nucho
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
Revision 1:ff0ec969dad1, committed 2011-10-16
- Comitter:
- nucho
- Date:
- Sun Oct 16 07:19:36 2011 +0000
- Parent:
- 0:77afd7560544
- Child:
- 2:bb6bb835fde4
- Commit message:
- This program supported the revision of 143 of rosserial.
And the bug fix of receive of array data.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODSERIAL.lib Sun Oct 16 07:19:36 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/AjK/code/MODSERIAL/#af2af4c61c2f
--- a/MbedHardware.h Fri Aug 19 09:06:30 2011 +0000
+++ b/MbedHardware.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,5 +1,5 @@
/*
- * mbedHardware
+ * MbedHardware
*
* Created on: Aug 17, 2011
* Author: nucho
@@ -9,10 +9,12 @@
#define MBEDHARDWARE_H_
#include"mbed.h"
+#include"MODSERIAL.h"
+
class MbedHardware {
public:
- MbedHardware(Serial* io , long baud= 57600)
+ MbedHardware(MODSERIAL* io , int baud= 57600)
:iostream(*io){
baud_ = baud;
t.start();
@@ -29,7 +31,7 @@
t.start();
}
- void setBaud(long baud) {
+ void setBaud(int baud) {
this->baud_= baud;
}
@@ -57,8 +59,8 @@
}
protected:
- long baud_;
- Serial iostream;
+ int baud_;
+ MODSERIAL iostream;
Timer t;
};
--- a/dianostic_msgs/DiagnosticArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/dianostic_msgs/DiagnosticArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,5 +1,5 @@
-#ifndef ros_DiagnosticArray_h
-#define ros_DiagnosticArray_h
+#ifndef ros_diagnostic_msgs_DiagnosticArray_h
+#define ros_diagnostic_msgs_DiagnosticArray_h
#include <stdint.h>
#include <string.h>
@@ -8,50 +8,48 @@
#include "std_msgs/Header.h"
#include "diagnostic_msgs/DiagnosticStatus.h"
-namespace diagnostic_msgs
-{
+namespace diagnostic_msgs {
- class DiagnosticArray : public ros::Msg
- {
- public:
- std_msgs::Header header;
- unsigned char status_length;
- diagnostic_msgs::DiagnosticStatus st_status;
- diagnostic_msgs::DiagnosticStatus * status;
+class DiagnosticArray : public ros::Msg {
+public:
+ std_msgs::Header header;
+ unsigned char status_length;
+ diagnostic_msgs::DiagnosticStatus st_status;
+ diagnostic_msgs::DiagnosticStatus * status;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- offset += this->header.serialize(outbuffer + offset);
- *(outbuffer + offset++) = status_length;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- for( unsigned char i = 0; i < status_length; i++){
- offset += this->status[i].serialize(outbuffer + offset);
- }
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ offset += this->header.serialize(outbuffer + offset);
+ *(outbuffer + offset++) = status_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for ( unsigned char i = 0; i < status_length; i++) {
+ offset += this->status[i].serialize(outbuffer + offset);
+ }
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- offset += this->header.deserialize(inbuffer + offset);
- unsigned char status_lengthT = *(inbuffer + offset++);
- if(status_lengthT > status_length)
- this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
- offset += 3;
- status_length = status_lengthT;
- for( unsigned char i = 0; i < status_length; i++){
- offset += this->st_status.deserialize(inbuffer + offset);
- memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
- }
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ offset += this->header.deserialize(inbuffer + offset);
+ unsigned char status_lengthT = *(inbuffer + offset++);
+ if (status_lengthT > status_length)
+ this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
+ offset += 3;
+ status_length = status_lengthT;
+ for ( unsigned char i = 0; i < status_length; i++) {
+ offset += this->st_status.deserialize(inbuffer + offset);
+ memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
+ }
+ return offset;
}
- virtual const char * getType(){ return "diagnostic_msgs/DiagnosticArray"; };
+ virtual const char * getType() {
+ return "diagnostic_msgs/DiagnosticArray";
+ };
- };
+};
}
#endif
\ No newline at end of file
--- a/dianostic_msgs/DiagnosticStatus.h Fri Aug 19 09:06:30 2011 +0000
+++ b/dianostic_msgs/DiagnosticStatus.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,5 +1,5 @@
-#ifndef ros_DiagnosticStatus_h
-#define ros_DiagnosticStatus_h
+#ifndef ros_diagnostic_msgs_DiagnosticStatus_h
+#define ros_diagnostic_msgs_DiagnosticStatus_h
#include <stdint.h>
#include <string.h>
@@ -7,108 +7,106 @@
#include "../ros/msg.h"
#include "diagnostic_msgs/KeyValue.h"
-namespace diagnostic_msgs
-{
+namespace diagnostic_msgs {
- class DiagnosticStatus : public ros::Msg
- {
- public:
- unsigned char level;
- char * name;
- char * message;
- char * hardware_id;
- unsigned char values_length;
- diagnostic_msgs::KeyValue st_values;
- diagnostic_msgs::KeyValue * values;
- enum { OK = 0 };
- enum { WARN = 1 };
- enum { ERROR = 2 };
+class DiagnosticStatus : public ros::Msg {
+public:
+ unsigned char level;
+ char * name;
+ char * message;
+ char * hardware_id;
+ unsigned char values_length;
+ diagnostic_msgs::KeyValue st_values;
+ diagnostic_msgs::KeyValue * values;
+ enum { OK = 0 };
+ enum { WARN = 1 };
+ enum { ERROR = 2 };
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- union {
- unsigned char real;
- unsigned char base;
- } u_level;
- u_level.real = this->level;
- *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
- offset += sizeof(this->level);
- long * length_name = (long *)(outbuffer + offset);
- *length_name = strlen( (const char*) this->name);
- offset += 4;
- memcpy(outbuffer + offset, this->name, *length_name);
- offset += *length_name;
- long * length_message = (long *)(outbuffer + offset);
- *length_message = strlen( (const char*) this->message);
- offset += 4;
- memcpy(outbuffer + offset, this->message, *length_message);
- offset += *length_message;
- long * length_hardware_id = (long *)(outbuffer + offset);
- *length_hardware_id = strlen( (const char*) this->hardware_id);
- offset += 4;
- memcpy(outbuffer + offset, this->hardware_id, *length_hardware_id);
- offset += *length_hardware_id;
- *(outbuffer + offset++) = values_length;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- for( unsigned char i = 0; i < values_length; i++){
- offset += this->values[i].serialize(outbuffer + offset);
- }
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ union {
+ unsigned char real;
+ unsigned char base;
+ } u_level;
+ u_level.real = this->level;
+ *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->level);
+ long * length_name = (long *)(outbuffer + offset);
+ *length_name = strlen( (const char*) this->name);
+ offset += 4;
+ memcpy(outbuffer + offset, this->name, *length_name);
+ offset += *length_name;
+ long * length_message = (long *)(outbuffer + offset);
+ *length_message = strlen( (const char*) this->message);
+ offset += 4;
+ memcpy(outbuffer + offset, this->message, *length_message);
+ offset += *length_message;
+ long * length_hardware_id = (long *)(outbuffer + offset);
+ *length_hardware_id = strlen( (const char*) this->hardware_id);
+ offset += 4;
+ memcpy(outbuffer + offset, this->hardware_id, *length_hardware_id);
+ offset += *length_hardware_id;
+ *(outbuffer + offset++) = values_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for ( unsigned char i = 0; i < values_length; i++) {
+ offset += this->values[i].serialize(outbuffer + offset);
+ }
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- union {
- unsigned char real;
- unsigned char base;
- } u_level;
- u_level.base = 0;
- u_level.base |= ((typeof(u_level.base)) (*(inbuffer + offset + 0))) << (8 * 0);
- this->level = u_level.real;
- offset += sizeof(this->level);
- uint32_t length_name = *(uint32_t *)(inbuffer + offset);
- 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;
- uint32_t length_message = *(uint32_t *)(inbuffer + offset);
- offset += 4;
- for(unsigned int k= offset; k< offset+length_message; ++k){
- inbuffer[k-1]=inbuffer[k];
- }
- inbuffer[offset+length_message-1]=0;
- this->message = (char *)(inbuffer + offset-1);
- offset += length_message;
- uint32_t length_hardware_id = *(uint32_t *)(inbuffer + offset);
- offset += 4;
- for(unsigned int k= offset; k< offset+length_hardware_id; ++k){
- inbuffer[k-1]=inbuffer[k];
- }
- inbuffer[offset+length_hardware_id-1]=0;
- this->hardware_id = (char *)(inbuffer + offset-1);
- offset += length_hardware_id;
- unsigned char values_lengthT = *(inbuffer + offset++);
- if(values_lengthT > values_length)
- this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue));
- offset += 3;
- values_length = values_lengthT;
- for( unsigned char i = 0; i < values_length; i++){
- offset += this->st_values.deserialize(inbuffer + offset);
- memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue));
- }
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ union {
+ unsigned char real;
+ unsigned char base;
+ } u_level;
+ u_level.base = 0;
+ u_level.base |= ((typeof(u_level.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+ this->level = u_level.real;
+ offset += sizeof(this->level);
+ uint32_t length_name = *(uint32_t *)(inbuffer + offset);
+ 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;
+ uint32_t length_message = *(uint32_t *)(inbuffer + offset);
+ offset += 4;
+ for (unsigned int k= offset; k< offset+length_message; ++k) {
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_message-1]=0;
+ this->message = (char *)(inbuffer + offset-1);
+ offset += length_message;
+ uint32_t length_hardware_id = *(uint32_t *)(inbuffer + offset);
+ offset += 4;
+ for (unsigned int k= offset; k< offset+length_hardware_id; ++k) {
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_hardware_id-1]=0;
+ this->hardware_id = (char *)(inbuffer + offset-1);
+ offset += length_hardware_id;
+ unsigned char values_lengthT = *(inbuffer + offset++);
+ if (values_lengthT > values_length)
+ this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue));
+ offset += 3;
+ values_length = values_lengthT;
+ for ( unsigned char i = 0; i < values_length; i++) {
+ offset += this->st_values.deserialize(inbuffer + offset);
+ memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue));
+ }
+ return offset;
}
- virtual const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; };
+ virtual const char * getType() {
+ return "diagnostic_msgs/DiagnosticStatus";
+ };
- };
+};
}
#endif
\ No newline at end of file
--- a/dianostic_msgs/KeyValue.h Fri Aug 19 09:06:30 2011 +0000
+++ b/dianostic_msgs/KeyValue.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,61 +1,59 @@
-#ifndef ros_KeyValue_h
-#define ros_KeyValue_h
+#ifndef ros_diagnostic_msgs_KeyValue_h
+#define ros_diagnostic_msgs_KeyValue_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "../ros/msg.h"
-namespace diagnostic_msgs
-{
+namespace diagnostic_msgs {
- class KeyValue : public ros::Msg
- {
- public:
- char * key;
- char * value;
+class KeyValue : public ros::Msg {
+public:
+ char * key;
+ char * value;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- long * length_key = (long *)(outbuffer + offset);
- *length_key = strlen( (const char*) this->key);
- offset += 4;
- memcpy(outbuffer + offset, this->key, *length_key);
- offset += *length_key;
- long * length_value = (long *)(outbuffer + offset);
- *length_value = strlen( (const char*) this->value);
- offset += 4;
- memcpy(outbuffer + offset, this->value, *length_value);
- offset += *length_value;
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ long * length_key = (long *)(outbuffer + offset);
+ *length_key = strlen( (const char*) this->key);
+ offset += 4;
+ memcpy(outbuffer + offset, this->key, *length_key);
+ offset += *length_key;
+ long * length_value = (long *)(outbuffer + offset);
+ *length_value = strlen( (const char*) this->value);
+ offset += 4;
+ memcpy(outbuffer + offset, this->value, *length_value);
+ offset += *length_value;
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- uint32_t length_key = *(uint32_t *)(inbuffer + offset);
- offset += 4;
- for(unsigned int k= offset; k< offset+length_key; ++k){
- inbuffer[k-1]=inbuffer[k];
- }
- inbuffer[offset+length_key-1]=0;
- this->key = (char *)(inbuffer + offset-1);
- offset += length_key;
- uint32_t length_value = *(uint32_t *)(inbuffer + offset);
- offset += 4;
- for(unsigned int k= offset; k< offset+length_value; ++k){
- inbuffer[k-1]=inbuffer[k];
- }
- inbuffer[offset+length_value-1]=0;
- this->value = (char *)(inbuffer + offset-1);
- offset += length_value;
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ uint32_t length_key = *(uint32_t *)(inbuffer + offset);
+ offset += 4;
+ for (unsigned int k= offset; k< offset+length_key; ++k) {
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_key-1]=0;
+ this->key = (char *)(inbuffer + offset-1);
+ offset += length_key;
+ uint32_t length_value = *(uint32_t *)(inbuffer + offset);
+ offset += 4;
+ for (unsigned int k= offset; k< offset+length_value; ++k) {
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_value-1]=0;
+ this->value = (char *)(inbuffer + offset-1);
+ offset += length_value;
+ return offset;
}
- virtual const char * getType(){ return "diagnostic_msgs/KeyValue"; };
+ virtual const char * getType() {
+ return "diagnostic_msgs/KeyValue";
+ };
- };
+};
}
#endif
\ No newline at end of file
--- a/duration.cpp Fri Aug 19 09:06:30 2011 +0000
+++ b/duration.cpp Sun Oct 16 07:19:36 2011 +0000
@@ -32,13 +32,8 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-/*
- * Author: Michael Ferguson
- */
-
+#include <math.h>
#include "ros/duration.h"
-#include <math.h>
-
namespace ros
{
@@ -83,4 +78,4 @@
return *this;
}
-}
+}
\ No newline at end of file
--- a/geometry_msgs/Point.h Fri Aug 19 09:06:30 2011 +0000
+++ b/geometry_msgs/Point.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,111 +1,109 @@
-#ifndef ros_Point_h
-#define ros_Point_h
+#ifndef ros_geometry_msgs_Point_h
+#define ros_geometry_msgs_Point_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "../ros/msg.h"
-namespace geometry_msgs
-{
+namespace geometry_msgs {
- class Point : public ros::Msg
- {
- public:
- float x;
- float y;
- float z;
+class Point : public ros::Msg {
+public:
+ float x;
+ float y;
+ float z;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- long * val_x = (long *) &(this->x);
- long exp_x = (((*val_x)>>23)&255);
- if(exp_x != 0)
- exp_x += 1023-127;
- long sig_x = *val_x;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = (sig_x<<5) & 0xff;
- *(outbuffer + offset++) = (sig_x>>3) & 0xff;
- *(outbuffer + offset++) = (sig_x>>11) & 0xff;
- *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);
- *(outbuffer + offset++) = (exp_x>>4) & 0x7F;
- if(this->x < 0) *(outbuffer + offset -1) |= 0x80;
- long * val_y = (long *) &(this->y);
- long exp_y = (((*val_y)>>23)&255);
- if(exp_y != 0)
- exp_y += 1023-127;
- long sig_y = *val_y;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = (sig_y<<5) & 0xff;
- *(outbuffer + offset++) = (sig_y>>3) & 0xff;
- *(outbuffer + offset++) = (sig_y>>11) & 0xff;
