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/PointField.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_PointField_h





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#define ros_PointField_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 sensor_msgs





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{





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  class PointField : public ros::Msg





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  {





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    public:





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      char * name;





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      unsigned long offset;





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      unsigned char datatype;





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      unsigned long count;





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      enum { INT8 = 1 };





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      enum { UINT8 = 2 };





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      enum { INT16 = 3 };





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      enum { UINT16 = 4 };





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      enum { INT32 = 5 };





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      enum { UINT32 = 6 };





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      enum { FLOAT32 = 7 };





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      enum { FLOAT64 = 8 };





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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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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_offset;





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      u_offset.real = this->offset;





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





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





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





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





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      offset += sizeof(this->offset);





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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_datatype;





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      u_datatype.real = this->datatype;





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





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      offset += sizeof(this->datatype);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_count;





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      u_count.real = this->count;





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





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





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





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





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      offset += sizeof(this->count);





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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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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_offset;





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      u_offset.base = 0;





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





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





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





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





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      this->offset = u_offset.real;





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      offset += sizeof(this->offset);





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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_datatype;





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      u_datatype.base = 0;





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





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      this->datatype = u_datatype.real;





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      offset += sizeof(this->datatype);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_count;





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      u_count.base = 0;





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





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





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





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





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      this->count = u_count.real;





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      offset += sizeof(this->count);





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     return offset;





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    }





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





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  };





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}





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#endif