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 #include "WProgram.h" 00039 #include <HardwareSerial.h> 00040 00041 class ArduinoHardware { 00042 public: 00043 ArduinoHardware(HardwareSerial* io , long baud= 57600){ 00044 iostream = io; 00045 baud_ = baud; 00046 } 00047 ArduinoHardware() 00048 { 00049 iostream = &Serial; 00050 baud_ = 57600; 00051 } 00052 ArduinoHardware(ArduinoHardware& h){ 00053 this->iostream = iostream; 00054 this->baud_ = h.baud_; 00055 } 00056 00057 void setBaud(long baud){ 00058 this->baud_= baud; 00059 } 00060 00061 int getBaud(){return baud_;} 00062 00063 void init(){ 00064 iostream->begin(baud_); 00065 } 00066 00067 int read(){return iostream->read();}; 00068 void write(uint8_t* data, int length){ 00069 for(int i=0; i<length; i++) 00070 iostream->write(data[i]); 00071 } 00072 00073 unsigned long time(){return millis();} 00074 00075 protected: 00076 HardwareSerial* iostream; 00077 long baud_; 00078 }; 00079 00080 #endif