- *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);
- *(outbuffer + offset++) = (exp_y>>4) & 0x7F;
- if(this->y < 0) *(outbuffer + offset -1) |= 0x80;
- long * val_z = (long *) &(this->z);
- long exp_z = (((*val_z)>>23)&255);
- if(exp_z != 0)
- exp_z += 1023-127;
- long sig_z = *val_z;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = (sig_z<<5) & 0xff;
- *(outbuffer + offset++) = (sig_z>>3) & 0xff;
- *(outbuffer + offset++) = (sig_z>>11) & 0xff;
- *(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F);
- *(outbuffer + offset++) = (exp_z>>4) & 0x7F;
- if(this->z < 0) *(outbuffer + offset -1) |= 0x80;
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ long * val_x = (long *) &(this->x);
+ long exp_x = (((*val_x)>>23)&255);
+ if (exp_x != 0)
+ exp_x += 1023-127;
+ long sig_x = *val_x;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = (sig_x<<5) & 0xff;
+ *(outbuffer + offset++) = (sig_x>>3) & 0xff;
+ *(outbuffer + offset++) = (sig_x>>11) & 0xff;
+ *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F);
+ *(outbuffer + offset++) = (exp_x>>4) & 0x7F;
+ if (this->x < 0) *(outbuffer + offset -1) |= 0x80;
+ long * val_y = (long *) &(this->y);
+ long exp_y = (((*val_y)>>23)&255);
+ if (exp_y != 0)
+ exp_y += 1023-127;
+ long sig_y = *val_y;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = (sig_y<<5) & 0xff;
+ *(outbuffer + offset++) = (sig_y>>3) & 0xff;
+ *(outbuffer + offset++) = (sig_y>>11) & 0xff;
+ *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F);
+ *(outbuffer + offset++) = (exp_y>>4) & 0x7F;
+ if (this->y < 0) *(outbuffer + offset -1) |= 0x80;
+ long * val_z = (long *) &(this->z);
+ long exp_z = (((*val_z)>>23)&255);
+ if (exp_z != 0)
+ exp_z += 1023-127;
+ long sig_z = *val_z;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = (sig_z<<5) & 0xff;
+ *(outbuffer + offset++) = (sig_z>>3) & 0xff;
+ *(outbuffer + offset++) = (sig_z>>11) & 0xff;
+ *(outbuffer + offset++) = ((exp_z<<4) & 0xF0) | ((sig_z>>19)&0x0F);
+ *(outbuffer + offset++) = (exp_z>>4) & 0x7F;
+ if (this->z < 0) *(outbuffer + offset -1) |= 0x80;
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- unsigned long * val_x = (unsigned long*) &(this->x);
- offset += 3;
- *val_x = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
- *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
- *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
- *val_x |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
- unsigned long exp_x = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
- exp_x |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
- if(exp_x !=0)
- *val_x |= ((exp_x)-1023+127)<<23;
- if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;
- unsigned long * val_y = (unsigned long*) &(this->y);
- offset += 3;
- *val_y = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
- *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
- *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
- *val_y |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
- unsigned long exp_y = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
- exp_y |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
- if(exp_y !=0)
- *val_y |= ((exp_y)-1023+127)<<23;
- if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;
- unsigned long * val_z = (unsigned long*) &(this->z);
- offset += 3;
- *val_z = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
- *val_z |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
- *val_z |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
- *val_z |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
- unsigned long exp_z = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
- exp_z |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
- if(exp_z !=0)
- *val_z |= ((exp_z)-1023+127)<<23;
- if( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z;
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ unsigned long * val_x = (unsigned long*) &(this->x);
+ offset += 3;
+ *val_x = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+ *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+ *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+ *val_x |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+ unsigned long exp_x = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+ exp_x |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+ if (exp_x !=0)
+ *val_x |= ((exp_x)-1023+127)<<23;
+ if ( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x;
+ unsigned long * val_y = (unsigned long*) &(this->y);
+ offset += 3;
+ *val_y = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+ *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+ *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+ *val_y |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+ unsigned long exp_y = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+ exp_y |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+ if (exp_y !=0)
+ *val_y |= ((exp_y)-1023+127)<<23;
+ if ( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y;
+ unsigned long * val_z = (unsigned long*) &(this->z);
+ offset += 3;
+ *val_z = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+ *val_z |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+ *val_z |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+ *val_z |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+ unsigned long exp_z = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+ exp_z |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+ if (exp_z !=0)
+ *val_z |= ((exp_z)-1023+127)<<23;
+ if ( ((*(inbuffer+offset++)) & 0x80) > 0) this->z = -this->z;
+ return offset;
}
- virtual const char * getType(){ return "geometry_msgs/Point"; };
+ virtual const char * getType() {
+ return "geometry_msgs/Point";
+ };
- };
+};
}
#endif
\ No newline at end of file
--- a/geometry_msgs/Point32.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/Point32.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Point32_h -#define ros_Point32_h +#ifndef ros_geometry_msgs_Point32_h +#define ros_geometry_msgs_Point32_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/PointStamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/PointStamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_PointStamped_h -#define ros_PointStamped_h +#ifndef ros_geometry_msgs_PointStamped_h +#define ros_geometry_msgs_PointStamped_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/Polygon.h Fri Aug 19 09:06:30 2011 +0000
+++ b/geometry_msgs/Polygon.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,5 +1,5 @@
-#ifndef ros_Polygon_h
-#define ros_Polygon_h
+#ifndef ros_geometry_msgs_Polygon_h
+#define ros_geometry_msgs_Polygon_h
#include <stdint.h>
#include <string.h>
@@ -7,47 +7,45 @@
#include "../ros/msg.h"
#include "geometry_msgs/Point32.h"
-namespace geometry_msgs
-{
+namespace geometry_msgs {
- class Polygon : public ros::Msg
- {
- public:
- unsigned char points_length;
- geometry_msgs::Point32 st_points;
- geometry_msgs::Point32 * points;
+class Polygon : public ros::Msg {
+public:
+ unsigned char points_length;
+ geometry_msgs::Point32 st_points;
+ geometry_msgs::Point32 * points;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- *(outbuffer + offset++) = points_length;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- for( unsigned char i = 0; i < points_length; i++){
- offset += this->points[i].serialize(outbuffer + offset);
- }
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ *(outbuffer + offset++) = points_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for ( unsigned char i = 0; i < points_length; i++) {
+ offset += this->points[i].serialize(outbuffer + offset);
+ }
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- unsigned char points_lengthT = *(inbuffer + offset++);
- if(points_lengthT > points_length)
- this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
- offset += 3;
- points_length = points_lengthT;
- for( unsigned char i = 0; i < points_length; i++){
- offset += this->st_points.deserialize(inbuffer + offset);
- memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
- }
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ unsigned char points_lengthT = *(inbuffer + offset++);
+ if (points_lengthT > points_length)
+ this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
+ offset += 3;
+ points_length = points_lengthT;
+ for ( unsigned char i = 0; i < points_length; i++) {
+ offset += this->st_points.deserialize(inbuffer + offset);
+ memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
+ }
+ return offset;
}
- virtual const char * getType(){ return "geometry_msgs/Polygon"; };
+ virtual const char * getType() {
+ return "geometry_msgs/Polygon";
+ };
- };
+};
}
#endif
\ No newline at end of file
--- a/geometry_msgs/PolygonStamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/PolygonStamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_PolygonStamped_h -#define ros_PolygonStamped_h +#ifndef ros_geometry_msgs_PolygonStamped_h +#define ros_geometry_msgs_PolygonStamped_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/Pose.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/Pose.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Pose_h -#define ros_Pose_h +#ifndef ros_geometry_msgs_Pose_h +#define ros_geometry_msgs_Pose_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/Pose2D.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/Pose2D.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Pose2D_h -#define ros_Pose2D_h +#ifndef ros_geometry_msgs_Pose2D_h +#define ros_geometry_msgs_Pose2D_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/PoseArray.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/PoseArray.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_PoseArray_h -#define ros_PoseArray_h +#ifndef ros_geometry_msgs_PoseArray_h +#define ros_geometry_msgs_PoseArray_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/PoseStamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/PoseStamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_PoseStamped_h -#define ros_PoseStamped_h +#ifndef ros_geometry_msgs_PoseStamped_h +#define ros_geometry_msgs_PoseStamped_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/PoseWithCovariance.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/PoseWithCovariance.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_PoseWithCovariance_h -#define ros_PoseWithCovariance_h +#ifndef ros_geometry_msgs_PoseWithCovariance_h +#define ros_geometry_msgs_PoseWithCovariance_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/PoseWithCovarianceStamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/PoseWithCovarianceStamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_PoseWithCovarianceStamped_h -#define ros_PoseWithCovarianceStamped_h +#ifndef ros_geometry_msgs_PoseWithCovarianceStamped_h +#define ros_geometry_msgs_PoseWithCovarianceStamped_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/Quaternion.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/Quaternion.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Quaternion_h -#define ros_Quaternion_h +#ifndef ros_geometry_msgs_Quaternion_h +#define ros_geometry_msgs_Quaternion_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/QuaternionStamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/QuaternionStamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,6 @@ -#ifndef ros_QuaternionStamped_h -#define ros_QuaternionStamped_h +#ifndef ros_geometry_msgs_QuaternionStamped_h +#define ros_geometry_msgs_QuaternionStamped_h + #include <stdint.h> #include <string.h>
--- a/geometry_msgs/Transform.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/Transform.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Transform_h -#define ros_Transform_h +#ifndef ros_geometry_msgs_Transform_h +#define ros_geometry_msgs_Transform_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/TransformStamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/TransformStamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_TransformStamped_h -#define ros_TransformStamped_h +#ifndef ros_geometry_msgs_TransformStamped_h +#define ros_geometry_msgs_TransformStamped_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/Twist.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/Twist.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Twist_h -#define ros_Twist_h +#ifndef ros_geometry_msgs_Twist_h +#define ros_geometry_msgs_Twist_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/TwistStamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/TwistStamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_TwistStamped_h -#define ros_TwistStamped_h +#ifndef ros_geometry_msgs_TwistStamped_h +#define ros_geometry_msgs_TwistStamped_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/TwistWithCovariance.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/TwistWithCovariance.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_TwistWithCovariance_h -#define ros_TwistWithCovariance_h +#ifndef ros_geometry_msgs_TwistWithCovariance_h +#define ros_geometry_msgs_TwistWithCovariance_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/TwistWithCovarianceStamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/TwistWithCovarianceStamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_TwistWithCovarianceStamped_h -#define ros_TwistWithCovarianceStamped_h +#ifndef ros_geometry_msgs_TwistWithCovarianceStamped_h +#define ros_geometry_msgs_TwistWithCovarianceStamped_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/Vector3.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/Vector3.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Vector3_h -#define ros_Vector3_h +#ifndef ros_geometry_msgs_Vector3_h +#define ros_geometry_msgs_Vector3_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/Vector3Stamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/Vector3Stamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Vector3Stamped_h -#define ros_Vector3Stamped_h +#ifndef ros_geometry_msgs_Vector3Stamped_h +#define ros_geometry_msgs_Vector3Stamped_h #include <stdint.h> #include <string.h>
--- a/geometry_msgs/Wrench.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/Wrench.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,6 @@ -#ifndef ros_Wrench_h -#define ros_Wrench_h +#ifndef ros_geometry_msgs_Wrench_h +#define ros_geometry_msgs_Wrench_h + #include <stdint.h> #include <string.h>
--- a/geometry_msgs/WrenchStamped.h Fri Aug 19 09:06:30 2011 +0000 +++ b/geometry_msgs/WrenchStamped.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_WrenchStamped_h -#define ros_WrenchStamped_h +#ifndef ros_geometry_msgs_WrenchStamped_h +#define ros_geometry_msgs_WrenchStamped_h #include <stdint.h> #include <string.h>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Oct 16 07:19:36 2011 +0000
@@ -0,0 +1,27 @@
+/*
+ * rosserial Publisher Example
+ * Prints "hello world!"
