From 017f592eef52dcc602b9f592aad922fb2e3f625a Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@galois.com>
Date: Fri, 14 Sep 2012 10:58:19 -0700
Subject: [PATCH] AP_HAL: add ConsoleDriver interface

---
 libraries/AP_HAL/AP_HAL.h           |  1 +
 libraries/AP_HAL/AP_HAL_Namespace.h |  1 +
 libraries/AP_HAL/Console.h          | 16 ++++++++++++++++
 libraries/AP_HAL/HAL.h              |  5 +++--
 libraries/AP_HAL_AVR/AP_HAL_AVR.cpp |  6 ++++--
 5 files changed, 25 insertions(+), 4 deletions(-)
 create mode 100644 libraries/AP_HAL/Console.h

diff --git a/libraries/AP_HAL/AP_HAL.h b/libraries/AP_HAL/AP_HAL.h
index e3349ad09d..c9e9058809 100644
--- a/libraries/AP_HAL/AP_HAL.h
+++ b/libraries/AP_HAL/AP_HAL.h
@@ -11,6 +11,7 @@
 #include "AnalogIn.h"
 #include "Storage.h"
 #include "Dataflash.h"
+#include "Console.h"
 #include "GPIO.h"
 #include "RCInput.h"
 #include "RCOutput.h"
diff --git a/libraries/AP_HAL/AP_HAL_Namespace.h b/libraries/AP_HAL/AP_HAL_Namespace.h
index 2d2fdcbed8..1315e5b45c 100644
--- a/libraries/AP_HAL/AP_HAL_Namespace.h
+++ b/libraries/AP_HAL/AP_HAL_Namespace.h
@@ -17,6 +17,7 @@ namespace AP_HAL {
     class AnalogIn;
     class Storage;
     class Dataflash;
+    class ConsoleDriver;
     class GPIO;
     class RCInput;
     class RCOutput;
diff --git a/libraries/AP_HAL/Console.h b/libraries/AP_HAL/Console.h
new file mode 100644
index 0000000000..c0e7095cc5
--- /dev/null
+++ b/libraries/AP_HAL/Console.h
@@ -0,0 +1,16 @@
+
+#ifndef __AP_HAL_CONSOLE_DRIVER_H__
+#define __AP_HAL_CONSOLE_DRIVER_H__
+
+#include "AP_HAL_Namespace.h"
+
+class AP_HAL::ConsoleDriver : public AP_HAL::BetterStream {
+public:
+    virtual void init(void*implspecific) = 0;
+    virtual void backend_open() = 0;
+    virtual void backend_close() = 0;
+    virtual int backend_read(uint8_t *data, int len) = 0;
+    virtual int backend_write(const uint8_t *data, int len) = 0;
+};
+
+#endif // __AP_HAL_CONSOLE_DRIVER_H__
diff --git a/libraries/AP_HAL/HAL.h b/libraries/AP_HAL/HAL.h
index 2636e85752..e1756697c7 100644
--- a/libraries/AP_HAL/HAL.h
+++ b/libraries/AP_HAL/HAL.h
@@ -9,6 +9,7 @@
 #include "../AP_HAL/AnalogIn.h"
 #include "../AP_HAL/Storage.h"
 #include "../AP_HAL/Dataflash.h"
+#include "../AP_HAL/Console.h"
 #include "../AP_HAL/GPIO.h"
 #include "../AP_HAL/RCInput.h"
 #include "../AP_HAL/RCOutput.h"
@@ -24,7 +25,7 @@ public:
         AP_HAL::AnalogIn*   _analogin,
         AP_HAL::Storage*    _storage,
         AP_HAL::Dataflash*  _dataflash,
-        AP_HAL::BetterStream* _console,
+        AP_HAL::ConsoleDriver* _console,
         AP_HAL::GPIO*       _gpio,
         AP_HAL::RCInput*    _rcin,
         AP_HAL::RCOutput*   _rcout,
@@ -57,7 +58,7 @@ public:
     AP_HAL::AnalogIn*   analogin;
     AP_HAL::Storage*    storage;
     AP_HAL::Dataflash*  dataflash;
-    AP_HAL::BetterStream* console;
+    AP_HAL::ConsoleDriver* console;
     AP_HAL::GPIO*       gpio;
     AP_HAL::RCInput*    rcin;
     AP_HAL::RCOutput*   rcout;
diff --git a/libraries/AP_HAL_AVR/AP_HAL_AVR.cpp b/libraries/AP_HAL_AVR/AP_HAL_AVR.cpp
index 5234c78693..479bb07d44 100644
--- a/libraries/AP_HAL_AVR/AP_HAL_AVR.cpp
+++ b/libraries/AP_HAL_AVR/AP_HAL_AVR.cpp
@@ -10,6 +10,7 @@
 #include "AnalogIn.h"
 #include "Storage.h"
 #include "Dataflash.h"
+#include "Console.h"
 #include "GPIO.h"
 #include "RCInput.h"
 #include "RCOutput.h"
@@ -34,6 +35,7 @@ static APM2AnalogIn     apm2AnalogIn;
 static AVREEPROMStorage avrEEPROMStorage;
 static APM1Dataflash    apm1Dataflash;
 static APM2Dataflash    apm2Dataflash;
+static AVRConsoleDriver consoleDriver;
 static ArduinoGPIO      arduinoGPIO;
 static APM1RCInput      apm1RCInput;
 static APM2RCInput      apm2RCInput;
@@ -51,7 +53,7 @@ const HAL_AVR AP_HAL_AVR_APM1(
         &apm1AnalogIn,
         &avrEEPROMStorage,
         &apm1Dataflash,
-        (BetterStream*) &avrUart0Driver,
+        &consoleDriver,
         &arduinoGPIO,
         &apm1RCInput,
         &apm1RCOutput,
@@ -67,7 +69,7 @@ const HAL_AVR AP_HAL_AVR_APM2(
         &apm2AnalogIn,
         &avrEEPROMStorage,
         &apm2Dataflash,
-        (BetterStream *) &avrUart0Driver,
+        &consoleDriver,
         &arduinoGPIO,
         &apm2RCInput,
         &apm2RCOutput,