I'm looking at investing in a new router to replace the 3 devices I am currently using with 1 device.

Currently have:

Dynalink RTA1320 ADSL2+ Modem/Router
D-Link DI-704UP Router/USB Print Server
Belkin F5D7230-4 Wireless Router running in AP mode

I would like to replace all of this with a single device if possible. I may be pushing my luck here but below is what I would like. Any suggestions would be appreciated:

Must Haves:
ADSL2+ Modem
Wireless G Access Point (WPA encryption as a minimum, WPA2 perferable)
Very Good stability
USB Print Server
A price tag under $200.00

Ideally would have:
Good QOS for VoIP
Custom Firmware capable