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/Int16MultiArray.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 |
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akashvibhute | 0:30537dec6e0b | 1 | #ifndef _ROS_std_msgs_Int16MultiArray_h |
akashvibhute | 0:30537dec6e0b | 2 | #define _ROS_std_msgs_Int16MultiArray_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 Int16MultiArray : 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 | int16_t st_data; |
akashvibhute | 0:30537dec6e0b | 19 | int16_t * data; |
akashvibhute | 0:30537dec6e0b | 20 | |
akashvibhute | 0:30537dec6e0b | 21 | Int16MultiArray(): |
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 | union { |
akashvibhute | 0:30537dec6e0b | 37 | int16_t real; |
akashvibhute | 0:30537dec6e0b | 38 | uint16_t base; |
akashvibhute | 0:30537dec6e0b | 39 | } u_datai; |
akashvibhute | 0:30537dec6e0b | 40 | u_datai.real = this->data[i]; |
akashvibhute | 0:30537dec6e0b | 41 | *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 42 | *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF; |
akashvibhute | 0:30537dec6e0b | 43 | offset += sizeof(this->data[i]); |
akashvibhute | 0:30537dec6e0b | 44 | } |
akashvibhute | 0:30537dec6e0b | 45 | return offset; |
akashvibhute | 0:30537dec6e0b | 46 | } |
akashvibhute | 0:30537dec6e0b | 47 | |
akashvibhute | 0:30537dec6e0b | 48 | virtual int deserialize(unsigned char *inbuffer) |
akashvibhute | 0:30537dec6e0b | 49 | { |
akashvibhute | 0:30537dec6e0b | 50 | int offset = 0; |
akashvibhute | 0:30537dec6e0b | 51 | offset += this->layout.deserialize(inbuffer + offset); |
akashvibhute | 0:30537dec6e0b | 52 | uint8_t data_lengthT = *(inbuffer + offset++); |
akashvibhute | 0:30537dec6e0b | 53 | if(data_lengthT > data_length) |
akashvibhute | 0:30537dec6e0b | 54 | this->data = (int16_t*)realloc(this->data, data_lengthT * sizeof(int16_t)); |
akashvibhute | 0:30537dec6e0b | 55 | offset += 3; |
akashvibhute | 0:30537dec6e0b | 56 | data_length = data_lengthT; |
akashvibhute | 0:30537dec6e0b | 57 | for( uint8_t i = 0; i < data_length; i++){ |
akashvibhute | 0:30537dec6e0b | 58 | union { |
akashvibhute | 0:30537dec6e0b | 59 | int16_t real; |
akashvibhute | 0:30537dec6e0b | 60 | uint16_t base; |
akashvibhute | 0:30537dec6e0b | 61 | } u_st_data; |
akashvibhute | 0:30537dec6e0b | 62 | u_st_data.base = 0; |
akashvibhute | 0:30537dec6e0b | 63 | u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
akashvibhute | 0:30537dec6e0b | 64 | u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
akashvibhute | 0:30537dec6e0b | 65 | this->st_data = u_st_data.real; |
akashvibhute | 0:30537dec6e0b | 66 | offset += sizeof(this->st_data); |
akashvibhute | 0:30537dec6e0b | 67 | memcpy( &(this->data[i]), &(this->st_data), sizeof(int16_t)); |
akashvibhute | 0:30537dec6e0b | 68 | } |
akashvibhute | 0:30537dec6e0b | 69 | return offset; |
akashvibhute | 0:30537dec6e0b | 70 | } |
akashvibhute | 0:30537dec6e0b | 71 | |
akashvibhute | 0:30537dec6e0b | 72 | const char * getType(){ return "std_msgs/Int16MultiArray"; }; |
akashvibhute | 0:30537dec6e0b | 73 | const char * getMD5(){ return "d9338d7f523fcb692fae9d0a0e9f067c"; }; |
akashvibhute | 0:30537dec6e0b | 74 | |
akashvibhute | 0:30537dec6e0b | 75 | }; |
akashvibhute | 0:30537dec6e0b | 76 | |
akashvibhute | 0:30537dec6e0b | 77 | } |
akashvibhute | 0:30537dec6e0b | 78 | #endif |