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/MapMetaData.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

            
            


nucho

0:06fc856e99ca


     1

#ifndef ros_MapMetaData_h





nucho

0:06fc856e99ca


     2

#define ros_MapMetaData_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

#include "ros/time.h"





nucho

0:06fc856e99ca


     9

#include "geometry_msgs/Pose.h"





nucho

0:06fc856e99ca


    10







nucho

0:06fc856e99ca


    11

namespace nav_msgs





nucho

0:06fc856e99ca


    12

{





nucho

0:06fc856e99ca


    13







nucho

0:06fc856e99ca


    14

  class MapMetaData : public ros::Msg





nucho

0:06fc856e99ca


    15

  {





nucho

0:06fc856e99ca


    16

    public:





nucho

0:06fc856e99ca


    17

      ros::Time map_load_time;





nucho

0:06fc856e99ca


    18

      float resolution;





nucho

0:06fc856e99ca


    19

      unsigned long width;





nucho

0:06fc856e99ca


    20

      unsigned long height;





nucho

0:06fc856e99ca


    21

      geometry_msgs::Pose origin;





nucho

0:06fc856e99ca


    22







nucho

0:06fc856e99ca


    23

    virtual int serialize(unsigned char *outbuffer)





nucho

0:06fc856e99ca


    24

    {





nucho

0:06fc856e99ca


    25

      int offset = 0;





nucho

0:06fc856e99ca


    26

      union {





nucho

0:06fc856e99ca


    27

        unsigned long real;





nucho

0:06fc856e99ca


    28

        unsigned long base;





nucho

0:06fc856e99ca


    29

      } u_sec;





nucho

0:06fc856e99ca


    30

      u_sec.real = this->map_load_time.sec;





nucho

0:06fc856e99ca


    31

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





nucho

0:06fc856e99ca


    32

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





nucho

0:06fc856e99ca


    33

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





nucho

0:06fc856e99ca


    34

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





nucho

0:06fc856e99ca


    35

      offset += sizeof(this->map_load_time.sec);





nucho

0:06fc856e99ca


    36

      union {





nucho

0:06fc856e99ca


    37

        unsigned long real;





nucho

0:06fc856e99ca


    38

        unsigned long base;





nucho

0:06fc856e99ca


    39

      } u_nsec;





nucho

0:06fc856e99ca


    40

      u_nsec.real = this->map_load_time.nsec;





nucho

0:06fc856e99ca


    41

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





nucho

0:06fc856e99ca


    42

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





nucho

0:06fc856e99ca


    43

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





nucho

0:06fc856e99ca


    44

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





nucho

0:06fc856e99ca


    45

      offset += sizeof(this->map_load_time.nsec);





nucho

0:06fc856e99ca


    46

      union {





nucho

0:06fc856e99ca


    47

        float real;





nucho

0:06fc856e99ca


    48

        unsigned long base;





nucho

0:06fc856e99ca


    49

      } u_resolution;





nucho

0:06fc856e99ca


    50

      u_resolution.real = this->resolution;





nucho

0:06fc856e99ca


    51

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





nucho

0:06fc856e99ca


    52

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





nucho

0:06fc856e99ca


    53

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





nucho

0:06fc856e99ca


    54

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





nucho

0:06fc856e99ca


    55

      offset += sizeof(this->resolution);





nucho

0:06fc856e99ca


    56

      union {





nucho

0:06fc856e99ca


    57

        unsigned long real;





nucho

0:06fc856e99ca


    58

        unsigned long base;





nucho

0:06fc856e99ca


    59

      } u_width;





nucho

0:06fc856e99ca


    60

      u_width.real = this->width;





nucho

0:06fc856e99ca


    61

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





nucho

0:06fc856e99ca


    62

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





nucho

0:06fc856e99ca


    63

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





nucho

0:06fc856e99ca


    64

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





nucho

0:06fc856e99ca


    65

      offset += sizeof(this->width);





nucho

0:06fc856e99ca


    66

      union {





nucho

0:06fc856e99ca


    67

        unsigned long real;





nucho

0:06fc856e99ca


    68

        unsigned long base;





nucho

0:06fc856e99ca


    69

      } u_height;





nucho

0:06fc856e99ca


    70

      u_height.real = this->height;





nucho

0:06fc856e99ca


    71

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





nucho

0:06fc856e99ca


    72

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





nucho

0:06fc856e99ca


    73

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





nucho

0:06fc856e99ca


    74

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





nucho

0:06fc856e99ca


    75

      offset += sizeof(this->height);





