ROS Serial library for Mbed platforms for ROS Jade Turtle. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: rosserial_mbed_hello_world_publisher_jade
ROSSerial_mbed for Jade Distribution
The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.
The rosserial_mbed package allows to write ROS nodes on any mbed enabled devices and have them connected to a running ROS system on your computer using the serial port.
Hello World (example publisher)
Import programrosserial_mbed_hello_world_publisher_jade
rosserial_mbed Hello World example for jade distribution
Running the Code
Now, launch the roscore in a new terminal window:
Quote:
$ roscore
Next, run the rosserial client application that forwards your MBED messages to the rest of ROS. Make sure to use the correct serial port:
Quote:
$ rosrun rosserial_python serial_node.py /dev/ttyACM0
Finally, watch the greetings come in from your MBED by launching a new terminal window and entering :
Quote:
$ rostopic echo chatter
See Also
More examples
Blink
/* * rosserial Subscriber Example * Blinks an LED on callback */ #include "mbed.h" #include <ros.h> #include <std_msgs/Empty.h> ros::NodeHandle nh; DigitalOut myled(LED1); void messageCb(const std_msgs::Empty& toggle_msg){ myled = !myled; // blink the led } ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb); int main() { nh.initNode(); nh.subscribe(sub); while (1) { nh.spinOnce(); wait_ms(1); } }
Push
/* * Button Example for Rosserial */ #include "mbed.h" #include <ros.h> #include <std_msgs/Bool.h> PinName button = p20; ros::NodeHandle nh; std_msgs::Bool pushed_msg; ros::Publisher pub_button("pushed", &pushed_msg); DigitalIn button_pin(button); DigitalOut led_pin(LED1); bool last_reading; long last_debounce_time=0; long debounce_delay=50; bool published = true; Timer t; int main() { t.start(); nh.initNode(); nh.advertise(pub_button); //Enable the pullup resistor on the button button_pin.mode(PullUp); //The button is a normally button last_reading = ! button_pin; while (1) { bool reading = ! button_pin; if (last_reading!= reading) { last_debounce_time = t.read_ms(); published = false; } //if the button value has not changed for the debounce delay, we know its stable if ( !published && (t.read_ms() - last_debounce_time) > debounce_delay) { led_pin = reading; pushed_msg.data = reading; pub_button.publish(&pushed_msg); published = true; } last_reading = reading; nh.spinOnce(); } }
sensor_msgs/JointState.h@0:a906bb7c7831, 2016-03-31 (annotated)
- Committer:
- garyservin
- Date:
- Thu Mar 31 23:23:15 2016 +0000
- Revision:
- 0:a906bb7c7831
ROS Serial library for Mbed platforms for ROS Jade Turtle. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:a906bb7c7831 | 1 | #ifndef _ROS_sensor_msgs_JointState_h |
garyservin | 0:a906bb7c7831 | 2 | #define _ROS_sensor_msgs_JointState_h |
garyservin | 0:a906bb7c7831 | 3 | |
garyservin | 0:a906bb7c7831 | 4 | #include <stdint.h> |
garyservin | 0:a906bb7c7831 | 5 | #include <string.h> |
garyservin | 0:a906bb7c7831 | 6 | #include <stdlib.h> |
garyservin | 0:a906bb7c7831 | 7 | #include "ros/msg.h" |
garyservin | 0:a906bb7c7831 | 8 | #include "std_msgs/Header.h" |
garyservin | 0:a906bb7c7831 | 9 | |
garyservin | 0:a906bb7c7831 | 10 | namespace sensor_msgs |
garyservin | 0:a906bb7c7831 | 11 | { |
garyservin | 0:a906bb7c7831 | 12 | |
garyservin | 0:a906bb7c7831 | 13 | class JointState : public ros::Msg |
garyservin | 0:a906bb7c7831 | 14 | { |
garyservin | 0:a906bb7c7831 | 15 | public: |
garyservin | 0:a906bb7c7831 | 16 | std_msgs::Header header; |
garyservin | 0:a906bb7c7831 | 17 | uint8_t name_length; |
garyservin | 0:a906bb7c7831 | 18 | char* st_name; |
garyservin | 0:a906bb7c7831 | 19 | char* * name; |
garyservin | 0:a906bb7c7831 | 20 | uint8_t position_length; |
garyservin | 0:a906bb7c7831 | 21 | double st_position; |
garyservin | 0:a906bb7c7831 | 22 | double * position; |
garyservin | 0:a906bb7c7831 | 23 | uint8_t velocity_length; |
garyservin | 0:a906bb7c7831 | 24 | double st_velocity; |
garyservin | 0:a906bb7c7831 | 25 | double * velocity; |
