void do_close(const boost::system::error_code& error)
{ // something has gone wrong, so close the socket & make this object inactive
if (error == boost::asio::error::operation_aborted) // if this call is the result of a timer cancel()
return; // ignore it because the connection cancelled the timer
if (error)
cerr << "Error: " << error.message() << endl; // show the error message
else
cout << "Error: Connection did not succeed.\n";
cout << "Press Enter to exit\n";
serialPort.close();
active_ = false;
}
/*
Attempts to close and reopen the serial port
Sleeps for one second before returning if an exception is caught
*/
void open()
{
try
{
p.close();
p.open(port);
p.set_option(boost::asio::serial_port::baud_rate(baudrate));
return;
}
catch (const std::exception &exc)
{
ROS_ERROR("DVL: error on open(port=%s): %s; reopening after delay", port.c_str(), exc.what());
boost::this_thread::sleep(boost::posix_time::seconds(1));
}
}
void abort()
{
p.close();
}