Improve arduino_serial_platform_read

Author: lukicdarkoo

examples/micro-ros_publisher/micro-ros_publisher.ino

@@ -24,8 +24,9 @@ rcl_timer_t timer;
 
 void error_loop(){
   while(1){
-    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
-    delay(100);
+    // digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+    delay(300);
+    SerialUSB.println("Error");
   }
 }
 
@@ -82,6 +83,5 @@ void setup() {
 }
 
 void loop() {
-  delay(100);
   RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
 }

examples/micro-ros_publisher/transport.cpp

@@ -44,17 +44,7 @@ extern "C"
     // Place here your reading bytes platform code
     // Return number of bytes read (max bytes: len)
     (void)errcode;
-    uint32_t start_time = micros() * 1000;
-    size_t readed = 0;
-
-    while ((readed < len) && ((micros() * 1000) - start_time) < (uint32_t)timeout)
-    {
-      if (SerialUSB.available())
-      {
-        buf[readed++] = SerialUSB.read();
-      }
-    }
-
-    return readed;
+    SerialUSB.setTimeout(timeout);
+    return SerialUSB.readBytes((char *)buf, len);
   }
 }