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@3:dff241b66f84, 2011-11-12 (annotated)

Committer:
nucho
Date:
Sat Nov 12 23:53:04 2011 +0000
Revision:
3:dff241b66f84
Parent:
0:06fc856e99ca 
This program supported the revision of 167 of rosserial.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 3:dff241b66f84 1 #ifndef _ROS_SERVICE_SelfTest_h
nucho 3:dff241b66f84 2 #define _ROS_SERVICE_SelfTest_h
nucho 0:06fc856e99ca 3 #include <stdint.h>
nucho 0:06fc856e99ca 4 #include <string.h>
nucho 0:06fc856e99ca 5 #include <stdlib.h>
nucho 3:dff241b66f84 6 #include "ros/msg.h"
nucho 0:06fc856e99ca 7 #include "diagnostic_msgs/DiagnosticStatus.h"
nucho 3:dff241b66f84 8 #include "diagnostic_msgs/byte.h"
nucho 0:06fc856e99ca 9
nucho 0:06fc856e99ca 10 namespace diagnostic_msgs
nucho 0:06fc856e99ca 11 {
nucho 0:06fc856e99ca 12
nucho 0:06fc856e99ca 13 static const char SELFTEST[] = "diagnostic_msgs/SelfTest";
nucho 0:06fc856e99ca 14
nucho 0:06fc856e99ca 15 class SelfTestRequest : public ros::Msg
nucho 0:06fc856e99ca 16 {
nucho 0:06fc856e99ca 17 public:
nucho 0:06fc856e99ca 18
nucho 3:dff241b66f84 19 virtual int serialize(unsigned char *outbuffer) const
nucho 0:06fc856e99ca 20 {
nucho 0:06fc856e99ca 21 int offset = 0;
nucho 0:06fc856e99ca 22 return offset;
nucho 0:06fc856e99ca 23 }
nucho 0:06fc856e99ca 24
nucho 0:06fc856e99ca 25 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 26 {
nucho 0:06fc856e99ca 27 int offset = 0;
nucho 0:06fc856e99ca 28 return offset;
nucho 0:06fc856e99ca 29 }
nucho 0:06fc856e99ca 30
nucho 3:dff241b66f84 31 virtual const char * getType(){ return SELFTEST; };
nucho 3:dff241b66f84 32 virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
nucho 0:06fc856e99ca 33
nucho 0:06fc856e99ca 34 };
nucho 0:06fc856e99ca 35
nucho 0:06fc856e99ca 36 class SelfTestResponse : public ros::Msg
nucho 0:06fc856e99ca 37 {
nucho 0:06fc856e99ca 38 public:
nucho 0:06fc856e99ca 39 char * id;
nucho 3:dff241b66f84 40 diagnostic_msgs::byte passed;
nucho 3:dff241b66f84 41 uint8_t status_length;
nucho 0:06fc856e99ca 42 diagnostic_msgs::DiagnosticStatus st_status;
nucho 0:06fc856e99ca 43 diagnostic_msgs::DiagnosticStatus * status;
nucho 0:06fc856e99ca 44
nucho 3:dff241b66f84 45 virtual int serialize(unsigned char *outbuffer) const
nucho 0:06fc856e99ca 46 {
nucho 0:06fc856e99ca 47 int offset = 0;
nucho 3:dff241b66f84 48 uint32_t * length_id = (uint32_t *)(outbuffer + offset);
nucho 0:06fc856e99ca 49 *length_id = strlen( (const char*) this->id);
nucho 0:06fc856e99ca 50 offset += 4;
nucho 0:06fc856e99ca 51 memcpy(outbuffer + offset, this->id, *length_id);
nucho 0:06fc856e99ca 52 offset += *length_id;
nucho 3:dff241b66f84 53 offset += this->passed.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 54 *(outbuffer + offset++) = status_length;
nucho 0:06fc856e99ca 55 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 56 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 57 *(outbuffer + offset++) = 0;
nucho 3:dff241b66f84 58 for( uint8_t i = 0; i < status_length; i++){
nucho 0:06fc856e99ca 59 offset += this->status[i].serialize(outbuffer + offset);
nucho 0:06fc856e99ca 60 }
nucho 0:06fc856e99ca 61 return offset;
nucho 0:06fc856e99ca 62 }
nucho 0:06fc856e99ca 63
nucho 0:06fc856e99ca 64 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 65 {
nucho 0:06fc856e99ca 66 int offset = 0;
nucho 0:06fc856e99ca 67 uint32_t length_id = *(uint32_t *)(inbuffer + offset);
nucho 0:06fc856e99ca 68 offset += 4;
nucho 0:06fc856e99ca 69 for(unsigned int k= offset; k< offset+length_id; ++k){
nucho 0:06fc856e99ca 70 inbuffer[k-1]=inbuffer[k];
nucho 3:dff241b66f84 71 }
nucho 0:06fc856e99ca 72 inbuffer[offset+length_id-1]=0;
nucho 0:06fc856e99ca 73 this->id = (char *)(inbuffer + offset-1);
nucho 0:06fc856e99ca 74 offset += length_id;
nucho 3:dff241b66f84 75 offset += this->passed.deserialize(inbuffer + offset);
nucho 3:dff241b66f84 76 uint8_t status_lengthT = *(inbuffer + offset++);
nucho 0:06fc856e99ca 77 if(status_lengthT > status_length)
nucho 0:06fc856e99ca 78 this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
nucho 0:06fc856e99ca 79 offset += 3;
nucho 0:06fc856e99ca 80 status_length = status_lengthT;
nucho 3:dff241b66f84 81 for( uint8_t i = 0; i < status_length; i++){
nucho 0:06fc856e99ca 82 offset += this->st_status.deserialize(inbuffer + offset);
nucho 0:06fc856e99ca 83 memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
nucho 0:06fc856e99ca 84 }
nucho 0:06fc856e99ca 85 return offset;
nucho 0:06fc856e99ca 86 }
nucho 0:06fc856e99ca 87
nucho 0:06fc856e99ca 88 virtual const char * getType(){ return SELFTEST; };
nucho 3:dff241b66f84 89 virtual const char * getMD5(){ return "74c9372c870a76da4fc2b3973978b898"; };
nucho 0:06fc856e99ca 90
nucho 0:06fc856e99ca 91 };
nucho 0:06fc856e99ca 92
nucho 3:dff241b66f84 93 class SelfTest {
nucho 3:dff241b66f84 94 public:
nucho 3:dff241b66f84 95 typedef SelfTestRequest Request;
nucho 3:dff241b66f84 96 typedef SelfTestResponse Response;
nucho 3:dff241b66f84 97 };
nucho 3:dff241b66f84 98
nucho 0:06fc856e99ca 99 }
nucho 0:06fc856e99ca 100 #endif