BOOL WriteABuffer(char * lpBuf, DWORD dwToWrite)
{
   OVERLAPPED osWrite = {0};
   DWORD dwWritten;
   BOOL fRes;

   // Create this writes OVERLAPPED structure hEvent.
   osWrite.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
   if (osWrite.hEvent == NULL)
      // Error creating overlapped event handle.
      return FALSE;

   // Issue write.
   if (!WriteFile(outputPort, lpBuf, dwToWrite, &dwWritten, &osWrite)) {
      if (GetLastError() != ERROR_IO_PENDING) {
         // WriteFile failed, but it isn't delayed. Report error and abort.
         fRes = FALSE;
      }
      else {
         // Write is pending.
         if (!GetOverlappedResult(outputPort, &osWrite, &dwWritten, TRUE))
            fRes = FALSE;
         else
            // Write operation completed successfully.
            fRes = TRUE;
      }
   }
   else
      // WriteFile completed immediately.
      fRes = TRUE;

   CloseHandle(osWrite.hEvent);
   return fRes;
}

void WINAPI serialMonitor()
{
    char buffer[255]="128 131";
    DWORD test=7;
    bool con=false;
    printf("Serial Monitor initialized...\n");
    HANDLE output = CreateFile(outputPort,GENERIC_READ | GENERIC_WRITE,0,0,OPEN_EXISTING,FILE_FLAG_OVERLAPPED,0);
    if (output == INVALID_HANDLE_VALUE){
        con = false;
        printf("\t Connection to robot failed...\n");
    }
    else{
        con = true;
        printf("\t Connection to robot succesful...\n");
    }
    //Create Input Monitor if Serial initializes Correctlly
    if(con){
        inputThread = CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)inputMonitor, 0, 0, 0);
        Sleep(100);
    }
    //Transmission Loop
    if(WriteABuffer(buffer,test))
    {
        printf("Transmition complete...\n\n");
    }
    else
        printf("Transmition failed...\n\n");
    if(!con){
        WaitForSingleObject(inputThread,INFINITE);
        printf("Exiting...\n");
        return;
    }
    else
        printf("Input thread closed, serial communication must be complete...\n");
}