00001 #ifndef _ROS_SERVICE_Test_h
00002 #define _ROS_SERVICE_Test_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007
00008 namespace rosserial_arduino
00009 {
00010
00011 static const char TEST[] = "rosserial_arduino/Test";
00012
00013 class TestRequest : public ros::Msg
00014 {
00015 public:
00016 char * input;
00017
00018 virtual int serialize(unsigned char *outbuffer) const
00019 {
00020 int offset = 0;
00021 uint32_t * length_input = (uint32_t *)(outbuffer + offset);
00022 *length_input = strlen( (const char*) this->input);
00023 offset += 4;
00024 memcpy(outbuffer + offset, this->input, *length_input);
00025 offset += *length_input;
00026 return offset;
00027 }
00028
00029 virtual int deserialize(unsigned char *inbuffer)
00030 {
00031 int offset = 0;
00032 uint32_t length_input = *(uint32_t *)(inbuffer + offset);
00033 offset += 4;
00034 for(unsigned int k= offset; k< offset+length_input; ++k){
00035 inbuffer[k-1]=inbuffer[k];
00036 }
00037 inbuffer[offset+length_input-1]=0;
00038 this->input = (char *)(inbuffer + offset-1);
00039 offset += length_input;
00040 return offset;
00041 }
00042
00043 const char * getType(){ return TEST; };
00044 const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };
00045
00046 };
00047
00048 class TestResponse : public ros::Msg
00049 {
00050 public:
00051 char * output;
00052
00053 virtual int serialize(unsigned char *outbuffer) const
00054 {
00055 int offset = 0;
00056 uint32_t * length_output = (uint32_t *)(outbuffer + offset);
00057 *length_output = strlen( (const char*) this->output);
00058 offset += 4;
00059 memcpy(outbuffer + offset, this->output, *length_output);
00060 offset += *length_output;
00061 return offset;
00062 }
00063
00064 virtual int deserialize(unsigned char *inbuffer)
00065 {
00066 int offset = 0;
00067 uint32_t length_output = *(uint32_t *)(inbuffer + offset);
00068 offset += 4;
00069 for(unsigned int k= offset; k< offset+length_output; ++k){
00070 inbuffer[k-1]=inbuffer[k];
00071 }
00072 inbuffer[offset+length_output-1]=0;
00073 this->output = (char *)(inbuffer + offset-1);
00074 offset += length_output;
00075 return offset;
00076 }
00077
00078 const char * getType(){ return TEST; };
00079 const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };
00080
00081 };
00082
00083 class Test {
00084 public:
00085 typedef TestRequest Request;
00086 typedef TestResponse Response;
00087 };
00088
00089 }
00090 #endif
