File content as of revision 0:77afd7560544:

/*
 * NodeOutput.h
 *
 *  Created on: Aug 5, 2011
 *      Author: astambler
 */

#ifndef NODEOUTPUT_H_
#define NODEOUTPUT_H_

/*
 * This class is responsible for controlling the node ouput.
 * It it is the object that is passed to Publishers and services
 */

#include "msg.h"

namespace ros {

class NodeOutput_ {
public:
    virtual int publish(short id, Msg* msg)=0;
};


template<class Hardware, int OUTSIZE =512>
class NodeOutput : public NodeOutput_ {

private:
    Hardware* hardware_;
    bool configured_;
    unsigned char message_out[OUTSIZE];

public:
    NodeOutput(Hardware* h) {
        hardware_ = h;
        configured_ = false;
    }

    NodeOutput() {};
    void setHardware(Hardware* h) {
        hardware_  = h;
        configured_=false;
    }

    void setConfigured(bool b) {
        configured_ =b;
    }
    bool configured() {
        return configured_;
    };

    virtual int  publish(short id, Msg * msg) {
        if (!configured_) return 0;

        //short test_id,test_off;
        /* serialize message */
        short l = msg->serialize(message_out+6);

        /* setup the header */
        message_out[0] = 0xff;
        message_out[1] = 0xff;
        message_out[2] = (unsigned char) id&255;
        message_out[3] = (unsigned char) id>>8;
        message_out[4] = (unsigned char) l&255;
        message_out[5] = ((unsigned char) l>>8);

        /* calculate checksum */
        short chk = 0;
        for (int i =2; i<l+6; i++)
            chk += message_out[i];
        message_out[6+l] = 255 - (chk%256);

        hardware_->write(message_out, 6+l+1);
        return 1;
    }
};
}
#endif /* NODEOUTPUT_H_ */