SerialPort.h

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#pragma once
 
#include "pch.h"
 
#include <boost/asio/io_service.hpp>
#include <boost/asio/read.hpp>
#include <boost/asio/serial_port.hpp>
#include <boost/asio/write.hpp>
#include <boost/bind/bind.hpp>
 
std::unique_ptr<boost::asio::serial_port>
initializeSerialPort(std::string serialPort, unsigned int baud,
                     boost::asio::io_service &io) {
    try {
        spdlog::info("Intializing serial communication");
        auto port = std::make_unique<boost::asio::serial_port>(io);
        port->open(serialPort);
        port->set_option(boost::asio::serial_port_base::baud_rate(baud));
        spdlog::info("Serial communication intialized");
        return port;
    } catch (const std::exception &e) {
        throw std::runtime_error("Fatal error opening serial port: \"" +
                                 std::string(e.what()) +
                                 "\" Does the port exist?");
    }
}
 
static void asyncHandler(const boost::system::error_code &error,
                         std::size_t bytes_transferred, int *res) {
    if (error) {
        spdlog::error("Error in serial port async handler: {}", error.what());
        *res = -1;
    }
    *res += static_cast<int>(bytes_transferred);
};
 
void testSerialPort(std::unique_ptr<boost::asio::serial_port> &serialPort,
                    boost::asio::io_service &io) {
    spdlog::info("Testing serial connection");
 
    // sending a nuetral signal
    unsigned char writeData[8] = {85, 0, 0, 128, 128, 128, 128, 8};
    unsigned char readData[1];
    auto writeLen = sizeof(writeData);
    auto readLen = sizeof(readData);
    int writeRes = 0;
    int readRes = 0;
    boost::asio::async_write(*serialPort,
                             boost::asio::buffer(writeData, writeLen),
                             boost::bind(&asyncHandler, boost::placeholders::_1,
                                         boost::placeholders::_2, &writeRes));
    boost::asio::async_read(*serialPort, boost::asio::buffer(readData, readLen),
                            boost::bind(&asyncHandler, boost::placeholders::_1,
                                        boost::placeholders::_2, &readRes));
 
    io.run_for(std::chrono::milliseconds(1000));
    serialPort->cancel();
    if (writeRes <= 0 || readRes <= 0) {
        throw std::runtime_error("Unable to establish serial connection.");
    }
    spdlog::info("Serial communication established");
}