This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
Diff: sensor_msgs/ChannelFloat32.h
- Revision:
- 3:1cf99502f396
- Parent:
- 0:77afd7560544
diff -r bb6bb835fde4 -r 1cf99502f396 sensor_msgs/ChannelFloat32.h --- a/sensor_msgs/ChannelFloat32.h Sun Oct 16 09:35:11 2011 +0000 +++ b/sensor_msgs/ChannelFloat32.h Sat Nov 12 23:54:45 2011 +0000 @@ -1,10 +1,10 @@ -#ifndef ros_ChannelFloat32_h -#define ros_ChannelFloat32_h + #ifndef _ROS_sensor_msgs_ChannelFloat32_h +#define _ROS_sensor_msgs_ChannelFloat32_h #include <stdint.h> #include <string.h> #include <stdlib.h> -#include "../ros/msg.h" +#include "ros/msg.h" namespace sensor_msgs { @@ -13,14 +13,14 @@ { public: char * name; - unsigned char values_length; + uint8_t values_length; float st_values; float * values; - virtual int serialize(unsigned char *outbuffer) + virtual int serialize(unsigned char *outbuffer) const { int offset = 0; - long * length_name = (long *)(outbuffer + offset); + uint32_t * length_name = (uint32_t *)(outbuffer + offset); *length_name = strlen( (const char*) this->name); offset += 4; memcpy(outbuffer + offset, this->name, *length_name); @@ -29,10 +29,10 @@ *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; - for( unsigned char i = 0; i < values_length; i++){ + for( uint8_t i = 0; i < values_length; i++){ union { float real; - unsigned long base; + uint32_t base; } u_valuesi; u_valuesi.real = this->values[i]; *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF; @@ -51,25 +51,25 @@ offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; - } + } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; - unsigned char values_lengthT = *(inbuffer + offset++); + uint8_t values_lengthT = *(inbuffer + offset++); if(values_lengthT > values_length) this->values = (float*)realloc(this->values, values_lengthT * sizeof(float)); offset += 3; values_length = values_lengthT; - for( unsigned char i = 0; i < values_length; i++){ + for( uint8_t i = 0; i < values_length; i++){ union { float real; - unsigned long base; + uint32_t base; } u_st_values; u_st_values.base = 0; - u_st_values.base |= ((typeof(u_st_values.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_st_values.base |= ((typeof(u_st_values.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_st_values.base |= ((typeof(u_st_values.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_st_values.base |= ((typeof(u_st_values.base)) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->st_values = u_st_values.real; offset += sizeof(this->st_values); memcpy( &(this->values[i]), &(this->st_values), sizeof(float)); @@ -77,7 +77,8 @@ return offset; } - virtual const char * getType(){ return "sensor_msgs/ChannelFloat32"; }; + virtual const char * getType(){ return "sensor_msgs/ChannelFloat32"; }; + virtual const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; }; };