![](/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
dianostic_msgs/SelfTest.h
- Committer:
- nucho
- Date:
- 2011-11-12
- Revision:
- 3:dff241b66f84
- Parent:
- 0:06fc856e99ca
File content as of revision 3:dff241b66f84:
#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" #include "diagnostic_msgs/byte.h" namespace diagnostic_msgs { static const char SELFTEST[] = "diagnostic_msgs/SelfTest"; class SelfTestRequest : public ros::Msg { public: virtual int serialize(unsigned char *outbuffer) const { int offset = 0; return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; return offset; } virtual const char * getType(){ return SELFTEST; }; virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; }; class SelfTestResponse : public ros::Msg { public: char * id; diagnostic_msgs::byte passed; uint8_t status_length; diagnostic_msgs::DiagnosticStatus st_status; diagnostic_msgs::DiagnosticStatus * status; virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t * length_id = (uint32_t *)(outbuffer + offset); *length_id = strlen( (const char*) this->id); offset += 4; memcpy(outbuffer + offset, this->id, *length_id); offset += *length_id; offset += this->passed.serialize(outbuffer + offset); *(outbuffer + offset++) = status_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t 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; offset += this->passed.deserialize(inbuffer + offset); uint8_t 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( uint8_t 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; }; virtual const char * getMD5(){ return "74c9372c870a76da4fc2b3973978b898"; }; }; class SelfTest { public: typedef SelfTestRequest Request; typedef SelfTestResponse Response; }; } #endif