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!

std_msgs/Header.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_std_msgs_Header_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_std_msgs_Header_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 "ros/time.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 Header : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 uint32_t seq;
akashvibhute 0:30537dec6e0b 17 ros::Time stamp;
akashvibhute 0:30537dec6e0b 18 const char* frame_id;
akashvibhute 0:30537dec6e0b 19
akashvibhute 0:30537dec6e0b 20 Header():
akashvibhute 0:30537dec6e0b 21 seq(0),
akashvibhute 0:30537dec6e0b 22 stamp(),
akashvibhute 0:30537dec6e0b 23 frame_id("")
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 *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 31 *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 32 *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 33 *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 34 offset += sizeof(this->seq);
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 39 offset += sizeof(this->stamp.sec);
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 44 offset += sizeof(this->stamp.nsec);
akashvibhute 0:30537dec6e0b 45 uint32_t length_frame_id = strlen(this->frame_id);
akashvibhute 0:30537dec6e0b 46 memcpy(outbuffer + offset, &length_frame_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 47 offset += 4;
akashvibhute 0:30537dec6e0b 48 memcpy(outbuffer + offset, this->frame_id, length_frame_id);
akashvibhute 0:30537dec6e0b 49 offset += length_frame_id;
akashvibhute 0:30537dec6e0b 50 return offset;
akashvibhute 0:30537dec6e0b 51 }
akashvibhute 0:30537dec6e0b 52
akashvibhute 0:30537dec6e0b 53 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 54 {
akashvibhute 0:30537dec6e0b 55 int offset = 0;
akashvibhute 0:30537dec6e0b 56 this->seq = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 57 this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 58 this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 59 this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 60 offset += sizeof(this->seq);
akashvibhute 0:30537dec6e0b 61 this->stamp.sec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 62 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 63 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 64 this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 65 offset += sizeof(this->stamp.sec);
akashvibhute 0:30537dec6e0b 66 this->stamp.nsec = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 67 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 68 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 69 this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 70 offset += sizeof(this->stamp.nsec);
akashvibhute 0:30537dec6e0b 71 uint32_t length_frame_id;
akashvibhute 0:30537dec6e0b 72 memcpy(&length_frame_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 73 offset += 4;
akashvibhute 0:30537dec6e0b 74 for(unsigned int k= offset; k< offset+length_frame_id; ++k){
akashvibhute 0:30537dec6e0b 75 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 76 }
akashvibhute 0:30537dec6e0b 77 inbuffer[offset+length_frame_id-1]=0;
akashvibhute 0:30537dec6e0b 78 this->frame_id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 79 offset += length_frame_id;
akashvibhute 0:30537dec6e0b 80 return offset;
akashvibhute 0:30537dec6e0b 81 }
akashvibhute 0:30537dec6e0b 82
akashvibhute 0:30537dec6e0b 83 const char * getType(){ return "std_msgs/Header"; };
akashvibhute 0:30537dec6e0b 84 const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; };
akashvibhute 0:30537dec6e0b 85
akashvibhute 0:30537dec6e0b 86 };
akashvibhute 0:30537dec6e0b 87
akashvibhute 0:30537dec6e0b 88 }
akashvibhute 0:30537dec6e0b 89 #endif