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/* 
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 * Software License Agreement (BSD License)
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 *
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 * Copyright (c) 2011, Willow Garage, Inc.
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 * All rights reserved.
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 *
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 * Redistribution and use in source and binary forms, with or without
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 * modification, are permitted provided that the following conditions
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 * are met:
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 *
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 *  * Redistributions of source code must retain the above copyright
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 *    notice, this list of conditions and the following disclaimer.
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 *  * Redistributions in binary form must reproduce the above
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 *    copyright notice, this list of conditions and the following
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 *    disclaimer in the documentation and/or other materials provided
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 *    with the distribution.
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 *  * Neither the name of Willow Garage, Inc. nor the names of its
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 *    contributors may be used to endorse or promote prducts derived
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 *    from this software without specific prior written permission.
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 *
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 * POSSIBILITY OF SUCH DAMAGE.
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 */
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/*
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 *
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 * This is a modified version of ArduinoHardware.h to use Serial_ instead of
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 * HardwareSerial for the Leonardo
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 *
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 */
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#ifndef ROS_ARDUINO_HARDWARE_H_
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#define ROS_ARDUINO_HARDWARE_H_
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#include "WProgram.h"
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#include <HardwareSerial.h>
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class ArduinoHardware {
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  public:
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    ArduinoHardware(Serial_* io , long baud= 57600){
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      iostream = io;
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      baud_ = baud;
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    }
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    ArduinoHardware()
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    {
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      iostream = &Serial;
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      baud_ = 57600;
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    }
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    ArduinoHardware(ArduinoHardware& h){
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      this->iostream = iostream;
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      this->baud_ = h.baud_;
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    }
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    void setBaud(long baud){
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      this->baud_= baud;
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    }
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    int getBaud(){return baud_;}
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    void init(){
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      iostream->begin(baud_);
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    }
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    int read(){return iostream->read();};
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    void write(uint8_t* data, int length){
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      for(int i=0; i<length; i++)
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        iostream->write(data[i]);
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    }
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    unsigned long time(){return millis();}
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  protected:
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    Serial_* iostream;
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    long baud_;
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};
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#endif