error message transmission now happens via uarthandler

UartHandler.cpp

@@ -14,7 +14,7 @@ UartHandler::~UartHandler()
     }
 }
 
-UartHandler &UartHandler::getInstance()
+UartHandler &UartHandler::getInstance() noexcept
 {
     static UartHandler instance;
     return instance;
@@ -46,8 +46,13 @@ bool UartHandler::isOpen() const noexcept
     return (bool)Serial;
 }
 
-void UartHandler::poll()
+void UartHandler::poll() noexcept
 {
+    if (!isOpen()) {
+        StateMachine::getInstance().raiseError("Serial closed!");
+        return;
+    }
+
     size_t bytesAvail = Serial.available();
     if (bytesAvail) {
         // Consume at max one byte at a time to give consumers a chance to consume packets
@@ -67,7 +72,7 @@ void UartHandler::poll()
     }
 }
 
-void UartHandler::pushPacket()
+void UartHandler::pushPacket() noexcept
 {
     memset(packetRingBuf + packetRingBufWritePos * PACKET_SIZE, 0x00, PACKET_SIZE);
     memcpy(packetRingBuf + packetRingBufWritePos * PACKET_SIZE, inBuf, inBufPos);
@@ -80,7 +85,7 @@ void UartHandler::pushPacket()
     }
 }
 
-bool UartHandler::getNextPacket(char* dest)
+bool UartHandler::getNextPacket(char* dest) noexcept
 {
     if (!numPacketsAvailable) {
         return false;
@@ -92,8 +97,27 @@ bool UartHandler::getNextPacket(char* dest)
     return true;
 }
 
+size_t UartHandler::send(const char *buf, size_t nbytes)
+{
+    if (!isOpen()) {
+        StateMachine::getInstance().raiseError("Serial closed!");
+        return;
+    }
 
-uint8_t UartHandler::getNumAvailablePackets() const
+    return Serial.write(buf, nbytes);
+}
+
+size_t UartHandler::send(const String& str)
+{
+    if (!isOpen()) {
+        StateMachine::getInstance().raiseError("Serial closed!");
+        return;
+    }
+
+    return Serial.write(str.c_str(), str.length());
+}
+
+uint8_t UartHandler::getNumAvailablePackets() const noexcept
 {
     return numPacketsAvailable;
 }