garyservin | 0:a906bb7c7831 | 26 | uint8_t effort_length; |
garyservin | 0:a906bb7c7831 | 27 | double st_effort; |
garyservin | 0:a906bb7c7831 | 28 | double * effort; |
garyservin | 0:a906bb7c7831 | 29 | |
garyservin | 0:a906bb7c7831 | 30 | JointState(): |
garyservin | 0:a906bb7c7831 | 31 | header(), |
garyservin | 0:a906bb7c7831 | 32 | name_length(0), name(NULL), |
garyservin | 0:a906bb7c7831 | 33 | position_length(0), position(NULL), |
garyservin | 0:a906bb7c7831 | 34 | velocity_length(0), velocity(NULL), |
garyservin | 0:a906bb7c7831 | 35 | effort_length(0), effort(NULL) |
garyservin | 0:a906bb7c7831 | 36 | { |
garyservin | 0:a906bb7c7831 | 37 | } |
garyservin | 0:a906bb7c7831 | 38 | |
garyservin | 0:a906bb7c7831 | 39 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:a906bb7c7831 | 40 | { |
garyservin | 0:a906bb7c7831 | 41 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 42 | offset += this->header.serialize(outbuffer + offset); |
garyservin | 0:a906bb7c7831 | 43 | *(outbuffer + offset++) = name_length; |
garyservin | 0:a906bb7c7831 | 44 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 45 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 46 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 47 | for( uint8_t i = 0; i < name_length; i++){ |
garyservin | 0:a906bb7c7831 | 48 | uint32_t length_namei = strlen(this->name[i]); |
garyservin | 0:a906bb7c7831 | 49 | memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 50 | offset += 4; |
garyservin | 0:a906bb7c7831 | 51 | memcpy(outbuffer + offset, this->name[i], length_namei); |
garyservin | 0:a906bb7c7831 | 52 | offset += length_namei; |
garyservin | 0:a906bb7c7831 | 53 | } |
garyservin | 0:a906bb7c7831 | 54 | *(outbuffer + offset++) = position_length; |
garyservin | 0:a906bb7c7831 | 55 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 56 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 57 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 58 | for( uint8_t i = 0; i < position_length; i++){ |
garyservin | 0:a906bb7c7831 | 59 | union { |
garyservin | 0:a906bb7c7831 | 60 | double real; |
garyservin | 0:a906bb7c7831 | 61 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 62 | } u_positioni; |
garyservin | 0:a906bb7c7831 | 63 | u_positioni.real = this->position[i]; |
garyservin | 0:a906bb7c7831 | 64 | *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 65 | *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 66 | *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 67 | *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 68 | *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 69 | *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 70 | *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 71 | *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 72 | offset += sizeof(this->position[i]); |
garyservin | 0:a906bb7c7831 | 73 | } |
garyservin | 0:a906bb7c7831 | 74 | *(outbuffer + offset++) = velocity_length; |
garyservin | 0:a906bb7c7831 | 75 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 76 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 77 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 78 | for( uint8_t i = 0; i < velocity_length; i++){ |
garyservin | 0:a906bb7c7831 | 79 | union { |
garyservin | 0:a906bb7c7831 | 80 | double real; |
garyservin | 0:a906bb7c7831 | 81 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 82 | } u_velocityi; |
garyservin | 0:a906bb7c7831 | 83 | u_velocityi.real = this->velocity[i]; |
garyservin | 0:a906bb7c7831 | 84 | *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 85 | *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 86 | *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 87 | *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 88 | *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 89 | *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 90 | *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 91 | *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 92 | offset += sizeof(this->velocity[i]); |
garyservin | 0:a906bb7c7831 | 93 | } |
