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
rosserial_mbed/Adc.h@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:06fc856e99ca | 1 | #ifndef ros_Adc_h |
| nucho | 0:06fc856e99ca | 2 | #define ros_Adc_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 rosserial_mbed |
| nucho | 0:06fc856e99ca | 10 | { |
| nucho | 0:06fc856e99ca | 11 | |
| nucho | 0:06fc856e99ca | 12 | class Adc : public ros::Msg |
| nucho | 0:06fc856e99ca | 13 | { |
| nucho | 0:06fc856e99ca | 14 | public: |
| nucho | 0:06fc856e99ca | 15 | unsigned short adc0; |
| nucho | 0:06fc856e99ca | 16 | unsigned short adc1; |
| nucho | 0:06fc856e99ca | 17 | unsigned short adc2; |
| nucho | 0:06fc856e99ca | 18 | unsigned short adc3; |
| nucho | 0:06fc856e99ca | 19 | unsigned short adc4; |
| nucho | 0:06fc856e99ca | 20 | unsigned short adc5; |
| nucho | 0:06fc856e99ca | 21 | |
| nucho | 0:06fc856e99ca | 22 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:06fc856e99ca | 23 | { |
| nucho | 0:06fc856e99ca | 24 | int offset = 0; |
| nucho | 0:06fc856e99ca | 25 | union { |
| nucho | 0:06fc856e99ca | 26 | unsigned short real; |
| nucho | 0:06fc856e99ca | 27 | unsigned short base; |
| nucho | 0:06fc856e99ca | 28 | } u_adc0; |
| nucho | 0:06fc856e99ca | 29 | u_adc0.real = this->adc0; |
| nucho | 0:06fc856e99ca | 30 | *(outbuffer + offset + 0) = (u_adc0.base >> (8 * 0)) & 0xFF; |
| nucho | 0:06fc856e99ca | 31 | *(outbuffer + offset + 1) = (u_adc0.base >> (8 * 1)) & 0xFF; |
| nucho | 0:06fc856e99ca | 32 | offset += sizeof(this->adc0); |
| nucho | 0:06fc856e99ca | 33 | union { |
| nucho | 0:06fc856e99ca | 34 | unsigned short real; |
| nucho | 0:06fc856e99ca | 35 | unsigned short base; |
| nucho | 0:06fc856e99ca | 36 | } u_adc1; |
| nucho | 0:06fc856e99ca | 37 | u_adc1.real = this->adc1; |
| nucho | 0:06fc856e99ca | 38 | *(outbuffer + offset + 0) = (u_adc1.base >> (8 * 0)) & 0xFF; |
| nucho | 0:06fc856e99ca | 39 | *(outbuffer + offset + 1) = (u_adc1.base >> (8 * 1)) & 0xFF; |
| nucho | 0:06fc856e99ca | 40 | offset += sizeof(this->adc1); |
| nucho | 0:06fc856e99ca | 41 | union { |
| nucho | 0:06fc856e99ca | 42 | unsigned short real; |
| nucho | 0:06fc856e99ca | 43 | unsigned short base; |
| nucho | 0:06fc856e99ca | 44 | } u_adc2; |
| nucho | 0:06fc856e99ca | 45 | u_adc2.real = this->adc2; |
| nucho | 0:06fc856e99ca | 46 | *(outbuffer + offset + 0) = (u_adc2.base >> (8 * 0)) & 0xFF; |
| nucho | 0:06fc856e99ca | 47 | *(outbuffer + offset + 1) = (u_adc2.base >> (8 * 1)) & 0xFF; |
| nucho | 0:06fc856e99ca | 48 | offset += sizeof(this->adc2); |
| nucho | 0:06fc856e99ca | 49 | union { |
| nucho | 0:06fc856e99ca | 50 | unsigned short real; |
| nucho | 0:06fc856e99ca | 51 | unsigned short base; |
| nucho | 0:06fc856e99ca | 52 | } u_adc3; |
| nucho | 0:06fc856e99ca | 53 | u_adc3.real = this->adc3; |
| nucho | 0:06fc856e99ca | 54 | *(outbuffer + offset + 0) = (u_adc3.base >> (8 * 0)) & 0xFF; |
| nucho | 0:06fc856e99ca | 55 | *(outbuffer + offset + 1) = (u_adc3.base >> (8 * 1)) & 0xFF; |
| nucho | 0:06fc856e99ca | 56 | offset += sizeof(this->adc3); |
| nucho | 0:06fc856e99ca | 57 | union { |
| nucho | 0:06fc856e99ca | 58 | unsigned short real; |
| nucho | 0:06fc856e99ca | 59 | unsigned short base; |
| nucho | 0:06fc856e99ca | 60 | } u_adc4; |
| nucho | 0:06fc856e99ca | 61 | u_adc4.real = this->adc4; |
| nucho | 0:06fc856e99ca | 62 | *(outbuffer + offset + 0) = (u_adc4.base >> (8 * 0)) & 0xFF; |
| nucho | 0:06fc856e99ca | 63 | *(outbuffer + offset + 1) = (u_adc4.base >> (8 * 1)) & 0xFF; |
| nucho | 0:06fc856e99ca | 64 | offset += sizeof(this->adc4); |
| nucho | 0:06fc856e99ca | 65 | union { |
| nucho | 0:06fc856e99ca | 66 | unsigned short real; |
| nucho | 0:06fc856e99ca | 67 | unsigned short base; |
| nucho | 0:06fc856e99ca | 68 | } u_adc5; |
| nucho | 0:06fc856e99ca | 69 | u_adc5.real = this->adc5; |
| nucho | 0:06fc856e99ca | 70 | *(outbuffer + offset + 0) = (u_adc5.base >> (8 * 0)) & 0xFF; |
| nucho | 0:06fc856e99ca | 71 | *(outbuffer + offset + 1) = (u_adc5.base >> (8 * 1)) & 0xFF; |
| nucho | 0:06fc856e99ca | 72 | offset += sizeof(this->adc5); |
| nucho | 0:06fc856e99ca | 73 | return offset; |
