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/MultiArrayLayout.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 0:06fc856e99ca | 1 | #ifndef ros_MultiArrayLayout_h |
nucho | 0:06fc856e99ca | 2 | #define ros_MultiArrayLayout_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/MultiArrayDimension.h" |
nucho | 0:06fc856e99ca | 9 | |
nucho | 1:098e75fd5ad2 | 10 | namespace std_msgs { |
nucho | 0:06fc856e99ca | 11 | |
nucho | 1:098e75fd5ad2 | 12 | class MultiArrayLayout : public ros::Msg { |
nucho | 1:098e75fd5ad2 | 13 | public: |
nucho | 1:098e75fd5ad2 | 14 | unsigned char dim_length; |
nucho | 1:098e75fd5ad2 | 15 | std_msgs::MultiArrayDimension st_dim; |
nucho | 1:098e75fd5ad2 | 16 | std_msgs::MultiArrayDimension * dim; |
nucho | 1:098e75fd5ad2 | 17 | unsigned long data_offset; |
nucho | 0:06fc856e99ca | 18 | |
nucho | 1:098e75fd5ad2 | 19 | virtual int serialize(unsigned char *outbuffer) { |
nucho | 1:098e75fd5ad2 | 20 | int offset = 0; |
nucho | 1:098e75fd5ad2 | 21 | *(outbuffer + offset++) = dim_length; |
nucho | 1:098e75fd5ad2 | 22 | *(outbuffer + offset++) = 0; |
nucho | 1:098e75fd5ad2 | 23 | *(outbuffer + offset++) = 0; |
nucho | 1:098e75fd5ad2 | 24 | *(outbuffer + offset++) = 0; |
nucho | 1:098e75fd5ad2 | 25 | for ( unsigned char i = 0; i < dim_length; i++) { |
nucho | 1:098e75fd5ad2 | 26 | offset += this->dim[i].serialize(outbuffer + offset); |
nucho | 1:098e75fd5ad2 | 27 | } |
nucho | 1:098e75fd5ad2 | 28 | union { |
nucho | 1:098e75fd5ad2 | 29 | uint32_t real; |
nucho | 1:098e75fd5ad2 | 30 | uint32_t base; |
nucho | 1:098e75fd5ad2 | 31 | } u_data_offset; |
nucho | 1:098e75fd5ad2 | 32 | u_data_offset.real = this->data_offset; |
nucho | 1:098e75fd5ad2 | 33 | *(outbuffer + offset + 0) = (u_data_offset.base >> (8 * 0)) & 0xFF; |
nucho | 1:098e75fd5ad2 | 34 | *(outbuffer + offset + 1) = (u_data_offset.base >> (8 * 1)) & 0xFF; |
nucho | 1:098e75fd5ad2 | 35 | *(outbuffer + offset + 2) = (u_data_offset.base >> (8 * 2)) & 0xFF; |
nucho | 1:098e75fd5ad2 | 36 | *(outbuffer + offset + 3) = (u_data_offset.base >> (8 * 3)) & 0xFF; |
nucho | 1:098e75fd5ad2 | 37 | offset += sizeof(this->data_offset); |
nucho | 1:098e75fd5ad2 | 38 | return offset; |
nucho | 0:06fc856e99ca | 39 | } |
nucho | 0:06fc856e99ca | 40 | |
nucho | 1:098e75fd5ad2 | 41 | virtual int deserialize(unsigned char *inbuffer) { |
nucho | 1:098e75fd5ad2 | 42 | int offset = 0; |
nucho | 1:098e75fd5ad2 | 43 | unsigned char dim_lengthT = *(inbuffer + offset++); |
nucho | 1:098e75fd5ad2 | 44 | if (dim_lengthT > dim_length) |
nucho | 1:098e75fd5ad2 | 45 | this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension)); |
nucho | 1:098e75fd5ad2 | 46 | offset += 3; |
nucho | 1:098e75fd5ad2 | 47 | dim_length = dim_lengthT; |
nucho | 1:098e75fd5ad2 | 48 | for ( unsigned char i = 0; i < dim_length; i++) { |
nucho | 1:098e75fd5ad2 | 49 | offset += this->st_dim.deserialize(inbuffer + offset); |
nucho | 1:098e75fd5ad2 | 50 | memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension)); |
nucho | 1:098e75fd5ad2 | 51 | } |
nucho | 1:098e75fd5ad2 | 52 | union { |
nucho | 1:098e75fd5ad2 | 53 | uint32_t real; |
nucho | 1:098e75fd5ad2 | 54 | uint32_t base; |
nucho | 1:098e75fd5ad2 | 55 | } u_data_offset; |
nucho | 1:098e75fd5ad2 | 56 | u_data_offset.base = 0; |
nucho | 1:098e75fd5ad2 | 57 | u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 1:098e75fd5ad2 | 58 | u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 1:098e75fd5ad2 | 59 | u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
nucho | 1:098e75fd5ad2 | 60 | u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
nucho | 1:098e75fd5ad2 | 61 | this->data_offset = u_data_offset.real; |
nucho | 1:098e75fd5ad2 | 62 | offset += sizeof(this->data_offset); |
nucho | 1:098e75fd5ad2 | 63 | return offset; |
nucho | 0:06fc856e99ca | 64 | } |
nucho | 0:06fc856e99ca | 65 | |
nucho | 1:098e75fd5ad2 | 66 | virtual const char * getType() { |
nucho | 1:098e75fd5ad2 | 67 | return "std_msgs/MultiArrayLayout"; |
nucho | 1:098e75fd5ad2 | 68 | }; |
nucho | 0:06fc856e99ca | 69 | |
nucho | 1:098e75fd5ad2 | 70 | }; |
nucho | 0:06fc856e99ca | 71 | |
nucho | 0:06fc856e99ca | 72 | } |
nucho | 0:06fc856e99ca | 73 | #endif |