Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

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?

UserRevisionLine numberNew 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