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

nav_msgs/GridCells.h@1:098e75fd5ad2, 2011-10-16 (annotated)

Committer:
nucho
Date:
Sun Oct 16 07:17:43 2011 +0000
Revision:
1:098e75fd5ad2
Parent:
0:06fc856e99ca
Child:
3:dff241b66f84
This program supported the revision of 143 of rosserial.

And the bug fix of receive of array data.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 1:098e75fd5ad2 1 #ifndef ros_nav_msgs_GridCells_h
nucho 1:098e75fd5ad2 2 #define ros_nav_msgs_GridCells_h
nucho 0:06fc856e99ca 3
nucho 0:06fc856e99ca 4 #include <stdint.h>
nucho 0:06fc856e99ca 5 #include <string.h>
nucho 0:06fc856e99ca 6 #include <stdlib.h>
nucho 0:06fc856e99ca 7 #include "../ros/msg.h"
nucho 0:06fc856e99ca 8 #include "std_msgs/Header.h"
nucho 0:06fc856e99ca 9 #include "geometry_msgs/Point.h"
nucho 0:06fc856e99ca 10
nucho 0:06fc856e99ca 11 namespace nav_msgs
nucho 0:06fc856e99ca 12 {
nucho 0:06fc856e99ca 13
nucho 0:06fc856e99ca 14 class GridCells : public ros::Msg
nucho 0:06fc856e99ca 15 {
nucho 0:06fc856e99ca 16 public:
nucho 0:06fc856e99ca 17 std_msgs::Header header;
nucho 0:06fc856e99ca 18 float cell_width;
nucho 0:06fc856e99ca 19 float cell_height;
nucho 0:06fc856e99ca 20 unsigned char cells_length;
nucho 0:06fc856e99ca 21 geometry_msgs::Point st_cells;
nucho 0:06fc856e99ca 22 geometry_msgs::Point * cells;
nucho 0:06fc856e99ca 23
nucho 0:06fc856e99ca 24 virtual int serialize(unsigned char *outbuffer)
nucho 0:06fc856e99ca 25 {
nucho 0:06fc856e99ca 26 int offset = 0;
nucho 0:06fc856e99ca 27 offset += this->header.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 28 union {
nucho 0:06fc856e99ca 29 float real;
nucho 0:06fc856e99ca 30 unsigned long base;
nucho 0:06fc856e99ca 31 } u_cell_width;
nucho 0:06fc856e99ca 32 u_cell_width.real = this->cell_width;
nucho 0:06fc856e99ca 33 *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
nucho 0:06fc856e99ca 34 *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
nucho 0:06fc856e99ca 35 *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
nucho 0:06fc856e99ca 36 *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
nucho 0:06fc856e99ca 37 offset += sizeof(this->cell_width);
nucho 0:06fc856e99ca 38 union {
nucho 0:06fc856e99ca 39 float real;
nucho 0:06fc856e99ca 40 unsigned long base;
nucho 0:06fc856e99ca 41 } u_cell_height;
nucho 0:06fc856e99ca 42 u_cell_height.real = this->cell_height;
nucho 0:06fc856e99ca 43 *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
nucho 0:06fc856e99ca 44 *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
nucho 0:06fc856e99ca 45 *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
nucho 0:06fc856e99ca 46 *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
nucho 0:06fc856e99ca 47 offset += sizeof(this->cell_height);
nucho 0:06fc856e99ca 48 *(outbuffer + offset++) = cells_length;
nucho 0:06fc856e99ca 49 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 50 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 51 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 52 for( unsigned char i = 0; i < cells_length; i++){
nucho 0:06fc856e99ca 53 offset += this->cells[i].serialize(outbuffer + offset);
nucho 0:06fc856e99ca 54 }
nucho 0:06fc856e99ca 55 return offset;
nucho 0:06fc856e99ca 56 }
nucho 0:06fc856e99ca 57
nucho 0:06fc856e99ca 58 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 59 {
nucho 0:06fc856e99ca 60 int offset = 0;
nucho 0:06fc856e99ca 61 offset += this->header.deserialize(inbuffer + offset);
nucho 0:06fc856e99ca 62 union {
nucho 0:06fc856e99ca 63 float real;
nucho 0:06fc856e99ca 64 unsigned long base;
nucho 0:06fc856e99ca 65 } u_cell_width;
nucho 0:06fc856e99ca 66 u_cell_width.base = 0;
nucho 0:06fc856e99ca 67 u_cell_width.base |= ((typeof(u_cell_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:06fc856e99ca 68 u_cell_width.base |= ((typeof(u_cell_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:06fc856e99ca 69 u_cell_width.base |= ((typeof(u_cell_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:06fc856e99ca 70 u_cell_width.base |= ((typeof(u_cell_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:06fc856e99ca 71 this->cell_width = u_cell_width.real;
nucho 0:06fc856e99ca 72 offset += sizeof(this->cell_width);
nucho 0:06fc856e99ca 73 union {
nucho 0:06fc856e99ca 74 float real;
nucho 0:06fc856e99ca 75 unsigned long base;
nucho 0:06fc856e99ca 76 } u_cell_height;
nucho 0:06fc856e99ca 77 u_cell_height.base = 0;
nucho 0:06fc856e99ca 78 u_cell_height.base |= ((typeof(u_cell_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:06fc856e99ca 79 u_cell_height.base |= ((typeof(u_cell_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:06fc856e99ca 80 u_cell_height.base |= ((typeof(u_cell_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:06fc856e99ca 81 u_cell_height.base |= ((typeof(u_cell_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:06fc856e99ca 82 this->cell_height = u_cell_height.real;
nucho 0:06fc856e99ca 83 offset += sizeof(this->cell_height);
nucho 0:06fc856e99ca 84 unsigned char cells_lengthT = *(inbuffer + offset++);
nucho 0:06fc856e99ca 85 if(cells_lengthT > cells_length)
nucho 0:06fc856e99ca 86 this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
nucho 0:06fc856e99ca 87 offset += 3;
nucho 0:06fc856e99ca 88 cells_length = cells_lengthT;
nucho 0:06fc856e99ca 89 for( unsigned char i = 0; i < cells_length; i++){
nucho 0:06fc856e99ca 90 offset += this->st_cells.deserialize(inbuffer + offset);
nucho 0:06fc856e99ca 91 memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
nucho 0:06fc856e99ca 92 }
nucho 0:06fc856e99ca 93 return offset;
nucho 0:06fc856e99ca 94 }
nucho 0:06fc856e99ca 95
nucho 0:06fc856e99ca 96 virtual const char * getType(){ return "nav_msgs/GridCells"; };
nucho 0:06fc856e99ca 97
nucho 0:06fc856e99ca 98 };
nucho 0:06fc856e99ca 99
nucho 0:06fc856e99ca 100 }
nucho 0:06fc856e99ca 101 #endif