rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
std_msgs/Float64MultiArray.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
akashvibhute | 0:30537dec6e0b | 1 | #ifndef _ROS_std_msgs_Float64MultiArray_h |
akashvibhute | 0:30537dec6e0b | 2 | #define _ROS_std_msgs_Float64MultiArray_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/MultiArrayLayout.h" |
akashvibhute | 0:30537dec6e0b | 9 | |
akashvibhute | 0:30537dec6e0b | 10 | namespace std_msgs |
akashvibhute | 0:30537dec6e0b | 11 | { |
akashvibhute | 0:30537dec6e0b | 12 | |
akashvibhute | 0:30537dec6e0b | 13 | class Float64MultiArray : public ros::Msg |
akashvibhute | 0:30537dec6e0b | 14 | { |
akashvibhute | 0:30537dec6e0b | 15 | public: |
akashvibhute | 0:30537dec6e0b | 16 | std_msgs::MultiArrayLayout layout; |
akashvibhute | 0:30537dec6e0b | 17 | uint8_t data_length; |
akashvibhute | 0:30537dec6e0b | 18 | float st_data; |
akashvibhute | 0:30537dec6e0b | 19 | float * data; |
akashvibhute | 0:30537dec6e0b | 20 | |
akashvibhute | 0:30537dec6e0b | 21 | Float64MultiArray(): |
akashvibhute | 0:30537dec6e0b | 22 | layout(), |
akashvibhute | 0:30537dec6e0b | 23 | data_length(0), data(NULL) |
akashvibhute | 0:30537dec6e0b | 24 | { |
akashvibhute | 0:30537dec6e0b | 25 | } |
akashvibhute | 0:30537dec6e0b | 26 | |
akashvibhute | 0:30537dec6e0b | 27 | virtual int serialize(unsigned char *outbuffer) const |
akashvibhute | 0:30537dec6e0b | 28 | { |
akashvibhute | 0:30537dec6e0b | 29 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 30 | offset += this->layout.serialize(outbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 31 | *(outbuffer + offset++) = data_length; |
akashvibhute | 0:30537dec6e0b | 32 | *(outbuffer + offset++) = 0; |
akashvibhute | 0:30537dec6e0b | 33 | *(outbuffer + offset++) = 0; |
akashvibhute | 0:30537dec6e0b | 34 | *(outbuffer + offset++) = 0; |
akashvibhute | 0:30537dec6e0b | 35 | for( uint8_t i = 0; i < data_length; i++){ |
akashvibhute | 0:30537dec6e0b | 36 | offset += serializeAvrFloat64(outbuffer + offset, this->data[i]); |
akashvibhute | 0:30537dec6e0b | 37 | } |
akashvibhute | 0:30537dec6e0b | 38 | return offset; |
akashvibhute | 0:30537dec6e0b | 39 | } |
akashvibhute | 0:30537dec6e0b | 40 | |
akashvibhute | 0:30537dec6e0b | 41 | virtual int deserialize(unsigned char *inbuffer) |
akashvibhute | 0:30537dec6e0b | 42 | { |
akashvibhute | 0:30537dec6e0b | 43 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 44 | offset += this->layout.deserialize(inbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 45 | uint8_t data_lengthT = *(inbuffer + offset++); |
akashvibhute | 0:30537dec6e0b | 46 | if(data_lengthT > data_length) |
akashvibhute | 0:30537dec6e0b | 47 | this->data = (float*)realloc(this->data, data_lengthT * sizeof(float)); |
akashvibhute | 0:30537dec6e0b | 48 | offset += 3; |
akashvibhute | 0:30537dec6e0b | 49 | data_length = data_lengthT; |
akashvibhute | 0:30537dec6e0b | 50 | for( uint8_t i = 0; i < data_length; i++){ |
akashvibhute | 0:30537dec6e0b | 51 | offset += deserializeAvrFloat64(inbuffer + offset, &(this->st_data)); |
akashvibhute | 0:30537dec6e0b | 52 | memcpy( &(this->data[i]), &(this->st_data), sizeof(float)); |
akashvibhute | 0:30537dec6e0b | 53 | } |
akashvibhute | 0:30537dec6e0b | 54 | return offset; |
akashvibhute | 0:30537dec6e0b | 55 | } |
akashvibhute | 0:30537dec6e0b | 56 | |
akashvibhute | 0:30537dec6e0b | 57 | const char * getType(){ return "std_msgs/Float64MultiArray"; }; |
akashvibhute | 0:30537dec6e0b | 58 | const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; }; |
akashvibhute | 0:30537dec6e0b | 59 | |
akashvibhute | 0:30537dec6e0b | 60 | }; |
akashvibhute | 0:30537dec6e0b | 61 | |
akashvibhute | 0:30537dec6e0b | 62 | } |
akashvibhute | 0:30537dec6e0b | 63 | #endif |