nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

rosserial_mbed/Adc.h@0:77afd7560544, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:30 2011 +0000
Revision:
0:77afd7560544

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


nucho

0:77afd7560544


     1

#ifndef ros_Adc_h





nucho

0:77afd7560544


     2

#define ros_Adc_h





nucho

0:77afd7560544


     3







nucho

0:77afd7560544


     4

#include <stdint.h>





nucho

0:77afd7560544


     5

#include <string.h>





nucho

0:77afd7560544


     6

#include <stdlib.h>





nucho

0:77afd7560544


     7

#include "../ros/msg.h"





nucho

0:77afd7560544


     8







nucho

0:77afd7560544


     9

namespace rosserial_mbed





nucho

0:77afd7560544


    10

{





nucho

0:77afd7560544


    11







nucho

0:77afd7560544


    12

  class Adc : public ros::Msg





nucho

0:77afd7560544


    13

  {





nucho

0:77afd7560544


    14

    public:





nucho

0:77afd7560544


    15

      unsigned short adc0;





nucho

0:77afd7560544


    16

      unsigned short adc1;





nucho

0:77afd7560544


    17

      unsigned short adc2;





nucho

0:77afd7560544


    18

      unsigned short adc3;





nucho

0:77afd7560544


    19

      unsigned short adc4;





nucho

0:77afd7560544


    20

      unsigned short adc5;





nucho

0:77afd7560544


    21







nucho

0:77afd7560544


    22

    virtual int serialize(unsigned char *outbuffer)





nucho

0:77afd7560544


    23

    {





nucho

0:77afd7560544


    24

      int offset = 0;





nucho

0:77afd7560544


    25

      union {





nucho

0:77afd7560544


    26

        unsigned short real;





nucho

0:77afd7560544


    27

        unsigned short base;





nucho

0:77afd7560544


    28

      } u_adc0;





nucho

0:77afd7560544


    29

      u_adc0.real = this->adc0;





nucho

0:77afd7560544


    30

      *(outbuffer + offset + 0) = (u_adc0.base >> (8 * 0)) & 0xFF;





nucho

0:77afd7560544


    31

      *(outbuffer + offset + 1) = (u_adc0.base >> (8 * 1)) & 0xFF;





nucho

0:77afd7560544


    32

      offset += sizeof(this->adc0);





nucho

0:77afd7560544


    33

      union {





nucho

0:77afd7560544


    34

        unsigned short real;





nucho

0:77afd7560544


    35

        unsigned short base;





nucho

0:77afd7560544


    36

      } u_adc1;





nucho

0:77afd7560544


    37

      u_adc1.real = this->adc1;





nucho

0:77afd7560544


    38

      *(outbuffer + offset + 0) = (u_adc1.base >> (8 * 0)) & 0xFF;





nucho

0:77afd7560544


    39

      *(outbuffer + offset + 1) = (u_adc1.base >> (8 * 1)) & 0xFF;





nucho

0:77afd7560544


    40

      offset += sizeof(this->adc1);





nucho

0:77afd7560544


    41

      union {





nucho

0:77afd7560544


    42

        unsigned short real;





nucho

0:77afd7560544


    43

        unsigned short base;





nucho

0:77afd7560544


    44

      } u_adc2;





nucho

0:77afd7560544


    45

      u_adc2.real = this->adc2;





nucho

0:77afd7560544


    46

      *(outbuffer + offset + 0) = (u_adc2.base >> (8 * 0)) & 0xFF;





nucho

0:77afd7560544


    47

      *(outbuffer + offset + 1) = (u_adc2.base >> (8 * 1)) & 0xFF;





nucho

0:77afd7560544


    48

      offset += sizeof(this->adc2);





nucho

0:77afd7560544


    49

      union {





nucho

0:77afd7560544


    50

        unsigned short real;





nucho

0:77afd7560544


    51

        unsigned short base;





nucho

0:77afd7560544


    52

      } u_adc3;





nucho

0:77afd7560544


    53

      u_adc3.real = this->adc3;





nucho

0:77afd7560544


    54

      *(outbuffer + offset + 0) = (u_adc3.base >> (8 * 0)) & 0xFF;





nucho

0:77afd7560544


    55

      *(outbuffer + offset + 1) = (u_adc3.base >> (8 * 1)) & 0xFF;





nucho

0:77afd7560544


    56

      offset += sizeof(this->adc3);





nucho

0:77afd7560544


    57

      union {





nucho

0:77afd7560544


    58

        unsigned short real;





nucho

0:77afd7560544


    59

        unsigned short base;





nucho

0:77afd7560544


    60

      } u_adc4;





nucho

0:77afd7560544


    61

      u_adc4.real = this->adc4;





nucho

0:77afd7560544


    62

      *(outbuffer + offset + 0) = (u_adc4.base >> (8 * 0)) & 0xFF;





nucho

0:77afd7560544


    63

      *(outbuffer + offset + 1) = (u_adc4.base >> (8 * 1)) & 0xFF;





nucho

0:77afd7560544


    64

      offset += sizeof(this->adc4);





nucho

0:77afd7560544


    65

      union {





nucho

0:77afd7560544


    66

        unsigned short real;





nucho

0:77afd7560544


    67

        unsigned short base;





nucho

0:77afd7560544


    68

      } u_adc5;





nucho

0:77afd7560544


    69

      u_adc5.real = this->adc5;





nucho

0:77afd7560544


    70

      *(outbuffer + offset + 0) = (u_adc5.base >> (8 * 0)) & 0xFF;





nucho

0:77afd7560544


    71

      *(outbuffer + offset + 1) = (u_adc5.base >> (8 * 1)) & 0xFF;





