bool hormodular::SerialModularRobotInterface::checkConnection ( ) [private]

Checks that the modular robot is connected by checking the initial message from the robot.

{
    //-- Read welcome message to check if connected to the robot
    SerialPort::DataBuffer buffer;
    try {
        serialPort->Read( buffer, 13, 1500);
    }
    catch ( SerialPort::ReadTimeout e)
    {
        std::cout << "Timeout! Exiting..." << std::endl;
        return false;
    }

    //-- Check if connected
    std::string welcomeMessage = "[Debug] Ok!\r\n";
    bool diffFlag = false;

    for (int i = 0; i < (int) buffer.size(); i++)
    {
        if ( welcomeMessage[i] != buffer[i] )
            diffFlag = true;
    }

    return !diffFlag;
}