nucho
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
rosserial_arduino/Test.h@4:2cbca0ac2569, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:02:12 2012 +0000
- Revision:
- 4:2cbca0ac2569
- Parent:
- 3:dff241b66f84
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 3:dff241b66f84 | 1 | #ifndef _ROS_SERVICE_Test_h |
| nucho | 3:dff241b66f84 | 2 | #define _ROS_SERVICE_Test_h |
| nucho | 3:dff241b66f84 | 3 | #include <stdint.h> |
| nucho | 3:dff241b66f84 | 4 | #include <string.h> |
| nucho | 3:dff241b66f84 | 5 | #include <stdlib.h> |
| nucho | 3:dff241b66f84 | 6 | #include "ros/msg.h" |
| nucho | 3:dff241b66f84 | 7 | |
| nucho | 3:dff241b66f84 | 8 | namespace rosserial_arduino |
| nucho | 3:dff241b66f84 | 9 | { |
| nucho | 3:dff241b66f84 | 10 | |
| nucho | 3:dff241b66f84 | 11 | static const char TEST[] = "rosserial_arduino/Test"; |
| nucho | 3:dff241b66f84 | 12 | |
| nucho | 3:dff241b66f84 | 13 | class TestRequest : public ros::Msg |
| nucho | 3:dff241b66f84 | 14 | { |
| nucho | 3:dff241b66f84 | 15 | public: |
| nucho | 3:dff241b66f84 | 16 | char * input; |
| nucho | 3:dff241b66f84 | 17 | |
| nucho | 3:dff241b66f84 | 18 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 3:dff241b66f84 | 19 | { |
| nucho | 3:dff241b66f84 | 20 | int offset = 0; |
| nucho | 3:dff241b66f84 | 21 | uint32_t * length_input = (uint32_t *)(outbuffer + offset); |
| nucho | 3:dff241b66f84 | 22 | *length_input = strlen( (const char*) this->input); |
| nucho | 3:dff241b66f84 | 23 | offset += 4; |
| nucho | 3:dff241b66f84 | 24 | memcpy(outbuffer + offset, this->input, *length_input); |
| nucho | 3:dff241b66f84 | 25 | offset += *length_input; |
| nucho | 3:dff241b66f84 | 26 | return offset; |
| nucho | 3:dff241b66f84 | 27 | } |
| nucho | 3:dff241b66f84 | 28 | |
| nucho | 3:dff241b66f84 | 29 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 3:dff241b66f84 | 30 | { |
| nucho | 3:dff241b66f84 | 31 | int offset = 0; |
| nucho | 3:dff241b66f84 | 32 | uint32_t length_input = *(uint32_t *)(inbuffer + offset); |
| nucho | 3:dff241b66f84 | 33 | offset += 4; |
| nucho | 3:dff241b66f84 | 34 | for(unsigned int k= offset; k< offset+length_input; ++k){ |
| nucho | 3:dff241b66f84 | 35 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 3:dff241b66f84 | 36 | } |
| nucho | 3:dff241b66f84 | 37 | inbuffer[offset+length_input-1]=0; |
| nucho | 3:dff241b66f84 | 38 | this->input = (char *)(inbuffer + offset-1); |
| nucho | 3:dff241b66f84 | 39 | offset += length_input; |
| nucho | 3:dff241b66f84 | 40 | return offset; |
| nucho | 3:dff241b66f84 | 41 | } |
| nucho | 3:dff241b66f84 | 42 | |
| nucho | 3:dff241b66f84 | 43 | virtual const char * getType(){ return TEST; }; |
| nucho | 3:dff241b66f84 | 44 | virtual const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; }; |
| nucho | 3:dff241b66f84 | 45 | |
| nucho | 3:dff241b66f84 | 46 | }; |
| nucho | 3:dff241b66f84 | 47 | |
| nucho | 3:dff241b66f84 | 48 | class TestResponse : public ros::Msg |
| nucho | 3:dff241b66f84 | 49 | { |
| nucho | 3:dff241b66f84 | 50 | public: |
| nucho | 3:dff241b66f84 | 51 | char * output; |
| nucho | 3:dff241b66f84 | 52 | |
| nucho | 3:dff241b66f84 | 53 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 3:dff241b66f84 | 54 | { |
| nucho | 3:dff241b66f84 | 55 | int offset = 0; |
| nucho | 3:dff241b66f84 | 56 | uint32_t * length_output = (uint32_t *)(outbuffer + offset); |
| nucho | 3:dff241b66f84 | 57 | *length_output = strlen( (const char*) this->output); |
| nucho | 3:dff241b66f84 | 58 | offset += 4; |
| nucho | 3:dff241b66f84 | 59 | memcpy(outbuffer + offset, this->output, *length_output); |
| nucho | 3:dff241b66f84 | 60 | offset += *length_output; |
| nucho | 3:dff241b66f84 | 61 | return offset; |
| nucho | 3:dff241b66f84 | 62 | } |
| nucho | 3:dff241b66f84 | 63 | |
| nucho | 3:dff241b66f84 | 64 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 3:dff241b66f84 | 65 | { |
| nucho | 3:dff241b66f84 | 66 | int offset = 0; |
| nucho | 3:dff241b66f84 | 67 | uint32_t length_output = *(uint32_t *)(inbuffer + offset); |
| nucho | 3:dff241b66f84 | 68 | offset += 4; |
| nucho | 3:dff241b66f84 | 69 | for(unsigned int k= offset; k< offset+length_output; ++k){ |
| nucho | 3:dff241b66f84 | 70 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 3:dff241b66f84 | 71 | } |
| nucho | 3:dff241b66f84 | 72 | inbuffer[offset+length_output-1]=0; |
| nucho | 3:dff241b66f84 | 73 | this->output = (char *)(inbuffer + offset-1); |
| nucho | 3:dff241b66f84 | 74 | offset += length_output; |
| nucho | 3:dff241b66f84 | 75 | return offset; |
| nucho | 3:dff241b66f84 | 76 | } |
| nucho | 3:dff241b66f84 | 77 | |
| nucho | 3:dff241b66f84 | 78 | virtual const char * getType(){ return TEST; }; |
| nucho | 3:dff241b66f84 | 79 | virtual const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; }; |
| nucho | 3:dff241b66f84 | 80 | |
| nucho | 3:dff241b66f84 | 81 | }; |
| nucho | 3:dff241b66f84 | 82 | |
| nucho | 3:dff241b66f84 | 83 | class Test { |
| nucho | 3:dff241b66f84 | 84 | public: |
| nucho | 3:dff241b66f84 | 85 | typedef TestRequest Request; |
| nucho | 3:dff241b66f84 | 86 | typedef TestResponse Response; |
| nucho | 3:dff241b66f84 | 87 | }; |
| nucho | 3:dff241b66f84 | 88 | |
| nucho | 3:dff241b66f84 | 89 | } |
| nucho | 3:dff241b66f84 | 90 | #endif |