+ */
+
+#include"mbed.h"
+#include <ros.h>
+#include <std_msgs/String.h>
+
+ros::NodeHandle nh;
+
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+char hello[13] = "hello world!";
+
+int main() {
+ nh.initNode();
+ nh.advertise(chatter);
+
+ while (1) {
+ str_msg.data = hello;
+ chatter.publish( &str_msg );
+ nh.spinOnce();
+ wait_ms(1000);
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Oct 16 07:19:36 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912
--- a/nav_msgs/GridCells.h Fri Aug 19 09:06:30 2011 +0000 +++ b/nav_msgs/GridCells.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_GridCells_h -#define ros_GridCells_h +#ifndef ros_nav_msgs_GridCells_h +#define ros_nav_msgs_GridCells_h #include <stdint.h> #include <string.h>
--- a/nav_msgs/MapMetaData.h Fri Aug 19 09:06:30 2011 +0000 +++ b/nav_msgs/MapMetaData.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_MapMetaData_h -#define ros_MapMetaData_h +#ifndef ros_nav_msgs_MapMetaData_h +#define ros_nav_msgs_MapMetaData_h #include <stdint.h> #include <string.h>
--- a/nav_msgs/OccupancyGrid.h Fri Aug 19 09:06:30 2011 +0000 +++ b/nav_msgs/OccupancyGrid.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_OccupancyGrid_h -#define ros_OccupancyGrid_h +#ifndef ros_nav_msgs_OccupancyGrid_h +#define ros_nav_msgs_OccupancyGrid_h #include <stdint.h> #include <string.h>
--- a/nav_msgs/Odometry.h Fri Aug 19 09:06:30 2011 +0000 +++ b/nav_msgs/Odometry.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Odometry_h -#define ros_Odometry_h +#ifndef ros_nav_msgs_Odometry_h +#define ros_nav_msgs_Odometry_h #include <stdint.h> #include <string.h>
--- a/nav_msgs/Path.h Fri Aug 19 09:06:30 2011 +0000 +++ b/nav_msgs/Path.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Path_h -#define ros_Path_h +#ifndef ros_nav_msgs_Path_h +#define ros_nav_msgs_Path_h #include <stdint.h> #include <string.h>
--- a/ros.h Fri Aug 19 09:06:30 2011 +0000 +++ b/ros.h Sun Oct 16 07:19:36 2011 +0000 @@ -32,15 +32,10 @@ * POSSIBILITY OF SUCH DAMAGE. */ -/* - * ROS definitions for Arduino - * Author: Michael Ferguson - */ - #ifndef ros_h #define ros_h -#include "ros/ros_impl.h" +#include "ros/node_handle.h" #include "MbedHardware.h" namespace ros
--- a/ros/duration.h Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/duration.h Sun Oct 16 07:19:36 2011 +0000
@@ -32,16 +32,11 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-/*
- * Author: Michael Ferguson
- */
+#ifndef ROS_DURATION_H_
+#define ROS_DURATION_H_
-#ifndef ros_duration_h_included
-#define ros_duration_h_included
+namespace ros {
-
-namespace ros
-{
void normalizeSecNSecSigned(long& sec, long& nsec);
class Duration
@@ -58,10 +53,8 @@
Duration& operator+=(const Duration &rhs);
Duration& operator-=(const Duration &rhs);
Duration& operator*=(double scale);
-
};
}
#endif
-
--- a/ros/msg.h Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/msg.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,22 +1,52 @@
-/*
- * Msg.h
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
*
- * Created on: Aug 5, 2011
- * Author: astambler
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote prducts derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROS_MSG_H_
#define ROS_MSG_H_
+
namespace ros {
-/* Base Message Type */
-class Msg {
-public:
- virtual int serialize(unsigned char *outbuffer) = 0;
- virtual int deserialize(unsigned char *data) = 0;
- virtual const char * getType() = 0;
-};
+ /* Base Message Type */
+ class Msg
+ {
+ public:
+ virtual int serialize(unsigned char *outbuffer) = 0;
+ virtual int deserialize(unsigned char *data) = 0;
+ virtual const char * getType() = 0;
+ };
+
}
-#endif /* MSG_H_ */
+#endif
\ No newline at end of file
--- a/ros/msg_receiver.h Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/msg_receiver.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,27 +1,55 @@
-/*
- * msg_receiver.h
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
*
- * Created on: Aug 5, 2011
- * Author: astambler
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote prducts derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
*/
-#ifndef MSG_RECEIVER_H_
-#define MSG_RECEIVER_H_
+#ifndef ROS_MSG_RECEIVER_H_
+#define ROS_MSG_RECEIVER_H_
-namespace ros{
+namespace ros {
-/* Base class for objects recieving messages (Services and Subscribers) */
+ /* Base class for objects recieving messages (Services and Subscribers) */
class MsgReceiver
{
public:
- virtual void receive(unsigned char *data)=0;
+ virtual void receive(unsigned char *data)=0;
- //Distinguishes between different receiver types
- virtual int _getType()=0;
- virtual const char * getMsgType()=0;
- int id_;
- const char * topic_;
+ //Distinguishes between different receiver types
+ virtual int _getType()=0;
+ virtual const char * getMsgType()=0;
+ short id_;
+ const char * topic_;
};
+
}
-#endif /* MSG_RECEIVER_H_ */
+#endif
\ No newline at end of file
--- a/ros/node_handle.h Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/node_handle.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,5 +1,4 @@
/*
- * NodeHandle.h
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
@@ -33,11 +32,6 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-/*
- *
- * Author: Michael Ferguson , Adam Stambler
- */
-
#ifndef ROS_NODE_HANDLE_H_
#define ROS_NODE_HANDLE_H_
@@ -57,7 +51,6 @@
#define MODE_MESSAGE 6
#define MODE_CHECKSUM 7
-
#define MSG_TIMEOUT 20 //20 milliseconds to recieve all of message data
#include "node_output.h"
@@ -68,16 +61,17 @@
#include "rosserial_ids.h"
#include "service_server.h"
-
namespace ros {
using rosserial_msgs::TopicInfo;
/* Node Handle */
-template<class Hardware, int MAX_SUBSCRIBERS=25, int MAX_PUBLISHERS=25,
-int INPUT_SIZE=512, int OUTPUT_SIZE=512>
+template<class Hardware,
+int MAX_SUBSCRIBERS=25,
+int MAX_PUBLISHERS=25,
+int INPUT_SIZE=512,
+int OUTPUT_SIZE=512>
class NodeHandle_ {
-
protected:
Hardware hardware_;
NodeOutput<Hardware, OUTPUT_SIZE> no_;
@@ -93,12 +87,11 @@
Publisher * publishers[MAX_PUBLISHERS];
MsgReceiver * receivers[MAX_SUBSCRIBERS];
- /******************************
- * Setup Functions
+ /*
+ * Setup Functions
*/
public:
- NodeHandle_() : no_(&hardware_) {
- }
+ NodeHandle_() : no_(&hardware_) {}
Hardware* getHardware() {
return &hardware_;
@@ -111,12 +104,12 @@
bytes_ = 0;
index_ = 0;
topic_ = 0;
+ checksum_=0;
+
total_receivers=0;
};
-
protected:
-
//State machine variables for spinOnce
int mode_;
int bytes_;
@@ -126,39 +119,35 @@
int total_receivers;
-
/* used for syncing the time */
unsigned long last_sync_time;
unsigned long last_sync_receive_time;
unsigned long last_msg_timeout_time;
bool registerReceiver(MsgReceiver* rcv) {
- if (total_receivers >= MAX_SUBSCRIBERS) return false;
+ if (total_receivers >= MAX_SUBSCRIBERS)
+ return false;
receivers[total_receivers] = rcv;
rcv->id_ = 100+total_receivers;
total_receivers++;
return true;
}
-
public:
/* This function goes in your loop() function, it handles
* serial input and callbacks for subscribers.
