![](/media/cache/profiles/94aef38441efa3380a3bed3faf1f9d5d.50x50_q85.jpg)
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
Diff: tf/FrameGraph.h
- Revision:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/tf/FrameGraph.h Fri Aug 19 09:06:16 2011 +0000 @@ -0,0 +1,68 @@ +#ifndef ros_SERVICE_FrameGraph_h +#define ros_SERVICE_FrameGraph_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" + +namespace tf +{ + +static const char FRAMEGRAPH[] = "tf/FrameGraph"; + + class FrameGraphRequest : public ros::Msg + { + public: + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + return offset; + } + + const char * getType(){ return FRAMEGRAPH; }; + + }; + + class FrameGraphResponse : public ros::Msg + { + public: + char * dot_graph; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + long * length_dot_graph = (long *)(outbuffer + offset); + *length_dot_graph = strlen( (const char*) this->dot_graph); + offset += 4; + memcpy(outbuffer + offset, this->dot_graph, *length_dot_graph); + offset += *length_dot_graph; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_dot_graph = *(uint32_t *)(inbuffer + offset); + offset += 4; + for(unsigned int k= offset; k< offset+length_dot_graph; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_dot_graph-1]=0; + this->dot_graph = (char *)(inbuffer + offset-1); + offset += length_dot_graph; + return offset; + } + + const char * getType(){ return FRAMEGRAPH; }; + + }; + +} +#endif \ No newline at end of file