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/UInt16MultiArray.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_UInt16MultiArray_h
nucho 0:77afd7560544 2 #define ros_UInt16MultiArray_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 UInt16MultiArray : 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 uint16_t st_data;
nucho 1:ff0ec969dad1 19 uint16_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 uint16_t real;
nucho 1:ff0ec969dad1 32 uint16_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 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 37 offset += sizeof(this->data[i]);
nucho 0:77afd7560544 38 }
nucho 0:77afd7560544 39 return offset;
nucho 0:77afd7560544 40 }
nucho 0:77afd7560544 41
nucho 0:77afd7560544 42 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 43 {
nucho 0:77afd7560544 44 int offset = 0;
nucho 0:77afd7560544 45 offset += this->layout.deserialize(inbuffer + offset);
nucho 0:77afd7560544 46 unsigned char data_lengthT = *(inbuffer + offset++);
nucho 0:77afd7560544 47 if(data_lengthT > data_length)
nucho 1:ff0ec969dad1 48 this->data = (uint16_t*)realloc(this->data, data_lengthT * sizeof(uint16_t));
nucho 0:77afd7560544 49 offset += 3;
nucho 0:77afd7560544 50 data_length = data_lengthT;
nucho 0:77afd7560544 51 for( unsigned char i = 0; i < data_length; i++){
nucho 0:77afd7560544 52 union {
nucho 1:ff0ec969dad1 53 uint16_t real;
nucho 1:ff0ec969dad1 54 uint16_t base;
nucho 0:77afd7560544 55 } u_st_data;
nucho 0:77afd7560544 56 u_st_data.base = 0;
nucho 0:77afd7560544 57 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 58 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 59 this->st_data = u_st_data.real;
nucho 0:77afd7560544 60 offset += sizeof(this->st_data);
nucho 1:ff0ec969dad1 61 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint16_t));
nucho 0:77afd7560544 62 }
nucho 0:77afd7560544 63 return offset;
nucho 0:77afd7560544 64 }
nucho 0:77afd7560544 65
nucho 0:77afd7560544 66 virtual const char * getType(){ return "std_msgs/UInt16MultiArray"; };
nucho 0:77afd7560544 67
nucho 0:77afd7560544 68 };
nucho 0:77afd7560544 69
nucho 0:77afd7560544 70 }
nucho 0:77afd7560544 71 #endif