Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

MbedHardware.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 /*
akashvibhute 0:30537dec6e0b 2 * MbedHardware
akashvibhute 0:30537dec6e0b 3 *
akashvibhute 0:30537dec6e0b 4 * Created on: Aug 17, 2011
akashvibhute 0:30537dec6e0b 5 * Author: nucho
akashvibhute 0:30537dec6e0b 6 */
akashvibhute 0:30537dec6e0b 7
akashvibhute 0:30537dec6e0b 8 #ifndef MBEDHARDWARE_H_
akashvibhute 0:30537dec6e0b 9 #define MBEDHARDWARE_H_
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 #include"mbed.h"
akashvibhute 0:30537dec6e0b 12 #include"MODSERIAL.h"
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 #ifndef ROSSERIAL_BAUDRATE
akashvibhute 0:30537dec6e0b 15 #define ROSSERIAL_BAUDRATE 57600
akashvibhute 0:30537dec6e0b 16 #endif
akashvibhute 0:30537dec6e0b 17
akashvibhute 0:30537dec6e0b 18
akashvibhute 0:30537dec6e0b 19 class MbedHardware {
akashvibhute 0:30537dec6e0b 20 public:
akashvibhute 0:30537dec6e0b 21 MbedHardware(MODSERIAL* io, int baud= ROSSERIAL_BAUDRATE):iostream(*io){
akashvibhute 0:30537dec6e0b 22 baud_ = baud;
akashvibhute 0:30537dec6e0b 23 t.start();
akashvibhute 0:30537dec6e0b 24 }
akashvibhute 0:30537dec6e0b 25 MbedHardware():iostream(USBTX, USBRX) {
akashvibhute 0:30537dec6e0b 26 baud_ = ROSSERIAL_BAUDRATE;
akashvibhute 0:30537dec6e0b 27 t.start();
akashvibhute 0:30537dec6e0b 28 }
akashvibhute 0:30537dec6e0b 29 MbedHardware(MbedHardware& h):iostream(h.iostream) {
akashvibhute 0:30537dec6e0b 30 this->baud_ = h.baud_;
akashvibhute 0:30537dec6e0b 31
akashvibhute 0:30537dec6e0b 32 t.start();
akashvibhute 0:30537dec6e0b 33 }
akashvibhute 0:30537dec6e0b 34
akashvibhute 0:30537dec6e0b 35 void setBaud(int baud) {
akashvibhute 0:30537dec6e0b 36 this->baud_= baud;
akashvibhute 0:30537dec6e0b 37 }
akashvibhute 0:30537dec6e0b 38
akashvibhute 0:30537dec6e0b 39 int getBaud() {
akashvibhute 0:30537dec6e0b 40 return baud_;
akashvibhute 0:30537dec6e0b 41 }
akashvibhute 0:30537dec6e0b 42
akashvibhute 0:30537dec6e0b 43 void init() {
akashvibhute 0:30537dec6e0b 44 iostream.baud(baud_);
akashvibhute 0:30537dec6e0b 45 }
akashvibhute 0:30537dec6e0b 46
akashvibhute 0:30537dec6e0b 47 int read() {
akashvibhute 0:30537dec6e0b 48 if (iostream.readable()) {
akashvibhute 0:30537dec6e0b 49 return iostream.getc();
akashvibhute 0:30537dec6e0b 50 } else {
akashvibhute 0:30537dec6e0b 51 return -1;
akashvibhute 0:30537dec6e0b 52 }
akashvibhute 0:30537dec6e0b 53 };
akashvibhute 0:30537dec6e0b 54 void write(uint8_t* data, int length) {
akashvibhute 0:30537dec6e0b 55 for (int i=0; i<length; i++) iostream.putc(data[i]);
akashvibhute 0:30537dec6e0b 56 }
akashvibhute 0:30537dec6e0b 57
akashvibhute 0:30537dec6e0b 58 unsigned long time() {
akashvibhute 0:30537dec6e0b 59 return t.read_ms();
akashvibhute 0:30537dec6e0b 60 }
akashvibhute 0:30537dec6e0b 61
akashvibhute 0:30537dec6e0b 62 protected:
akashvibhute 0:30537dec6e0b 63 int baud_;
akashvibhute 0:30537dec6e0b 64 MODSERIAL iostream;
akashvibhute 0:30537dec6e0b 65 Timer t;
akashvibhute 0:30537dec6e0b 66 };
akashvibhute 0:30537dec6e0b 67
akashvibhute 0:30537dec6e0b 68
akashvibhute 0:30537dec6e0b 69 #endif /* MBEDHARDWARE_H_ */