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00018 #ifndef HAND_BRIDGE_HARDWARE_H_
00019 #define HAND_BRIDGE_HARDWARE_H_
00020
00021 #include <boost/chrono.hpp>
00022 #include "serial_port.h"
00023
00024 class HandBridgeHardware {
00025 boost::chrono::steady_clock::time_point start;
00026 SerialPort serial;
00027
00028 public:
00029 void init(char * param)
00030 {
00031 if(!serial.init(param)) exit(1);
00032 }
00033 unsigned long time()
00034 {
00035 return boost::chrono::duration_cast<boost::chrono::milliseconds>(boost::chrono::steady_clock::now() - start).count();
00036 }
00037 int read(){
00038 return serial.readByte();
00039 }
00040 void write(uint8_t* data, int length)
00041 {
00042 serial.write(data, length);
00043 }
00044 };
00045
00046 #endif // HAND_BRIDGE_HARDWARE_H_