ChibiOSHardware.h

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#ifndef ROS_CHIBIOS_HARDWARE_H_
#define ROS_CHIBIOS_HARDWARE_H_
 
#include <hal.h>
 
class ChibiOSHardware {
public:
  void setPort(BaseChannel* io)
  {
    io_ = io;
  }
 
  BaseChannel* getPort()
  {
    return io_;
  }
 
  void init()
  {
  }
 
  int read()
  {
    return chnGetTimeout(io_, TIME_IMMEDIATE);
  }
 
  void write(uint8_t* data, int length)
  {
    chnWrite(io_, data, length);
  }
 
  unsigned long time()
  {
#if defined(OSAL_I2MS)
    return OSAL_I2MS(osalOsGetSystemTimeX());
#elif defined(TIME_I2MS)
    return TIME_I2MS(osalOsGetSystemTimeX());
#else
    return (osalOsGetSystemTimeX() * static_cast<systime_t>(1000)) / OSAL_ST_FREQUENCY;
#endif
  }
 
protected:
  BaseChannel* io_ = nullptr;
};
 
#endif