Diff: rosserial_arduino/Test.h

Revision:

3:dff241b66f84

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_arduino/Test.h	Sat Nov 12 23:53:04 2011 +0000
@@ -0,0 +1,90 @@
+#ifndef _ROS_SERVICE_Test_h
+#define _ROS_SERVICE_Test_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_arduino
+{
+
+static const char TEST[] = "rosserial_arduino/Test";
+
+  class TestRequest : public ros::Msg
+  {
+    public:
+      char * input;
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t * length_input = (uint32_t *)(outbuffer + offset);
+      *length_input = strlen( (const char*) this->input);
+      offset += 4;
+      memcpy(outbuffer + offset, this->input, *length_input);
+      offset += *length_input;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_input = *(uint32_t *)(inbuffer + offset);
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_input; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_input-1]=0;
+      this->input = (char *)(inbuffer + offset-1);
+      offset += length_input;
+     return offset;
+    }
+
+    virtual const char * getType(){ return TEST; };
+    virtual const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };
+
+  };
+
+  class TestResponse : public ros::Msg
+  {
+    public:
+      char * output;
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t * length_output = (uint32_t *)(outbuffer + offset);
+      *length_output = strlen( (const char*) this->output);
+      offset += 4;
+      memcpy(outbuffer + offset, this->output, *length_output);
+      offset += *length_output;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_output = *(uint32_t *)(inbuffer + offset);
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_output; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_output-1]=0;
+      this->output = (char *)(inbuffer + offset-1);
+      offset += length_output;
+     return offset;
+    }
+
+    virtual const char * getType(){ return TEST; };
+    virtual const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };
+
+  };
+
+  class Test {
+    public:
+    typedef TestRequest Request;
+    typedef TestResponse Response;
+  };
+
+}
+#endif
\ No newline at end of file