File content as of revision 0:230d6c5f4ad7:

#include "mbed.h"
#include <ros.h>
#include <std_msgs/Int32MultiArray.h>
#include <std_msgs/Int32.h>
#include <std_msgs/String.h>

#define DATA_NUM 3

ros::NodeHandle nh;

Timeout toff;
int recieve_data[3];
bool cb_flg = false;

Serial micon(D1,D0);

std_msgs::Int32MultiArray send_data;
std_msgs::String dbg_msg;
ros::Publisher chatter("/Chatter", &send_data);
ros::Publisher debuger("/debuger", &dbg_msg);

void messageCb(const std_msgs::Int32MultiArray& msg){
    int i;
    for(i=0;i<DATA_NUM;i++){
        recieve_data[i] = msg.data[i];
    }
    for(i=0;i<DATA_NUM;i++){
        if(i+1<DATA_NUM) send_data.data[i] = recieve_data[i+1]; 
        else send_data.data[i] = recieve_data[0];
    }
    chatter.publish(&send_data);
    cb_flg = true;
}

ros::Subscriber<std_msgs::Int32MultiArray> sub("/data", &messageCb);
        
int main(){
    micon.baud(115200);
    micon.format(8,Serial::None,1);
    send_data.data_length = DATA_NUM;
    send_data.data = (int32_t *)malloc(sizeof(int32_t)*DATA_NUM);
    int i,j;
    for(i=0;i<DATA_NUM;i++){
        send_data.data[i] = 0;
    }
    nh.getHardware()->setBaud(115200);
    nh.initNode();
    nh.subscribe(sub);
    nh.advertise(debuger);
    nh.advertise(chatter);

    while(1){
        dbg_msg.data = "success";
        debuger.publish(&dbg_msg);
        if(cb_flg==true){
            for(j=0;j<DATA_NUM;j++){
                for(i=0;i<4;i++){
                    micon.putc((char)(send_data.data[j]>>(i*8) & 0xff));
                    wait_ms(1);
                }
            }
            cb_flg = false;
        }
        nh.spinOnce();
        wait_ms(100);
    }
}