rosserial for Hydro
Fork of rosserial_mbed_lib by
ros/node_output.h@1:ff0ec969dad1, 2011-10-16 (annotated)
- Committer:
- nucho
- Date:
- Sun Oct 16 07:19:36 2011 +0000
- Revision:
- 1:ff0ec969dad1
- Parent:
- 0:77afd7560544
This program supported the revision of 143 of rosserial.
And the bug fix of receive of array data.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 0:77afd7560544 | 1 | /* |
nucho | 1:ff0ec969dad1 | 2 | * Software License Agreement (BSD License) |
nucho | 1:ff0ec969dad1 | 3 | * |
nucho | 1:ff0ec969dad1 | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
nucho | 1:ff0ec969dad1 | 5 | * All rights reserved. |
nucho | 1:ff0ec969dad1 | 6 | * |
nucho | 1:ff0ec969dad1 | 7 | * Redistribution and use in source and binary forms, with or without |
nucho | 1:ff0ec969dad1 | 8 | * modification, are permitted provided that the following conditions |
nucho | 1:ff0ec969dad1 | 9 | * are met: |
nucho | 0:77afd7560544 | 10 | * |
nucho | 1:ff0ec969dad1 | 11 | * * Redistributions of source code must retain the above copyright |
nucho | 1:ff0ec969dad1 | 12 | * notice, this list of conditions and the following disclaimer. |
nucho | 1:ff0ec969dad1 | 13 | * * Redistributions in binary form must reproduce the above |
nucho | 1:ff0ec969dad1 | 14 | * copyright notice, this list of conditions and the following |
nucho | 1:ff0ec969dad1 | 15 | * disclaimer in the documentation and/or other materials provided |
nucho | 1:ff0ec969dad1 | 16 | * with the distribution. |
nucho | 1:ff0ec969dad1 | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
nucho | 1:ff0ec969dad1 | 18 | * contributors may be used to endorse or promote prducts derived |
nucho | 1:ff0ec969dad1 | 19 | * from this software without specific prior written permission. |
nucho | 1:ff0ec969dad1 | 20 | * |
nucho | 1:ff0ec969dad1 | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
nucho | 1:ff0ec969dad1 | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
nucho | 1:ff0ec969dad1 | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
nucho | 1:ff0ec969dad1 | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
nucho | 1:ff0ec969dad1 | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
nucho | 1:ff0ec969dad1 | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
nucho | 1:ff0ec969dad1 | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
nucho | 1:ff0ec969dad1 | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
nucho | 1:ff0ec969dad1 | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
nucho | 1:ff0ec969dad1 | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
nucho | 1:ff0ec969dad1 | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
nucho | 1:ff0ec969dad1 | 32 | * POSSIBILITY OF SUCH DAMAGE. |
nucho | 0:77afd7560544 | 33 | */ |
nucho | 0:77afd7560544 | 34 | |
nucho | 1:ff0ec969dad1 | 35 | #ifndef ROS_NODEOUTPUT_H_ |
nucho | 1:ff0ec969dad1 | 36 | #define ROS_NODEOUTPUT_H_ |
nucho | 1:ff0ec969dad1 | 37 | |
nucho | 1:ff0ec969dad1 | 38 | #include "msg.h" |
nucho | 1:ff0ec969dad1 | 39 | |
nucho | 1:ff0ec969dad1 | 40 | #include "mbed.h" |
nucho | 1:ff0ec969dad1 | 41 | //static Serial debug(p9,p10); |
nucho | 1:ff0ec969dad1 | 42 | |
nucho | 1:ff0ec969dad1 | 43 | namespace ros { |
nucho | 0:77afd7560544 | 44 | |
nucho | 0:77afd7560544 | 45 | /* |
