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/Time.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_std_msgs_Time_h
nucho 1:098e75fd5ad2 2 #define ros_std_msgs_Time_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 "ros/time.h"
nucho 0:06fc856e99ca 9
nucho 0:06fc856e99ca 10 namespace std_msgs
nucho 0:06fc856e99ca 11 {
nucho 0:06fc856e99ca 12
nucho 0:06fc856e99ca 13 class Time : public ros::Msg
nucho 0:06fc856e99ca 14 {
nucho 0:06fc856e99ca 15 public:
nucho 0:06fc856e99ca 16 ros::Time data;
nucho 0:06fc856e99ca 17
nucho 0:06fc856e99ca 18 virtual int serialize(unsigned char *outbuffer)
nucho 0:06fc856e99ca 19 {
nucho 0:06fc856e99ca 20 int offset = 0;
nucho 0:06fc856e99ca 21 union {
nucho 1:098e75fd5ad2 22 uint32_t real;
nucho 1:098e75fd5ad2 23 uint32_t base;
nucho 0:06fc856e99ca 24 } u_sec;
nucho 0:06fc856e99ca 25 u_sec.real = this->data.sec;
nucho 0:06fc856e99ca 26 *(outbuffer + offset + 0) = (u_sec.base >> (8 * 0)) & 0xFF;
nucho 0:06fc856e99ca 27 *(outbuffer + offset + 1) = (u_sec.base >> (8 * 1)) & 0xFF;
nucho 0:06fc856e99ca 28 *(outbuffer + offset + 2) = (u_sec.base >> (8 * 2)) & 0xFF;
nucho 0:06fc856e99ca 29 *(outbuffer + offset + 3) = (u_sec.base >> (8 * 3)) & 0xFF;
nucho 0:06fc856e99ca 30 offset += sizeof(this->data.sec);
nucho 0:06fc856e99ca 31 union {
nucho 1:098e75fd5ad2 32 uint32_t real;
nucho 1:098e75fd5ad2 33 uint32_t base;
nucho 0:06fc856e99ca 34 } u_nsec;
nucho 0:06fc856e99ca 35 u_nsec.real = this->data.nsec;
nucho 0:06fc856e99ca 36 *(outbuffer + offset + 0) = (u_nsec.base >> (8 * 0)) & 0xFF;
nucho 0:06fc856e99ca 37 *(outbuffer + offset + 1) = (u_nsec.base >> (8 * 1)) & 0xFF;
nucho 0:06fc856e99ca 38 *(outbuffer + offset + 2) = (u_nsec.base >> (8 * 2)) & 0xFF;
nucho 0:06fc856e99ca 39 *(outbuffer + offset + 3) = (u_nsec.base >> (8 * 3)) & 0xFF;
nucho 0:06fc856e99ca 40 offset += sizeof(this->data.nsec);
nucho 0:06fc856e99ca 41 return offset;
nucho 0:06fc856e99ca 42 }
nucho 0:06fc856e99ca 43
nucho 0:06fc856e99ca 44 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 45 {
nucho 0:06fc856e99ca 46 int offset = 0;
nucho 0:06fc856e99ca 47 union {
nucho 1:098e75fd5ad2 48 uint32_t real;
nucho 1:098e75fd5ad2 49 uint32_t base;
nucho 0:06fc856e99ca 50 } u_sec;
nucho 0:06fc856e99ca 51 u_sec.base = 0;
nucho 0:06fc856e99ca 52 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:06fc856e99ca 53 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:06fc856e99ca 54 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:06fc856e99ca 55 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:06fc856e99ca 56 this->data.sec = u_sec.real;
nucho 0:06fc856e99ca 57 offset += sizeof(this->data.sec);
nucho 0:06fc856e99ca 58 union {
nucho 1:098e75fd5ad2 59 uint32_t real;
nucho 1:098e75fd5ad2 60 uint32_t base;
nucho 0:06fc856e99ca 61 } u_nsec;
nucho 0:06fc856e99ca 62 u_nsec.base = 0;
nucho 0:06fc856e99ca 63 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:06fc856e99ca 64 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:06fc856e99ca 65 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:06fc856e99ca 66 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:06fc856e99ca 67 this->data.nsec = u_nsec.real;
nucho 0:06fc856e99ca 68 offset += sizeof(this->data.nsec);
nucho 0:06fc856e99ca 69 return offset;
nucho 0:06fc856e99ca 70 }
nucho 0:06fc856e99ca 71
nucho 0:06fc856e99ca 72 virtual const char * getType(){ return "std_msgs/Time"; };
nucho 0:06fc856e99ca 73
nucho 0:06fc856e99ca 74 };
nucho 0:06fc856e99ca 75
nucho 0:06fc856e99ca 76 }
nucho 0:06fc856e99ca 77 #endif