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

std_msgs/Float32MultiArray.h@0:06fc856e99ca, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:16 2011 +0000
Revision:
0:06fc856e99ca
Child:
1:098e75fd5ad2

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef ros_Float32MultiArray_h





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#define ros_Float32MultiArray_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/MultiArrayLayout.h"





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namespace std_msgs





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{





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  class Float32MultiArray : public ros::Msg





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  {





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    public:





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      std_msgs::MultiArrayLayout layout;





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      unsigned char data_length;





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      float st_data;





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      float * data;





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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->layout.serialize(outbuffer + offset);





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      *(outbuffer + offset++) = data_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 < data_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_datai;





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      u_datai.real = this->data[i];





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





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





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





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





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





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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->layout.deserialize(inbuffer + offset);





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





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      if(data_lengthT > data_length)





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        this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));





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      offset += 3;





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      data_length = data_lengthT;





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      for( unsigned char i = 0; i < data_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_data;





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      u_st_data.base = 0;





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





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





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





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





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      this->st_data = u_st_data.real;





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      offset += sizeof(this->st_data);





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        memcpy( &(this->data[i]), &(this->st_data), 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 "std_msgs/Float32MultiArray"; };





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  };





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}





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#endif