serial.h

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#ifndef SERIAL_H
#define SERIAL_H

#include <sstream>

#include <termios.h>

#include <toposens_driver/command.h>

namespace toposens_driver
{
class Serial
{
public:
  Serial(std::string port);
  ~Serial();

  void getFrame(std::stringstream &data);

  void sendCmd(Command cmd, std::stringstream &data);

  bool waitForAcknowledgement(std::stringstream &buffer);

  bool isAcknowledgementFrame(std::string frame);

private:
  int _fd;                            
  std::string _port;                  
  const unsigned int kBaud = B576000; 
};

}  // namespace toposens_driver

#endif  // SERIAL_H