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

sensor_msgs/JointState.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_JointState_h





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#define ros_JointState_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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namespace sensor_msgs





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{





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  class JointState : public ros::Msg





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  {





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    public:





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      std_msgs::Header header;





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      unsigned char name_length;





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      char* st_name;





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      char* * name;





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      unsigned char position_length;





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      float st_position;





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      float * position;





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      unsigned char velocity_length;





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      float st_velocity;





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      float * velocity;





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      unsigned char effort_length;





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      float st_effort;





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      float * effort;





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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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      *(outbuffer + offset++) = name_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 < name_length; i++){





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





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      *length_namei = strlen( (const char*) this->name[i]);





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      offset += 4;





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      memcpy(outbuffer + offset, this->name[i], *length_namei);





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      offset += *length_namei;





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      }





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      *(outbuffer + offset++) = position_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 < position_length; i++){





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      long * val_positioni = (long *) &(this->position[i]);





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      long exp_positioni = (((*val_positioni)>>23)&255);





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      if(exp_positioni != 0)





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        exp_positioni += 1023-127;





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      long sig_positioni = *val_positioni;





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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_positioni<<5) & 0xff;





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





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





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





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





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      if(this->position[i] < 0) *(outbuffer + offset -1) |= 0x80;





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      }





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      *(outbuffer + offset++) = velocity_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 < velocity_length; i++){





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      long * val_velocityi = (long *) &(this->velocity[i]);





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      long exp_velocityi = (((*val_velocityi)>>23)&255);





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      if(exp_velocityi != 0)





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        exp_velocityi += 1023-127;





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      long sig_velocityi = *val_velocityi;





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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_velocityi<<5) & 0xff;





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





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





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





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





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      if(this->velocity[i] < 0) *(outbuffer + offset -1) |= 0x80;





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      }





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      *(outbuffer + offset++) = effort_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 < effort_length; i++){





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      long * val_efforti = (long *) &(this->effort[i]);





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      long exp_efforti = (((*val_efforti)>>23)&255);





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      if(exp_efforti != 0)





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        exp_efforti += 1023-127;





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      long sig_efforti = *val_efforti;





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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_efforti<<5) & 0xff;





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





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





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





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





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      if(this->effort[i] < 0) *(outbuffer + offset -1) |= 0x80;





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





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      if(name_lengthT > name_length)





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        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));





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      offset += 3;





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      name_length = name_lengthT;





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





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





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      offset += 4;





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





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





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           }





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      inbuffer[offset+length_st_name-1]=0;





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





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      offset += length_st_name;





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        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));





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      }





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





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      if(position_lengthT > position_length)





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        this->position = (float*)realloc(this->position, position_lengthT * sizeof(float));





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      offset += 3;





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      position_length = position_lengthT;





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





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      unsigned long * val_st_position = (unsigned long*) &(this->st_position);





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      offset += 3;





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





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





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





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





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





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





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      if(exp_st_position !=0)





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        *val_st_position |= ((exp_st_position)-1023+127)<<23;





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





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        memcpy( &(this->position[i]), &(this->st_position), sizeof(float));





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      }





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





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      if(velocity_lengthT > velocity_length)





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        this->velocity = (float*)realloc(this->velocity, velocity_lengthT * sizeof(float));





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      offset += 3;





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      velocity_length = velocity_lengthT;





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





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      unsigned long * val_st_velocity = (unsigned long*) &(this->st_velocity);





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      offset += 3;





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





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





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





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





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





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





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      if(exp_st_velocity !=0)





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        *val_st_velocity |= ((exp_st_velocity)-1023+127)<<23;





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





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        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(float));





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      }





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





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      if(effort_lengthT > effort_length)





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        this->effort = (float*)realloc(this->effort, effort_lengthT * sizeof(float));





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      offset += 3;





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      effort_length = effort_lengthT;





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





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      unsigned long * val_st_effort = (unsigned long*) &(this->st_effort);





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      offset += 3;





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





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





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





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





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





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





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      if(exp_st_effort !=0)





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        *val_st_effort |= ((exp_st_effort)-1023+127)<<23;





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





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        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(float));





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      }





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     return offset;





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    }





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   virtual const char * getType(){ return "sensor_msgs/JointState"; };





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  };





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}





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#endif