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

rosserial_msgs/RequestParam.h@0:06fc856e99ca, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:16 2011 +0000
Revision:
0:06fc856e99ca
Child:
3:dff241b66f84

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef ros_SERVICE_RequestParam_h





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#define ros_SERVICE_RequestParam_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 rosserial_msgs





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{





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static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam";





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  class RequestParamRequest : public ros::Msg





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  {





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    public:





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      char * name;





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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 * length_name = (long *)(outbuffer + offset);





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      *length_name = strlen( (const char*) this->name);





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      offset += 4;





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      memcpy(outbuffer + offset, this->name, *length_name);





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      offset += *length_name;





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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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      uint32_t length_name = *(uint32_t *)(inbuffer + offset);





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      offset += 4;





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      for(unsigned int k= offset; k< offset+length_name; ++k){





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          inbuffer[k-1]=inbuffer[k];





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           }





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      inbuffer[offset+length_name-1]=0;





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      this->name = (char *)(inbuffer + offset-1);





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      offset += length_name;





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     return offset;





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    }





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    virtual const char * getType(){ return REQUESTPARAM; };





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  };





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  class RequestParamResponse : public ros::Msg





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  {





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    public:





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      unsigned char ints_length;





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      long st_ints;





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      long * ints;





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      unsigned char floats_length;





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      float st_floats;





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      float * floats;





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      unsigned char strings_length;





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      char* st_strings;





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      char* * strings;





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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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      *(outbuffer + offset++) = ints_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 < ints_length; i++){





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      union {





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        long real;





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        unsigned long base;





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      } u_intsi;





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      u_intsi.real = this->ints[i];





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





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





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





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





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      offset += sizeof(this->ints[i]);





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      }





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      *(outbuffer + offset++) = floats_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 < floats_length; i++){





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      union {





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        float real;





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        unsigned long base;





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      } u_floatsi;





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      u_floatsi.real = this->floats[i];





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





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





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





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





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      offset += sizeof(this->floats[i]);





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      }





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      *(outbuffer + offset++) = strings_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 < strings_length; i++){





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      long * length_stringsi = (long *)(outbuffer + offset);





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      *length_stringsi = strlen( (const char*) this->strings[i]);





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      offset += 4;





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      memcpy(outbuffer + offset, this->strings[i], *length_stringsi);





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      offset += *length_stringsi;





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





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      if(ints_lengthT > ints_length)





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        this->ints = (long*)realloc(this->ints, ints_lengthT * sizeof(long));





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      offset += 3;





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      ints_length = ints_lengthT;





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





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      union {





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        long real;





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        unsigned long base;





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      } u_st_ints;





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      u_st_ints.base = 0;





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





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





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





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





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      this->st_ints = u_st_ints.real;





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      offset += sizeof(this->st_ints);





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        memcpy( &(this->ints[i]), &(this->st_ints), sizeof(long));





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      }





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





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      if(floats_lengthT > floats_length)





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        this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float));





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      offset += 3;





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      floats_length = floats_lengthT;





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





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      union {





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        float real;





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        unsigned long base;





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      } u_st_floats;





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      u_st_floats.base = 0;





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





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





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





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





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      this->st_floats = u_st_floats.real;





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      offset += sizeof(this->st_floats);





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        memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float));





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      }





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





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      if(strings_lengthT > strings_length)





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        this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*));





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      offset += 3;





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      strings_length = strings_lengthT;





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





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      uint32_t length_st_strings = *(uint32_t *)(inbuffer + offset);





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      offset += 4;





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      for(unsigned int k= offset; k< offset+length_st_strings; ++k){





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          inbuffer[k-1]=inbuffer[k];





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           }





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      inbuffer[offset+length_st_strings-1]=0;





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      this->st_strings = (char *)(inbuffer + offset-1);





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      offset += length_st_strings;





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        memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*));





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      }





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     return offset;





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    }





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   virtual const char * getType(){ return REQUESTPARAM; };





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  };





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}





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#endif