test: update.

test/Makefile

@@ -335,14 +335,17 @@ ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS)
 ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
 
 # Default target.
-all: build
+all: ros build
 
 rebuild: | clean build
 
 # Change the build target to build a HEX file or a library.
 build: elf hex eep lss sym
 #build: lib
 
+ros:
+	rosrun avr_bridge gen_avr.py call_response.yaml .
+
 
 elf: $(TARGET).elf
 hex: $(TARGET).hex

test/call_response.yaml

@@ -0,0 +1,8 @@
+port: /dev/ttyUSB0
+name: callResponse
+publish: #list of published topics
+ response: #topic name
+  type: std_msgs/String  #msg type
+subscribe:
+ call:
+  type: std_msgs/String

test/main.cpp

@@ -1,15 +1,65 @@
-#include <avr_ros/ros.h>
 #include <stdio.h>
+#include <avr/io.h>
+#include "avr_ros/ros.h"
+#include "avr_ros/String.h"
+#include "libarduino2.h"
 
 namespace ros {
 	int fputc(char c, FILE *f) {
-		return -1;
+		return serial_putchar(c, f);
 	}
 }
 
-__attribute__((OS_main))
-int main(void)
+ros::Publisher resp;
+
+std_msgs::String call_msg;
+std_msgs::String response_msg;
+
+void toggle(void)
 {
+	static char t = 0;
+	if (!t ) {
+		digital_set(13, true);   // set the LED on
+		t = 1;
+	} else {
+		digital_set(13, false);    // set the LED off
+		t = 0;
+	}
+}
 
+void response(ros::Msg const *msg)
+{
+	toggle();
 
+	/* note that this is unsafe as the result could be larger than
+	 * the space avaliable in 'data' */
+	sprintf(response_msg.data.getRawString(),
+			"You sent : %s", call_msg.data.getRawString());
+	node.publish(resp, &response_msg);
 }
+
+
+__attribute__((OS_main))
+int main(void) {
+	serial_init();
+
+	digital_init(13, PIN_OUTPUT);
+	resp = node.advertise("response");
+	node.subscribe("call",response, &call_msg);
+
+	call_msg.data.setMaxLength(30);
+	response_msg.data.setMaxLength(60);
+
+
+	for(;;) {
+		for(;;) {
+			int c = serial_getc();
+			if (c == EOF)
+				break;
+			node.spin(c);
+		}
+
+		/* Do other work */
+	}
+}
+