Quadrotor

/* 

 * Software License Agreement (BSD License)

 *

 * Copyright (c) 2011, Willow Garage, Inc.

 * All rights reserved.

 *

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions

 * are met:

 *

 *  * Redistributions of source code must retain the above copyright

 *    notice, this list of conditions and the following disclaimer.

 *  * Redistributions in binary form must reproduce the above

 *    copyright notice, this list of conditions and the following

 *    disclaimer in the documentation and/or other materials provided

 *    with the distribution.

 *  * Neither the name of Willow Garage, Inc. nor the names of its

 *    contributors may be used to endorse or promote prducts derived

 *    from this software without specific prior written permission.

 *

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,

 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

 * POSSIBILITY OF SUCH DAMAGE.

 */

#ifndef ROS_ARDUINO_HARDWARE_H_

#define ROS_ARDUINO_HARDWARE_H_

#include "WProgram.h"

#include <HardwareSerial.h>

class ArduinoHardware {

  public:

    ArduinoHardware(HardwareSerial* io , long baud= 57600){

      iostream = io;

      baud_ = baud;

    }

    ArduinoHardware()

    {

      iostream = &Serial;

      baud_ = 57600;

    }

    ArduinoHardware(ArduinoHardware& h){

      this->iostream = iostream;

      this->baud_ = h.baud_;

    }

    void setBaud(long baud){

      this->baud_= baud;

    }

    int getBaud(){return baud_;}

    void init(){

      iostream->begin(baud_);

    }

    int read(){return iostream->read();};

    void write(uint8_t* data, int length){

      for(int i=0; i<length; i++)

        iostream->write(data[i]);

    }

    unsigned long time(){return millis();}

  protected:

    HardwareSerial* iostream;

    long baud_;

};

#endif