Catch Boost Exceptions + Address some warnings

include/create/serial.h

@@ -71,6 +71,8 @@ namespace create {
       // Start and stop reading data from Create
       bool startReading();
       void stopReading();
+      bool openPort(const std::string& portName, const int& baud);
+      bool closePort();
 
     protected:
       std::shared_ptr<Data> data;

include/create/serial_query.h

@@ -68,6 +68,7 @@ namespace create {
 
     public:
       SerialQuery(std::shared_ptr<Data> data, bool install_signal_handler = true);
+      virtual ~SerialQuery() = default;
   };
 }  // namespace create
 

include/create/serial_stream.h

@@ -73,6 +73,7 @@ namespace create {
         std::shared_ptr<Data> data,
         const uint8_t& header = create::util::STREAM_HEADER,
         bool install_signal_handler = true);
+      virtual ~SerialStream() = default;
 
   };
 }  // namespace create

src/create.cpp

@@ -160,10 +160,10 @@ namespace create {
       prevTicksRight = totalTicksRight;
 
       // Handle wrap around
-      if (fabs(ticksLeft) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
+      if (std::abs(ticksLeft) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
         ticksLeft = (ticksLeft % util::V_3_MAX_ENCODER_TICKS) + 1;
       }
-      if (fabs(ticksRight) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
+      if (std::abs(ticksRight) > 0.9 * util::V_3_MAX_ENCODER_TICKS) {
         ticksRight = (ticksRight % util::V_3_MAX_ENCODER_TICKS) + 1;
       }
 
@@ -373,7 +373,7 @@ namespace create {
         min > 59)
       return false;
 
-    uint8_t cmd[4] = { OC_DATE, day, hour, min };
+    uint8_t cmd[4] = { OC_DATE, static_cast<uint8_t>(day), hour, min };
     return serial->send(cmd, 4);
   }
 

src/serial.cpp

@@ -40,26 +40,26 @@ namespace create {
 
   bool Serial::connect(const std::string& portName, const int& baud, std::function<void()> cb) {
     using namespace boost::asio;
-    port.open(portName);
-    port.set_option(serial_port::baud_rate(baud));
-    port.set_option(serial_port::character_size(8));
-    port.set_option(serial_port::parity(serial_port::parity::none));
-    port.set_option(serial_port::stop_bits(serial_port::stop_bits::one));
-    port.set_option(serial_port::flow_control(serial_port::flow_control::none));
+    if (!openPort(portName, baud)) {
+      return false;
+    }
 
     signals.async_wait(std::bind(&Serial::signalHandler, this, std::placeholders::_1, std::placeholders::_2));
 
     usleep(1000000);
 
-    if (port.is_open()) {
-      callback = cb;
-      bool startReadSuccess = startReading();
-      if (!startReadSuccess) {
-        port.close();
-      }
-      return startReadSuccess;
+    if (!port.is_open()) {
+      return false;
+    }
+
+    callback = cb;
+    bool startReadSuccess = startReading();
+    if (!startReadSuccess) {
+      closePort();
+      return false;
     }
-    return false;
+
+    return true;
   }
 
   void Serial::disconnect() {
@@ -76,6 +76,33 @@ namespace create {
     }
   }
 
+  bool Serial::openPort(const std::string& portName, const int& baud) {
+    using namespace boost::asio;
+    try {
+      port.open(portName);
+      port.set_option(serial_port::baud_rate(baud));
+      port.set_option(serial_port::character_size(8));
+      port.set_option(serial_port::parity(serial_port::parity::none));
+      port.set_option(serial_port::stop_bits(serial_port::stop_bits::one));
+      port.set_option(serial_port::flow_control(serial_port::flow_control::none));
+    } catch (const boost::system::system_error& /*e*/) {
+      CERR("[create::Serial] ", "failed to open port: " << portName);
+      return false;
+    }
+    return true;
+  }
+
+  bool Serial::closePort() {
+    using namespace boost::asio;
+    try {
+      port.close();
+    } catch (const boost::system::system_error& /*e*/) {
+      CERR("[create::Serial] ", "failed to close port");
+      return false;
+    }
+    return true;
+  }
+
   bool Serial::startReading() {
     if (!connected()) return false;
 
@@ -186,8 +213,13 @@ namespace create {
       CERR("[create::Serial] ", "send failed, not connected.");
       return false;
     }
-    // TODO: catch boost exceptions
-    boost::asio::write(port, boost::asio::buffer(bytes, numBytes));
+
+    try {
+      boost::asio::write(port, boost::asio::buffer(bytes, numBytes));
+    } catch (const boost::system::system_error & e) {
+      CERR("[create::Serial] ", "failed to write bytes to port");
+      return false;
+    }
     return true;
   }