nucho | 0:77afd7560544 | 46 | * This class is responsible for controlling the node ouput. |
nucho | 0:77afd7560544 | 47 | * It it is the object that is passed to Publishers and services |
nucho | 0:77afd7560544 | 48 | */ |
nucho | 0:77afd7560544 | 49 | class NodeOutput_ { |
nucho | 0:77afd7560544 | 50 | public: |
nucho | 0:77afd7560544 | 51 | virtual int publish(short id, Msg* msg)=0; |
nucho | 0:77afd7560544 | 52 | }; |
nucho | 0:77afd7560544 | 53 | |
nucho | 0:77afd7560544 | 54 | template<class Hardware, int OUTSIZE =512> |
nucho | 0:77afd7560544 | 55 | class NodeOutput : public NodeOutput_ { |
nucho | 0:77afd7560544 | 56 | |
nucho | 0:77afd7560544 | 57 | private: |
nucho | 0:77afd7560544 | 58 | Hardware* hardware_; |
nucho | 0:77afd7560544 | 59 | bool configured_; |
nucho | 0:77afd7560544 | 60 | unsigned char message_out[OUTSIZE]; |
nucho | 0:77afd7560544 | 61 | |
nucho | 0:77afd7560544 | 62 | public: |
nucho | 0:77afd7560544 | 63 | NodeOutput(Hardware* h) { |
nucho | 0:77afd7560544 | 64 | hardware_ = h; |
nucho | 0:77afd7560544 | 65 | configured_ = false; |
nucho | 0:77afd7560544 | 66 | } |
nucho | 0:77afd7560544 | 67 | |
nucho | 0:77afd7560544 | 68 | NodeOutput() {}; |
nucho | 1:ff0ec969dad1 | 69 | |
nucho | 0:77afd7560544 | 70 | void setHardware(Hardware* h) { |
nucho | 0:77afd7560544 | 71 | hardware_ = h; |
nucho | 0:77afd7560544 | 72 | configured_=false; |
nucho | 0:77afd7560544 | 73 | } |
nucho | 0:77afd7560544 | 74 | |
nucho | 0:77afd7560544 | 75 | void setConfigured(bool b) { |
nucho | 0:77afd7560544 | 76 | configured_ =b; |
nucho | 0:77afd7560544 | 77 | } |
nucho | 0:77afd7560544 | 78 | bool configured() { |
nucho | 0:77afd7560544 | 79 | return configured_; |
nucho | 0:77afd7560544 | 80 | }; |
nucho | 0:77afd7560544 | 81 | |
nucho | 1:ff0ec969dad1 | 82 | virtual int publish(short id, Msg * msg) { |
nucho | 1:ff0ec969dad1 | 83 | wait_ms(1); |
nucho | 1:ff0ec969dad1 | 84 | if (!configured_)return 0; |
nucho | 0:77afd7560544 | 85 | |
nucho | 0:77afd7560544 | 86 | /* serialize message */ |
nucho | 0:77afd7560544 | 87 | short l = msg->serialize(message_out+6); |
nucho | 0:77afd7560544 | 88 | |
nucho | 0:77afd7560544 | 89 | /* setup the header */ |
nucho | 0:77afd7560544 | 90 | message_out[0] = 0xff; |
nucho | 0:77afd7560544 | 91 | message_out[1] = 0xff; |
nucho | 0:77afd7560544 | 92 | message_out[2] = (unsigned char) id&255; |
nucho | 0:77afd7560544 | 93 | message_out[3] = (unsigned char) id>>8; |
nucho | 0:77afd7560544 | 94 | message_out[4] = (unsigned char) l&255; |
nucho | 0:77afd7560544 | 95 | message_out[5] = ((unsigned char) l>>8); |
nucho | 0:77afd7560544 | 96 | |
nucho | 0:77afd7560544 | 97 | /* calculate checksum */ |
nucho | 0:77afd7560544 | 98 | short chk = 0; |
nucho | 0:77afd7560544 | 99 | for (int i =2; i<l+6; i++) |
nucho | 0:77afd7560544 | 100 | chk += message_out[i]; |
nucho | 1:ff0ec969dad1 | 101 | l += 6; |
nucho | 1:ff0ec969dad1 | 102 | message_out[l++] = 255 - (chk%256); |
nucho | 0:77afd7560544 | 103 | |
nucho | 1:ff0ec969dad1 | 104 | hardware_->write(message_out, l); |
nucho | 1:ff0ec969dad1 | 105 | return l; |
nucho | 0:77afd7560544 | 106 | } |
nucho | 0:77afd7560544 | 107 | }; |
nucho | 1:ff0ec969dad1 | 108 | |
nucho | 0:77afd7560544 | 109 | } |
nucho | 1:ff0ec969dad1 | 110 | |
nucho | 1:ff0ec969dad1 | 111 | #endif |