nucho

0:77afd7560544


    72

      offset += sizeof(this->adc5);





nucho

0:77afd7560544


    73

      return offset;





nucho

0:77afd7560544


    74

    }





nucho

0:77afd7560544


    75







nucho

0:77afd7560544


    76

    virtual int deserialize(unsigned char *inbuffer)





nucho

0:77afd7560544


    77

    {





nucho

0:77afd7560544


    78

      int offset = 0;





nucho

0:77afd7560544


    79

      union {





nucho

0:77afd7560544


    80

        unsigned short real;





nucho

0:77afd7560544


    81

        unsigned short base;





nucho

0:77afd7560544


    82

      } u_adc0;





nucho

0:77afd7560544


    83

      u_adc0.base = 0;





nucho

0:77afd7560544


    84

      u_adc0.base |= ((typeof(u_adc0.base)) (*(inbuffer + offset + 0))) << (8 * 0);





nucho

0:77afd7560544


    85

      u_adc0.base |= ((typeof(u_adc0.base)) (*(inbuffer + offset + 1))) << (8 * 1);





nucho

0:77afd7560544


    86

      this->adc0 = u_adc0.real;





nucho

0:77afd7560544


    87

      offset += sizeof(this->adc0);





nucho

0:77afd7560544


    88

      union {





nucho

0:77afd7560544


    89

        unsigned short real;





nucho

0:77afd7560544


    90

        unsigned short base;





nucho

0:77afd7560544


    91

      } u_adc1;





nucho

0:77afd7560544


    92

      u_adc1.base = 0;





nucho

0:77afd7560544


    93

      u_adc1.base |= ((typeof(u_adc1.base)) (*(inbuffer + offset + 0))) << (8 * 0);





nucho

0:77afd7560544


    94

      u_adc1.base |= ((typeof(u_adc1.base)) (*(inbuffer + offset + 1))) << (8 * 1);





nucho

0:77afd7560544


    95

      this->adc1 = u_adc1.real;





nucho

0:77afd7560544


    96

      offset += sizeof(this->adc1);





nucho

0:77afd7560544


    97

      union {





nucho

0:77afd7560544


    98

        unsigned short real;





nucho

0:77afd7560544


    99

        unsigned short base;





nucho

0:77afd7560544


   100

      } u_adc2;





nucho

0:77afd7560544


   101

      u_adc2.base = 0;





nucho

0:77afd7560544


   102

      u_adc2.base |= ((typeof(u_adc2.base)) (*(inbuffer + offset + 0))) << (8 * 0);





nucho

0:77afd7560544


   103

      u_adc2.base |= ((typeof(u_adc2.base)) (*(inbuffer + offset + 1))) << (8 * 1);





nucho

0:77afd7560544


   104

      this->adc2 = u_adc2.real;





nucho

0:77afd7560544


   105

      offset += sizeof(this->adc2);





nucho

0:77afd7560544


   106

      union {





nucho

0:77afd7560544


   107

        unsigned short real;





nucho

0:77afd7560544


   108

        unsigned short base;





nucho

0:77afd7560544


   109

      } u_adc3;





nucho

0:77afd7560544


   110

      u_adc3.base = 0;





nucho

0:77afd7560544


   111

      u_adc3.base |= ((typeof(u_adc3.base)) (*(inbuffer + offset + 0))) << (8 * 0);





nucho

0:77afd7560544


   112

      u_adc3.base |= ((typeof(u_adc3.base)) (*(inbuffer + offset + 1))) << (8 * 1);





nucho

0:77afd7560544


   113

      this->adc3 = u_adc3.real;





nucho

0:77afd7560544


   114

      offset += sizeof(this->adc3);





nucho

0:77afd7560544


   115

      union {





nucho

0:77afd7560544


   116

        unsigned short real;





nucho

0:77afd7560544


   117

        unsigned short base;





nucho

0:77afd7560544


   118

      } u_adc4;





nucho

0:77afd7560544


   119

      u_adc4.base = 0;





nucho

0:77afd7560544


   120

      u_adc4.base |= ((typeof(u_adc4.base)) (*(inbuffer + offset + 0))) << (8 * 0);





nucho

0:77afd7560544


   121

      u_adc4.base |= ((typeof(u_adc4.base)) (*(inbuffer + offset + 1))) << (8 * 1);





nucho

0:77afd7560544


   122

      this->adc4 = u_adc4.real;





nucho

0:77afd7560544


   123

      offset += sizeof(this->adc4);





nucho

0:77afd7560544


   124

      union {





nucho

0:77afd7560544


   125

        unsigned short real;





nucho

0:77afd7560544


   126

        unsigned short base;





nucho

0:77afd7560544


   127

      } u_adc5;





nucho

0:77afd7560544


   128

      u_adc5.base = 0;





nucho

0:77afd7560544


   129

      u_adc5.base |= ((typeof(u_adc5.base)) (*(inbuffer + offset + 0))) << (8 * 0);





nucho

0:77afd7560544


   130

      u_adc5.base |= ((typeof(u_adc5.base)) (*(inbuffer + offset + 1))) << (8 * 1);





nucho

0:77afd7560544


   131

      this->adc5 = u_adc5.real;





nucho

0:77afd7560544


   132

      offset += sizeof(this->adc5);





nucho

0:77afd7560544


   133

     return offset;





nucho

0:77afd7560544


   134

    }





nucho

0:77afd7560544


   135







nucho

0:77afd7560544


   136

    virtual const char * getType(){ return "rosserial_mbed/Adc"; };





nucho

0:77afd7560544


   137







nucho

0:77afd7560544


   138

  };





nucho

0:77afd7560544


   139







nucho

0:77afd7560544


   140

}





nucho

0:77afd7560544


   141

#endif