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:
- 3:dff241b66f84
- Parent:
- 0:06fc856e99ca
diff -r 094e5153a559 -r dff241b66f84 tf/FrameGraph.h --- a/tf/FrameGraph.h Sun Oct 16 09:33:53 2011 +0000 +++ b/tf/FrameGraph.h Sat Nov 12 23:53:04 2011 +0000 @@ -1,9 +1,9 @@ -#ifndef ros_SERVICE_FrameGraph_h -#define ros_SERVICE_FrameGraph_h +#ifndef _ROS_SERVICE_FrameGraph_h +#define _ROS_SERVICE_FrameGraph_h #include <stdint.h> #include <string.h> #include <stdlib.h> -#include "../ros/msg.h" +#include "ros/msg.h" namespace tf { @@ -14,7 +14,7 @@ { public: - virtual int serialize(unsigned char *outbuffer) + virtual int serialize(unsigned char *outbuffer) const { int offset = 0; return offset; @@ -26,7 +26,8 @@ return offset; } - const char * getType(){ return FRAMEGRAPH; }; + virtual const char * getType(){ return FRAMEGRAPH; }; + virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; }; @@ -35,10 +36,10 @@ public: char * dot_graph; - virtual int serialize(unsigned char *outbuffer) + virtual int serialize(unsigned char *outbuffer) const { int offset = 0; - long * length_dot_graph = (long *)(outbuffer + offset); + uint32_t * length_dot_graph = (uint32_t *)(outbuffer + offset); *length_dot_graph = strlen( (const char*) this->dot_graph); offset += 4; memcpy(outbuffer + offset, this->dot_graph, *length_dot_graph); @@ -53,15 +54,22 @@ 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; }; + virtual const char * getType(){ return FRAMEGRAPH; }; + virtual const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; }; + + }; + class FrameGraph { + public: + typedef FrameGraphRequest Request; + typedef FrameGraphResponse Response; }; }