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

Committer:
garyservin
Date:
2016-12-31
Revision:
0:9e9b7db60fd5

File content as of revision 0:9e9b7db60fd5:

#ifndef _ROS_SERVICE_Test_h
#define _ROS_SERVICE_Test_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "ros/msg.h"

namespace rosserial_arduino
{

static const char TEST[] = "rosserial_arduino/Test";

  class TestRequest : public ros::Msg
  {
    public:
      typedef const char* _input_type;
      _input_type input;

    TestRequest():
      input("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_input = strlen(this->input);
      varToArr(outbuffer + offset, length_input);
      offset += 4;
      memcpy(outbuffer + offset, this->input, length_input);
      offset += length_input;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_input;
      arrToVar(length_input, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_input; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_input-1]=0;
      this->input = (char *)(inbuffer + offset-1);
      offset += length_input;
     return offset;
    }

    const char * getType(){ return TEST; };
    const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };

  };

  class TestResponse : public ros::Msg
  {
    public:
      typedef const char* _output_type;
      _output_type output;

    TestResponse():
      output("")
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      uint32_t length_output = strlen(this->output);
      varToArr(outbuffer + offset, length_output);
      offset += 4;
      memcpy(outbuffer + offset, this->output, length_output);
      offset += length_output;
      return offset;
    }

    virtual int deserialize(unsigned char *inbuffer)
    {
      int offset = 0;
      uint32_t length_output;
      arrToVar(length_output, (inbuffer + offset));
      offset += 4;
      for(unsigned int k= offset; k< offset+length_output; ++k){
          inbuffer[k-1]=inbuffer[k];
      }
      inbuffer[offset+length_output-1]=0;
      this->output = (char *)(inbuffer + offset-1);
      offset += length_output;
     return offset;
    }

    const char * getType(){ return TEST; };
    const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };

  };

  class Test {
    public:
    typedef TestRequest Request;
    typedef TestResponse Response;
  };

}
#endif