| nucho | 0:06fc856e99ca | 74 | } |
| nucho | 0:06fc856e99ca | 75 | |
| nucho | 0:06fc856e99ca | 76 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:06fc856e99ca | 77 | { |
| nucho | 0:06fc856e99ca | 78 | int offset = 0; |
| nucho | 0:06fc856e99ca | 79 | union { |
| nucho | 0:06fc856e99ca | 80 | unsigned short real; |
| nucho | 0:06fc856e99ca | 81 | unsigned short base; |
| nucho | 0:06fc856e99ca | 82 | } u_adc0; |
| nucho | 0:06fc856e99ca | 83 | u_adc0.base = 0; |
| nucho | 0:06fc856e99ca | 84 | u_adc0.base |= ((typeof(u_adc0.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:06fc856e99ca | 85 | u_adc0.base |= ((typeof(u_adc0.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:06fc856e99ca | 86 | this->adc0 = u_adc0.real; |
| nucho | 0:06fc856e99ca | 87 | offset += sizeof(this->adc0); |
| nucho | 0:06fc856e99ca | 88 | union { |
| nucho | 0:06fc856e99ca | 89 | unsigned short real; |
| nucho | 0:06fc856e99ca | 90 | unsigned short base; |
| nucho | 0:06fc856e99ca | 91 | } u_adc1; |
| nucho | 0:06fc856e99ca | 92 | u_adc1.base = 0; |
| nucho | 0:06fc856e99ca | 93 | u_adc1.base |= ((typeof(u_adc1.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:06fc856e99ca | 94 | u_adc1.base |= ((typeof(u_adc1.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:06fc856e99ca | 95 | this->adc1 = u_adc1.real; |
| nucho | 0:06fc856e99ca | 96 | offset += sizeof(this->adc1); |
| nucho | 0:06fc856e99ca | 97 | union { |
| nucho | 0:06fc856e99ca | 98 | unsigned short real; |
| nucho | 0:06fc856e99ca | 99 | unsigned short base; |
| nucho | 0:06fc856e99ca | 100 | } u_adc2; |
| nucho | 0:06fc856e99ca | 101 | u_adc2.base = 0; |
| nucho | 0:06fc856e99ca | 102 | u_adc2.base |= ((typeof(u_adc2.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:06fc856e99ca | 103 | u_adc2.base |= ((typeof(u_adc2.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:06fc856e99ca | 104 | this->adc2 = u_adc2.real; |
| nucho | 0:06fc856e99ca | 105 | offset += sizeof(this->adc2); |
| nucho | 0:06fc856e99ca | 106 | union { |
| nucho | 0:06fc856e99ca | 107 | unsigned short real; |
| nucho | 0:06fc856e99ca | 108 | unsigned short base; |
| nucho | 0:06fc856e99ca | 109 | } u_adc3; |
| nucho | 0:06fc856e99ca | 110 | u_adc3.base = 0; |
| nucho | 0:06fc856e99ca | 111 | u_adc3.base |= ((typeof(u_adc3.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:06fc856e99ca | 112 | u_adc3.base |= ((typeof(u_adc3.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:06fc856e99ca | 113 | this->adc3 = u_adc3.real; |
| nucho | 0:06fc856e99ca | 114 | offset += sizeof(this->adc3); |
| nucho | 0:06fc856e99ca | 115 | union { |
| nucho | 0:06fc856e99ca | 116 | unsigned short real; |
| nucho | 0:06fc856e99ca | 117 | unsigned short base; |
| nucho | 0:06fc856e99ca | 118 | } u_adc4; |
| nucho | 0:06fc856e99ca | 119 | u_adc4.base = 0; |
| nucho | 0:06fc856e99ca | 120 | u_adc4.base |= ((typeof(u_adc4.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:06fc856e99ca | 121 | u_adc4.base |= ((typeof(u_adc4.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:06fc856e99ca | 122 | this->adc4 = u_adc4.real; |
| nucho | 0:06fc856e99ca | 123 | offset += sizeof(this->adc4); |
| nucho | 0:06fc856e99ca | 124 | union { |
| nucho | 0:06fc856e99ca | 125 | unsigned short real; |
| nucho | 0:06fc856e99ca | 126 | unsigned short base; |
| nucho | 0:06fc856e99ca | 127 | } u_adc5; |
| nucho | 0:06fc856e99ca | 128 | u_adc5.base = 0; |
| nucho | 0:06fc856e99ca | 129 | u_adc5.base |= ((typeof(u_adc5.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:06fc856e99ca | 130 | u_adc5.base |= ((typeof(u_adc5.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:06fc856e99ca | 131 | this->adc5 = u_adc5.real; |
| nucho | 0:06fc856e99ca | 132 | offset += sizeof(this->adc5); |
| nucho | 0:06fc856e99ca | 133 | return offset; |
| nucho | 0:06fc856e99ca | 134 | } |
| nucho | 0:06fc856e99ca | 135 | |
| nucho | 0:06fc856e99ca | 136 | virtual const char * getType(){ return "rosserial_mbed/Adc"; }; |
| nucho | 0:06fc856e99ca | 137 | |
| nucho | 0:06fc856e99ca | 138 | }; |
| nucho | 0:06fc856e99ca | 139 | |
| nucho | 0:06fc856e99ca | 140 | } |
| nucho | 0:06fc856e99ca | 141 | #endif |