text: /* 
   * 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 HardwareSerial
  #endif
  
  class ArduinoHardware {
    public:
      ArduinoHardware(SERIAL_CLASS* io , long baud= 115200){
        iostream = io;
        baud_ = baud;
      }
      ArduinoHardware()
      {
  #if defined(USBCON) and !(defined(USE_USBCON))
        /* Leonardo support */
        iostream = &Serial1;
  #elif defined(USE_TEENSY_HW_SERIAL)
        iostream = &Serial1;
  #else
        iostream = &Serial;
  #endif
        baud_ = 115200;
      }
      ArduinoHardware(ArduinoHardware& h){
        this->iostream = iostream;
        this->baud_ = h.baud_;
      }
      
      ///////////////////////////////////
      ////////////////MINE!!!!!!!!!!!!!!!!
      void setSerial(SERIAL_CLASS* io , long baud= 115200){
          iostream = io;
          baud_ = baud;
      }
      /////////////////MINE!!!!!!!!!!!!!!
      /////////////////////////////////
      
      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]);
      }
  
      unsigned long time(){return millis();}
  
    protected:
      SERIAL_CLASS* iostream;
      long baud_;
  };
  
  #endif
  