File content as of revision 0:4289fbe66d45:

// mbedserial.cpp
// serial communication : mbed <-> ROS

#include "mbedserial.h"

/* init */
void _nullfunc(){ ; };

Mbedserial::Mbedserial(Serial &pc) : rospc(pc)
{
    msg_buf = new char[256];
    bufsize = 0;
    endmsg = '\n';
    floatarraysize = 0;
    intarraysize = 0;
    chararraysize = 0;
    for(int i=0;i<3;i++){
        pfunccb[i] = _nullfunc;
    }
    rospc.attach(callback(this,&Mbedserial::rcv_callback),Serial::RxIrq);
}

/* receive */
void Mbedserial::rcv_callback()
{
    msg_buf[bufsize] = rospc.getc();
    if(msg_buf[bufsize] == endmsg){
        switch(msg_buf[0]){
            case 'f':
                floatarraysize = *(int *)(&msg_buf[1]);
                //memcpy(&floatarraysize,&msg_buf[1],4);
                if(bufsize == floatarraysize * 4 + 5){
                    for(int i=0;i<floatarraysize;i++){
                        getfloat[i] = *(float *)(&msg_buf[i*4+5]);
                        //memcpy(&getfloat[i],&msg_buf[i*4+5]);
                    }
                    pfunccb[0]();
                }
                break;
            case 'i':
                intarraysize = *(int *)(&msg_buf[1]);
                //memcpy(&intarraysize, &msg_buf[1], 4);
                if (bufsize == intarraysize * 4 + 5)
                {
                    for (int i = 0; i < intarraysize; i++)
                    {
                        getint[i] = *(int *)(&msg_buf[i * 4 + 5]);
                        //memcpy(&getint[i], &msg_buf[i * 4 + 5], 4);
                    }
                    pfunccb[1]();
                }
                break;
            case 'c':
                chararraysize = *(int *)(&msg_buf[1]);
                //memcpy(&chararraysize, &msg_buf[1], 4);
                if (bufsize == chararraysize + 5)
                {
                    memcpy(&getchar[0], &msg_buf[5], chararraysize);
                    pfunccb[2]();
                }
                break;
        }
        delete[] msg_buf;
        bufsize = 0;
        msg_buf = new char[256];
    }else{
        bufsize++;
    }
}

/* send */
int pub_wait_time = 8; //ms

void Mbedserial::float_write(float array[], int arraysize)
{
    // send data type
    char msg_type = 'f';
    rospc.putc(msg_type);

    // send array size
    char arraysize_c[4];
    *(int *)arraysize_c = arraysize;
    //memcpy(arraysize_c, &arraysize, 4);
    for (int i = 0; i < 4; i++)
    {
        rospc.putc(arraysize_c[i]);
    }

    // send float data
    char array_c[4];
    for (int i = 0; i < arraysize; i++)
    {
        *(float *)array_c = array[i];
        //memcpy(array_c, &array[i], 4);
        for (int j = 0; j < 4; j++)
        {
            rospc.putc(array_c[j]);
        }
    }

    // send end message
    rospc.putc(endmsg);
    //wait_ms(pub_wait_time);
}

void Mbedserial::int_write(int *array, int arraysize)
{
    // send data type
    char msg_type = 'i';
    rospc.putc(msg_type);

    // send array size
    char arraysize_c[4];
   
    *(int *)arraysize_c = arraysize;
    //memcpy(arraysize_c, &arraysize, 4);
    for (int i = 0; i < 4; i++)
    {
        rospc.putc(arraysize_c[i]);
    }

    // send int data
    char array_c[4];
    for (int i = 0; i < arraysize; i++)
    {
        *(int *)array_c = array[i];
        //memcpy(array_c, &array[i], 4);
        for (int j = 0; j < 4; j++)
        {
            rospc.putc(array_c[j]);
        }
    }

    // send end message
    rospc.putc(endmsg);
    //wait_ms(pub_wait_time);
}

void Mbedserial::char_write(char *array, int arraysize)
{
    // send data type
    char msg_type = 'c';
    rospc.putc(msg_type);

    // send array size
    char arraysize_c[4];
    *(int *)arraysize_c = arraysize;
    //memcpy(arraysize_c, &arraysize, 4);
    for (int i = 0; i < 4; i++)
    {
        rospc.putc(arraysize_c[i]);
    }

    // send char data
    for (int i = 0; i < arraysize; i++)
    {
        rospc.putc(array[i]);
    }

    // send end message
    rospc.putc(endmsg);
    //wait_ms(pub_wait_time);
}