motor_serial.h

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#ifndef MOTORSERIAL_H
#define MOTORSERIAL_H

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

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(std::vector<MotorMessage> commands);
                
                MotorMessage receiveCommand();
                int commandAvailable();

        private:
                serial::Serial* motors;
                
                std::string _port;
                uint32_t _baud_rate;

                // bool to check for input to avoid unnecessary locking                
                bool have_input;
                //locking mutex for the input queue
                boost::mutex input_mtx_;
                // queue for messages that are to be transmitted
                std::queue<MotorMessage> input; 
                
                // bool to check for output to avoid unnecessary locking                
                bool have_output;
                //locking mutex for the output queue
                boost::mutex output_mtx_;
                //queue for messages that have been received
                std::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();
};

#endif