root / quad2 / arduino / src / ros_lib / ArduinoHardware-org.h @ c1426757
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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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#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(HardwareSerial* 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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HardwareSerial* iostream; |
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long baud_;
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}; |
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#endif
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