Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

actionlib_tutorials/FibonacciResult.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_actionlib_tutorials_FibonacciResult_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_actionlib_tutorials_FibonacciResult_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8
akashvibhute 0:30537dec6e0b 9 namespace actionlib_tutorials
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 class FibonacciResult : public ros::Msg
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14 public:
akashvibhute 0:30537dec6e0b 15 uint8_t sequence_length;
akashvibhute 0:30537dec6e0b 16 int32_t st_sequence;
akashvibhute 0:30537dec6e0b 17 int32_t * sequence;
akashvibhute 0:30537dec6e0b 18
akashvibhute 0:30537dec6e0b 19 FibonacciResult():
akashvibhute 0:30537dec6e0b 20 sequence_length(0), sequence(NULL)
akashvibhute 0:30537dec6e0b 21 {
akashvibhute 0:30537dec6e0b 22 }
akashvibhute 0:30537dec6e0b 23
akashvibhute 0:30537dec6e0b 24 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 25 {
akashvibhute 0:30537dec6e0b 26 int offset = 0;
akashvibhute 0:30537dec6e0b 27 *(outbuffer + offset++) = sequence_length;
akashvibhute 0:30537dec6e0b 28 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 29 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 30 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 31 for( uint8_t i = 0; i < sequence_length; i++){
akashvibhute 0:30537dec6e0b 32 union {
akashvibhute 0:30537dec6e0b 33 int32_t real;
akashvibhute 0:30537dec6e0b 34 uint32_t base;
akashvibhute 0:30537dec6e0b 35 } u_sequencei;
akashvibhute 0:30537dec6e0b 36 u_sequencei.real = this->sequence[i];
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset + 0) = (u_sequencei.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset + 1) = (u_sequencei.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset + 2) = (u_sequencei.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset + 3) = (u_sequencei.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 41 offset += sizeof(this->sequence[i]);
akashvibhute 0:30537dec6e0b 42 }
akashvibhute 0:30537dec6e0b 43 return offset;
akashvibhute 0:30537dec6e0b 44 }
akashvibhute 0:30537dec6e0b 45
akashvibhute 0:30537dec6e0b 46 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 47 {
akashvibhute 0:30537dec6e0b 48 int offset = 0;
akashvibhute 0:30537dec6e0b 49 uint8_t sequence_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 50 if(sequence_lengthT > sequence_length)
akashvibhute 0:30537dec6e0b 51 this->sequence = (int32_t*)realloc(this->sequence, sequence_lengthT * sizeof(int32_t));
akashvibhute 0:30537dec6e0b 52 offset += 3;
akashvibhute 0:30537dec6e0b 53 sequence_length = sequence_lengthT;
akashvibhute 0:30537dec6e0b 54 for( uint8_t i = 0; i < sequence_length; i++){
akashvibhute 0:30537dec6e0b 55 union {
akashvibhute 0:30537dec6e0b 56 int32_t real;
akashvibhute 0:30537dec6e0b 57 uint32_t base;
akashvibhute 0:30537dec6e0b 58 } u_st_sequence;
akashvibhute 0:30537dec6e0b 59 u_st_sequence.base = 0;
akashvibhute 0:30537dec6e0b 60 u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 61 u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 62 u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 63 u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 64 this->st_sequence = u_st_sequence.real;
akashvibhute 0:30537dec6e0b 65 offset += sizeof(this->st_sequence);
akashvibhute 0:30537dec6e0b 66 memcpy( &(this->sequence[i]), &(this->st_sequence), sizeof(int32_t));
akashvibhute 0:30537dec6e0b 67 }
akashvibhute 0:30537dec6e0b 68 return offset;
akashvibhute 0:30537dec6e0b 69 }
akashvibhute 0:30537dec6e0b 70
akashvibhute 0:30537dec6e0b 71 const char * getType(){ return "actionlib_tutorials/FibonacciResult"; };
akashvibhute 0:30537dec6e0b 72 const char * getMD5(){ return "b81e37d2a31925a0e8ae261a8699cb79"; };
akashvibhute 0:30537dec6e0b 73
akashvibhute 0:30537dec6e0b 74 };
akashvibhute 0:30537dec6e0b 75
akashvibhute 0:30537dec6e0b 76 }
akashvibhute 0:30537dec6e0b 77 #endif