*/
virtual void spinOnce() {
- /* restart if timed-out */
+ /* restart if timed out */
unsigned long c_time = hardware_.time();
-
- if ( (c_time - last_sync_receive_time) > (SYNC_SECONDS*2200) ) {
+ if ( (c_time - last_sync_receive_time) > (SYNC_SECONDS*2200) ) {
no_.setConfigured(false);
}
- if ( mode_ != MODE_FIRST_FF) { //we are still in the midde of
- //the message, and the message's
- //timeout has already past, reset
- //state machine
+ /* reset if message has timed out */
+ if ( mode_ != MODE_FIRST_FF) {
if (c_time > last_msg_timeout_time) {
mode_ = MODE_FIRST_FF;
}
@@ -166,8 +155,8 @@
/* while available buffer, read data */
while ( true ) {
- short data = hardware_.read();
- if ( data < 0 )
+ int data = hardware_.read();
+ if ( data < 0 )//no data
break;
checksum_ += data;
if ( mode_ == MODE_MESSAGE ) { /* message data being recieved */
@@ -230,15 +219,14 @@
}
}
-
/* Are we connected to the PC? */
bool connected() {
return no_.configured();
};
- /**************************************************************
+ /*
* Time functions
- **************************************************************/
+ */
void requestSyncTime() {
std_msgs::Time t;
@@ -259,8 +247,6 @@
last_sync_receive_time = hardware_.time();
}
-
-
Time now() {
unsigned long ms = hardware_.time();
Time current_time;
@@ -277,8 +263,10 @@
normalizeSecNSec(sec_offset, nsec_offset);
}
+ /*
+ * Registration
+ */
- /*************** Registeration *****************************/
bool advertise(Publisher & p) {
int i;
for (i = 0; i < MAX_PUBLISHERS; i++) {
@@ -306,7 +294,6 @@
void negotiateTopics() {
no_.setConfigured(true);
-
rosserial_msgs::TopicInfo ti;
int i;
for (i = 0; i < MAX_PUBLISHERS; i++) {
@@ -330,6 +317,7 @@
/*
* Logging
*/
+
private:
void log(char byte, const char * msg) {
rosserial_msgs::Log l;
@@ -337,6 +325,7 @@
l.msg = (char*)msg;
this->no_.publish(rosserial_msgs::TopicInfo::ID_LOG, &l);
}
+
public:
void logdebug(const char* msg) {
log(rosserial_msgs::Log::DEBUG, msg);
@@ -355,12 +344,14 @@
}
- /****************************************
+ /*
* Retrieve Parameters
- *****************************************/
+ */
+
private:
bool param_recieved;
rosserial_msgs::RequestParamResponse req_param_resp;
+
bool requestParam(const char * name, int time_out = 1000) {
param_recieved = false;
rosserial_msgs::RequestParamRequest req;
@@ -373,12 +364,14 @@
}
return true;
}
+
public:
bool getParam(const char* name, int* param, int length =1) {
if (requestParam(name) ) {
if (length == req_param_resp.ints_length) {
//copy it over
- for (int i=0; i<length; i++) param[i] = req_param_resp.ints[i];
+ for (int i=0; i<length; i++)
+ param[i] = req_param_resp.ints[i];
return true;
}
}
@@ -388,7 +381,8 @@
if (requestParam(name) ) {
if (length == req_param_resp.floats_length) {
//copy it over
- for (int i=0; i<length; i++) param[i] = req_param_resp.floats[i];
+ for (int i=0; i<length; i++)
+ param[i] = req_param_resp.floats[i];
return true;
}
}
@@ -398,18 +392,15 @@
if (requestParam(name) ) {
if (length == req_param_resp.strings_length) {
//copy it over
- for (int i=0; i<length; i++) strcpy(param[i],req_param_resp.strings[i]);
+ for (int i=0; i<length; i++)
+ strcpy(param[i],req_param_resp.strings[i]);
return true;
}
}
return false;
-
}
-
};
-
-
}
-#endif /* NODEHANDLE_H_ */
+#endif
\ No newline at end of file
--- a/ros/node_output.h Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/node_output.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,28 +1,56 @@
/*
- * NodeOutput.h
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
*
- * Created on: Aug 5, 2011
- * Author: astambler
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote prducts derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
*/
-#ifndef NODEOUTPUT_H_
-#define NODEOUTPUT_H_
+#ifndef ROS_NODEOUTPUT_H_
+#define ROS_NODEOUTPUT_H_
+
+#include "msg.h"
+
+#include "mbed.h"
+//static Serial debug(p9,p10);
+
+namespace ros {
/*
* This class is responsible for controlling the node ouput.
* It it is the object that is passed to Publishers and services
*/
-
-#include "msg.h"
-
-namespace ros {
-
class NodeOutput_ {
public:
virtual int publish(short id, Msg* msg)=0;
};
-
template<class Hardware, int OUTSIZE =512>
class NodeOutput : public NodeOutput_ {
@@ -38,6 +66,7 @@
}
NodeOutput() {};
+
void setHardware(Hardware* h) {
hardware_ = h;
configured_=false;
@@ -50,10 +79,10 @@
return configured_;
};
- virtual int publish(short id, Msg * msg) {
- if (!configured_) return 0;
+ virtual int publish(short id, Msg * msg) {
+ wait_ms(1);
+ if (!configured_)return 0;
- //short test_id,test_off;
/* serialize message */
short l = msg->serialize(message_out+6);
@@ -69,11 +98,14 @@
short chk = 0;
for (int i =2; i<l+6; i++)
chk += message_out[i];
- message_out[6+l] = 255 - (chk%256);
+ l += 6;
+ message_out[l++] = 255 - (chk%256);
- hardware_->write(message_out, 6+l+1);
- return 1;
+ hardware_->write(message_out, l);
+ return l;
}
};
+
}
-#endif /* NODEOUTPUT_H_ */
+
+#endif
\ No newline at end of file
--- a/ros/publisher.h Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/publisher.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,8 +1,35 @@
-/*
- * publisher.h
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
*
- * Created on: Aug 5, 2011
- * Author: astambler
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote prducts derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef PUBLISHER_H_
@@ -11,8 +38,8 @@
#include "node_output.h"
namespace ros{
+
/* Generic Publisher */
-
class Publisher
{
public:
@@ -24,11 +51,12 @@
const char * topic_;
Msg *msg_;
- int id_;
+ short id_;
NodeOutput_* no_;
+
};
}
-#endif /* PUBLISHER_H_ */
+#endif
\ No newline at end of file
--- a/ros/ros_impl.h Fri Aug 19 09:06:30 2011 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,44 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote prducts derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -/* - * Author: Michael Ferguson , Adam Stambler - */ - -#ifndef ros_lib_h -#define ros_lib_h - -#include "node_handle.h" - -#endif
--- a/ros/rosserial_ids.h Fri Aug 19 09:06:30 2011 +0000 +++ b/ros/rosserial_ids.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,16 +1,43 @@ -/* - * rosserial_ids.h +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2011, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: * - * Created on: Aug 5, 2011 - * Author: astambler + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote prducts derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. */ -#ifndef ROSSERIAL_IDS_H_ -#define ROSSERIAL_IDS_H_ +#ifndef ROS_ROSSERIAL_IDS_H_ +#define ROS_ROSSERIAL_IDS_H_ #define TOPIC_NEGOTIATION 0 #define TOPIC_PUBLISHERS 0 #define TOPIC_SUBSCRIBERS 1 #define TOPIC_SERVICES 2 -#endif /* ROSSERIAL_IDS_H_ */ +#endif \ No newline at end of file
--- a/ros/service_server.h Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/service_server.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,54 +1,81 @@
-/*
- * service_server.h
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
*
- * Created on: Aug 5, 2011
- * Author: astambler
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote prducts derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
*/
-
-#ifndef SERVICE_SERVER_H_
-#define SERVICE_SERVER_H_
-
+#ifndef ROS_SERVICE_SERVER_H_
+#define ROS_SERVICE_SERVER_H_
#include "node_output.h"
-namespace ros{
-template<typename SrvRequest , typename SrvResponse>
+namespace ros {
+
+ template<typename SrvRequest , typename SrvResponse>
class ServiceServer : MsgReceiver{
- public:
+ public:
typedef void(*CallbackT)(const SrvRequest&, SrvResponse&);
- private:
- CallbackT cb_;
-
- public:
ServiceServer(const char* topic_name, CallbackT cb){
- this->topic_ = topic_name;
- this->cb_ = cb;
+ this->topic_ = topic_name;
+ this->cb_ = cb;
}
ServiceServer(ServiceServer& srv){
- this->topic_ = srv.topic_;
- this->cb_ = srv.cb_;
- }
- virtual void receive(unsigned char * data){
- req.deserialize(data);
- this->cb_(req, resp);
- no_->publish(id_, &resp);
+ this->topic_ = srv.topic_;
+ this->cb_ = srv.cb_;
}
- virtual int _getType(){
+ virtual void receive(unsigned char * data){
+ req.deserialize(data);
+ this->cb_(req, resp);
+ no_->publish(id_, &resp);
+ }
+
+ virtual int _getType(){
return 3;
- }
- virtual const char * getMsgType(){
+ }
+
+ virtual const char * getMsgType(){
return req.getType();
- }
+ }
SrvRequest req;
SrvResponse resp;
NodeOutput_ * no_;
+ private:
+ CallbackT cb_;
};
+
}
-#endif /* SERVICE_SERVER_H_ */
+#endif
\ No newline at end of file
--- a/ros/subscriber.h Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/subscriber.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,42 +1,73 @@
-/*
- * subscriber.h
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
*
- * Created on: Aug 5, 2011
- * Author: astambler
+ * * Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * * Redistributions in binary form must reproduce the above
+ * copyright notice, this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided
+ * with the distribution.
+ * * Neither the name of Willow Garage, Inc. nor the names of its
+ * contributors may be used to endorse or promote prducts derived
+ * from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
*/
-#ifndef SUBSCRIBER_H_
-#define SUBSCRIBER_H_
+#ifndef ROS_SUBSCRIBER_H_
+#define ROS_SUBSCRIBER_H_
#include "rosserial_ids.h"
#include "msg_receiver.h"
-namespace ros{
+
+namespace ros {
-/* ROS Subscriber
- * This class handles holding the msg so that
- * it is not continously reallocated. It is also used by the
- * node handle to keep track of callback functions and IDs.
- */
-template<typename MsgT>
-class Subscriber: public MsgReceiver{
- public:
-
+ /* ROS Subscriber
+ * This class handles holding the msg so that
+ * it is not continously reallocated. It is also used by the
+ * node handle to keep track of callback functions and IDs.
