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

nav_msgs/GridCells.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_GridCells_h





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#define ros_GridCells_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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#include "std_msgs/Header.h"





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#include "geometry_msgs/Point.h"





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namespace nav_msgs





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{





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  class GridCells : public ros::Msg





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  {





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    public:





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      std_msgs::Header header;





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      float cell_width;





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      float cell_height;





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      unsigned char cells_length;





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      geometry_msgs::Point st_cells;





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      geometry_msgs::Point * cells;





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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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      offset += this->header.serialize(outbuffer + offset);





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      union {





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        float real;





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        unsigned long base;





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      } u_cell_width;





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      u_cell_width.real = this->cell_width;





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      *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->cell_width);





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      union {





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        float real;





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        unsigned long base;





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      } u_cell_height;





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      u_cell_height.real = this->cell_height;





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      *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->cell_height);





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      *(outbuffer + offset++) = cells_length;





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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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      for( unsigned char i = 0; i < cells_length; i++){





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      offset += this->cells[i].serialize(outbuffer + offset);





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      }





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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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      offset += this->header.deserialize(inbuffer + offset);





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      union {





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        float real;





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        unsigned long base;





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      } u_cell_width;





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      u_cell_width.base = 0;





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      u_cell_width.base |= ((typeof(u_cell_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      u_cell_width.base |= ((typeof(u_cell_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);





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      u_cell_width.base |= ((typeof(u_cell_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);





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      u_cell_width.base |= ((typeof(u_cell_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);





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      this->cell_width = u_cell_width.real;





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      offset += sizeof(this->cell_width);





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      union {





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        float real;





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        unsigned long base;





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      } u_cell_height;





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      u_cell_height.base = 0;





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      u_cell_height.base |= ((typeof(u_cell_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      u_cell_height.base |= ((typeof(u_cell_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);





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      u_cell_height.base |= ((typeof(u_cell_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);





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      u_cell_height.base |= ((typeof(u_cell_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);





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      this->cell_height = u_cell_height.real;





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      offset += sizeof(this->cell_height);





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      unsigned char cells_lengthT = *(inbuffer + offset++);





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      if(cells_lengthT > cells_length)





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        this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));





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      offset += 3;





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      cells_length = cells_lengthT;





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      for( unsigned char i = 0; i < cells_length; i++){





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      offset += this->st_cells.deserialize(inbuffer + offset);





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        memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));





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      }





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     return offset;





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    }





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   virtual const char * getType(){ return "nav_msgs/GridCells"; };





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  };





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}





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#endif