nucho / Mbed 2 deprecated rosserial_mbed

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

geometry_msgs/Pose2D.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?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef ros_Pose2D_h





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#define ros_Pose2D_h





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#include <stdint.h>





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#include <string.h>





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#include <stdlib.h>





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#include "../ros/msg.h"





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namespace geometry_msgs





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{





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  class Pose2D : public ros::Msg





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  {





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    public:





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      float x;





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      float y;





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      float theta;





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    virtual int serialize(unsigned char *outbuffer)





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    {





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      int offset = 0;





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      long * val_x = (long *) &(this->x);





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      long exp_x = (((*val_x)>>23)&255);





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      if(exp_x != 0)





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        exp_x += 1023-127;





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      long sig_x = *val_x;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = (sig_x<<5) & 0xff;





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      *(outbuffer + offset++) = (sig_x>>3) & 0xff;





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      *(outbuffer + offset++) = (sig_x>>11) & 0xff;





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      *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);





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      *(outbuffer + offset++) = (exp_x>>4) & 0x7F;





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      if(this->x < 0) *(outbuffer + offset -1) |= 0x80;





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      long * val_y = (long *) &(this->y);





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      long exp_y = (((*val_y)>>23)&255);





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      if(exp_y != 0)





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        exp_y += 1023-127;





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      long sig_y = *val_y;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = (sig_y<<5) & 0xff;





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      *(outbuffer + offset++) = (sig_y>>3) & 0xff;





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      *(outbuffer + offset++) = (sig_y>>11) & 0xff;





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      *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);





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      *(outbuffer + offset++) = (exp_y>>4) & 0x7F;





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      if(this->y < 0) *(outbuffer + offset -1) |= 0x80;





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      long * val_theta = (long *) &(this->theta);





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      long exp_theta = (((*val_theta)>>23)&255);





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      if(exp_theta != 0)





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        exp_theta += 1023-127;





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      long sig_theta = *val_theta;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = (sig_theta<<5) & 0xff;





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      *(outbuffer + offset++) = (sig_theta>>3) & 0xff;





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      *(outbuffer + offset++) = (sig_theta>>11) & 0xff;





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      *(outbuffer + offset++) = ((exp_theta<<4) & 0xF0) | ((sig_theta>>19)&0x0F);





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      *(outbuffer + offset++) = (exp_theta>>4) & 0x7F;





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      if(this->theta < 0) *(outbuffer + offset -1) |= 0x80;





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      return offset;





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    }





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    virtual int deserialize(unsigned char *inbuffer)





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    {





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      int offset = 0;





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      unsigned long * val_x = (unsigned long*) &(this->x);





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      offset += 3;





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      *val_x = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);





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      *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;





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      *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;





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      *val_x |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;





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      unsigned long exp_x = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;





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      exp_x |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;





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      if(exp_x !=0)





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        *val_x |= ((exp_x)-1023+127)<<23;





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      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;





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      unsigned long * val_y = (unsigned long*) &(this->y);





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      offset += 3;





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      *val_y = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);





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      *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;





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      *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;





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      *val_y |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;





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      unsigned long exp_y = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;





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      exp_y |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;





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      if(exp_y !=0)





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        *val_y |= ((exp_y)-1023+127)<<23;





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      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;





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      unsigned long * val_theta = (unsigned long*) &(this->theta);





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      offset += 3;





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      *val_theta = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);





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      *val_theta |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;





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      *val_theta |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;





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      *val_theta |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;





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      unsigned long exp_theta = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;





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      exp_theta |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;





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      if(exp_theta !=0)





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        *val_theta |= ((exp_theta)-1023+127)<<23;





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      if( ((*(inbuffer+offset++)) & 0x80) > 0) this->theta = -this->theta;





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     return offset;





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    }





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   virtual const char * getType(){ return "geometry_msgs/Pose2D"; };





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  };





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}





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#endif