nucho

0:06fc856e99ca


    76

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





nucho

0:06fc856e99ca


    77

      return offset;





nucho

0:06fc856e99ca


    78

    }





nucho

0:06fc856e99ca


    79







nucho

0:06fc856e99ca


    80

    virtual int deserialize(unsigned char *inbuffer)





nucho

0:06fc856e99ca


    81

    {





nucho

0:06fc856e99ca


    82

      int offset = 0;





nucho

0:06fc856e99ca


    83

      union {





nucho

0:06fc856e99ca


    84

        unsigned long real;





nucho

0:06fc856e99ca


    85

        unsigned long base;





nucho

0:06fc856e99ca


    86

      } u_sec;





nucho

0:06fc856e99ca


    87

      u_sec.base = 0;





nucho

0:06fc856e99ca


    88

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





nucho

0:06fc856e99ca


    89

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





nucho

0:06fc856e99ca


    90

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





nucho

0:06fc856e99ca


    91

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





nucho

0:06fc856e99ca


    92

      this->map_load_time.sec = u_sec.real;





nucho

0:06fc856e99ca


    93

      offset += sizeof(this->map_load_time.sec);





nucho

0:06fc856e99ca


    94

      union {





nucho

0:06fc856e99ca


    95

        unsigned long real;





nucho

0:06fc856e99ca


    96

        unsigned long base;





nucho

0:06fc856e99ca


    97

      } u_nsec;





nucho

0:06fc856e99ca


    98

      u_nsec.base = 0;





nucho

0:06fc856e99ca


    99

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





nucho

0:06fc856e99ca


   100

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





nucho

0:06fc856e99ca


   101

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





nucho

0:06fc856e99ca


   102

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





nucho

0:06fc856e99ca


   103

      this->map_load_time.nsec = u_nsec.real;





nucho

0:06fc856e99ca


   104

      offset += sizeof(this->map_load_time.nsec);





nucho

0:06fc856e99ca


   105

      union {





nucho

0:06fc856e99ca


   106

        float real;





nucho

0:06fc856e99ca


   107

        unsigned long base;





nucho

0:06fc856e99ca


   108

      } u_resolution;





nucho

0:06fc856e99ca


   109

      u_resolution.base = 0;





nucho

0:06fc856e99ca


   110

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





nucho

0:06fc856e99ca


   111

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





nucho

0:06fc856e99ca


   112

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





nucho

0:06fc856e99ca


   113

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





nucho

0:06fc856e99ca


   114

      this->resolution = u_resolution.real;





nucho

0:06fc856e99ca


   115

      offset += sizeof(this->resolution);





nucho

0:06fc856e99ca


   116

      union {





nucho

0:06fc856e99ca


   117

        unsigned long real;





nucho

0:06fc856e99ca


   118

        unsigned long base;





nucho

0:06fc856e99ca


   119

      } u_width;





nucho

0:06fc856e99ca


   120

      u_width.base = 0;





nucho

0:06fc856e99ca


   121

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





nucho

0:06fc856e99ca


   122

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





nucho

0:06fc856e99ca


   123

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





nucho

0:06fc856e99ca


   124

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





nucho

0:06fc856e99ca


   125

      this->width = u_width.real;





nucho

0:06fc856e99ca


   126

      offset += sizeof(this->width);





nucho

0:06fc856e99ca


   127

      union {





nucho

0:06fc856e99ca


   128

        unsigned long real;





nucho

0:06fc856e99ca


   129

        unsigned long base;





nucho

0:06fc856e99ca


   130

      } u_height;





nucho

0:06fc856e99ca


   131

      u_height.base = 0;





nucho

0:06fc856e99ca


   132

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





nucho

0:06fc856e99ca


   133

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





nucho

0:06fc856e99ca


   134

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





nucho

0:06fc856e99ca


   135

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





nucho

0:06fc856e99ca


   136

      this->height = u_height.real;





nucho

0:06fc856e99ca


   137

      offset += sizeof(this->height);





nucho

0:06fc856e99ca


   138

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





nucho

0:06fc856e99ca


   139

     return offset;





nucho

0:06fc856e99ca


   140

    }





nucho

0:06fc856e99ca


   141







nucho

0:06fc856e99ca


   142

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





nucho

0:06fc856e99ca


   143







nucho

0:06fc856e99ca


   144

  };





nucho

0:06fc856e99ca


   145







nucho

0:06fc856e99ca


   146

}





nucho

0:06fc856e99ca


   147

#endif