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

std_msgs/Header.h@1:ff0ec969dad1, 2011-10-16 (annotated)

Committer:
nucho
Date:
Sun Oct 16 07:19:36 2011 +0000
Revision:
1:ff0ec969dad1
Parent:
0:77afd7560544
Child:
3:1cf99502f396
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:ff0ec969dad1 1 #ifndef ros_std_msgs_Header_h
nucho 1:ff0ec969dad1 2 #define ros_std_msgs_Header_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 #include "ros/time.h"
nucho 0:77afd7560544 9
nucho 0:77afd7560544 10 namespace std_msgs
nucho 0:77afd7560544 11 {
nucho 0:77afd7560544 12
nucho 0:77afd7560544 13 class Header : public ros::Msg
nucho 0:77afd7560544 14 {
nucho 0:77afd7560544 15 public:
nucho 0:77afd7560544 16 unsigned long seq;
nucho 0:77afd7560544 17 ros::Time stamp;
nucho 0:77afd7560544 18 char * frame_id;
nucho 0:77afd7560544 19
nucho 0:77afd7560544 20 virtual int serialize(unsigned char *outbuffer)
nucho 0:77afd7560544 21 {
nucho 0:77afd7560544 22 int offset = 0;
nucho 0:77afd7560544 23 union {
nucho 0:77afd7560544 24 unsigned long real;
nucho 0:77afd7560544 25 unsigned long base;
nucho 0:77afd7560544 26 } u_seq;
nucho 0:77afd7560544 27 u_seq.real = this->seq;
nucho 0:77afd7560544 28 *(outbuffer + offset + 0) = (u_seq.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 29 *(outbuffer + offset + 1) = (u_seq.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 30 *(outbuffer + offset + 2) = (u_seq.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 31 *(outbuffer + offset + 3) = (u_seq.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 32 offset += sizeof(this->seq);
nucho 0:77afd7560544 33 union {
nucho 0:77afd7560544 34 unsigned long real;
nucho 0:77afd7560544 35 unsigned long base;
nucho 0:77afd7560544 36 } u_sec;
nucho 0:77afd7560544 37 u_sec.real = this->stamp.sec;
nucho 0:77afd7560544 38 *(outbuffer + offset + 0) = (u_sec.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 39 *(outbuffer + offset + 1) = (u_sec.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 40 *(outbuffer + offset + 2) = (u_sec.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 41 *(outbuffer + offset + 3) = (u_sec.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 42 offset += sizeof(this->stamp.sec);
nucho 0:77afd7560544 43 union {
nucho 0:77afd7560544 44 unsigned long real;
nucho 0:77afd7560544 45 unsigned long base;
nucho 0:77afd7560544 46 } u_nsec;
nucho 0:77afd7560544 47 u_nsec.real = this->stamp.nsec;
nucho 0:77afd7560544 48 *(outbuffer + offset + 0) = (u_nsec.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 49 *(outbuffer + offset + 1) = (u_nsec.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 50 *(outbuffer + offset + 2) = (u_nsec.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 51 *(outbuffer + offset + 3) = (u_nsec.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 52 offset += sizeof(this->stamp.nsec);
nucho 0:77afd7560544 53 long * length_frame_id = (long *)(outbuffer + offset);
nucho 0:77afd7560544 54 *length_frame_id = strlen( (const char*) this->frame_id);
nucho 0:77afd7560544 55 offset += 4;
nucho 0:77afd7560544 56 memcpy(outbuffer + offset, this->frame_id, *length_frame_id);
nucho 0:77afd7560544 57 offset += *length_frame_id;
nucho 0:77afd7560544 58 return offset;
nucho 0:77afd7560544 59 }
nucho 0:77afd7560544 60
nucho 0:77afd7560544 61 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 62 {
nucho 0:77afd7560544 63 int offset = 0;
nucho 0:77afd7560544 64 union {
nucho 0:77afd7560544 65 unsigned long real;
nucho 0:77afd7560544 66 unsigned long base;
nucho 0:77afd7560544 67 } u_seq;
nucho 0:77afd7560544 68 u_seq.base = 0;
nucho 0:77afd7560544 69 u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 70 u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 71 u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:77afd7560544 72 u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 73 this->seq = u_seq.real;
nucho 0:77afd7560544 74 offset += sizeof(this->seq);
nucho 0:77afd7560544 75 union {
nucho 0:77afd7560544 76 unsigned long real;
nucho 0:77afd7560544 77 unsigned long base;
nucho 0:77afd7560544 78 } u_sec;
nucho 0:77afd7560544 79 u_sec.base = 0;
nucho 0:77afd7560544 80 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 81 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 82 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:77afd7560544 83 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 84 this->stamp.sec = u_sec.real;
nucho 0:77afd7560544 85 offset += sizeof(this->stamp.sec);
nucho 0:77afd7560544 86 union {
nucho 0:77afd7560544 87 unsigned long real;
nucho 0:77afd7560544 88 unsigned long base;
nucho 0:77afd7560544 89 } u_nsec;
nucho 0:77afd7560544 90 u_nsec.base = 0;
nucho 0:77afd7560544 91 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 92 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 93 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:77afd7560544 94 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 95 this->stamp.nsec = u_nsec.real;
nucho 0:77afd7560544 96 offset += sizeof(this->stamp.nsec);
nucho 0:77afd7560544 97 uint32_t length_frame_id = *(uint32_t *)(inbuffer + offset);
nucho 0:77afd7560544 98 offset += 4;
nucho 0:77afd7560544 99 for(unsigned int k= offset; k< offset+length_frame_id; ++k){
nucho 0:77afd7560544 100 inbuffer[k-1]=inbuffer[k];
nucho 0:77afd7560544 101 }
nucho 0:77afd7560544 102 inbuffer[offset+length_frame_id-1]=0;
nucho 0:77afd7560544 103 this->frame_id = (char *)(inbuffer + offset-1);
nucho 0:77afd7560544 104 offset += length_frame_id;
nucho 0:77afd7560544 105 return offset;
nucho 0:77afd7560544 106 }
nucho 0:77afd7560544 107
nucho 1:ff0ec969dad1 108 const char * getType(){ return "std_msgs/Header"; };
nucho 0:77afd7560544 109
nucho 0:77afd7560544 110 };
nucho 0:77afd7560544 111
nucho 0:77afd7560544 112 }
nucho 0:77afd7560544 113 #endif