1）。
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*
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* @param number 读取的字节数
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* @param variable 变量
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* @param serial_name 串口名称
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* @return 返回值
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*
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* @par Python函数原型
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* serialReadByteList(self: pyaubo_sdk.Serial, arg0: int, arg1: str, arg2: str) -> int
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*
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* @par Lua函数原型
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* serialReadByteList(number: number, variable: string, serial_name: string) -> number
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* \endchinese
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* \english
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* Reads a number of bytes from the serial. Bytes are in network byte
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* order. A maximum of 30 values can be read in one command.
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* A list of numbers read (list of ints, length=number+1)
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*
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* @param number Number of bytes to read
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* @param variable
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* @param serial_name Serial port name
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* @return Return value
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*
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* @par Python function prototype
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* serialReadByteList(self: pyaubo_sdk.Serial, arg0: int, arg1: str, arg2: str) -> int
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*
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* @par Lua function prototype
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* serialReadByteList(number: number, variable: string, serial_name: string) -> number
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* \endenglish
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*/
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int serialReadByteList(int number, const std::string &variable,
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const std::string &serial_name = "serial_0");
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/**
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* \chinese
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* 从串口读取所有数据，并将数据作为字符串返回。
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* 字节为网络字节序。
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*
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* 可选参数 "prefix" 和 "suffix" 用于指定从串口提取的内容。
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* "prefix" 指定提取子串（消息）的起始位置。直到 "prefix" 结束的数据会被忽略并从串口移除。
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* "suffix" 指定提取子串（消息）的结束位置。串口中 "suffix" 之后的剩余数据会被保留。
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* 例如，如果串口服务器发送字符串 "noise>hello<"，控制器可以通过设置 prefix=">" 和 suffix="<" 来接收 "hello"。
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* 通过使用 "prefix" 和 "suffix"，还可以一次向控制器发送多条字符串，因为 "suffix" 定义了消息的结束位置。
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* 例如发送 ">hello<>world<"
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*
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* @param variable 变量
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* @param serial_name 串口名称
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* @param prefix 前缀
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* @param suffix 后缀
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* @param interpret_escape 是否解释转义字符
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* @return 返回值
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*
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* @par Python函数原型
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* serialReadString(self: pyaubo_sdk.Serial, arg0: str, arg1: str, arg2: str, arg3: str, arg4: bool) -> int
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*
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* @par Lua函数原型
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* serialReadString(variable: string, serial_name: string, prefix: string, suffix: string, interpret_escape: boolean) -> number
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* \endchinese
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* \english
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* Reads all data from the serial and returns the data as a string.
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* Bytes are in network byte order.
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*
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* The optional parameters "prefix" and "suffix", can be used to express
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* what is extracted from the serial. The "prefix" specifies the start
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* of the substring (message) extracted from the serial. The data up to
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* the end of the "prefix" will be ignored and removed from the serial.
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* The "suffix" specifies the end of the substring (message) extracted
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* from the serial. Any remaining data on the serial, after the "suffix",
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* will be preserved. E.g. if the serial server sends a string
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* "noise>hello<", the controller can receive the "hello" by calling this
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* script function with the prefix=">" and suffix="<". By using the
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* "prefix" and "suffix" it is also possible send multiple string to the
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* controller at once, because the suffix defines where the message ends.
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* E.g. sending ">hello<>world<"
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*
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* @param variable
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* @param serial_name
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* @param prefix
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* @param suffix
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* @param interpret_escape
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* @return
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*
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* @par Python function prototype
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* serialReadString(self: pyaubo_sdk.Serial, arg0: str, arg1: str, arg2: str, arg3: str, arg4: bool) -> int
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*
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* @par Lua function prototype
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* serialReadString(variable: string, serial_name: string, prefix: string, suffix: string, interpret_escape: boolean) -> number
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* \endenglish
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*/
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int serialReadString(const std::string &variable,
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const std::string &serial_name = "serial_0",
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const std::string &prefix = "",
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const std::string &suffix = "",
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bool interpret_escape = false);
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/**
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* \chinese
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* 发送一个字节到服务器
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* 通过串口发送字节 <value>。不期望有响应。可用于发送特殊的ASCII字符；10为换行符，2为文本开始，3为文本结束。
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*
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* @param value 字节值
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* @param serial_name 串口名称
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* @return 返回值
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*
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* @par Python函数原型
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* serialSendByte(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int
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*
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* @par Lua函数原型
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* serialSendByte(value: string, serial_name: string) -> nil
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* \endchinese
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* \english
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* Sends a byte to the server
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* Sends the byte <value> through the serial. Expects no response. Can
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* be used to send special ASCII characters; 10 is newline, 2 is start of
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* text, 3 is end of text.
