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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote prducts derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00035 #ifndef ROS_ARDUINO_HARDWARE_H_ 00036 #define ROS_ARDUINO_HARDWARE_H_ 00037 00038 #if ARDUINO>=100 00039 #include <Arduino.h> // Arduino 1.0 00040 #else 00041 #include <Wprogram.h> // Arduino 0022 00042 #endif 00043 #include <HardwareSerial.h> 00044 00045 class ArduinoHardware { 00046 public: 00047 ArduinoHardware(HardwareSerial* io , long baud= 57600){ 00048 iostream = io; 00049 baud_ = baud; 00050 } 00051 ArduinoHardware() 00052 { 00053 iostream = &Serial; 00054 baud_ = 57600; 00055 } 00056 ArduinoHardware(ArduinoHardware& h){ 00057 this->iostream = iostream; 00058 this->baud_ = h.baud_; 00059 } 00060 00061 void setBaud(long baud){ 00062 this->baud_= baud; 00063 } 00064 00065 int getBaud(){return baud_;} 00066 00067 void init(){ 00068 iostream->begin(baud_); 00069 } 00070 00071 int read(){return iostream->read();}; 00072 void write(uint8_t* data, int length){ 00073 for(int i=0; i<length; i++) 00074 iostream->write(data[i]); 00075 } 00076 00077 unsigned long time(){return millis();} 00078 00079 protected: 00080 HardwareSerial* iostream; 00081 long baud_; 00082 }; 00083 00084 #endif