serial

// C library headers
#include <stdio.h>
#include <string.h>

// Linux headers
#include <fcntl.h>   // Contains file controls like O_RDWR
#include <errno.h>   // Error integer and strerror() function
#include <termios.h> // Contains POSIX terminal control definitions
#include <unistd.h>  // write(), read(), close()

#include <iostream>


int serial(const char *port, uint8_t *dataToSend, int dataSize, uint8_t *responseData)
{
    // Open the serial port. Change device path as needed (currently set to an standard FTDI USB-UART cable type device)
    int serial_port = open(port, O_RDWR);

    // Create new termios struc, we call it 'tty' for convention
    struct termios tty;
    memset(&tty, 0, sizeof tty);

    // Read in existing settings, and handle any error
    if (tcgetattr(serial_port, &tty) != 0)
    {
        printf("Error %i from tcgetattr: %s\n", errno, strerror(errno));
    }

    tty.c_cflag |= PARENB;         // Clear parity bit, disabling parity (most common)
    tty.c_cflag &= ~CSTOPB;        // Clear stop field, only one stop bit used in communication (most common)
    tty.c_cflag |= CS8;            // 8 bits per byte (most common)
    tty.c_cflag &= ~CRTSCTS;       // Disable RTS/CTS hardware flow control (most common)
    tty.c_cflag |= CREAD | CLOCAL; // Turn on READ & ignore ctrl lines (CLOCAL = 1)

    tty.c_lflag &= ~ICANON;
    tty.c_lflag &= ~ECHO;                                                        // Disable echo
    tty.c_lflag &= ~ECHOE;                                                       // Disable erasure
    tty.c_lflag &= ~ECHONL;                                                      // Disable new-line echo
    tty.c_lflag &= ~ISIG;                                                        // Disable interpretation of INTR, QUIT and SUSP
    tty.c_iflag &= ~(IXON | IXOFF | IXANY);                                      // Turn off s/w flow ctrl
    tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL); // Disable any special handling of received bytes

    tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes (e.g. newline chars)
    tty.c_oflag &= ~ONLCR; // Prevent conversion of newline to carriage return/line feed
    // tty.c_oflag &= ~OXTABS; // Prevent conversion of tabs to spaces (NOT PRESENT ON LINUX)
    // tty.c_oflag &= ~ONOEOT; // Prevent removal of C-d chars (0x004) in output (NOT PRESENT ON LINUX)

    tty.c_cc[VTIME] = 10; // Wait for up to 1s (10 deciseconds), returning as soon as any data is received.
    tty.c_cc[VMIN] = 0;

    // Set in/out baud rate to be 115200
    cfsetispeed(&tty, B115200);
    cfsetospeed(&tty, B115200);

    // Save tty settings, also checking for error
    if (tcsetattr(serial_port, TCSANOW, &tty) != 0)
    {
        printf("Error %i from tcsetattr: %s\n", errno, strerror(errno));
    }

    write(serial_port, dataToSend, dataSize);

    uint8_t read_buf[1024];
    int readBytes = read(serial_port, &read_buf, sizeof(read_buf));

    for(int i = 0; i < readBytes; i++)
    {
        responseData[i] = read_buf[i];
    }
    memset(read_buf, 0, sizeof(read_buf));

    return readBytes;
    // close(serial_port);
}