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/Int8MultiArray.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_Int8MultiArray_h
nucho 0:77afd7560544 2 #define ros_Int8MultiArray_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 "std_msgs/MultiArrayLayout.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 Int8MultiArray : public ros::Msg
nucho 0:77afd7560544 14 {
nucho 0:77afd7560544 15 public:
nucho 0:77afd7560544 16 std_msgs::MultiArrayLayout layout;
nucho 0:77afd7560544 17 unsigned char data_length;
nucho 1:ff0ec969dad1 18 int8_t st_data;
nucho 1:ff0ec969dad1 19 int8_t * data;
nucho 0:77afd7560544 20
nucho 0:77afd7560544 21 virtual int serialize(unsigned char *outbuffer)
nucho 0:77afd7560544 22 {
nucho 0:77afd7560544 23 int offset = 0;
nucho 0:77afd7560544 24 offset += this->layout.serialize(outbuffer + offset);
nucho 0:77afd7560544 25 *(outbuffer + offset++) = data_length;
nucho 0:77afd7560544 26 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 27 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 28 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 29 for( unsigned char i = 0; i < data_length; i++){
nucho 0:77afd7560544 30 union {
nucho 1:ff0ec969dad1 31 int8_t real;
nucho 1:ff0ec969dad1 32 uint8_t base;
nucho 0:77afd7560544 33 } u_datai;
nucho 0:77afd7560544 34 u_datai.real = this->data[i];
nucho 0:77afd7560544 35 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 36 offset += sizeof(this->data[i]);
nucho 0:77afd7560544 37 }
nucho 0:77afd7560544 38 return offset;
nucho 0:77afd7560544 39 }
nucho 0:77afd7560544 40
nucho 0:77afd7560544 41 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 42 {
nucho 0:77afd7560544 43 int offset = 0;
nucho 0:77afd7560544 44 offset += this->layout.deserialize(inbuffer + offset);
nucho 0:77afd7560544 45 unsigned char data_lengthT = *(inbuffer + offset++);
nucho 0:77afd7560544 46 if(data_lengthT > data_length)
nucho 1:ff0ec969dad1 47 this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
nucho 0:77afd7560544 48 offset += 3;
nucho 0:77afd7560544 49 data_length = data_lengthT;
nucho 0:77afd7560544 50 for( unsigned char i = 0; i < data_length; i++){
nucho 0:77afd7560544 51 union {
nucho 1:ff0ec969dad1 52 int8_t real;
nucho 1:ff0ec969dad1 53 uint8_t base;
nucho 0:77afd7560544 54 } u_st_data;
nucho 0:77afd7560544 55 u_st_data.base = 0;
nucho 0:77afd7560544 56 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 57 this->st_data = u_st_data.real;
nucho 0:77afd7560544 58 offset += sizeof(this->st_data);
nucho 1:ff0ec969dad1 59 memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
nucho 0:77afd7560544 60 }
nucho 0:77afd7560544 61 return offset;
nucho 0:77afd7560544 62 }
nucho 0:77afd7560544 63
nucho 0:77afd7560544 64 virtual const char * getType(){ return "std_msgs/Int8MultiArray"; };
nucho 0:77afd7560544 65
nucho 0:77afd7560544 66 };
nucho 0:77afd7560544 67
nucho 0:77afd7560544 68 }
nucho 0:77afd7560544 69 #endif