Generally it's best to never overrule the default in a serial column. If you sometimes need to provide id values manually, replace the standard DEFAULT clause nextval('sequence_name') of the serial column with a custom function that omits existing values.
Based on this dummy table:
CREATE TABLE test (test_id serial PRIMARY KEY, test text);
Function:
CREATE OR REPLACE FUNCTION f_test_test_id_seq(OUT nextfree bigint) AS
$func$
BEGIN
LOOP
SELECT INTO nextfree val
FROM nextval('test_test_id_seq'::regclass) val -- use actual name of sequence
WHERE NOT EXISTS (SELECT 1 FROM test WHERE test_id = val);
EXIT WHEN FOUND;
END LOOP;
END
$func$ LANGUAGE plpgsql;
Alter default:
ALTER TABLE test ALTER COLUMN test_id SET DEFAULT f_test_test_id_seq();
It's not strictly a serial any more, but serial is only a convenience feature anyway:
And if you build this on top of a serial column the SEQUENCE is automatically "owned" by the table column, which is probably a good thing.
This is a slightly faster variant of:
Table and sequence name are hard coded here. You could easily parametrize the sequence name (like in the linked answer) and even the table name - and test existence with a dynamic statement using EXECUTE. Would give you a generic function, but the call would be a bit more expensive.
CREATE OR REPLACE FUNCTION f_nextfree(_tbl regclass
, _col text
, _seq regclass
, OUT nextfree bigint) AS
$func$
BEGIN
LOOP
EXECUTE '
SELECT val FROM nextval($1) val WHERE NOT EXISTS (
SELECT 1 FROM ' || _tbl || ' WHERE ' || quote_ident(_col) || ' = val)'
INTO nextfree
USING _seq;
EXIT WHEN nextfree IS NOT NULL;
END LOOP;
END
$func$ LANGUAGE plpgsql;
ALTER TABLE test2 ALTER COLUMN test2_id
SET DEFAULT f_nextfree('test2', 'test2_id', 'test2_test2_id_seq');
SQL Fiddle.