Diff: ros/node_output.h

Revision:

3:1cf99502f396

Parent:

2:bb6bb835fde4

Child:

4:684f39d0c346

--- a/ros/node_output.h	Sun Oct 16 09:35:11 2011 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,111 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2011, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- *  * Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *  * Redistributions in binary form must reproduce the above
- *    copyright notice, this list of conditions and the following
- *    disclaimer in the documentation and/or other materials provided
- *    with the distribution.
- *  * Neither the name of Willow Garage, Inc. nor the names of its
- *    contributors may be used to endorse or promote prducts derived
- *    from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef ROS_NODEOUTPUT_H_
-#define ROS_NODEOUTPUT_H_
-
-#include "msg.h"
-
-#include "mbed.h"
-//static Serial debug(p9,p10);
-
-namespace ros {
-
-/*
- * This class is responsible for controlling the node ouput.
- * It it is the object that is passed to Publishers and services
- */
-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) {
-        wait_ms(1);
-        if (!configured_)return 0;
-
-        /* 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];
-        l += 6;
-        message_out[l++] = 255 - (chk%256);
-
-        hardware_->write(message_out, l);
-        return l;
-    }
-};
-
-}
-
-#endif
\ No newline at end of file