+ */
+ template<typename MsgT>
+ class Subscriber: public MsgReceiver{
+ public:
typedef void(*CallbackT)(const MsgT&);
+ MsgT msg;
Subscriber(const char * topic_name, CallbackT msgCB){
- topic_ = topic_name;
- cb_= msgCB;
- }
- MsgT msg;
- virtual void receive(unsigned char* data){
- msg.deserialize(data);
- this->cb_(msg);
+ topic_ = topic_name;
+ cb_= msgCB;
+ }
+
+ virtual void receive(unsigned char* data){
+ msg.deserialize(data);
+ this->cb_(msg);
}
- virtual const char * getMsgType(){return this->msg.getType();}
- virtual int _getType(){return TOPIC_SUBSCRIBERS;}
- private:
- CallbackT cb_;
-};
+
+ virtual const char * getMsgType(){return this->msg.getType();}
+ virtual int _getType(){return TOPIC_SUBSCRIBERS;}
+
+ private:
+ CallbackT cb_;
+ };
}
-#endif /* SUBSCRIBER_H_ */
+
+#endif
\ No newline at end of file
--- a/ros/time.h Fri Aug 19 09:06:30 2011 +0000
+++ b/ros/time.h Sun Oct 16 07:19:36 2011 +0000
@@ -32,21 +32,15 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-/*
- * Author: Michael Ferguson
- */
-
-#ifndef ros_time_h_included
-#define ros_time_h_included
+#ifndef ROS_TIME_H_
+#define ROS_TIME_H_
#include <ros/duration.h>
#include <math.h>
-
namespace ros {
void normalizeSecNSec(unsigned long &sec, unsigned long &nsec);
-
class Time {
public:
unsigned long sec, nsec;
@@ -81,8 +75,8 @@
return a;
}
+};
-};
}
-#endif
+#endif
\ No newline at end of file
--- a/rosserial_msgs/Log.h Fri Aug 19 09:06:30 2011 +0000 +++ b/rosserial_msgs/Log.h Sun Oct 16 07:19:36 2011 +0000 @@ -1,5 +1,5 @@ -#ifndef ros_Log_h -#define ros_Log_h +#ifndef ros_rosserial_msgs_Log_h +#define ros_rosserial_msgs_Log_h #include <stdint.h> #include <string.h>
--- a/rosserial_msgs/TopicInfo.h Fri Aug 19 09:06:30 2011 +0000
+++ b/rosserial_msgs/TopicInfo.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,20 +1,19 @@
-#ifndef ros_TopicInfo_h
-#define ros_TopicInfo_h
+#ifndef ros_rosserial_msgs_TopicInfo_h
+#define ros_rosserial_msgs_TopicInfo_h
#include <stdint.h>
#include <string.h>
#include <stdlib.h>
#include "../ros/msg.h"
-
namespace rosserial_msgs
{
-
class TopicInfo : public ros::Msg
{
public:
unsigned short topic_id;
char * topic_name;
char * message_type;
+ char * md5_checksum;
enum { ID_PUBLISHER = 0 };
enum { ID_SUBSCRIBER = 1 };
enum { ID_SERVICE_SERVER = 2 };
@@ -27,23 +26,32 @@
{
int offset = 0;
union {
- unsigned short real;
- unsigned short base;
+ uint16_t real;
+ uint16_t base;
} u_topic_id;
u_topic_id.real = this->topic_id;
*(outbuffer + offset + 0) = (u_topic_id.base >> (8 * 0)) & 0xFF;
*(outbuffer + offset + 1) = (u_topic_id.base >> (8 * 1)) & 0xFF;
offset += sizeof(this->topic_id);
+
long * length_topic_name = (long *)(outbuffer + offset);
*length_topic_name = strlen( (const char*) this->topic_name);
offset += 4;
memcpy(outbuffer + offset, this->topic_name, *length_topic_name);
offset += *length_topic_name;
+
long * length_message_type = (long *)(outbuffer + offset);
*length_message_type = strlen( (const char*) this->message_type);
offset += 4;
memcpy(outbuffer + offset, this->message_type, *length_message_type);
offset += *length_message_type;
+
+ long * length_md5_checksum = (long *)(outbuffer + offset);
+ *length_md5_checksum = strlen( (const char*) this->md5_checksum);
+ offset += 4;
+ memcpy(outbuffer + offset, this->md5_checksum, *length_md5_checksum);
+ offset += *length_md5_checksum;
+
return offset;
}
@@ -75,6 +83,16 @@
inbuffer[offset+length_message_type-1]=0;
this->message_type = (char *)(inbuffer + offset-1);
offset += length_message_type;
+
+ uint32_t length_md5_checksum = *(uint32_t *)(inbuffer + offset);
+ offset += 4;
+ for(unsigned int k= offset; k< offset+length_md5_checksum; ++k){
+ inbuffer[k-1]=inbuffer[k];
+ }
+ inbuffer[offset+length_md5_checksum-1]=0;
+ this->md5_checksum = (char *)(inbuffer + offset-1);
+ offset += length_md5_checksum;
+
return offset;
}
--- a/std_msgs/Bool.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Bool.h Sun Oct 16 07:19:36 2011 +0000
@@ -19,7 +19,7 @@
int offset = 0;
union {
bool real;
- unsigned char base;
+ uint8_t base;
} u_data;
u_data.real = this->data;
*(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
@@ -32,7 +32,7 @@
int offset = 0;
union {
bool real;
- unsigned char base;
+ uint8_t base;
} u_data;
u_data.base = 0;
u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/Byte.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Byte.h Sun Oct 16 07:19:36 2011 +0000
@@ -12,14 +12,14 @@
class Byte : public ros::Msg
{
public:
- unsigned char data;
+ uint8_t data;
virtual int serialize(unsigned char *outbuffer)
{
int offset = 0;
union {
- unsigned char real;
- unsigned char base;
+ uint8_t real;
+ uint8_t base;
} u_data;
u_data.real = this->data;
*(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
@@ -31,8 +31,8 @@
{
int offset = 0;
union {
- unsigned char real;
- unsigned char base;
+ uint8_t real;
+ uint8_t base;
} u_data;
u_data.base = 0;
u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/ByteMultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/ByteMultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -14,9 +14,9 @@
{
public:
std_msgs::MultiArrayLayout layout;
- unsigned char data_length;
- unsigned char st_data;
- unsigned char * data;
+ uint8_t data_length;
+ uint8_t st_data;
+ uint8_t * data;
virtual int serialize(unsigned char *outbuffer)
{
@@ -28,8 +28,8 @@
*(outbuffer + offset++) = 0;
for( unsigned char i = 0; i < data_length; i++){
union {
- unsigned char real;
- unsigned char base;
+ uint8_t real;
+ uint8_t base;
} u_datai;
u_datai.real = this->data[i];
*(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
@@ -49,8 +49,8 @@
data_length = data_lengthT;
for( unsigned char i = 0; i < data_length; i++){
union {
- unsigned char real;
- unsigned char base;
+ uint8_t real;
+ uint8_t base;
} u_st_data;
u_st_data.base = 0;
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/ColorRGBA.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/ColorRGBA.h Sun Oct 16 07:19:36 2011 +0000
@@ -22,7 +22,7 @@
int offset = 0;
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_r;
u_r.real = this->r;
*(outbuffer + offset + 0) = (u_r.base >> (8 * 0)) & 0xFF;
@@ -32,7 +32,7 @@
offset += sizeof(this->r);
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_g;
u_g.real = this->g;
*(outbuffer + offset + 0) = (u_g.base >> (8 * 0)) & 0xFF;
@@ -42,7 +42,7 @@
offset += sizeof(this->g);
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_b;
u_b.real = this->b;
*(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
@@ -52,7 +52,7 @@
offset += sizeof(this->b);
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_a;
u_a.real = this->a;
*(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
@@ -68,7 +68,7 @@
int offset = 0;
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_r;
u_r.base = 0;
u_r.base |= ((typeof(u_r.base)) (*(inbuffer + offset + 0))) << (8 * 0);
@@ -79,7 +79,7 @@
offset += sizeof(this->r);
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_g;
u_g.base = 0;
u_g.base |= ((typeof(u_g.base)) (*(inbuffer + offset + 0))) << (8 * 0);
@@ -90,7 +90,7 @@
offset += sizeof(this->g);
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_b;
u_b.base = 0;
u_b.base |= ((typeof(u_b.base)) (*(inbuffer + offset + 0))) << (8 * 0);
@@ -101,7 +101,7 @@
offset += sizeof(this->b);
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_a;
u_a.base = 0;
u_a.base |= ((typeof(u_a.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/Duration.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Duration.h Sun Oct 16 07:19:36 2011 +0000
@@ -19,8 +19,8 @@
{
int offset = 0;
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_sec;
u_sec.real = this->data.sec;
*(outbuffer + offset + 0) = (u_sec.base >> (8 * 0)) & 0xFF;
@@ -29,8 +29,8 @@
*(outbuffer + offset + 3) = (u_sec.base >> (8 * 3)) & 0xFF;
offset += sizeof(this->data.sec);
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_nsec;
u_nsec.real = this->data.nsec;
*(outbuffer + offset + 0) = (u_nsec.base >> (8 * 0)) & 0xFF;
@@ -45,8 +45,8 @@
{
int offset = 0;
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_sec;
u_sec.base = 0;
u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
@@ -56,8 +56,8 @@
this->data.sec = u_sec.real;
offset += sizeof(this->data.sec);
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_nsec;
u_nsec.base = 0;
u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/Float32.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Float32.h Sun Oct 16 07:19:36 2011 +0000
@@ -19,7 +19,7 @@
int offset = 0;
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_data;
u_data.real = this->data;
*(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
@@ -35,7 +35,7 @@
int offset = 0;
union {
float real;
- unsigned long base;
+ uint32_t base;
} u_data;
u_data.base = 0;
u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/Float32MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Float32MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -7,69 +7,67 @@
#include "../ros/msg.h"
#include "std_msgs/MultiArrayLayout.h"
-namespace std_msgs
-{
+namespace std_msgs {
- class Float32MultiArray : public ros::Msg
- {
- public:
- std_msgs::MultiArrayLayout layout;
- unsigned char data_length;
- float st_data;
- float * data;
+class Float32MultiArray : public ros::Msg {
+public:
+ std_msgs::MultiArrayLayout layout;
+ unsigned char data_length;
+ float st_data;
+ float * data;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- offset += this->layout.serialize(outbuffer + offset);
- *(outbuffer + offset++) = data_length;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- for( unsigned char i = 0; i < data_length; i++){
- union {
- float real;
- unsigned long base;
- } u_datai;
- u_datai.real = this->data[i];
- *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->data[i]);
- }
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ offset += this->layout.serialize(outbuffer + offset);
+ *(outbuffer + offset++) = data_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ union {
+ float real;
+ uint32_t base;
+ } u_datai;
+ u_datai.real = this->data[i];
+ *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->data[i]);
+ }
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- offset += this->layout.deserialize(inbuffer + offset);
- unsigned char data_lengthT = *(inbuffer + offset++);
- if(data_lengthT > data_length)
- this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
- offset += 3;
- data_length = data_lengthT;
- for( unsigned char i = 0; i < data_length; i++){
- union {
- float real;
- unsigned long base;
- } u_st_data;
- u_st_data.base = 0;
- u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
- u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
- u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
- u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
- this->st_data = u_st_data.real;
- offset += sizeof(this->st_data);
- memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
- }
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ offset += this->layout.deserialize(inbuffer + offset);
+ unsigned char data_lengthT = *(inbuffer + offset++);
+ if (data_lengthT > data_length)
+ this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
+ offset += 3;
+ data_length = data_lengthT;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ union {
+ float real;
+ uint32_t base;
+ } u_st_data;
+ u_st_data.base = 0;
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->st_data = u_st_data.real;
+ offset += sizeof(this->st_data);
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+ }
+ return offset;
}
- virtual const char * getType(){ return "std_msgs/Float32MultiArray"; };
+ virtual const char * getType() {
+ return "std_msgs/Float32MultiArray";
+ };
- };
+};
}
#endif
\ No newline at end of file
--- a/std_msgs/Float64.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Float64.h Sun Oct 16 07:19:36 2011 +0000
@@ -12,11 +12,52 @@
class Float64 : public ros::Msg
{
public:
- float data;
+ double data;
virtual int serialize(unsigned char *outbuffer)
{
int offset = 0;
+ union {
+ double real;
+ uint64_t base;
+ } u_data;
+ u_data.real = this->data;
+ *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->data);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ union {
+ double real;
+ uint64_t base;
+ } u_data;
+ u_data.base = 0;
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->data = u_data.real;
+ offset += sizeof(this->data);
+ return offset;
+ }
+/*
+ virtual int serialize(unsigned char *outbuffer)
+ {
+ int offset = 0;
long * val_data = (long *) &(this->data);
long exp_data = (((*val_data)>>23)&255);
if(exp_data != 0)
@@ -50,7 +91,7 @@
if( ((*(inbuffer+offset++)) & 0x80) > 0) this->data = -this->data;
return offset;
}
-
+*/
virtual const char * getType(){ return "std_msgs/Float64"; };
};
--- a/std_msgs/Float64MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Float64MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -7,73 +7,135 @@
#include "../ros/msg.h"
#include "std_msgs/MultiArrayLayout.h"