garyservin | 0:a906bb7c7831 | 94 | *(outbuffer + offset++) = effort_length; |
garyservin | 0:a906bb7c7831 | 95 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 96 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 97 | *(outbuffer + offset++) = 0; |
garyservin | 0:a906bb7c7831 | 98 | for( uint8_t i = 0; i < effort_length; i++){ |
garyservin | 0:a906bb7c7831 | 99 | union { |
garyservin | 0:a906bb7c7831 | 100 | double real; |
garyservin | 0:a906bb7c7831 | 101 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 102 | } u_efforti; |
garyservin | 0:a906bb7c7831 | 103 | u_efforti.real = this->effort[i]; |
garyservin | 0:a906bb7c7831 | 104 | *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 105 | *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 106 | *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 107 | *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 108 | *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 109 | *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 110 | *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 111 | *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF; |
garyservin | 0:a906bb7c7831 | 112 | offset += sizeof(this->effort[i]); |
garyservin | 0:a906bb7c7831 | 113 | } |
garyservin | 0:a906bb7c7831 | 114 | return offset; |
garyservin | 0:a906bb7c7831 | 115 | } |
garyservin | 0:a906bb7c7831 | 116 | |
garyservin | 0:a906bb7c7831 | 117 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:a906bb7c7831 | 118 | { |
garyservin | 0:a906bb7c7831 | 119 | int offset = 0; |
garyservin | 0:a906bb7c7831 | 120 | offset += this->header.deserialize(inbuffer + offset); |
garyservin | 0:a906bb7c7831 | 121 | uint8_t name_lengthT = *(inbuffer + offset++); |
garyservin | 0:a906bb7c7831 | 122 | if(name_lengthT > name_length) |
garyservin | 0:a906bb7c7831 | 123 | this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 124 | offset += 3; |
garyservin | 0:a906bb7c7831 | 125 | name_length = name_lengthT; |
garyservin | 0:a906bb7c7831 | 126 | for( uint8_t i = 0; i < name_length; i++){ |
garyservin | 0:a906bb7c7831 | 127 | uint32_t length_st_name; |
garyservin | 0:a906bb7c7831 | 128 | memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:a906bb7c7831 | 129 | offset += 4; |
garyservin | 0:a906bb7c7831 | 130 | for(unsigned int k= offset; k< offset+length_st_name; ++k){ |
garyservin | 0:a906bb7c7831 | 131 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:a906bb7c7831 | 132 | } |
garyservin | 0:a906bb7c7831 | 133 | inbuffer[offset+length_st_name-1]=0; |
garyservin | 0:a906bb7c7831 | 134 | this->st_name = (char *)(inbuffer + offset-1); |
garyservin | 0:a906bb7c7831 | 135 | offset += length_st_name; |
garyservin | 0:a906bb7c7831 | 136 | memcpy( &(this->name[i]), &(this->st_name), sizeof(char*)); |
garyservin | 0:a906bb7c7831 | 137 | } |
garyservin | 0:a906bb7c7831 | 138 | uint8_t position_lengthT = *(inbuffer + offset++); |
garyservin | 0:a906bb7c7831 | 139 | if(position_lengthT > position_length) |
garyservin | 0:a906bb7c7831 | 140 | this->position = (double*)realloc(this->position, position_lengthT * sizeof(double)); |
garyservin | 0:a906bb7c7831 | 141 | offset += 3; |
garyservin | 0:a906bb7c7831 | 142 | position_length = position_lengthT; |
garyservin | 0:a906bb7c7831 | 143 | for( uint8_t i = 0; i < position_length; i++){ |
garyservin | 0:a906bb7c7831 | 144 | union { |
garyservin | 0:a906bb7c7831 | 145 | double real; |
garyservin | 0:a906bb7c7831 | 146 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 147 | } u_st_position; |
garyservin | 0:a906bb7c7831 | 148 | u_st_position.base = 0; |
garyservin | 0:a906bb7c7831 | 149 | u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 150 | u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 151 | u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 152 | u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 153 | u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 154 | u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 155 | u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 156 | u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 157 | this->st_position = u_st_position.real; |
