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/Range.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_Range_h





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#define ros_Range_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 Range : 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 radiation_type;





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      float field_of_view;





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      float min_range;





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      float max_range;





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      float range;





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      enum { ULTRASOUND = 0 };





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      enum { INFRARED = 1 };





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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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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_radiation_type;





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      u_radiation_type.real = this->radiation_type;





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





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      offset += sizeof(this->radiation_type);





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      union {





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        float real;





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        unsigned long base;





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      } u_field_of_view;





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      u_field_of_view.real = this->field_of_view;





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





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





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





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





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      offset += sizeof(this->field_of_view);





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      union {





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        float real;





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        unsigned long base;





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      } u_min_range;





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      u_min_range.real = this->min_range;





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





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





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





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





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      offset += sizeof(this->min_range);





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      union {





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        float real;





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        unsigned long base;





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      } u_max_range;





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      u_max_range.real = this->max_range;





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





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





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





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





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      offset += sizeof(this->max_range);





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      union {





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        float real;





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        unsigned long base;





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      } u_range;





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      u_range.real = this->range;





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





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





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





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





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      offset += sizeof(this->range);





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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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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_radiation_type;





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      u_radiation_type.base = 0;





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





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      this->radiation_type = u_radiation_type.real;





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      offset += sizeof(this->radiation_type);





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      union {





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        float real;





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        unsigned long base;





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      } u_field_of_view;





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      u_field_of_view.base = 0;





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





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





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





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





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      this->field_of_view = u_field_of_view.real;





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      offset += sizeof(this->field_of_view);





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      union {





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        float real;





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        unsigned long base;





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      } u_min_range;





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      u_min_range.base = 0;





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





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





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





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





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      this->min_range = u_min_range.real;





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      offset += sizeof(this->min_range);





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      union {





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        float real;





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        unsigned long base;





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      } u_max_range;





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      u_max_range.base = 0;





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





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





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





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





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      this->max_range = u_max_range.real;





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      offset += sizeof(this->max_range);





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      union {





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        float real;





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        unsigned long base;





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      } u_range;





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      u_range.base = 0;





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





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





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





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





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      this->range = u_range.real;





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      offset += sizeof(this->range);





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     return offset;





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    }





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





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  };





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}





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#endif