text: // Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved.
  //
  // Licensed under the Apache License, Version 2.0 (the "License").
  // You may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  
  #pragma once
  
  #include <string>
  
  #include <boost/asio.hpp>
  
  using namespace boost;
  
  namespace robotiq {
  
  /** Reads serial messages with a dedicated timeout */
  class TimeoutReader {
   public:
    TimeoutReader(asio::serial_port& serial, std::size_t timeout_ms);
    bool read_char(char& c);
  
   private:
    void read_complete(const system::error_code& error, std::size_t bytes);
    void timeout(const system::error_code& error);
    asio::serial_port& m_serial;
    std::size_t m_timeout_ms;
    asio::deadline_timer m_timer;
    bool m_read_error;
  };
  
  }  // namespace robotiq
  