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);
    ~MotorSerial();
 
    int transmitCommand(MotorMessage command);
    int transmitCommands(const std::vector<MotorMessage>& commands);
 
    MotorMessage receiveCommand();
    int commandAvailable();
    void closePort();
    bool openPort();
 
    MotorSerial(MotorSerial const&) = delete;
    MotorSerial& operator=(MotorSerial const&) = delete;
 
private:
    serial::Serial motors;
 
    shared_queue<MotorMessage> output;
 
    boost::thread serial_thread;
 
    void appendOutput(MotorMessage command);
 
    int serial_errors;
    int error_threshold;
 
    // Thread that has manages serial reads
    void SerialThread();
 
    FRIEND_TEST(MotorSerialTests, serialClosedOnInterupt);
};
 
#endif