Diff: ros/node_output.h

Revision:

1:ff0ec969dad1

Parent:

0:77afd7560544

--- a/ros/node_output.h	Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/node_output.h	Sun Oct 16 07:19:36 2011 +0000
@@ -1,28 +1,56 @@
 /*
- * NodeOutput.h
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
  *
- *  Created on: Aug 5, 2011
- *      Author: astambler
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef NODEOUTPUT_H_
-#define NODEOUTPUT_H_
+#ifndef ROS_NODEOUTPUT_H_
+#define ROS_NODEOUTPUT_H_
+
+#include "msg.h"
+
+#include "mbed.h"
+//static Serial debug(p9,p10);
+
+namespace ros {
 
 /*
  * This class is responsible for controlling the node ouput.
  * It it is the object that is passed to Publishers and services
  */
-
-#include "msg.h"
-
-namespace ros {
-
 class NodeOutput_ {
 public:
     virtual int publish(short id, Msg* msg)=0;
 };
 
-
 template<class Hardware, int OUTSIZE =512>
 class NodeOutput : public NodeOutput_ {
 
@@ -38,6 +66,7 @@
     }
 
     NodeOutput() {};
+
     void setHardware(Hardware* h) {
         hardware_  = h;
         configured_=false;
@@ -50,10 +79,10 @@
         return configured_;
     };
 
-    virtual int  publish(short id, Msg * msg) {
-        if (!configured_) return 0;
+    virtual int publish(short id, Msg * msg) {
+        wait_ms(1);
+        if (!configured_)return 0;
 
-        //short test_id,test_off;
         /* serialize message */
         short l = msg->serialize(message_out+6);
 
@@ -69,11 +98,14 @@
         short chk = 0;
         for (int i =2; i<l+6; i++)
             chk += message_out[i];
-        message_out[6+l] = 255 - (chk%256);
+        l += 6;
+        message_out[l++] = 255 - (chk%256);
 
-        hardware_->write(message_out, 6+l+1);
-        return 1;
+        hardware_->write(message_out, l);
+        return l;
     }
 };
+
 }
-#endif /* NODEOUTPUT_H_ */
+
+#endif
\ No newline at end of file