PROJ515 - LED - ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
rosserial_arduino/Test.h@0:9e9b7db60fd5, 2016-12-31 (annotated)
- Committer:
- garyservin
- Date:
- Sat Dec 31 00:48:34 2016 +0000
- Revision:
- 0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_Test_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_Test_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | |
garyservin | 0:9e9b7db60fd5 | 8 | namespace rosserial_arduino |
garyservin | 0:9e9b7db60fd5 | 9 | { |
garyservin | 0:9e9b7db60fd5 | 10 | |
garyservin | 0:9e9b7db60fd5 | 11 | static const char TEST[] = "rosserial_arduino/Test"; |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class TestRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | typedef const char* _input_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _input_type input; |
garyservin | 0:9e9b7db60fd5 | 18 | |
garyservin | 0:9e9b7db60fd5 | 19 | TestRequest(): |
garyservin | 0:9e9b7db60fd5 | 20 | input("") |
garyservin | 0:9e9b7db60fd5 | 21 | { |
garyservin | 0:9e9b7db60fd5 | 22 | } |
garyservin | 0:9e9b7db60fd5 | 23 | |
garyservin | 0:9e9b7db60fd5 | 24 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 25 | { |
garyservin | 0:9e9b7db60fd5 | 26 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 27 | uint32_t length_input = strlen(this->input); |
garyservin | 0:9e9b7db60fd5 | 28 | varToArr(outbuffer + offset, length_input); |
garyservin | 0:9e9b7db60fd5 | 29 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 30 | memcpy(outbuffer + offset, this->input, length_input); |
garyservin | 0:9e9b7db60fd5 | 31 | offset += length_input; |
garyservin | 0:9e9b7db60fd5 | 32 | return offset; |
garyservin | 0:9e9b7db60fd5 | 33 | } |
garyservin | 0:9e9b7db60fd5 | 34 | |
garyservin | 0:9e9b7db60fd5 | 35 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 36 | { |
garyservin | 0:9e9b7db60fd5 | 37 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 38 | uint32_t length_input; |
garyservin | 0:9e9b7db60fd5 | 39 | arrToVar(length_input, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 40 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 41 | for(unsigned int k= offset; k< offset+length_input; ++k){ |
garyservin | 0:9e9b7db60fd5 | 42 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 43 | } |
garyservin | 0:9e9b7db60fd5 | 44 | inbuffer[offset+length_input-1]=0; |
garyservin | 0:9e9b7db60fd5 | 45 | this->input = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 46 | offset += length_input; |
garyservin | 0:9e9b7db60fd5 | 47 | return offset; |
garyservin | 0:9e9b7db60fd5 | 48 | } |
garyservin | 0:9e9b7db60fd5 | 49 | |
garyservin | 0:9e9b7db60fd5 | 50 | const char * getType(){ return TEST; }; |
garyservin | 0:9e9b7db60fd5 | 51 | const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; }; |
garyservin | 0:9e9b7db60fd5 | 52 | |
garyservin | 0:9e9b7db60fd5 | 53 | }; |
garyservin | 0:9e9b7db60fd5 | 54 | |
garyservin | 0:9e9b7db60fd5 | 55 | class TestResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 56 | { |
garyservin | 0:9e9b7db60fd5 | 57 | public: |
garyservin | 0:9e9b7db60fd5 | 58 | typedef const char* _output_type; |
garyservin | 0:9e9b7db60fd5 | 59 | _output_type output; |
garyservin | 0:9e9b7db60fd5 | 60 | |
garyservin | 0:9e9b7db60fd5 | 61 | TestResponse(): |
garyservin | 0:9e9b7db60fd5 | 62 | output("") |
garyservin | 0:9e9b7db60fd5 | 63 | { |
garyservin | 0:9e9b7db60fd5 | 64 | } |
garyservin | 0:9e9b7db60fd5 | 65 | |
garyservin | 0:9e9b7db60fd5 | 66 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 67 | { |
garyservin | 0:9e9b7db60fd5 | 68 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 69 | uint32_t length_output = strlen(this->output); |
garyservin | 0:9e9b7db60fd5 | 70 | varToArr(outbuffer + offset, length_output); |
garyservin | 0:9e9b7db60fd5 | 71 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 72 | memcpy(outbuffer + offset, this->output, length_output); |
garyservin | 0:9e9b7db60fd5 | 73 | offset += length_output; |
garyservin | 0:9e9b7db60fd5 | 74 | return offset; |
garyservin | 0:9e9b7db60fd5 | 75 | } |
garyservin | 0:9e9b7db60fd5 | 76 | |
garyservin | 0:9e9b7db60fd5 | 77 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 78 | { |
garyservin | 0:9e9b7db60fd5 | 79 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 80 | uint32_t length_output; |
garyservin | 0:9e9b7db60fd5 | 81 | arrToVar(length_output, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 82 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 83 | for(unsigned int k= offset; k< offset+length_output; ++k){ |
garyservin | 0:9e9b7db60fd5 | 84 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 85 | } |
garyservin | 0:9e9b7db60fd5 | 86 | inbuffer[offset+length_output-1]=0; |
garyservin | 0:9e9b7db60fd5 | 87 | this->output = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 88 | offset += length_output; |
garyservin | 0:9e9b7db60fd5 | 89 | return offset; |
garyservin | 0:9e9b7db60fd5 | 90 | } |
garyservin | 0:9e9b7db60fd5 | 91 | |
garyservin | 0:9e9b7db60fd5 | 92 | const char * getType(){ return TEST; }; |
garyservin | 0:9e9b7db60fd5 | 93 | const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; }; |
garyservin | 0:9e9b7db60fd5 | 94 | |
garyservin | 0:9e9b7db60fd5 | 95 | }; |
garyservin | 0:9e9b7db60fd5 | 96 | |
garyservin | 0:9e9b7db60fd5 | 97 | class Test { |
garyservin | 0:9e9b7db60fd5 | 98 | public: |
garyservin | 0:9e9b7db60fd5 | 99 | typedef TestRequest Request; |
garyservin | 0:9e9b7db60fd5 | 100 | typedef TestResponse Response; |
garyservin | 0:9e9b7db60fd5 | 101 | }; |
garyservin | 0:9e9b7db60fd5 | 102 | |
garyservin | 0:9e9b7db60fd5 | 103 | } |
garyservin | 0:9e9b7db60fd5 | 104 | #endif |