compAIR/libcreate
compAIR/libcreate
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catch boost exceptions in Serial.h

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This commit is contained in:
Swapnil Patel 2022-06-27 22:38:18 -04:00 • committed by Jacob Perron
parent c694bd30d3
commit de253b6e81
2 changed files with 50 additions and 16 deletions
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2
include/create/serial.h
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@ -71,6 +71,8 @@ namespace create {
// Start and stop reading data from Create // Start and stop reading data from Create
bool startReading(); bool startReading();
void stopReading(); void stopReading();
bool openPort(const std::string& portName, const int& baud);
bool closePort();
protected: protected:
std::shared_ptr<Data> data; std::shared_ptr<Data> data;

64
src/serial.cpp
View file

@ -40,26 +40,26 @@ namespace create {
bool Serial::connect(const std::string& portName, const int& baud, std::function<void()> cb) { bool Serial::connect(const std::string& portName, const int& baud, std::function<void()> cb) {
using namespace boost::asio; using namespace boost::asio;
port.open(portName); if (!openPort(portName, baud)) {
port.set_option(serial_port::baud_rate(baud)); return false;
port.set_option(serial_port::character_size(8)); }
port.set_option(serial_port::parity(serial_port::parity::none));
port.set_option(serial_port::stop_bits(serial_port::stop_bits::one));
port.set_option(serial_port::flow_control(serial_port::flow_control::none));
signals.async_wait(std::bind(&Serial::signalHandler, this, std::placeholders::_1, std::placeholders::_2)); signals.async_wait(std::bind(&Serial::signalHandler, this, std::placeholders::_1, std::placeholders::_2));
usleep(1000000); usleep(1000000);
if (port.is_open()) { if (!port.is_open()) {
callback = cb; return false;
bool startReadSuccess = startReading();
if (!startReadSuccess) {
port.close();
}
return startReadSuccess;
} }
return false;
callback = cb;
bool startReadSuccess = startReading();
if (!startReadSuccess) {
closePort();
return false;
}
return true;
} }
void Serial::disconnect() { void Serial::disconnect() {
@ -76,6 +76,33 @@ namespace create {
} }
} }
bool Serial::openPort(const std::string& portName, const int& baud) {
using namespace boost::asio;
try {
port.open(portName);
port.set_option(serial_port::baud_rate(baud));
port.set_option(serial_port::character_size(8));
port.set_option(serial_port::parity(serial_port::parity::none));
port.set_option(serial_port::stop_bits(serial_port::stop_bits::one));
port.set_option(serial_port::flow_control(serial_port::flow_control::none));
} catch (const boost::system::system_error& /*e*/) {
CERR("[create::Serial] ", "failed to open port: " << portName);
return false;
}
return true;
}
bool Serial::closePort() {
using namespace boost::asio;
try {
port.close();
} catch (const boost::system::system_error& /*e*/) {
CERR("[create::Serial] ", "failed to close port");
return false;
}
return true;
}
bool Serial::startReading() { bool Serial::startReading() {
if (!connected()) return false; if (!connected()) return false;
@ -186,8 +213,13 @@ namespace create {
CERR("[create::Serial] ", "send failed, not connected."); CERR("[create::Serial] ", "send failed, not connected.");
return false; return false;
} }
// TODO: catch boost exceptions
boost::asio::write(port, boost::asio::buffer(bytes, numBytes)); try {
boost::asio::write(port, boost::asio::buffer(bytes, numBytes));
} catch (const boost::system::system_error & e) {
CERR("[create::Serial] ", "failed to write bytes to port");
return false;
}
return true; return true;
} }