-namespace std_msgs
-{
+namespace std_msgs {
- class Float64MultiArray : public ros::Msg
- {
- public:
- std_msgs::MultiArrayLayout layout;
- unsigned char data_length;
- float st_data;
- float * data;
+class Float64MultiArray : public ros::Msg {
+public:
+ std_msgs::MultiArrayLayout layout;
+ unsigned char data_length;
+ double st_data;
+ double * data;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- offset += this->layout.serialize(outbuffer + offset);
- *(outbuffer + offset++) = data_length;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- for( unsigned char i = 0; i < data_length; i++){
- long * val_datai = (long *) &(this->data[i]);
- long exp_datai = (((*val_datai)>>23)&255);
- if(exp_datai != 0)
- exp_datai += 1023-127;
- long sig_datai = *val_datai;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = (sig_datai<<5) & 0xff;
- *(outbuffer + offset++) = (sig_datai>>3) & 0xff;
- *(outbuffer + offset++) = (sig_datai>>11) & 0xff;
- *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F);
- *(outbuffer + offset++) = (exp_datai>>4) & 0x7F;
- if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80;
- }
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ offset += this->layout.serialize(outbuffer + offset);
+ *(outbuffer + offset++) = data_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ union {
+ double real;
+ uint64_t base;
+ } u_datai;
+ u_datai.real = this->data[i];
+ *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->data[i]);
+ }
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ offset += this->layout.deserialize(inbuffer + offset);
+ unsigned char data_lengthT = *(inbuffer + offset++);
+ if (data_lengthT > data_length)
+ this->data = (double*)realloc(this->data, data_lengthT * sizeof(double));
+ offset += 3;
+ data_length = data_lengthT;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ union {
+ double real;
+ uint64_t base;
+ } u_st_data;
+ u_st_data.base = 0;
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_data = u_st_data.real;
+ offset += sizeof(this->st_data);
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(double));
+ }
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- offset += this->layout.deserialize(inbuffer + offset);
- unsigned char data_lengthT = *(inbuffer + offset++);
- if(data_lengthT > data_length)
- this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
- offset += 3;
- data_length = data_lengthT;
- for( unsigned char i = 0; i < data_length; i++){
- unsigned long * val_st_data = (unsigned long*) &(this->st_data);
- offset += 3;
- *val_st_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
- *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
- *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
- *val_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
- unsigned long exp_st_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
- exp_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
- if(exp_st_data !=0)
- *val_st_data |= ((exp_st_data)-1023+127)<<23;
- if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data;
- memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+ /*
+ public:
+ std_msgs::MultiArrayLayout layout;
+ unsigned char data_length;
+ float st_data;
+ float * data;
+
+ virtual int serialize(unsigned char *outbuffer)
+ {
+ int offset = 0;
+ offset += this->layout.serialize(outbuffer + offset);
+ *(outbuffer + offset++) = data_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for( unsigned char i = 0; i < data_length; i++){
+ long * val_datai = (long *) &(this->data[i]);
+ long exp_datai = (((*val_datai)>>23)&255);
+ if(exp_datai != 0)
+ exp_datai += 1023-127;
+ long sig_datai = *val_datai;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = (sig_datai<<5) & 0xff;
+ *(outbuffer + offset++) = (sig_datai>>3) & 0xff;
+ *(outbuffer + offset++) = (sig_datai>>11) & 0xff;
+ *(outbuffer + offset++) = ((exp_datai<<4) & 0xF0) | ((sig_datai>>19)&0x0F);
+ *(outbuffer + offset++) = (exp_datai>>4) & 0x7F;
+ if(this->data[i] < 0) *(outbuffer + offset -1) |= 0x80;
+ }
+ return offset;
}
- return offset;
- }
- virtual const char * getType(){ return "std_msgs/Float64MultiArray"; };
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ offset += this->layout.deserialize(inbuffer + offset);
+ unsigned char data_lengthT = *(inbuffer + offset++);
+ if(data_lengthT > data_length)
+ this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
+ offset += 3;
+ data_length = data_lengthT;
+ for( unsigned char i = 0; i < data_length; i++){
+ unsigned long * val_st_data = (unsigned long*) &(this->st_data);
+ offset += 3;
+ *val_st_data = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07);
+ *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3;
+ *val_st_data |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11;
+ *val_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19;
+ unsigned long exp_st_data = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4;
+ exp_st_data |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4;
+ if(exp_st_data !=0)
+ *val_st_data |= ((exp_st_data)-1023+127)<<23;
+ if( ((*(inbuffer+offset++)) & 0x80) > 0) this->st_data = -this->st_data;
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+ }
+ return offset;
+ }
+ */
+ virtual const char * getType() {
+ return "std_msgs/Float64MultiArray";
+ };
- };
+};
}
#endif
\ No newline at end of file
--- a/std_msgs/Header.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Header.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,5 +1,5 @@
-#ifndef ros_Header_h
-#define ros_Header_h
+#ifndef ros_std_msgs_Header_h
+#define ros_std_msgs_Header_h
#include <stdint.h>
#include <string.h>
@@ -105,7 +105,7 @@
return offset;
}
- virtual const char * getType(){ return "std_msgs/Header"; };
+ const char * getType(){ return "std_msgs/Header"; };
};
--- a/std_msgs/Int16.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Int16.h Sun Oct 16 07:19:36 2011 +0000
@@ -12,14 +12,14 @@
class Int16 : public ros::Msg
{
public:
- short data;
+ int16_t data;
virtual int serialize(unsigned char *outbuffer)
{
int offset = 0;
union {
- short real;
- unsigned short base;
+ int16_t;
+ uint16_t base;
} u_data;
u_data.real = this->data;
*(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
@@ -32,8 +32,8 @@
{
int offset = 0;
union {
- short real;
- unsigned short base;
+ int16_t real;
+ uint16_t base;
} u_data;
u_data.base = 0;
u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/Int16MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Int16MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -15,8 +15,8 @@
public:
std_msgs::MultiArrayLayout layout;
unsigned char data_length;
- short st_data;
- short * data;
+ int16_t st_data;
+ int16_t * data;
virtual int serialize(unsigned char *outbuffer)
{
@@ -28,8 +28,8 @@
*(outbuffer + offset++) = 0;
for( unsigned char i = 0; i < data_length; i++){
union {
- short real;
- unsigned short base;
+ int16_t real;
+ uint16_t base;
} u_datai;
u_datai.real = this->data[i];
*(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
@@ -45,20 +45,20 @@
offset += this->layout.deserialize(inbuffer + offset);
unsigned char data_lengthT = *(inbuffer + offset++);
if(data_lengthT > data_length)
- this->data = (int*)realloc(this->data, data_lengthT * sizeof(int));
+ this->data = (int16_t*)realloc(this->data, data_lengthT * sizeof(int16_t));
offset += 3;
data_length = data_lengthT;
for( unsigned char i = 0; i < data_length; i++){
union {
- short real;
- unsigned short base;
+ int16_t real;
+ uint16_t base;
} u_st_data;
u_st_data.base = 0;
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
this->st_data = u_st_data.real;
offset += sizeof(this->st_data);
- memcpy( &(this->data[i]), &(this->st_data), sizeof(int));
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(int16_t));
}
return offset;
}
--- a/std_msgs/Int32.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Int32.h Sun Oct 16 07:19:36 2011 +0000
@@ -12,14 +12,14 @@
class Int32 : public ros::Msg
{
public:
- long data;
+ int32_t data;
virtual int serialize(unsigned char *outbuffer)
{
int offset = 0;
union {
- long real;
- unsigned long base;
+ int32_t real;
+ uint32_t base;
} u_data;
u_data.real = this->data;
*(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
@@ -34,8 +34,8 @@
{
int offset = 0;
union {
- long real;
- unsigned long base;
+ int32_t real;
+ uint32_t base;
} u_data;
u_data.base = 0;
u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/Int32MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Int32MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -15,8 +15,8 @@
public:
std_msgs::MultiArrayLayout layout;
unsigned char data_length;
- long st_data;
- long * data;
+ int32_t st_data;
+ int32_t * data;
virtual int serialize(unsigned char *outbuffer)
{
@@ -28,8 +28,8 @@
*(outbuffer + offset++) = 0;
for( unsigned char i = 0; i < data_length; i++){
union {
- long real;
- unsigned long base;
+ int32_t real;
+ uint32_t base;
} u_datai;
u_datai.real = this->data[i];
*(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
@@ -47,13 +47,13 @@
offset += this->layout.deserialize(inbuffer + offset);
unsigned char data_lengthT = *(inbuffer + offset++);
if(data_lengthT > data_length)
- this->data = (long*)realloc(this->data, data_lengthT * sizeof(long));
+ this->data = (int32_t*)realloc(this->data, data_lengthT * sizeof(int32_t));
offset += 3;
data_length = data_lengthT;
for( unsigned char i = 0; i < data_length; i++){
union {
- long real;
- unsigned long base;
+ int32_t real;
+ uint32_t base;
} u_st_data;
u_st_data.base = 0;
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
@@ -62,7 +62,7 @@
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
this->st_data = u_st_data.real;
offset += sizeof(this->st_data);
- memcpy( &(this->data[i]), &(this->st_data), sizeof(long));
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(int32_t));
}
return offset;
}
--- a/std_msgs/Int64.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Int64.h Sun Oct 16 07:19:36 2011 +0000
@@ -6,43 +6,88 @@
#include <stdlib.h>
#include "../ros/msg.h"
-namespace std_msgs
-{
+namespace std_msgs {
- class Int64 : public ros::Msg
- {
- public:
- long data;
+class Int64 : public ros::Msg {
+public:
+ int64_t data;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- *(outbuffer + offset++) = (data >> (8 * 0)) & 0xFF;
- *(outbuffer + offset++) = (data >> (8 * 1)) & 0xFF;
- *(outbuffer + offset++) = (data >> (8 * 2)) & 0xFF;
- *(outbuffer + offset++) = (data >> (8 * 3)) & 0xFF;
- *(outbuffer + offset++) = (data > 0) ? 0: 255;
- *(outbuffer + offset++) = (data > 0) ? 0: 255;
- *(outbuffer + offset++) = (data > 0) ? 0: 255;
- *(outbuffer + offset++) = (data > 0) ? 0: 255;
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ union {
+ int64_t real;
+ uint64_t base;
+ } u_data;
+ u_data.real = this->data;
+ *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF;
+
+ offset += sizeof(this->data);
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- data = 0;
- data += ((long)(*(inbuffer + offset++))) >> (8 * 0);
- data += ((long)(*(inbuffer + offset++))) >> (8 * 1);
- data += ((long)(*(inbuffer + offset++))) >> (8 * 2);
- data += ((long)(*(inbuffer + offset++))) >> (8 * 3);
- offset += 4;
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ union {
+ int64_t real;
+ uint64_t base;
+ } u_data;
+ u_data.base = 0;
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
+
+ this->data = u_data.real;
+ offset += sizeof(this->data);
+ return offset;
}
+ /*
+ public:
+ long data;
- virtual const char * getType(){ return "std_msgs/Int64"; };
+ virtual int serialize(unsigned char *outbuffer)
+ {
+ int offset = 0;
+ *(outbuffer + offset++) = (data >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset++) = (data >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset++) = (data >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset++) = (data >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset++) = (data > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data > 0) ? 0: 255;
+ return offset;
+ }
- };
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ data = 0;
+ data += ((long)(*(inbuffer + offset++))) >> (8 * 0);
+ data += ((long)(*(inbuffer + offset++))) >> (8 * 1);
+ data += ((long)(*(inbuffer + offset++))) >> (8 * 2);
+ data += ((long)(*(inbuffer + offset++))) >> (8 * 3);
+ offset += 4;
+ return offset;
+ }
+ */
+
+ virtual const char * getType() {
+ return "std_msgs/Int64";
+ };
+
+};
}
#endif
\ No newline at end of file
--- a/std_msgs/Int64MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Int64MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -7,62 +7,122 @@
#include "../ros/msg.h"
#include "std_msgs/MultiArrayLayout.h"
-namespace std_msgs
-{
+namespace std_msgs {
- class Int64MultiArray : public ros::Msg
- {
- public:
- std_msgs::MultiArrayLayout layout;
- unsigned char data_length;
- long st_data;
- long * data;
+class Int64MultiArray : public ros::Msg {
+public:
+ std_msgs::MultiArrayLayout layout;
