nucho / Mbed 2 deprecated rosserial_mbed

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.

Dependencies:   rosserial_mbed_lib mbed Servo

dianostic_msgs/SelfTest.h@0:06fc856e99ca, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:16 2011 +0000
Revision:
0:06fc856e99ca
Child:
3:dff241b66f84

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef ros_SERVICE_SelfTest_h





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#define ros_SERVICE_SelfTest_h





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#include <stdint.h>





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#include <string.h>





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#include <stdlib.h>





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#include "../ros/msg.h"





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#include "diagnostic_msgs/DiagnosticStatus.h"





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namespace diagnostic_msgs





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{





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static const char SELFTEST[] = "diagnostic_msgs/SelfTest";





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  class SelfTestRequest : public ros::Msg





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  {





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    public:





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    virtual int serialize(unsigned char *outbuffer)





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    {





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      int offset = 0;





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      return offset;





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    }





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    virtual int deserialize(unsigned char *inbuffer)





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    {





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      int offset = 0;





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     return offset;





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    }





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    const char * getType(){ return SELFTEST; };





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  };





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  class SelfTestResponse : public ros::Msg





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  {





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    public:





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      char * id;





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      unsigned char passed;





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      unsigned char status_length;





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      diagnostic_msgs::DiagnosticStatus st_status;





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      diagnostic_msgs::DiagnosticStatus * status;





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    virtual int serialize(unsigned char *outbuffer)





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    {





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      int offset = 0;





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      long * length_id = (long *)(outbuffer + offset);





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      *length_id = strlen( (const char*) this->id);





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      offset += 4;





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      memcpy(outbuffer + offset, this->id, *length_id);





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      offset += *length_id;





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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_passed;





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      u_passed.real = this->passed;





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      *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF;





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      offset += sizeof(this->passed);





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      *(outbuffer + offset++) = status_length;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      for( unsigned char i = 0; i < status_length; i++){





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      offset += this->status[i].serialize(outbuffer + offset);





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      }





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      return offset;





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    }





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    virtual int deserialize(unsigned char *inbuffer)





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    {





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      int offset = 0;





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      uint32_t length_id = *(uint32_t *)(inbuffer + offset);





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      offset += 4;





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      for(unsigned int k= offset; k< offset+length_id; ++k){





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          inbuffer[k-1]=inbuffer[k];





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           }





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      inbuffer[offset+length_id-1]=0;





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      this->id = (char *)(inbuffer + offset-1);





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      offset += length_id;





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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_passed;





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      u_passed.base = 0;





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      u_passed.base |= ((typeof(u_passed.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      this->passed = u_passed.real;





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      offset += sizeof(this->passed);





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      unsigned char status_lengthT = *(inbuffer + offset++);





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      if(status_lengthT > status_length)





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        this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));





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      offset += 3;





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      status_length = status_lengthT;





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      for( unsigned char i = 0; i < status_length; i++){





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      offset += this->st_status.deserialize(inbuffer + offset);





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        memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));





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      }





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     return offset;





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    }





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    virtual const char * getType(){ return SELFTEST; };





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  };





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}





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#endif