//
// Created by pengx on 2025/3/18.
//

#ifndef ROBOTIC_ARM_SERIAL_PORT_HPP
#define ROBOTIC_ARM_SERIAL_PORT_HPP

#include <boost/asio.hpp>

using boost::asio::serial_port_base;

class RoboticArmSerialPort {
public:
    explicit RoboticArmSerialPort(boost::asio::io_service &io_service, const std::string &port_name, int baud_rate);

    boost::asio::serial_port &get() { return port_; }

    void write(std::vector<uint8_t> command);

private:
    boost::asio::io_service &io_service_;
    boost::asio::serial_port port_;
    boost::asio::streambuf buffer_;

    void read_from_port();
};


#endif //ROBOTIC_ARM_SERIAL_PORT_HPP