ArduinoHardware.h

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#ifndef ROS_ARDUINO_HARDWARE_H_
#define ROS_ARDUINO_HARDWARE_H_

#if ARDUINO>=100
#include <Arduino.h> // Arduino 1.0
#else
#include <WProgram.h> // Arduino 0022
#endif
#include <HardwareSerial.h>

class ArduinoHardware {
  public:
    ArduinoHardware(HardwareSerial* io , long baud= 57600){
      iostream = io;
      baud_ = baud;
    }
    ArduinoHardware()
    {
      iostream = &Serial;
      baud_ = 57600;
    }
    ArduinoHardware(ArduinoHardware& h){
      this->iostream = iostream;
      this->baud_ = h.baud_;
    }
  
    void setBaud(long baud){
      this->baud_= baud;
    }
  
    int getBaud(){return baud_;}

    void init(){
      iostream->begin(baud_);
    }

    int read(){return iostream->read();};
    void write(uint8_t* data, int length){
      for(int i=0; i<length; i++)
        iostream->write(data[i]);
    }

    unsigned long time(){return millis();}

  protected:
    HardwareSerial* iostream;
    long baud_;
};

#endif