nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
dianostic_msgs/KeyValue.h@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
- Child:
- 1:098e75fd5ad2
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | #ifndef ros_KeyValue_h |
| nucho | 0:06fc856e99ca | 2 | #define ros_KeyValue_h |
| nucho | 0:06fc856e99ca | 3 | |
| nucho | 0:06fc856e99ca | 4 | #include <stdint.h> |
| nucho | 0:06fc856e99ca | 5 | #include <string.h> |
| nucho | 0:06fc856e99ca | 6 | #include <stdlib.h> |
| nucho | 0:06fc856e99ca | 7 | #include "../ros/msg.h" |
| nucho | 0:06fc856e99ca | 8 | |
| nucho | 0:06fc856e99ca | 9 | namespace diagnostic_msgs |
| nucho | 0:06fc856e99ca | 10 | { |
| nucho | 0:06fc856e99ca | 11 | |
| nucho | 0:06fc856e99ca | 12 | class KeyValue : public ros::Msg |
| nucho | 0:06fc856e99ca | 13 | { |
| nucho | 0:06fc856e99ca | 14 | public: |
| nucho | 0:06fc856e99ca | 15 | char * key; |
| nucho | 0:06fc856e99ca | 16 | char * value; |
| nucho | 0:06fc856e99ca | 17 | |
| nucho | 0:06fc856e99ca | 18 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:06fc856e99ca | 19 | { |
| nucho | 0:06fc856e99ca | 20 | int offset = 0; |
| nucho | 0:06fc856e99ca | 21 | long * length_key = (long *)(outbuffer + offset); |
| nucho | 0:06fc856e99ca | 22 | *length_key = strlen( (const char*) this->key); |
| nucho | 0:06fc856e99ca | 23 | offset += 4; |
| nucho | 0:06fc856e99ca | 24 | memcpy(outbuffer + offset, this->key, *length_key); |
| nucho | 0:06fc856e99ca | 25 | offset += *length_key; |
| nucho | 0:06fc856e99ca | 26 | long * length_value = (long *)(outbuffer + offset); |
| nucho | 0:06fc856e99ca | 27 | *length_value = strlen( (const char*) this->value); |
| nucho | 0:06fc856e99ca | 28 | offset += 4; |
| nucho | 0:06fc856e99ca | 29 | memcpy(outbuffer + offset, this->value, *length_value); |
| nucho | 0:06fc856e99ca | 30 | offset += *length_value; |
| nucho | 0:06fc856e99ca | 31 | return offset; |
| nucho | 0:06fc856e99ca | 32 | } |
| nucho | 0:06fc856e99ca | 33 | |
| nucho | 0:06fc856e99ca | 34 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:06fc856e99ca | 35 | { |
| nucho | 0:06fc856e99ca | 36 | int offset = 0; |
| nucho | 0:06fc856e99ca | 37 | uint32_t length_key = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:06fc856e99ca | 38 | offset += 4; |
| nucho | 0:06fc856e99ca | 39 | for(unsigned int k= offset; k< offset+length_key; ++k){ |
| nucho | 0:06fc856e99ca | 40 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 0:06fc856e99ca | 41 | } |
| nucho | 0:06fc856e99ca | 42 | inbuffer[offset+length_key-1]=0; |
| nucho | 0:06fc856e99ca | 43 | this->key = (char *)(inbuffer + offset-1); |
| nucho | 0:06fc856e99ca | 44 | offset += length_key; |
| nucho | 0:06fc856e99ca | 45 | uint32_t length_value = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:06fc856e99ca | 46 | offset += 4; |
| nucho | 0:06fc856e99ca | 47 | for(unsigned int k= offset; k< offset+length_value; ++k){ |
| nucho | 0:06fc856e99ca | 48 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 0:06fc856e99ca | 49 | } |
| nucho | 0:06fc856e99ca | 50 | inbuffer[offset+length_value-1]=0; |
| nucho | 0:06fc856e99ca | 51 | this->value = (char *)(inbuffer + offset-1); |
| nucho | 0:06fc856e99ca | 52 | offset += length_value; |
| nucho | 0:06fc856e99ca | 53 | return offset; |
| nucho | 0:06fc856e99ca | 54 | } |
| nucho | 0:06fc856e99ca | 55 | |
| nucho | 0:06fc856e99ca | 56 | virtual const char * getType(){ return "diagnostic_msgs/KeyValue"; }; |
| nucho | 0:06fc856e99ca | 57 | |
| nucho | 0:06fc856e99ca | 58 | }; |
| nucho | 0:06fc856e99ca | 59 | |
| nucho | 0:06fc856e99ca | 60 | } |
| nucho | 0:06fc856e99ca | 61 | #endif |