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
- Committer:
- nucho
- Date:
- 2011-08-19
- Revision:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
File content as of revision 0:06fc856e99ca:
#ifndef ros_SERVICE_SelfTest_h #define ros_SERVICE_SelfTest_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "../ros/msg.h" #include "diagnostic_msgs/DiagnosticStatus.h" namespace diagnostic_msgs { static const char SELFTEST[] = "diagnostic_msgs/SelfTest"; class SelfTestRequest : 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 SELFTEST; }; }; class SelfTestResponse : public ros::Msg { public: char * id; unsigned char passed; unsigned char status_length; diagnostic_msgs::DiagnosticStatus st_status; diagnostic_msgs::DiagnosticStatus * status; virtual int serialize(unsigned char *outbuffer) { int offset = 0; long * length_id = (long *)(outbuffer + offset); *length_id = strlen( (const char*) this->id); offset += 4; memcpy(outbuffer + offset, this->id, *length_id); offset += *length_id; union { unsigned char real; unsigned char base; } u_passed; u_passed.real = this->passed; *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF; offset += sizeof(this->passed); *(outbuffer + offset++) = status_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( unsigned char i = 0; i < status_length; i++){ offset += this->status[i].serialize(outbuffer + offset); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_id = *(uint32_t *)(inbuffer + offset); offset += 4; for(unsigned int k= offset; k< offset+length_id; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_id-1]=0; this->id = (char *)(inbuffer + offset-1); offset += length_id; union { unsigned char real; unsigned char base; } u_passed; u_passed.base = 0; u_passed.base |= ((typeof(u_passed.base)) (*(inbuffer + offset + 0))) << (8 * 0); this->passed = u_passed.real; offset += sizeof(this->passed); unsigned char status_lengthT = *(inbuffer + offset++); if(status_lengthT > status_length) this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus)); offset += 3; status_length = status_lengthT; for( unsigned char i = 0; i < status_length; i++){ offset += this->st_status.deserialize(inbuffer + offset); memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus)); } return offset; } virtual const char * getType(){ return SELFTEST; }; }; } #endif