Diff: mbedserial.h

Revision:

0:4289fbe66d45

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbedserial.h	Sun Jun 21 01:48:47 2020 +0000
@@ -0,0 +1,44 @@
+// mbedserial.h
+// serial communication : mbed <-> ROS
+
+#ifndef _MBEDSERIAL_
+#define _MBEDSERIAL_
+
+#include <mbed.h>
+#include <stdio.h>
+#include <string.h>
+
+// mbedserial class
+class Mbedserial
+{
+    private:
+        char *msg_buf;
+        int bufsize;
+        char endmsg;
+        Serial& rospc;
+        void rcv_callback();
+        void (*pfunccb[3])();
+
+    public:
+        float getfloat[32];
+        int getint[32];
+        char getchar[256];
+        int floatarraysize;
+        int intarraysize;
+        int chararraysize;
+        Mbedserial(Serial&);
+        void float_write(float *array,int arraysize);
+        void int_write(int *array,int arraysize);
+        void char_write(char *array,int arraysize);
+        void float_attach(void (*pfunc)()){
+            pfunccb[0] = pfunc;
+        };
+        void int_attach(void (*pfunc)()){
+            pfunccb[1] = pfunc;
+        };
+        void char_attach(void (*pfunc)()){
+            pfunccb[2] = pfunc;
+        };
+};
+
+#endif
\ No newline at end of file