DriverComms(std::string port, int baudrate){ sp = new serial_port(io); //connect to port sp->open(port, ec); if(ec) { //Failure to connect ROS_ERROR_STREAM("Error connecting to expression board: " << ec.message()); sp->close(); delete sp; throw std::exception(); } //Set the baudrate sp->set_option(serial_port_base::baud_rate(baudrate)); }
~DriverComms() { //Disconnect from port sp->close(); delete sp; }