AP_HAL: import utility Print, Stream, and BetterStream headers

libraries/AP_HAL/utility/BetterStream.h

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+//
+//      Copyright (c) 2010 Michael Smith. All rights reserved.
+//
+// This is free software; you can redistribute it and/or modify it under
+// the terms of the GNU Lesser General Public License as published by the
+// Free Software Foundation; either version 2.1 of the License, or (at
+// your option) any later version.
+//
+
+#ifndef __AP_HAL_UTILITY_BETTERSTREAM_H__
+#define __AP_HAL_UTILITY_BETTERSTREAM_H__
+
+
+class AP_HAL::BetterStream : public AP_HAL::Stream {
+public:
+    BetterStream(void) {}
+
+    // Stream extensions
+    void    print_P(const prog_char_t *);
+    void    println_P(const prog_char_t *);
+    void    printf(const char *, ...)
+                __attribute__ ((format(__printf__, 2, 3)));
+    void    _printf_P(const prog_char *, ...)
+                __attribute__ ((format(__printf__, 2, 3)));
+
+    virtual int txspace(void);
+
+#define printf_P(fmt, ...) _printf_P((const prog_char *)fmt, ## __VA_ARGS__)
+
+private:
+    void    _vprintf(unsigned char, const char *, va_list)
+                __attribute__ ((format(__printf__, 3, 0)));
+
+
+};
+
+#endif // __AP_HAL_UTILITY_BETTERSTREAM_H__
+

libraries/AP_HAL/utility/Print.h

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+/*
+  Print.h - Base class that provides print() and println()
+  Copyright (c) 2008 David A. Mellis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef __AP_HAL_UTILITY_PRINT_H__
+#define __AP_HAL_UTILITY_PRINT_H__
+
+#include <inttypes.h>
+#include <string.h>
+
+/**
+ * This is the Arduino (v1.0) Print class, with some changes:
+ * - Removed methods for class String or _FlashStringHelper
+ * - printFloat takes a float, not a double. (double === float on AVR, but
+ *   not on other platforms)
+ * - Integers use stdint names
+ */
+
+#define DEC 10
+#define HEX 16
+#define OCT 8
+#define BIN 2
+
+class AP_HAL::Print {
+  private:
+    size_t printNumber(unsigned long, uint8_t);
+    size_t printFloat(float, uint8_t);
+  public:
+    Print() {}
+
+    virtual size_t write(uint8_t) = 0;
+
+    size_t write(const char *str) { return write((const uint8_t *)str, strlen(str)); }
+    virtual size_t write(const uint8_t *buffer, size_t size);
+    
+    size_t print(const char[]);
+    size_t print(char);
+    size_t print(unsigned char, int = DEC);
+    size_t print(int, int = DEC);
+    size_t print(unsigned int, int = DEC);
+    size_t print(long, int = DEC);
+    size_t print(unsigned long, int = DEC);
+    size_t print(double, int = 2);
+
+    size_t println(const char[]);
+    size_t println(char);
+    size_t println(unsigned char, int = DEC);
+    size_t println(int, int = DEC);
+    size_t println(unsigned int, int = DEC);
+    size_t println(long, int = DEC);
+    size_t println(unsigned long, int = DEC);
+    size_t println(double, int = 2);
+    size_t println(void);
+
+};
+
+#endif // __AP_HAL_UTILITY_PRINT_H__
+

libraries/AP_HAL/utility/Stream.h

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+
+#ifndef __AP_HAL_UTILITY_STREAM_H__
+#define __AP_HAL_UTILITY_STREAM_H__
+
+#include "Print.h"
+
+/* A simple Stream library modeled after the bits we actually use
+ * from Arduino Stream */
+
+class AP_HAL::Stream : public AP_HAL::Print {
+public:
+    virtual int  available() = 0;
+    /* return value for read() and peek() :
+     * -1 if nothing available, uint8_t value otherwise. */
+    virtual int  read() = 0;
+    virtual int  peek() = 0;
+};
+
+#endif // __AP_HAL_UTILITY_STREAM_H__
+