got motor running

UartHandler.cpp

@@ -2,8 +2,6 @@
 #include "OperationTimeout.hpp"
 #include "StateMachine.hpp"
 
-constexpr uint8_t PACKET_MAX_BYTES_READ_AT_ONCE = 4;
-
 UartHandler::UartHandler() noexcept
 {
 }
@@ -50,32 +48,22 @@ bool UartHandler::isOpen() const noexcept
 
 void UartHandler::poll()
 {
-    int bytesAvail = Serial.available();
+    size_t bytesAvail = Serial.available();
     if (bytesAvail) {
-        // Available bytes fit within remaining buffer
-        if (bytesAvail <= PACKET_SIZE - inBufPos) {
-            // Consume at max one byte at a time to give consumers a chance to consume packets
-            size_t bytesRead = Serial.readBytes(inBuf + inBufPos, min(PACKET_MAX_BYTES_READ_AT_ONCE, bytesAvail));
-            inBufPos += bytesRead;
+        // Consume at max one byte at a time to give consumers a chance to consume packets
+        // ALso this simplifies recognizing packet ends
+        size_t bytesRead = Serial.readBytes(inBuf + inBufPos, 1);
+        if (!bytesRead) {
+            StateMachine::getInstance().raiseError("Unable to read available byte!");
+            return;
         }
-        // Else, these bytes would overflow the buffer.
-        // Read as much as we can and go on. It may just be multiple packets queued.
-        else {
-            size_t bytesRead = Serial.readBytes(inBuf + inBufPos, min(PACKET_MAX_BYTES_READ_AT_ONCE, PACKET_SIZE - inBufPos));
-            inBufPos += bytesRead;
-        }
-        
-        // Is the last byte read 0x0A? Then push the packet
-        if (inBufPos > 0 && inBuf[inBufPos - 1] == TERMINATOR_BYTE) {
+        inBufPos++;
+
+        // Is our buffer full? Push it.
+        if (inBufPos == PACKET_SIZE) {
             pushPacket();
             inBufPos = 0;
         }
-
-        // Is the last byte NOT 0x0A and we are on the last possibly byte?
-        // Then something is wrong and we are declaring error.
-        if (inBufPos == PACKET_SIZE && inBuf[inBufPos - 1] != TERMINATOR_BYTE) {
-            StateMachine::getInstance().raiseError("UART packet did not contain the 0x0A endbyte! May it be too long?");
-        }
     }
 }