ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

rosserial_mbed/Test.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_SERVICE_Test_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_Test_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7
garyservin 0:fd24f7ca9688 8 namespace rosserial_mbed
garyservin 0:fd24f7ca9688 9 {
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 static const char TEST[] = "rosserial_mbed/Test";
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class TestRequest : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 const char* input;
garyservin 0:fd24f7ca9688 17
garyservin 0:fd24f7ca9688 18 TestRequest():
garyservin 0:fd24f7ca9688 19 input("")
garyservin 0:fd24f7ca9688 20 {
garyservin 0:fd24f7ca9688 21 }
garyservin 0:fd24f7ca9688 22
garyservin 0:fd24f7ca9688 23 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 24 {
garyservin 0:fd24f7ca9688 25 int offset = 0;
garyservin 0:fd24f7ca9688 26 uint32_t length_input = strlen(this->input);
garyservin 0:fd24f7ca9688 27 memcpy(outbuffer + offset, &length_input, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 28 offset += 4;
garyservin 0:fd24f7ca9688 29 memcpy(outbuffer + offset, this->input, length_input);
garyservin 0:fd24f7ca9688 30 offset += length_input;
garyservin 0:fd24f7ca9688 31 return offset;
garyservin 0:fd24f7ca9688 32 }
garyservin 0:fd24f7ca9688 33
garyservin 0:fd24f7ca9688 34 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 35 {
garyservin 0:fd24f7ca9688 36 int offset = 0;
garyservin 0:fd24f7ca9688 37 uint32_t length_input;
garyservin 0:fd24f7ca9688 38 memcpy(&length_input, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 39 offset += 4;
garyservin 0:fd24f7ca9688 40 for(unsigned int k= offset; k< offset+length_input; ++k){
garyservin 0:fd24f7ca9688 41 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 42 }
garyservin 0:fd24f7ca9688 43 inbuffer[offset+length_input-1]=0;
garyservin 0:fd24f7ca9688 44 this->input = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 45 offset += length_input;
garyservin 0:fd24f7ca9688 46 return offset;
garyservin 0:fd24f7ca9688 47 }
garyservin 0:fd24f7ca9688 48
garyservin 0:fd24f7ca9688 49 const char * getType(){ return TEST; };
garyservin 0:fd24f7ca9688 50 const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };
garyservin 0:fd24f7ca9688 51
garyservin 0:fd24f7ca9688 52 };
garyservin 0:fd24f7ca9688 53
garyservin 0:fd24f7ca9688 54 class TestResponse : public ros::Msg
garyservin 0:fd24f7ca9688 55 {
garyservin 0:fd24f7ca9688 56 public:
garyservin 0:fd24f7ca9688 57 const char* output;
garyservin 0:fd24f7ca9688 58
garyservin 0:fd24f7ca9688 59 TestResponse():
garyservin 0:fd24f7ca9688 60 output("")
garyservin 0:fd24f7ca9688 61 {
garyservin 0:fd24f7ca9688 62 }
garyservin 0:fd24f7ca9688 63
garyservin 0:fd24f7ca9688 64 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 65 {
garyservin 0:fd24f7ca9688 66 int offset = 0;
garyservin 0:fd24f7ca9688 67 uint32_t length_output = strlen(this->output);
garyservin 0:fd24f7ca9688 68 memcpy(outbuffer + offset, &length_output, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 69 offset += 4;
garyservin 0:fd24f7ca9688 70 memcpy(outbuffer + offset, this->output, length_output);
garyservin 0:fd24f7ca9688 71 offset += length_output;
garyservin 0:fd24f7ca9688 72 return offset;
garyservin 0:fd24f7ca9688 73 }
garyservin 0:fd24f7ca9688 74
garyservin 0:fd24f7ca9688 75 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 76 {
garyservin 0:fd24f7ca9688 77 int offset = 0;
garyservin 0:fd24f7ca9688 78 uint32_t length_output;
garyservin 0:fd24f7ca9688 79 memcpy(&length_output, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 80 offset += 4;
garyservin 0:fd24f7ca9688 81 for(unsigned int k= offset; k< offset+length_output; ++k){
garyservin 0:fd24f7ca9688 82 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 83 }
garyservin 0:fd24f7ca9688 84 inbuffer[offset+length_output-1]=0;
garyservin 0:fd24f7ca9688 85 this->output = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 86 offset += length_output;
garyservin 0:fd24f7ca9688 87 return offset;
garyservin 0:fd24f7ca9688 88 }
garyservin 0:fd24f7ca9688 89
garyservin 0:fd24f7ca9688 90 const char * getType(){ return TEST; };
garyservin 0:fd24f7ca9688 91 const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };
garyservin 0:fd24f7ca9688 92
garyservin 0:fd24f7ca9688 93 };
garyservin 0:fd24f7ca9688 94
garyservin 0:fd24f7ca9688 95 class Test {
garyservin 0:fd24f7ca9688 96 public:
garyservin 0:fd24f7ca9688 97 typedef TestRequest Request;
garyservin 0:fd24f7ca9688 98 typedef TestResponse Response;
garyservin 0:fd24f7ca9688 99 };
garyservin 0:fd24f7ca9688 100
garyservin 0:fd24f7ca9688 101 }
garyservin 0:fd24f7ca9688 102 #endif