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/Int16.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:
2:094e5153a559
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 0:06fc856e99ca 1 #ifndef ros_Int16_h
nucho 0:06fc856e99ca 2 #define ros_Int16_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
nucho 0:06fc856e99ca 9 namespace std_msgs
nucho 0:06fc856e99ca 10 {
nucho 0:06fc856e99ca 11
nucho 0:06fc856e99ca 12 class Int16 : public ros::Msg
nucho 0:06fc856e99ca 13 {
nucho 0:06fc856e99ca 14 public:
nucho 1:098e75fd5ad2 15 int16_t data;
nucho 0:06fc856e99ca 16
nucho 0:06fc856e99ca 17 virtual int serialize(unsigned char *outbuffer)
nucho 0:06fc856e99ca 18 {
nucho 0:06fc856e99ca 19 int offset = 0;
nucho 0:06fc856e99ca 20 union {
nucho 1:098e75fd5ad2 21 int16_t;
nucho 1:098e75fd5ad2 22 uint16_t base;
nucho 0:06fc856e99ca 23 } u_data;
nucho 0:06fc856e99ca 24 u_data.real = this->data;
nucho 0:06fc856e99ca 25 *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
nucho 0:06fc856e99ca 26 *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
nucho 0:06fc856e99ca 27 offset += sizeof(this->data);
nucho 0:06fc856e99ca 28 return offset;
nucho 0:06fc856e99ca 29 }
nucho 0:06fc856e99ca 30
nucho 0:06fc856e99ca 31 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 32 {
nucho 0:06fc856e99ca 33 int offset = 0;
nucho 0:06fc856e99ca 34 union {
nucho 1:098e75fd5ad2 35 int16_t real;
nucho 1:098e75fd5ad2 36 uint16_t base;
nucho 0:06fc856e99ca 37 } u_data;
nucho 0:06fc856e99ca 38 u_data.base = 0;
nucho 0:06fc856e99ca 39 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:06fc856e99ca 40 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:06fc856e99ca 41 this->data = u_data.real;
nucho 0:06fc856e99ca 42 offset += sizeof(this->data);
nucho 0:06fc856e99ca 43 return offset;
nucho 0:06fc856e99ca 44 }
nucho 0:06fc856e99ca 45
nucho 0:06fc856e99ca 46 virtual const char * getType(){ return "std_msgs/Int16"; };
nucho 0:06fc856e99ca 47
nucho 0:06fc856e99ca 48 };
nucho 0:06fc856e99ca 49
nucho 0:06fc856e99ca 50 }
nucho 0:06fc856e99ca 51 #endif