motor_serial.h

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#ifndef MOTORSERIAL_H
#define MOTORSERIAL_H

#include <ros/ros.h>
#include <serial/serial.h>
#include <ubiquity_motor/motor_message.h>
#include <ubiquity_motor/shared_queue.h>
#include <boost/thread.hpp>
#include <queue>

#include <gtest/gtest_prod.h>

class MotorSerial {
public:
    MotorSerial(const std::string& port = "/dev/ttyUSB0",
                uint32_t baud_rate = 9600, double loopRate = 100);
    ~MotorSerial();

    int transmitCommand(MotorMessage command);
    int transmitCommands(const std::vector<MotorMessage>& commands);

    MotorMessage receiveCommand();
    int commandAvailable();

    MotorSerial(const MotorSerial& other);       // non construction-copyable
    MotorSerial& operator=(const MotorSerial&);  // non copyable

private:
    serial::Serial motors;

    // queue for messages that are to be transmitted
    shared_queue<MotorMessage> input;

    shared_queue<MotorMessage> output;

    boost::thread serial_thread;
    ros::Rate serial_loop_rate;

    int inputAvailable();
    MotorMessage getInputCommand();
    void appendOutput(MotorMessage command);

    // Thread that has manages the serial port
    void SerialThread();

    FRIEND_TEST(MotorSerialTests, serialClosedOnInterupt);
};

#endif