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*
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* @param value
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* @param serial_name
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* @return
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*
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* @par Python function prototype
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* serialSendByte(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int
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*
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* @par Lua function prototype
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* serialSendByte(value: string, serial_name: string) -> nil
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* \endenglish
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*/
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int serialSendByte(char value, const std::string &serial_name = "serial_0");
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/**
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* \chinese
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* 发送一个整数（int32_t）到服务器
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* 通过串口发送整数 <value>。以网络字节序发送。不期望有响应。
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*
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* @param value 整数值
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* @param serial_name 串口名称
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* @return 返回值
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*
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* @par Python函数原型
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* serialSendInt(self: pyaubo_sdk.Serial, arg0: int, arg1: str) -> int
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*
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* @par Lua函数原型
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* serialSendInt(value: number, serial_name: string) -> nil
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* \endchinese
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* \english
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* Sends an int (int32_t) to the server
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* Sends the int <value> through the serial. Send in network byte order.
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* Expects no response.
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*
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* @param value
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* @param serial_name
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* @return
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*
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* @par Python function prototype
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* serialSendInt(self: pyaubo_sdk.Serial, arg0: int, arg1: str) -> int
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*
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* @par Lua function prototype
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* serialSendInt(value: number, serial_name: string) -> nil
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* \endenglish
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*/
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int serialSendInt(int value, const std::string &serial_name = "serial_0");
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/**
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* \chinese
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* 发送带有换行符的字符串到服务器
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* 以ASCII编码通过串口发送字符串<str>，并在末尾添加换行符。不期望有响应。
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*
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* @param str 字符串
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* @param serial_name 串口名称
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* @return 返回值
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*
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* @par Python函数原型
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* serialSendLine(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int
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*
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* @par Lua函数原型
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* serialSendLine(str: string, serial_name: string) -> nil
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* \endchinese
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* \english
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* Sends a string with a newline character to the server
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* Sends the string <str> through the serial in ASCII coding, appending a newline at the end. Expects no response.
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*
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* @param str
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* @param serial_name
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* @return
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*
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* @par Python function prototype
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* serialSendLine(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int
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*
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* @par Lua function prototype
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* serialSendLine(str: string, serial_name: string) -> nil
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* \endenglish
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*/
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int serialSendLine(const std::string &str,
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const std::string &serial_name = "serial_0");
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/**
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* \chinese
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* 发送字符串到服务器
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* 以ASCII编码通过串口发送字符串<str>。不期望有响应。
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*
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* @param str 字符串
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* @param serial_name 串口名称
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* @return 返回值
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*
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* @par Python函数原型
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* serialSendString(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int
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*
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* @par Lua函数原型
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* serialSendString(str: string, serial_name: string) -> nil
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* \endchinese
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* \english
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* Sends a string to the server
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* Sends the string <str> through the serial in ASCII coding. Expects no
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* response.
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*
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* @param str
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* @param serial_name
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* @return
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*
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* @par Python function prototype
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* serialSendString(self: pyaubo_sdk.Serial, arg0: str, arg1: str) -> int
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*
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* @par Lua function prototype
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* serialSendString(str: string, serial_name: string) -> nil
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* \endenglish
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*/
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int serialSendString(const std::string &str,
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const std::string &serial_name = "serial_0");
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/**
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* \chinese
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*
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* @param is_check 是否校验
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* @param str 字符串数组
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* @param serial_name 串口名称
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* @return 返回值
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*
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* @par Python函数原型
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* serialSendAllString(self: pyaubo_sdk.Serial, arg0: bool, arg1: List[str], arg2: str) -> int
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*
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* @par Lua函数原型
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* serialSendAllString(is_check: boolean, str: table, serial_name: string) -> nil
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* \endchinese
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* \english
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*
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* @param is_check Whether to check
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* @param str Array of strings
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* @param serial_name Serial port name
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* @return Return value
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*
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* @par Python function prototype
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* serialSendAllString(self: pyaubo_sdk.Serial, arg0: bool, arg1: List[str], arg2: str) -> int
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*
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* @par Lua function prototype
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* serialSendAllString(is_check: boolean, str: table, serial_name: string) -> nil
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* \endenglish
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*/
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int serialSendAllString(bool is_check, const std::vector<char> &str,
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const std::string &serial_name = "serial_0");
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protected:
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void *d_;
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};
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using SerialPtr = std::shared_ptr<Serial>;
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} // namespace common_interface
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} // namespace arcs
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#endif
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