garyservin | 0:a906bb7c7831 | 158 | offset += sizeof(this->st_position); |
garyservin | 0:a906bb7c7831 | 159 | memcpy( &(this->position[i]), &(this->st_position), sizeof(double)); |
garyservin | 0:a906bb7c7831 | 160 | } |
garyservin | 0:a906bb7c7831 | 161 | uint8_t velocity_lengthT = *(inbuffer + offset++); |
garyservin | 0:a906bb7c7831 | 162 | if(velocity_lengthT > velocity_length) |
garyservin | 0:a906bb7c7831 | 163 | this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double)); |
garyservin | 0:a906bb7c7831 | 164 | offset += 3; |
garyservin | 0:a906bb7c7831 | 165 | velocity_length = velocity_lengthT; |
garyservin | 0:a906bb7c7831 | 166 | for( uint8_t i = 0; i < velocity_length; i++){ |
garyservin | 0:a906bb7c7831 | 167 | union { |
garyservin | 0:a906bb7c7831 | 168 | double real; |
garyservin | 0:a906bb7c7831 | 169 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 170 | } u_st_velocity; |
garyservin | 0:a906bb7c7831 | 171 | u_st_velocity.base = 0; |
garyservin | 0:a906bb7c7831 | 172 | u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 173 | u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 174 | u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 175 | u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 176 | u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 177 | u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 178 | u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 179 | u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 180 | this->st_velocity = u_st_velocity.real; |
garyservin | 0:a906bb7c7831 | 181 | offset += sizeof(this->st_velocity); |
garyservin | 0:a906bb7c7831 | 182 | memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double)); |
garyservin | 0:a906bb7c7831 | 183 | } |
garyservin | 0:a906bb7c7831 | 184 | uint8_t effort_lengthT = *(inbuffer + offset++); |
garyservin | 0:a906bb7c7831 | 185 | if(effort_lengthT > effort_length) |
garyservin | 0:a906bb7c7831 | 186 | this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double)); |
garyservin | 0:a906bb7c7831 | 187 | offset += 3; |
garyservin | 0:a906bb7c7831 | 188 | effort_length = effort_lengthT; |
garyservin | 0:a906bb7c7831 | 189 | for( uint8_t i = 0; i < effort_length; i++){ |
garyservin | 0:a906bb7c7831 | 190 | union { |
garyservin | 0:a906bb7c7831 | 191 | double real; |
garyservin | 0:a906bb7c7831 | 192 | uint64_t base; |
garyservin | 0:a906bb7c7831 | 193 | } u_st_effort; |
garyservin | 0:a906bb7c7831 | 194 | u_st_effort.base = 0; |
garyservin | 0:a906bb7c7831 | 195 | u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:a906bb7c7831 | 196 | u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:a906bb7c7831 | 197 | u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:a906bb7c7831 | 198 | u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:a906bb7c7831 | 199 | u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
garyservin | 0:a906bb7c7831 | 200 | u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
garyservin | 0:a906bb7c7831 | 201 | u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
garyservin | 0:a906bb7c7831 | 202 | u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
garyservin | 0:a906bb7c7831 | 203 | this->st_effort = u_st_effort.real; |
garyservin | 0:a906bb7c7831 | 204 | offset += sizeof(this->st_effort); |
garyservin | 0:a906bb7c7831 | 205 | memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double)); |
garyservin | 0:a906bb7c7831 | 206 | } |
garyservin | 0:a906bb7c7831 | 207 | return offset; |
garyservin | 0:a906bb7c7831 | 208 | } |
garyservin | 0:a906bb7c7831 | 209 | |
garyservin | 0:a906bb7c7831 | 210 | const char * getType(){ return "sensor_msgs/JointState"; }; |
garyservin | 0:a906bb7c7831 | 211 | const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; }; |
garyservin | 0:a906bb7c7831 | 212 | |
garyservin | 0:a906bb7c7831 | 213 | }; |
garyservin | 0:a906bb7c7831 | 214 | |
garyservin | 0:a906bb7c7831 | 215 | } |
garyservin | 0:a906bb7c7831 | 216 | #endif |