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!

bond/Status.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_bond_Status_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_bond_Status_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 #include "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace bond
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class Status : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 17 const char* id;
akashvibhute 0:30537dec6e0b 18 const char* instance_id;
akashvibhute 0:30537dec6e0b 19 bool active;
akashvibhute 0:30537dec6e0b 20 float heartbeat_timeout;
akashvibhute 0:30537dec6e0b 21 float heartbeat_period;
akashvibhute 0:30537dec6e0b 22
akashvibhute 0:30537dec6e0b 23 Status():
akashvibhute 0:30537dec6e0b 24 header(),
akashvibhute 0:30537dec6e0b 25 id(""),
akashvibhute 0:30537dec6e0b 26 instance_id(""),
akashvibhute 0:30537dec6e0b 27 active(0),
akashvibhute 0:30537dec6e0b 28 heartbeat_timeout(0),
akashvibhute 0:30537dec6e0b 29 heartbeat_period(0)
akashvibhute 0:30537dec6e0b 30 {
akashvibhute 0:30537dec6e0b 31 }
akashvibhute 0:30537dec6e0b 32
akashvibhute 0:30537dec6e0b 33 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 34 {
akashvibhute 0:30537dec6e0b 35 int offset = 0;
akashvibhute 0:30537dec6e0b 36 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 37 uint32_t length_id = strlen(this->id);
akashvibhute 0:30537dec6e0b 38 memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 39 offset += 4;
akashvibhute 0:30537dec6e0b 40 memcpy(outbuffer + offset, this->id, length_id);
akashvibhute 0:30537dec6e0b 41 offset += length_id;
akashvibhute 0:30537dec6e0b 42 uint32_t length_instance_id = strlen(this->instance_id);
akashvibhute 0:30537dec6e0b 43 memcpy(outbuffer + offset, &length_instance_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 44 offset += 4;
akashvibhute 0:30537dec6e0b 45 memcpy(outbuffer + offset, this->instance_id, length_instance_id);
akashvibhute 0:30537dec6e0b 46 offset += length_instance_id;
akashvibhute 0:30537dec6e0b 47 union {
akashvibhute 0:30537dec6e0b 48 bool real;
akashvibhute 0:30537dec6e0b 49 uint8_t base;
akashvibhute 0:30537dec6e0b 50 } u_active;
akashvibhute 0:30537dec6e0b 51 u_active.real = this->active;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset + 0) = (u_active.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 53 offset += sizeof(this->active);
akashvibhute 0:30537dec6e0b 54 union {
akashvibhute 0:30537dec6e0b 55 float real;
akashvibhute 0:30537dec6e0b 56 uint32_t base;
akashvibhute 0:30537dec6e0b 57 } u_heartbeat_timeout;
akashvibhute 0:30537dec6e0b 58 u_heartbeat_timeout.real = this->heartbeat_timeout;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset + 0) = (u_heartbeat_timeout.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset + 1) = (u_heartbeat_timeout.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset + 2) = (u_heartbeat_timeout.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset + 3) = (u_heartbeat_timeout.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 63 offset += sizeof(this->heartbeat_timeout);
akashvibhute 0:30537dec6e0b 64 union {
akashvibhute 0:30537dec6e0b 65 float real;
akashvibhute 0:30537dec6e0b 66 uint32_t base;
akashvibhute 0:30537dec6e0b 67 } u_heartbeat_period;
akashvibhute 0:30537dec6e0b 68 u_heartbeat_period.real = this->heartbeat_period;
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset + 0) = (u_heartbeat_period.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset + 1) = (u_heartbeat_period.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset + 2) = (u_heartbeat_period.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset + 3) = (u_heartbeat_period.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 73 offset += sizeof(this->heartbeat_period);
akashvibhute 0:30537dec6e0b 74 return offset;
akashvibhute 0:30537dec6e0b 75 }
akashvibhute 0:30537dec6e0b 76
akashvibhute 0:30537dec6e0b 77 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 78 {
akashvibhute 0:30537dec6e0b 79 int offset = 0;
akashvibhute 0:30537dec6e0b 80 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 81 uint32_t length_id;
akashvibhute 0:30537dec6e0b 82 memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 83 offset += 4;
akashvibhute 0:30537dec6e0b 84 for(unsigned int k= offset; k< offset+length_id; ++k){
akashvibhute 0:30537dec6e0b 85 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 86 }
akashvibhute 0:30537dec6e0b 87 inbuffer[offset+length_id-1]=0;
akashvibhute 0:30537dec6e0b 88 this->id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 89 offset += length_id;
akashvibhute 0:30537dec6e0b 90 uint32_t length_instance_id;
akashvibhute 0:30537dec6e0b 91 memcpy(&length_instance_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 92 offset += 4;
akashvibhute 0:30537dec6e0b 93 for(unsigned int k= offset; k< offset+length_instance_id; ++k){
akashvibhute 0:30537dec6e0b 94 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 95 }
akashvibhute 0:30537dec6e0b 96 inbuffer[offset+length_instance_id-1]=0;
akashvibhute 0:30537dec6e0b 97 this->instance_id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 98 offset += length_instance_id;
akashvibhute 0:30537dec6e0b 99 union {
akashvibhute 0:30537dec6e0b 100 bool real;
akashvibhute 0:30537dec6e0b 101 uint8_t base;
akashvibhute 0:30537dec6e0b 102 } u_active;
akashvibhute 0:30537dec6e0b 103 u_active.base = 0;
akashvibhute 0:30537dec6e0b 104 u_active.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 105 this->active = u_active.real;
akashvibhute 0:30537dec6e0b 106 offset += sizeof(this->active);
akashvibhute 0:30537dec6e0b 107 union {
akashvibhute 0:30537dec6e0b 108 float real;
akashvibhute 0:30537dec6e0b 109 uint32_t base;
akashvibhute 0:30537dec6e0b 110 } u_heartbeat_timeout;
akashvibhute 0:30537dec6e0b 111 u_heartbeat_timeout.base = 0;
akashvibhute 0:30537dec6e0b 112 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 113 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 114 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 115 u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 116 this->heartbeat_timeout = u_heartbeat_timeout.real;
akashvibhute 0:30537dec6e0b 117 offset += sizeof(this->heartbeat_timeout);
akashvibhute 0:30537dec6e0b 118 union {
akashvibhute 0:30537dec6e0b 119 float real;
akashvibhute 0:30537dec6e0b 120 uint32_t base;
akashvibhute 0:30537dec6e0b 121 } u_heartbeat_period;
akashvibhute 0:30537dec6e0b 122 u_heartbeat_period.base = 0;
akashvibhute 0:30537dec6e0b 123 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 124 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 125 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 126 u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 127 this->heartbeat_period = u_heartbeat_period.real;
akashvibhute 0:30537dec6e0b 128 offset += sizeof(this->heartbeat_period);
akashvibhute 0:30537dec6e0b 129 return offset;
akashvibhute 0:30537dec6e0b 130 }
akashvibhute 0:30537dec6e0b 131
akashvibhute 0:30537dec6e0b 132 const char * getType(){ return "bond/Status"; };
akashvibhute 0:30537dec6e0b 133 const char * getMD5(){ return "eacc84bf5d65b6777d4c50f463dfb9c8"; };
akashvibhute 0:30537dec6e0b 134
akashvibhute 0:30537dec6e0b 135 };
akashvibhute 0:30537dec6e0b 136
akashvibhute 0:30537dec6e0b 137 }
akashvibhute 0:30537dec6e0b 138 #endif