This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
Diff: ros/node_handle.h
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
diff -r 1cf99502f396 -r 684f39d0c346 ros/node_handle.h --- a/ros/node_handle.h Sat Nov 12 23:54:45 2011 +0000 +++ b/ros/node_handle.h Wed Feb 29 23:00:21 2012 +0000 @@ -115,7 +115,6 @@ bytes_ = 0; index_ = 0; topic_ = 0; - checksum_=0; }; protected: @@ -128,8 +127,6 @@ bool configured_; - int total_receivers; - /* used for syncing the time */ unsigned long last_sync_time; unsigned long last_sync_receive_time; @@ -244,7 +241,6 @@ unsigned long offset = hardware_.time() - rt_time; t.deserialize(data); - t.data.sec += offset/1000; t.data.nsec += (offset%1000)*1000000UL; @@ -328,21 +324,25 @@ void negotiateTopics() { configured_ = true; + rosserial_msgs::TopicInfo ti; int i; - for (i = 0; i < MAX_PUBLISHERS; i++) { - if (publishers[i] != 0) { // non-empty slot + for (i = 0; i < MAX_PUBLISHERS; i++) + { + if (publishers[i] != 0) // non-empty slot + { ti.topic_id = publishers[i]->id_; ti.topic_name = (char *) publishers[i]->topic_; ti.message_type = (char *) publishers[i]->msg_->getType(); ti.md5sum = (char *) publishers[i]->msg_->getMD5(); ti.buffer_size = OUTPUT_SIZE; - publish( publishers[i]->getEndpointType(), &ti ); } } - for (i = 0; i < MAX_SUBSCRIBERS; i++) { - if (subscribers[i] != 0) { // non-empty slot + for (i = 0; i < MAX_SUBSCRIBERS; i++) + { + if (subscribers[i] != 0) // non-empty slot + { ti.topic_id = subscribers[i]->id_; ti.topic_name = (char *) subscribers[i]->topic_; ti.message_type = (char *) subscribers[i]->getMsgType();