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yay! please don't look inside some of the code is terrible In all seriousness, I think a lot of the class stuff was overkill for what the code needed to do, but most of it doesn't cause a problem. The biggest issue is the (positive) feedback I posted on yours -- I did the serial stuff wrong, in my opinion, by trying to follow the spec rather than doing it the more pragmatic way (looking at the function code and parsing out the length manually). A series of leaky abstractions all the way from linux-rt up through visa and into the serial layer in that library led to a very hacky workaround on the serial side, and the workaround could have been avoided if I had been more pragmatic at the time. It does work, but its definitely less than ideal. The significant area where your version and this version differ is your attempt to make the object thread safe which...doesn't hurt, but I'm still not sold on. Maybe its just how I write applications, but I can't think of any situation where I'd want to share the port between loops. I thought I had a use not too long ago but since the port is multidrop anyway I just serialized everything.