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

tf/FrameGraph.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_FrameGraph_h
nucho 3:dff241b66f84 2 #define _ROS_SERVICE_FrameGraph_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
nucho 0:06fc856e99ca 8 namespace tf
nucho 0:06fc856e99ca 9 {
nucho 0:06fc856e99ca 10
nucho 0:06fc856e99ca 11 static const char FRAMEGRAPH[] = "tf/FrameGraph";
nucho 0:06fc856e99ca 12
nucho 0:06fc856e99ca 13 class FrameGraphRequest : public ros::Msg
nucho 0:06fc856e99ca 14 {
nucho 0:06fc856e99ca 15 public:
nucho 0:06fc856e99ca 16
nucho 3:dff241b66f84 17 virtual int serialize(unsigned char *outbuffer) const
nucho 0:06fc856e99ca 18 {
nucho 0:06fc856e99ca 19 int offset = 0;
nucho 0:06fc856e99ca 20 return offset;
nucho 0:06fc856e99ca 21 }
nucho 0:06fc856e99ca 22
nucho 0:06fc856e99ca 23 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 24 {
nucho 0:06fc856e99ca 25 int offset = 0;
nucho 0:06fc856e99ca 26 return offset;
nucho 0:06fc856e99ca 27 }
nucho 0:06fc856e99ca 28
nucho 3:dff241b66f84 29 virtual const char * getType(){ return FRAMEGRAPH; };
nucho 3:dff241b66f84 30 virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
nucho 0:06fc856e99ca 31
nucho 0:06fc856e99ca 32 };
nucho 0:06fc856e99ca 33
nucho 0:06fc856e99ca 34 class FrameGraphResponse : public ros::Msg
nucho 0:06fc856e99ca 35 {
nucho 0:06fc856e99ca 36 public:
nucho 0:06fc856e99ca 37 char * dot_graph;
nucho 0:06fc856e99ca 38
nucho 3:dff241b66f84 39 virtual int serialize(unsigned char *outbuffer) const
nucho 0:06fc856e99ca 40 {
nucho 0:06fc856e99ca 41 int offset = 0;
nucho 3:dff241b66f84 42 uint32_t * length_dot_graph = (uint32_t *)(outbuffer + offset);
nucho 0:06fc856e99ca 43 *length_dot_graph = strlen( (const char*) this->dot_graph);
nucho 0:06fc856e99ca 44 offset += 4;
nucho 0:06fc856e99ca 45 memcpy(outbuffer + offset, this->dot_graph, *length_dot_graph);
nucho 0:06fc856e99ca 46 offset += *length_dot_graph;
nucho 0:06fc856e99ca 47 return offset;
nucho 0:06fc856e99ca 48 }
nucho 0:06fc856e99ca 49
nucho 0:06fc856e99ca 50 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 51 {
nucho 0:06fc856e99ca 52 int offset = 0;
nucho 0:06fc856e99ca 53 uint32_t length_dot_graph = *(uint32_t *)(inbuffer + offset);
nucho 0:06fc856e99ca 54 offset += 4;
nucho 0:06fc856e99ca 55 for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
nucho 0:06fc856e99ca 56 inbuffer[k-1]=inbuffer[k];
nucho 3:dff241b66f84 57 }
nucho 0:06fc856e99ca 58 inbuffer[offset+length_dot_graph-1]=0;
nucho 0:06fc856e99ca 59 this->dot_graph = (char *)(inbuffer + offset-1);
nucho 0:06fc856e99ca 60 offset += length_dot_graph;
nucho 0:06fc856e99ca 61 return offset;
nucho 0:06fc856e99ca 62 }
nucho 0:06fc856e99ca 63
nucho 3:dff241b66f84 64 virtual const char * getType(){ return FRAMEGRAPH; };
nucho 3:dff241b66f84 65 virtual const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
nucho 3:dff241b66f84 66
nucho 3:dff241b66f84 67 };
nucho 0:06fc856e99ca 68
nucho 3:dff241b66f84 69 class FrameGraph {
nucho 3:dff241b66f84 70 public:
nucho 3:dff241b66f84 71 typedef FrameGraphRequest Request;
nucho 3:dff241b66f84 72 typedef FrameGraphResponse Response;
nucho 0:06fc856e99ca 73 };
nucho 0:06fc856e99ca 74
nucho 0:06fc856e99ca 75 }
nucho 0:06fc856e99ca 76 #endif