From 90c3176f3e79e925662875c206e9e9ab5b3cf70b Mon Sep 17 00:00:00 2001
From: Dwatkins <dexter.a.watkins@vanderbilt.edu>
Date: Fri, 18 Aug 2017 09:21:57 -0500
Subject: [PATCH] updated cmakelists and added SendString function

---
 src/serial/CMakeLists.txt              |  7 +++++++
 src/serial/include/serial/SerialPort.h |  8 ++++----
 src/serial/package.xml                 |  1 +
 src/serial/src/serial/SerialPort.cpp   | 24 ++++++++++++------------
 4 files changed, 24 insertions(+), 16 deletions(-)

diff --git a/src/serial/CMakeLists.txt b/src/serial/CMakeLists.txt
index a63c086..80f47d1 100644
--- a/src/serial/CMakeLists.txt
+++ b/src/serial/CMakeLists.txt
@@ -1,6 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(serial)
 
+find_package(catkin REQUIRED COMPONENTS)
+
+catkin_package(
+	INCLUDE_DIRS include
+	LIBRARIES serial
+)
+
 ## Check C++11 / C++0x
 include(CheckCXXCompilerFlag)
 CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
diff --git a/src/serial/include/serial/SerialPort.h b/src/serial/include/serial/SerialPort.h
index 5b85241..663f5aa 100644
--- a/src/serial/include/serial/SerialPort.h
+++ b/src/serial/include/serial/SerialPort.h
@@ -5,14 +5,13 @@
 #include <termios.h>
 #include <fcntl.h>
 #include <unistd.h>
+#include <string>
 
 #include <boost/asio/serial_port.hpp> 
 #include <boost/asio.hpp>
 #include <boost/asio/deadline_timer.hpp> 
 #include <boost/bind.hpp>
  
-const int blockTimeMS = 10;
- 
 class SerialPort {
  private:
   boost::asio::io_service io;
@@ -20,13 +19,14 @@ class SerialPort {
  public:
     SerialPort();
   
-  int connect ();
-  int connect (char * device, int baud);
+  int connect (std::string device, int baud);
   void disconnect(void);
 
   int sendArray(unsigned char *buffer, int len);
+  int sendString(std::string msg);
   int getArray (unsigned char *buffer, int len);
 };
 
 
+
 #endif /* SERIALPORT_H_ */
diff --git a/src/serial/package.xml b/src/serial/package.xml
index 9a6c0b7..00d0703 100644
--- a/src/serial/package.xml
+++ b/src/serial/package.xml
@@ -9,6 +9,7 @@
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="emfinger@isis.vanderbilt.edu">William Emfinger</maintainer>
   <maintainer email="pkumar@isis.vanderbilt.edu">Pranav Srinivas Kumar</maintainer>
+  <maintainer email="dexter.a.watkins@vanderbilt.edu"> Dexter Watkins </maintainer>
 
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
diff --git a/src/serial/src/serial/SerialPort.cpp b/src/serial/src/serial/SerialPort.cpp
index d24cc23..12db12f 100644
--- a/src/serial/src/serial/SerialPort.cpp
+++ b/src/serial/src/serial/SerialPort.cpp
@@ -3,35 +3,34 @@
 
 #include "serial/SerialPort.h"
 
+
 SerialPort::SerialPort() {
   port = new boost::asio::serial_port(io);
 }
 
-int SerialPort::connect() {
-  port->open("/dev/ttyO5");
-  port->set_option(boost::asio::serial_port_base::baud_rate(9600));
-  return 1;
-}
 
-int SerialPort::connect(char *device, int baud) {
-  port->open(device);
+int SerialPort::connect(std::string device, int baud) {
+  port->open((char *) device.c_str());
   port->set_option(boost::asio::serial_port_base::baud_rate(baud));
   return 1;
 }
 
-void SerialPort::disconnect(void)
-{
+void SerialPort::disconnect(void){
   port->close();
 }
 
 int SerialPort::sendArray(unsigned char *buffer, int len) {
   int n = boost::asio::write( *port,
-			      boost::asio::buffer(buffer,len));
+                             boost::asio::buffer(buffer,len));
   return n;
 }
 
-int SerialPort::getArray (unsigned char *buffer, int len)
-{
+int SerialPort::sendString(std::string msg){
+  std::string tmp = msg + "\n";
+  SerialPort::sendArray((unsigned char *) tmp.c_str(), tmp.length()); 
+}
+
+int SerialPort::getArray (unsigned char *buffer, int len){
   char rcvChar;
   int i = 0;
   while ( i < len && boost::asio::read( *port, boost::asio::buffer(&rcvChar,1) ) == 1 )
@@ -39,3 +38,4 @@ int SerialPort::getArray (unsigned char *buffer, int len)
   return i;
 }
 
+