better error handling, mctor and cctor

MotionCore/OSerialBus.cpp

@@ -2,13 +2,14 @@
 #include <iostream>
 
 #ifdef WINDOWS
-OSerialBus::OSerialBus(const std::wstring& comPort, int baudRate):
+OSerialBus::OSerialBus(const std::wstring& comPort, int baudRate) noexcept:
 	comPort(comPort),
 	baudRate(baudRate)
 {
-	serialHandle = CreateFile(normalizePort(comPort).c_str(), GENERIC_WRITE, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
+	serialHandle = CreateFileW(normalizePort(comPort).c_str(), GENERIC_READ | GENERIC_WRITE, 0, 0, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, 0);
-	if (!serialHandle) {
+	if (serialHandle == INVALID_HANDLE_VALUE) {
-		std::wcerr << L"Unable to open serial port file " << normalizePort(comPort) << L"!" << std::endl;
+		DWORD err = GetLastError();
+		std::wcerr << L"Unable to open serial port file " << normalizePort(comPort) << L"! Error: " << (int)err << std::endl;
 		return;
 	}
 
@@ -16,14 +17,28 @@ OSerialBus::OSerialBus(const std::wstring& comPort, int baudRate):
 	serialParams.DCBlength = sizeof(serialParams);
 	
 	if (!GetCommState(serialHandle, &serialParams)) {
-		std::wcerr << L"Unable to get comm state of port " << normalizePort(comPort) << L"! Is the port busy?" << std::endl;
+		DWORD err = GetLastError();
+		std::wcerr << L"Unable to get comm state of port " << normalizePort(comPort) << L"! Is the port busy? Error: " << (int)err << std::endl;
+
 		return;
 	}
 
 	serialParams.BaudRate = baudRate;
+	serialParams.ByteSize = 8;
+	serialParams.Parity = NOPARITY;
+	serialParams.StopBits = ONESTOPBIT;
+	serialParams.fParity = FALSE;
+	serialParams.fBinary = TRUE;
+	serialParams.fOutxCtsFlow = FALSE;
+	serialParams.fOutxDsrFlow = FALSE;
+	serialParams.fOutX = FALSE;
+	serialParams.fInX = FALSE;
+	serialParams.fRtsControl = RTS_CONTROL_DISABLE;
+	serialParams.fDtrControl = DTR_CONTROL_DISABLE;
 
 	if (!SetCommState(serialHandle, &serialParams)) {
-		std::wcerr << L"Unable to set comm state of port " << normalizePort(comPort) << L"! Is the port busy?" << std::endl;
+		DWORD err = GetLastError();
+		std::wcerr << L"Unable to set comm state of port " << normalizePort(comPort) << L"! Is the port busy? Error: " << (int)err << std::endl;
 		return;
 	}
 
@@ -35,24 +50,38 @@ OSerialBus::OSerialBus(const std::wstring& comPort, int baudRate):
 	timeouts.WriteTotalTimeoutMultiplier = 10;
 
 	if (!SetCommTimeouts(serialHandle, &timeouts)) {
-		std::wcerr << L"Unable to set comm timeouts of port " << normalizePort(comPort) << L"! Is the port busy?" << std::endl;
+		DWORD err = GetLastError();
+		std::wcerr << L"Unable to set comm timeouts of port " << normalizePort(comPort) << L"! Is the port busy? Error: " << (int)err << std::endl;
 		return;
 	}
 
 	open = true;
 }
 
-bool OSerialBus::isOpen() const
+OSerialBus::OSerialBus(OSerialBus&& other) noexcept:
+	comPort(other.comPort),
+	baudRate(other.baudRate),
+	serialHandle(other.serialHandle),
+	open(other.open)
+{
+	other.serialHandle = INVALID_HANDLE_VALUE;
+	other.open = false;
+}
+
+bool OSerialBus::isOpen() const noexcept
 {
 	return open;
 }
 
-bool OSerialBus::close()
+bool OSerialBus::close() noexcept
 {
+	if (!isOpen()) {
+		return true;
+	}
 	return CloseHandle(serialHandle);
 }
 
-bool OSerialBus::send(const std::string& line)
+bool OSerialBus::send(const std::string& line) noexcept
 {
 	// Important: this relies on chartype of line being 1 byte long!
 	const char* data = line.data();
@@ -75,7 +104,7 @@ bool OSerialBus::send(const std::string& line)
 	return true;
 }
 
-bool OSerialBus::sendl(const std::string& line)
+bool OSerialBus::sendl(const std::string& line) noexcept
 {
 	if (!send(line)) {
 		return false;
@@ -83,17 +112,25 @@ bool OSerialBus::sendl(const std::string& line)
 	return send("\n");
 }
 
-int OSerialBus::getBaudRate() const
+int OSerialBus::getBaudRate() const noexcept
 {
 	return baudRate;
 }
 
-const std::wstring& OSerialBus::getComPort() const
+const std::wstring& OSerialBus::getComPort() const noexcept
 {
 	return comPort;
 }
 
-std::wstring OSerialBus::normalizePort(const std::wstring& port)
+OSerialBus& OSerialBus::operator<<(const std::string& in)
+{
+	if (!send(in)) {
+		throw std::runtime_error("Failed to write to COM port!");
+	}
+	return *this;
+}
+
+std::wstring OSerialBus::normalizePort(const std::wstring& port) noexcept
 {
 	// If port string already includes prefix, return as-is
 	if (port == L"\\\\.\\") {

MotionCore/OSerialBus.h

@@ -6,20 +6,26 @@ class OSerialBus
 {
 	#ifdef WINDOWS
 public:
-	OSerialBus(const std::wstring& comPort, int baudRate = 9600);
+	OSerialBus(const std::wstring& comPort, int baudRate = 9600) noexcept;
+	OSerialBus(const OSerialBus& other) = delete;
+	OSerialBus(OSerialBus&& other) noexcept;
+	OSerialBus& operator=(const OSerialBus& other) = delete;
 
-	bool isOpen() const;
+	bool isOpen() const noexcept;
-	bool close();
+	bool close() noexcept;
-	bool send(const std::string& line);
+	bool send(const std::string& line) noexcept;
-	bool sendl(const std::string& line);
+	bool sendl(const std::string& line) noexcept;
 
-	int getBaudRate() const;
+	int getBaudRate() const noexcept;
-	const std::wstring& getComPort() const;
+	const std::wstring& getComPort() const noexcept;
+
+	// Alias for send()
+	OSerialBus& operator<<(const std::string& in);
 
 private:
-	static std::wstring normalizePort(const std::wstring& port);
+	static std::wstring normalizePort(const std::wstring& port) noexcept;
 
-	const std::wstring& comPort;
+	const std::wstring comPort;
 	const int baudRate = 0;
 	HANDLE serialHandle;
 	bool open = false;

MotionCore/main.cpp

@@ -9,7 +9,12 @@ int main()
         std::cerr << "Serial bus is not open! Is the COM port busy?" << std::endl;
         return -1;
     }
-    bus.sendl("MA 1 120");
+    
+    if (!bus.send("MA 1 60\n")) {
+        std::cerr << "Could not send command!" << std::endl;
+        return -1;
+    }
+ 
     
     bus.close();