root / quad2 / arduino / src / ros_lib / ArduinoHardware.h @ c1426757
History | View | Annotate | Download (2.46 KB)
1 | c1426757 | Tom Mullins | /*
|
---|---|---|---|
2 | * Software License Agreement (BSD License)
|
||
3 | *
|
||
4 | * Copyright (c) 2011, Willow Garage, Inc.
|
||
5 | * All rights reserved.
|
||
6 | *
|
||
7 | * Redistribution and use in source and binary forms, with or without
|
||
8 | * modification, are permitted provided that the following conditions
|
||
9 | * are met:
|
||
10 | *
|
||
11 | * * Redistributions of source code must retain the above copyright
|
||
12 | * notice, this list of conditions and the following disclaimer.
|
||
13 | * * Redistributions in binary form must reproduce the above
|
||
14 | * copyright notice, this list of conditions and the following
|
||
15 | * disclaimer in the documentation and/or other materials provided
|
||
16 | * with the distribution.
|
||
17 | * * Neither the name of Willow Garage, Inc. nor the names of its
|
||
18 | * contributors may be used to endorse or promote prducts derived
|
||
19 | * from this software without specific prior written permission.
|
||
20 | *
|
||
21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||
22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||
23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||
24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||
25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||
26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||
27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||
28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||
29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||
30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||
31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||
32 | * POSSIBILITY OF SUCH DAMAGE.
|
||
33 | */
|
||
34 | |||
35 | #ifndef ROS_ARDUINO_HARDWARE_H_
|
||
36 | #define ROS_ARDUINO_HARDWARE_H_
|
||
37 | |||
38 | #include "WProgram.h" |
||
39 | #include <HardwareSerial.h> |
||
40 | |||
41 | class ArduinoHardware { |
||
42 | public:
|
||
43 | ArduinoHardware(HardwareSerial* io , long baud= 57600){ |
||
44 | iostream = io; |
||
45 | baud_ = baud; |
||
46 | } |
||
47 | ArduinoHardware() |
||
48 | { |
||
49 | iostream = &Serial; |
||
50 | baud_ = 57600;
|
||
51 | } |
||
52 | ArduinoHardware(ArduinoHardware& h){ |
||
53 | this->iostream = iostream; |
||
54 | this->baud_ = h.baud_; |
||
55 | } |
||
56 | |||
57 | void setBaud(long baud){ |
||
58 | this->baud_= baud; |
||
59 | } |
||
60 | |||
61 | int getBaud(){return baud_;} |
||
62 | |||
63 | void init(){
|
||
64 | iostream->begin(baud_); |
||
65 | } |
||
66 | |||
67 | int read(){return iostream->read();}; |
||
68 | void write(uint8_t* data, int length){ |
||
69 | for(int i=0; i<length; i++) |
||
70 | iostream->write(data[i]); |
||
71 | } |
||
72 | |||
73 | unsigned long time(){return millis();} |
||
74 | |||
75 | protected:
|
||
76 | HardwareSerial* iostream; |
||
77 | long baud_;
|
||
78 | }; |
||
79 | |||
80 | #endif |