MbedHardware.h

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/*
 * MbedHardware
 *
 *  Created on: Aug 17, 2011
 *      Author: nucho
 */
 
#ifndef ROS_MBED_HARDWARE_H_
#define ROS_MBED_HARDWARE_H_
 
#include "mbed.h"
 
#include "BufferedSerial.h"
 
class MbedHardware {
  public:
    MbedHardware(PinName tx, PinName rx, long baud = 57600)
      :iostream(tx, rx){
      baud_ = baud;
      t.start();
    }
 
    MbedHardware()
      :iostream(USBTX, USBRX) {
        baud_ = 57600;
        t.start();
    }
 
    void setBaud(long baud){
      this->baud_= baud;
    }
 
    int getBaud(){return baud_;}
 
    void init(){
        iostream.baud(baud_);
    }
 
    int read(){
        if (iostream.readable()) {
            return iostream.getc();
        } else {
            return -1;
        }
    };
    void write(uint8_t* data, int length) {
        for (int i=0; i<length; i++)
             iostream.putc(data[i]);
    }
 
    unsigned long time(){return t.read_ms();}
 
protected:
    BufferedSerial iostream;
    long baud_;
    Timer t;
};
 
 
#endif /* ROS_MBED_HARDWARE_H_ */