+ unsigned char data_length;
+ int64_t st_data;
+ int64_t * data;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- offset += this->layout.serialize(outbuffer + offset);
- *(outbuffer + offset++) = data_length;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- for( unsigned char i = 0; i < data_length; i++){
- *(outbuffer + offset++) = (data[i] >> (8 * 0)) & 0xFF;
- *(outbuffer + offset++) = (data[i] >> (8 * 1)) & 0xFF;
- *(outbuffer + offset++) = (data[i] >> (8 * 2)) & 0xFF;
- *(outbuffer + offset++) = (data[i] >> (8 * 3)) & 0xFF;
- *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
- *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
- *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
- *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
- }
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ offset += this->layout.serialize(outbuffer + offset);
+ *(outbuffer + offset++) = data_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ union {
+ int64_t real;
+ uint64_t base;
+ } u_datai;
+ u_datai.real = this->data[i];
+ *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->data[i]);
+ }
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- offset += this->layout.deserialize(inbuffer + offset);
- unsigned char data_lengthT = *(inbuffer + offset++);
- if(data_lengthT > data_length)
- this->data = (long*)realloc(this->data, data_lengthT * sizeof(long));
- offset += 3;
- data_length = data_lengthT;
- for( unsigned char i = 0; i < data_length; i++){
- st_data = 0;
- st_data += ((long)(*(inbuffer + offset++))) >> (8 * 0);
- st_data += ((long)(*(inbuffer + offset++))) >> (8 * 1);
- st_data += ((long)(*(inbuffer + offset++))) >> (8 * 2);
- st_data += ((long)(*(inbuffer + offset++))) >> (8 * 3);
- offset += 4;
- memcpy( &(this->data[i]), &(this->st_data), sizeof(long));
- }
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ offset += this->layout.deserialize(inbuffer + offset);
+ unsigned char data_lengthT = *(inbuffer + offset++);
+ if (data_lengthT > data_length)
+ this->data = (int64_t*)realloc(this->data, data_lengthT * sizeof(int64_t));
+ offset += 3;
+ data_length = data_lengthT;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ union {
+ int64_t real;
+ uint64_t base;
+ } u_st_data;
+ u_st_data.base = 0;
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_data = u_st_data.real;
+ offset += sizeof(this->st_data);
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(int64_t));
+ }
+ return offset;
}
+ /*
+ public:
+ std_msgs::MultiArrayLayout layout;
+ unsigned char data_length;
+ long st_data;
+ long * data;
- virtual const char * getType(){ return "std_msgs/Int64MultiArray"; };
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ offset += this->layout.serialize(outbuffer + offset);
+ *(outbuffer + offset++) = data_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ *(outbuffer + offset++) = (data[i] >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset++) = (data[i] >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset++) = (data[i] >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset++) = (data[i] >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
+
+ }
+ return offset;
+ }
- };
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ offset += this->layout.deserialize(inbuffer + offset);
+ unsigned char data_lengthT = *(inbuffer + offset++);
+ if (data_lengthT > data_length)
+ this->data = (long*)realloc(this->data, data_lengthT * sizeof(long));
+ offset += 3;
+ data_length = data_lengthT;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ st_data = 0;
+ st_data += ((long)(*(inbuffer + offset++))) >> (8 * 0);
+ st_data += ((long)(*(inbuffer + offset++))) >> (8 * 1);
+ st_data += ((long)(*(inbuffer + offset++))) >> (8 * 2);
+ st_data += ((long)(*(inbuffer + offset++))) >> (8 * 3);
+ offset += 4;
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(long));
+ }
+ return offset;
+ }
+ */
+ virtual const char * getType() {
+ return "std_msgs/Int64MultiArray";
+ };
+
+};
}
#endif
\ No newline at end of file
--- a/std_msgs/Int8.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Int8.h Sun Oct 16 07:19:36 2011 +0000
@@ -12,14 +12,14 @@
class Int8 : public ros::Msg
{
public:
- signed char data;
+ int8_t data;
virtual int serialize(unsigned char *outbuffer)
{
int offset = 0;
union {
- signed char real;
- unsigned char base;
+ int8_t real;
+ uint8_t base;
} u_data;
u_data.real = this->data;
*(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
@@ -31,8 +31,8 @@
{
int offset = 0;
union {
- signed char real;
- unsigned char base;
+ int8_t real;
+ uint8_t base;
} u_data;
u_data.base = 0;
u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/Int8MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Int8MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -15,8 +15,8 @@
public:
std_msgs::MultiArrayLayout layout;
unsigned char data_length;
- signed char st_data;
- signed char * data;
+ int8_t st_data;
+ int8_t * data;
virtual int serialize(unsigned char *outbuffer)
{
@@ -28,8 +28,8 @@
*(outbuffer + offset++) = 0;
for( unsigned char i = 0; i < data_length; i++){
union {
- signed char real;
- unsigned char base;
+ int8_t real;
+ uint8_t base;
} u_datai;
u_datai.real = this->data[i];
*(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
@@ -44,19 +44,19 @@
offset += this->layout.deserialize(inbuffer + offset);
unsigned char data_lengthT = *(inbuffer + offset++);
if(data_lengthT > data_length)
- this->data = (signed char*)realloc(this->data, data_lengthT * sizeof(signed char));
+ this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
offset += 3;
data_length = data_lengthT;
for( unsigned char i = 0; i < data_length; i++){
union {
- signed char real;
- unsigned char base;
+ int8_t real;
+ uint8_t base;
} u_st_data;
u_st_data.base = 0;
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
this->st_data = u_st_data.real;
offset += sizeof(this->st_data);
- memcpy( &(this->data[i]), &(this->st_data), sizeof(signed char));
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
}
return offset;
}
--- a/std_msgs/MultiArrayDimension.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/MultiArrayDimension.h Sun Oct 16 07:19:36 2011 +0000
@@ -13,8 +13,8 @@
{
public:
char * label;
- unsigned long size;
- unsigned long stride;
+ uint32_t size;
+ uint32_t stride;
virtual int serialize(unsigned char *outbuffer)
{
@@ -25,8 +25,8 @@
memcpy(outbuffer + offset, this->label, *length_label);
offset += *length_label;
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_size;
u_size.real = this->size;
*(outbuffer + offset + 0) = (u_size.base >> (8 * 0)) & 0xFF;
@@ -35,8 +35,8 @@
*(outbuffer + offset + 3) = (u_size.base >> (8 * 3)) & 0xFF;
offset += sizeof(this->size);
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_stride;
u_stride.real = this->stride;
*(outbuffer + offset + 0) = (u_stride.base >> (8 * 0)) & 0xFF;
@@ -59,8 +59,8 @@
this->label = (char *)(inbuffer + offset-1);
offset += length_label;
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_size;
u_size.base = 0;
u_size.base |= ((typeof(u_size.base)) (*(inbuffer + offset + 0))) << (8 * 0);
@@ -70,8 +70,8 @@
this->size = u_size.real;
offset += sizeof(this->size);
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_stride;
u_stride.base = 0;
u_stride.base |= ((typeof(u_stride.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/MultiArrayLayout.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/MultiArrayLayout.h Sun Oct 16 07:19:36 2011 +0000
@@ -7,69 +7,67 @@
#include "../ros/msg.h"
#include "std_msgs/MultiArrayDimension.h"
-namespace std_msgs
-{
+namespace std_msgs {
- class MultiArrayLayout : public ros::Msg
- {
- public:
- unsigned char dim_length;
- std_msgs::MultiArrayDimension st_dim;
- std_msgs::MultiArrayDimension * dim;
- unsigned long data_offset;
+class MultiArrayLayout : public ros::Msg {
+public:
+ unsigned char dim_length;
+ std_msgs::MultiArrayDimension st_dim;
+ std_msgs::MultiArrayDimension * dim;
+ unsigned long data_offset;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- *(outbuffer + offset++) = dim_length;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- for( unsigned char i = 0; i < dim_length; i++){
- offset += this->dim[i].serialize(outbuffer + offset);
- }
- union {
- unsigned long real;
- unsigned long base;
- } u_data_offset;
- u_data_offset.real = this->data_offset;
- *(outbuffer + offset + 0) = (u_data_offset.base >> (8 * 0)) & 0xFF;
- *(outbuffer + offset + 1) = (u_data_offset.base >> (8 * 1)) & 0xFF;
- *(outbuffer + offset + 2) = (u_data_offset.base >> (8 * 2)) & 0xFF;
- *(outbuffer + offset + 3) = (u_data_offset.base >> (8 * 3)) & 0xFF;
- offset += sizeof(this->data_offset);
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ *(outbuffer + offset++) = dim_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for ( unsigned char i = 0; i < dim_length; i++) {
+ offset += this->dim[i].serialize(outbuffer + offset);
+ }
+ union {
+ uint32_t real;
+ uint32_t base;
+ } u_data_offset;
+ u_data_offset.real = this->data_offset;
+ *(outbuffer + offset + 0) = (u_data_offset.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_data_offset.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_data_offset.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_data_offset.base >> (8 * 3)) & 0xFF;
+ offset += sizeof(this->data_offset);
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- unsigned char dim_lengthT = *(inbuffer + offset++);
- if(dim_lengthT > dim_length)
- this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension));
- offset += 3;
- dim_length = dim_lengthT;
- for( unsigned char i = 0; i < dim_length; i++){
- offset += this->st_dim.deserialize(inbuffer + offset);
- memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension));
- }
- union {
- unsigned long real;
- unsigned long base;
- } u_data_offset;
- u_data_offset.base = 0;
- u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 0))) << (8 * 0);
- u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 1))) << (8 * 1);
- u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 2))) << (8 * 2);
- u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 3))) << (8 * 3);
- this->data_offset = u_data_offset.real;
- offset += sizeof(this->data_offset);
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ unsigned char dim_lengthT = *(inbuffer + offset++);
+ if (dim_lengthT > dim_length)
+ this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension));
+ offset += 3;
+ dim_length = dim_lengthT;
+ for ( unsigned char i = 0; i < dim_length; i++) {
+ offset += this->st_dim.deserialize(inbuffer + offset);
+ memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension));
+ }
+ union {
+ uint32_t real;
+ uint32_t base;
+ } u_data_offset;
+ u_data_offset.base = 0;
+ u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_data_offset.base |= ((typeof(u_data_offset.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+ this->data_offset = u_data_offset.real;
+ offset += sizeof(this->data_offset);
+ return offset;
}
- virtual const char * getType(){ return "std_msgs/MultiArrayLayout"; };
+ virtual const char * getType() {
+ return "std_msgs/MultiArrayLayout";
+ };
- };
+};
}
#endif
\ No newline at end of file
--- a/std_msgs/Time.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/Time.h Sun Oct 16 07:19:36 2011 +0000
@@ -1,5 +1,5 @@
-#ifndef ros_Time_h
-#define ros_Time_h
+#ifndef ros_std_msgs_Time_h
+#define ros_std_msgs_Time_h
#include <stdint.h>
#include <string.h>
@@ -19,8 +19,8 @@
{
int offset = 0;
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_sec;
u_sec.real = this->data.sec;
*(outbuffer + offset + 0) = (u_sec.base >> (8 * 0)) & 0xFF;
@@ -29,8 +29,8 @@
*(outbuffer + offset + 3) = (u_sec.base >> (8 * 3)) & 0xFF;
offset += sizeof(this->data.sec);
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_nsec;
u_nsec.real = this->data.nsec;
*(outbuffer + offset + 0) = (u_nsec.base >> (8 * 0)) & 0xFF;
@@ -45,8 +45,8 @@
{
int offset = 0;
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_sec;
u_sec.base = 0;
u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
@@ -56,8 +56,8 @@
this->data.sec = u_sec.real;
offset += sizeof(this->data.sec);
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_nsec;
u_nsec.base = 0;
u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/UInt16.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/UInt16.h Sun Oct 16 07:19:36 2011 +0000
@@ -12,14 +12,14 @@
class UInt16 : public ros::Msg
{
public:
- unsigned short data;
+ uint16_t data;
virtual int serialize(unsigned char *outbuffer)
{
int offset = 0;
union {
- unsigned short real;
- unsigned short base;
+ uint16_t real;
+ uint16_t base;
} u_data;
u_data.real = this->data;
*(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
@@ -32,8 +32,8 @@
{
int offset = 0;
union {
- unsigned short real;
- unsigned short base;
+ uint16_t real;
+ uint16_t base;
} u_data;
u_data.base = 0;
