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/MultiArrayDimension.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_MultiArrayDimension_h





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#define ros_MultiArrayDimension_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 std_msgs





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{





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  class MultiArrayDimension : public ros::Msg





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  {





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    public:





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      char * label;





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      unsigned long size;





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      unsigned long stride;





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





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      *length_label = strlen( (const char*) this->label);





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      offset += 4;





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      memcpy(outbuffer + offset, this->label, *length_label);





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      offset += *length_label;





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_size;





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      u_size.real = this->size;





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





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





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





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





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      offset += sizeof(this->size);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_stride;





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      u_stride.real = this->stride;





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





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





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





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





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      offset += sizeof(this->stride);





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





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      offset += 4;





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





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





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           }





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      inbuffer[offset+length_label-1]=0;





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





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      offset += length_label;





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_size;





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      u_size.base = 0;





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





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





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





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





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      this->size = u_size.real;





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      offset += sizeof(this->size);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_stride;





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      u_stride.base = 0;





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





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





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





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





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      this->stride = u_stride.real;





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      offset += sizeof(this->stride);





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     return offset;





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    }





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   virtual const char * getType(){ return "std_msgs/MultiArrayDimension"; };





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  };





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}





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#endif