/*
 * MbedHardware
 *
 *  Created on: Aug 17, 2011
 *      Author: nucho
 */

#ifndef ROS_MBED_HARDWARE_H_
#define ROS_MBED_HARDWARE_H_

#include "mbed.h"

#include "MODSERIAL.h"

#define ROSSERIAL_BAUDRATE 57600

class MbedHardware {
  public:
    MbedHardware(MODSERIAL* io , long 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(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:
    MODSERIAL iostream;
    long baud_;
    Timer t;
};


#endif /* ROS_MBED_HARDWARE_H_ */

/*
 * MbedHardware
 *
 *  Created on: Aug 17, 2011
 *      Author: nucho
 */

#ifndef ROS_MBED_HARDWARE_H_
#define ROS_MBED_HARDWARE_H_

#include "mbed.h"

#include "MODSERIAL.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:
    MODSERIAL iostream;
    long baud_;
    Timer t;
};


#endif /* ROS_MBED_HARDWARE_H_ */

Fix unnderlying issue with Stream class being private
Fix unnderlying issue with Stream class being private
