CortexHardware.h

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#ifndef _ROSSERIAL_VEX_CORTEX_CORTEX_HARDWARE_H_
#define _ROSSERIAL_VEX_CORTEX_CORTEX_HARDWARE_H_

#include "main.h"
#include "logger.h"

#define SERIAL_CLASS int

class CortexHardware {
  public:
    CortexHardware() {}

    // any initialization code necessary to use the serial port
    // note: the serial port initialization for rosserial for VEX Cortex must be implemented in `src/init.cpp` 
    // see that file for more information. 
    void init() {}

    // read a byte from the serial port. -1 = failure
    int read() {
      if(fcount(stdin) != 0) {
        int c = vexrosreadchar();
        return c;
      }
      return -1;
    }

    // write data to the connection to ROS
    void write(uint8_t* data, int length) {
      for(int i = 0; i < length; i++) {
        vexroswritechar(data[i]);
      }
    }

    // returns milliseconds since start of program
    unsigned long time() {
      return millis();
    }
};

#endif