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/Int16.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 0:77afd7560544 1 #ifndef ros_Int16_h
nucho 0:77afd7560544 2 #define ros_Int16_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 std_msgs
nucho 0:77afd7560544 10 {
nucho 0:77afd7560544 11
nucho 0:77afd7560544 12 class Int16 : public ros::Msg
nucho 0:77afd7560544 13 {
nucho 0:77afd7560544 14 public:
nucho 1:ff0ec969dad1 15 int16_t data;
nucho 0:77afd7560544 16
nucho 0:77afd7560544 17 virtual int serialize(unsigned char *outbuffer)
nucho 0:77afd7560544 18 {
nucho 0:77afd7560544 19 int offset = 0;
nucho 0:77afd7560544 20 union {
nucho 1:ff0ec969dad1 21 int16_t;
nucho 1:ff0ec969dad1 22 uint16_t base;
nucho 0:77afd7560544 23 } u_data;
nucho 0:77afd7560544 24 u_data.real = this->data;
nucho 0:77afd7560544 25 *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 26 *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 27 offset += sizeof(this->data);
nucho 0:77afd7560544 28 return offset;
nucho 0:77afd7560544 29 }
nucho 0:77afd7560544 30
nucho 0:77afd7560544 31 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 32 {
nucho 0:77afd7560544 33 int offset = 0;
nucho 0:77afd7560544 34 union {
nucho 1:ff0ec969dad1 35 int16_t real;
nucho 1:ff0ec969dad1 36 uint16_t base;
nucho 0:77afd7560544 37 } u_data;
nucho 0:77afd7560544 38 u_data.base = 0;
nucho 0:77afd7560544 39 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 40 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 41 this->data = u_data.real;
nucho 0:77afd7560544 42 offset += sizeof(this->data);
nucho 0:77afd7560544 43 return offset;
nucho 0:77afd7560544 44 }
nucho 0:77afd7560544 45
nucho 0:77afd7560544 46 virtual const char * getType(){ return "std_msgs/Int16"; };
nucho 0:77afd7560544 47
nucho 0:77afd7560544 48 };
nucho 0:77afd7560544 49
nucho 0:77afd7560544 50 }
nucho 0:77afd7560544 51 #endif