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_H_ 00036 #define _ROS_H_ 00037 00038 #include "ros/node_handle.h" 00039 00040 #if defined(ESP8266) or defined(ROSSERIAL_ARDUINO_TCP) 00041 #include "ArduinoTcpHardware.h" 00042 #else 00043 #include "ArduinoHardware.h" 00044 #endif 00045 00046 namespace ros 00047 { 00048 #if defined(__AVR_ATmega8__) or defined(__AVR_ATmega168__) 00049 /* downsize our buffers */ 00050 typedef NodeHandle_<ArduinoHardware, 6, 6, 150, 150> NodeHandle; 00051 00052 #elif defined(__AVR_ATmega328P__) 00053 00054 typedef NodeHandle_<ArduinoHardware, 25, 25, 280, 280> NodeHandle; 00055 00056 #elif defined(SPARK) 00057 00058 typedef NodeHandle_<ArduinoHardware, 10, 10, 2048, 2048> NodeHandle; 00059 00060 #else 00061 00062 typedef NodeHandle_<ArduinoHardware> NodeHandle; // default 25, 25, 512, 512 00063 00064 #endif 00065 } 00066 00067 #endif