u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/UInt16MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/UInt16MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -15,8 +15,8 @@
public:
std_msgs::MultiArrayLayout layout;
unsigned char data_length;
- unsigned short st_data;
- unsigned short * data;
+ uint16_t st_data;
+ uint16_t * data;
virtual int serialize(unsigned char *outbuffer)
{
@@ -28,8 +28,8 @@
*(outbuffer + offset++) = 0;
for( unsigned char i = 0; i < data_length; i++){
union {
- unsigned short real;
- unsigned short base;
+ uint16_t real;
+ uint16_t base;
} u_datai;
u_datai.real = this->data[i];
*(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
@@ -45,20 +45,20 @@
offset += this->layout.deserialize(inbuffer + offset);
unsigned char data_lengthT = *(inbuffer + offset++);
if(data_lengthT > data_length)
- this->data = (unsigned int*)realloc(this->data, data_lengthT * sizeof(unsigned int));
+ this->data = (uint16_t*)realloc(this->data, data_lengthT * sizeof(uint16_t));
offset += 3;
data_length = data_lengthT;
for( unsigned char i = 0; i < data_length; i++){
union {
- unsigned short real;
- unsigned short base;
+ uint16_t real;
+ uint16_t base;
} u_st_data;
u_st_data.base = 0;
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
this->st_data = u_st_data.real;
offset += sizeof(this->st_data);
- memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned int));
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(uint16_t));
}
return offset;
}
--- a/std_msgs/UInt32.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/UInt32.h Sun Oct 16 07:19:36 2011 +0000
@@ -12,14 +12,14 @@
class UInt32 : public ros::Msg
{
public:
- unsigned long data;
+ uint32_t data;
virtual int serialize(unsigned char *outbuffer)
{
int offset = 0;
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_data;
u_data.real = this->data;
*(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
@@ -34,8 +34,8 @@
{
int offset = 0;
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_data;
u_data.base = 0;
u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/UInt32MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/UInt32MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -15,8 +15,8 @@
public:
std_msgs::MultiArrayLayout layout;
unsigned char data_length;
- unsigned long st_data;
- unsigned long * data;
+ uint32_t st_data;
+ uint32_t * data;
virtual int serialize(unsigned char *outbuffer)
{
@@ -28,8 +28,8 @@
*(outbuffer + offset++) = 0;
for( unsigned char i = 0; i < data_length; i++){
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_datai;
u_datai.real = this->data[i];
*(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
@@ -47,13 +47,13 @@
offset += this->layout.deserialize(inbuffer + offset);
unsigned char data_lengthT = *(inbuffer + offset++);
if(data_lengthT > data_length)
- this->data = (unsigned long*)realloc(this->data, data_lengthT * sizeof(unsigned long));
+ this->data = (uint32_t*)realloc(this->data, data_lengthT * sizeof(uint32_t));
offset += 3;
data_length = data_lengthT;
for( unsigned char i = 0; i < data_length; i++){
union {
- unsigned long real;
- unsigned long base;
+ uint32_t real;
+ uint32_t base;
} u_st_data;
u_st_data.base = 0;
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
@@ -62,7 +62,7 @@
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
this->st_data = u_st_data.real;
offset += sizeof(this->st_data);
- memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned long));
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(uint32_t));
}
return offset;
}
--- a/std_msgs/UInt64.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/UInt64.h Sun Oct 16 07:19:36 2011 +0000
@@ -6,43 +6,86 @@
#include <stdlib.h>
#include "../ros/msg.h"
-namespace std_msgs
-{
+namespace std_msgs {
- class UInt64 : public ros::Msg
- {
- public:
- long data;
+class UInt64 : public ros::Msg {
+public:
+ uint64_t data;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- *(outbuffer + offset++) = (data >> (8 * 0)) & 0xFF;
- *(outbuffer + offset++) = (data >> (8 * 1)) & 0xFF;
- *(outbuffer + offset++) = (data >> (8 * 2)) & 0xFF;
- *(outbuffer + offset++) = (data >> (8 * 3)) & 0xFF;
- *(outbuffer + offset++) = (data > 0) ? 0: 255;
- *(outbuffer + offset++) = (data > 0) ? 0: 255;
- *(outbuffer + offset++) = (data > 0) ? 0: 255;
- *(outbuffer + offset++) = (data > 0) ? 0: 255;
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ union {
+ uint64_t real;
+ uint64_t base;
+ } u_data;
+ u_data.real = this->data;
+ *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->data);
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- data = 0;
- data += ((long)(*(inbuffer + offset++))) >> (8 * 0);
- data += ((long)(*(inbuffer + offset++))) >> (8 * 1);
- data += ((long)(*(inbuffer + offset++))) >> (8 * 2);
- data += ((long)(*(inbuffer + offset++))) >> (8 * 3);
- offset += 4;
- return offset;
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ union {
+ uint64_t real;
+ uint64_t base;
+ } u_data;
+ u_data.base = 0;
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->data = u_data.real;
+ offset += sizeof(this->data);
+ return offset;
}
- virtual const char * getType(){ return "std_msgs/UInt64"; };
+ /*
+ public:
+ long data;
+
+ virtual int serialize(unsigned char *outbuffer)
+ {
+ int offset = 0;
+ *(outbuffer + offset++) = (data >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset++) = (data >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset++) = (data >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset++) = (data >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset++) = (data > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data > 0) ? 0: 255;
+ return offset;
+ }
- };
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ data = 0;
+ data += ((long)(*(inbuffer + offset++))) >> (8 * 0);
+ data += ((long)(*(inbuffer + offset++))) >> (8 * 1);
+ data += ((long)(*(inbuffer + offset++))) >> (8 * 2);
+ data += ((long)(*(inbuffer + offset++))) >> (8 * 3);
+ offset += 4;
+ return offset;
+ }
+ */
+ virtual const char * getType() {
+ return "std_msgs/UInt64";
+ };
+
+};
}
#endif
\ No newline at end of file
--- a/std_msgs/UInt64MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/UInt64MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -7,62 +7,123 @@
#include "../ros/msg.h"
#include "std_msgs/MultiArrayLayout.h"
-namespace std_msgs
-{
+namespace std_msgs {
- class UInt64MultiArray : public ros::Msg
- {
- public:
- std_msgs::MultiArrayLayout layout;
- unsigned char data_length;
- long st_data;
- long * data;
+class UInt64MultiArray : public ros::Msg {
+public:
+ std_msgs::MultiArrayLayout layout;
+ unsigned char data_length;
+ uint64_t st_data;
+ uint64_t * data;
- virtual int serialize(unsigned char *outbuffer)
- {
- int offset = 0;
- offset += this->layout.serialize(outbuffer + offset);
- *(outbuffer + offset++) = data_length;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- *(outbuffer + offset++) = 0;
- for( unsigned char i = 0; i < data_length; i++){
- *(outbuffer + offset++) = (data[i] >> (8 * 0)) & 0xFF;
- *(outbuffer + offset++) = (data[i] >> (8 * 1)) & 0xFF;
- *(outbuffer + offset++) = (data[i] >> (8 * 2)) & 0xFF;
- *(outbuffer + offset++) = (data[i] >> (8 * 3)) & 0xFF;
- *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
- *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
- *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
- *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
- }
- return offset;
+ virtual int serialize(unsigned char *outbuffer) {
+ int offset = 0;
+ offset += this->layout.serialize(outbuffer + offset);
+ *(outbuffer + offset++) = data_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ union {
+ uint64_t real;
+ uint64_t base;
+ } u_datai;
+ u_datai.real = this->data[i];
+ *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->data[i]);
+ }
+ return offset;
}
- virtual int deserialize(unsigned char *inbuffer)
- {
- int offset = 0;
- offset += this->layout.deserialize(inbuffer + offset);
- unsigned char data_lengthT = *(inbuffer + offset++);
- if(data_lengthT > data_length)
- this->data = (long*)realloc(this->data, data_lengthT * sizeof(long));
- offset += 3;
- data_length = data_lengthT;
- for( unsigned char i = 0; i < data_length; i++){
- st_data = 0;
- st_data += ((long)(*(inbuffer + offset++))) >> (8 * 0);
- st_data += ((long)(*(inbuffer + offset++))) >> (8 * 1);
- st_data += ((long)(*(inbuffer + offset++))) >> (8 * 2);
- st_data += ((long)(*(inbuffer + offset++))) >> (8 * 3);
- offset += 4;
- memcpy( &(this->data[i]), &(this->st_data), sizeof(long));
+ virtual int deserialize(unsigned char *inbuffer) {
+ int offset = 0;
+ offset += this->layout.deserialize(inbuffer + offset);
+ unsigned char data_lengthT = *(inbuffer + offset++);
+ if (data_lengthT > data_length)
+ this->data = (uint64_t*)realloc(this->data, data_lengthT * sizeof(uint64_t));
+ offset += 3;
+ data_length = data_lengthT;
+ for ( unsigned char i = 0; i < data_length; i++) {
+ union {
+ uint64_t real;
+ uint64_t base;
+ } u_st_data;
+ u_st_data.base = 0;
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->st_data = u_st_data.real;
+ offset += sizeof(this->st_data);
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(uint64_t));
+ }
+ return offset;
+ }
+ /*
+ public:
+ std_msgs::MultiArrayLayout layout;
+ unsigned char data_length;
+ long st_data;
+ long * data;
+
+ virtual int serialize(unsigned char *outbuffer)
+ {
+ int offset = 0;
+ offset += this->layout.serialize(outbuffer + offset);
+ *(outbuffer + offset++) = data_length;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ *(outbuffer + offset++) = 0;
+ for( unsigned char i = 0; i < data_length; i++){
+ *(outbuffer + offset++) = (data[i] >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset++) = (data[i] >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset++) = (data[i] >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset++) = (data[i] >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
+ *(outbuffer + offset++) = (data[i] > 0) ? 0: 255;
+ }
+ return offset;
}
- return offset;
- }
- virtual const char * getType(){ return "std_msgs/UInt64MultiArray"; };
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ offset += this->layout.deserialize(inbuffer + offset);
+ unsigned char data_lengthT = *(inbuffer + offset++);
+ if(data_lengthT > data_length)
+ this->data = (long*)realloc(this->data, data_lengthT * sizeof(long));
+ offset += 3;
+ data_length = data_lengthT;
+ for( unsigned char i = 0; i < data_length; i++){
+ st_data = 0;
+ st_data += ((long)(*(inbuffer + offset++))) >> (8 * 0);
+ st_data += ((long)(*(inbuffer + offset++))) >> (8 * 1);
+ st_data += ((long)(*(inbuffer + offset++))) >> (8 * 2);
+ st_data += ((long)(*(inbuffer + offset++))) >> (8 * 3);
+ offset += 4;
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(long));
+ }
+ return offset;
+ }
+ */
+ virtual const char * getType() {
+ return "std_msgs/UInt64MultiArray";
+ };
- };
+};
}
#endif
\ No newline at end of file
--- a/std_msgs/UInt8.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/UInt8.h Sun Oct 16 07:19:36 2011 +0000
@@ -12,14 +12,14 @@
class UInt8 : public ros::Msg
{
public:
- unsigned char data;
+ uint8_t data;
virtual int serialize(unsigned char *outbuffer)
{
int offset = 0;
union {
- unsigned char real;
- unsigned char base;
+ uint8_t real;
+ uint8_t base;
} u_data;
u_data.real = this->data;
*(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
@@ -31,8 +31,8 @@
{
int offset = 0;
union {
- unsigned char real;
- unsigned char base;
+ uint8_t real;
+ uint8_t base;
} u_data;
u_data.base = 0;
u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
--- a/std_msgs/UInt8MultiArray.h Fri Aug 19 09:06:30 2011 +0000
+++ b/std_msgs/UInt8MultiArray.h Sun Oct 16 07:19:36 2011 +0000
@@ -15,8 +15,8 @@
public:
std_msgs::MultiArrayLayout layout;
unsigned char data_length;
- unsigned char st_data;
- unsigned char * data;
+ uint8_t st_data;
+ uint8_t * data;
virtual int serialize(unsigned char *outbuffer)
{
@@ -28,8 +28,8 @@
*(outbuffer + offset++) = 0;
for( unsigned char i = 0; i < data_length; i++){
union {
- unsigned char real;
- unsigned char base;
+ uint8_t real;
+ uint8_t base;
} u_datai;
u_datai.real = this->data[i];
*(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
@@ -44,19 +44,19 @@
offset += this->layout.deserialize(inbuffer + offset);
unsigned char data_lengthT = *(inbuffer + offset++);
if(data_lengthT > data_length)
- this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char));
+ this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
offset += 3;
data_length = data_lengthT;
for( unsigned char i = 0; i < data_length; i++){
union {
- unsigned char real;
- unsigned char base;
+ uint8_t real;
+ uint8_t base;
} u_st_data;
u_st_data.base = 0;
u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
this->st_data = u_st_data.real;
offset += sizeof(this->st_data);
- memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char));
+ memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
}
return offset;
}