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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote prducts derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#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
#if defined(__MK20DX128__) || defined(__MK20DX256__)
#if defined(USE_TEENSY_HW_SERIAL)
#define SERIAL_CLASS HardwareSerial // Teensy HW Serial
#else
#include <usb_serial.h> // Teensy 3.0 and 3.1
#define SERIAL_CLASS usb_serial_class
#endif
#elif defined(_SAM3XA_)
#include <UARTClass.h> // Arduino Due
#define SERIAL_CLASS UARTClass
#elif defined(USE_USBCON)
// Arduino Leonardo USB Serial Port
#define SERIAL_CLASS Serial_
#else
#include <HardwareSerial.h> // Arduino AVR
#define SERIAL_CLASS USBSerial // USBSerial / UARTClass (Bluetooth Device) on OpenCR
#endif
class ArduinoHardware {
public:
ArduinoHardware(SERIAL_CLASS* io , long baud= 57600){
iostream = io;
baud_ = baud;
}
ArduinoHardware()
{
#if defined(USBCON) and !(defined(USE_USBCON))
/* Leonardo support */
iostream = &Serial2;
#elif defined(USE_TEENSY_HW_SERIAL)
iostream = &Serial2;
#else
iostream = &Serial;
#endif
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(){
#if defined(USE_USBCON)
// Startup delay as a fail-safe to upload a new sketch
delay(3000);
#endif
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]);
#if 1
iostream->write(data, length);
#else
uint32_t t_time;
uint32_t tx_length;
t_time = millis();
while(1)
{
tx_length = iostream->write(data, length);
if(tx_length == length)
break;
if(millis()-t_time > 1000)
{
break;
}
}
#endif
}
unsigned long time(){return millis();}
protected:
SERIAL_CLASS* iostream;
long baud_;
};
#endif