Diff: MbedHardware.h

Revision:

0:30537dec6e0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MbedHardware.h	Sun Feb 15 10:53:43 2015 +0000
@@ -0,0 +1,69 @@
+/*
+ * MbedHardware
+ *
+ *  Created on: Aug 17, 2011
+ *      Author: nucho
+ */
+
+#ifndef MBEDHARDWARE_H_
+#define MBEDHARDWARE_H_
+
+#include"mbed.h"
+#include"MODSERIAL.h"
+
+#ifndef ROSSERIAL_BAUDRATE
+#define ROSSERIAL_BAUDRATE 57600
+#endif
+
+
+class MbedHardware {
+public:
+    MbedHardware(MODSERIAL* io, int baud= ROSSERIAL_BAUDRATE):iostream(*io){
+        baud_ = baud;
+        t.start();
+    }
+    MbedHardware():iostream(USBTX, USBRX) {
+        baud_ = ROSSERIAL_BAUDRATE;
+        t.start();
+    }
+    MbedHardware(MbedHardware& h):iostream(h.iostream) {
+        this->baud_ = h.baud_;
+        
+        t.start();
+    }
+
+    void setBaud(int 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:
+    int baud_;
+    MODSERIAL iostream;
+    Timer t;
+};
+
+
+#endif /* MBEDHARDWARE_H_ */
\ No newline at end of file