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/UInt32MultiArray.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_UInt32MultiArray_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_std_msgs_UInt32MultiArray_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 UInt32MultiArray : 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 uint32_t st_data;
akashvibhute 0:30537dec6e0b 19 uint32_t * data;
akashvibhute 0:30537dec6e0b 20
akashvibhute 0:30537dec6e0b 21 UInt32MultiArray():
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 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset + 1) = (this->data[i] >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset + 2) = (this->data[i] >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset + 3) = (this->data[i] >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 40 offset += sizeof(this->data[i]);
akashvibhute 0:30537dec6e0b 41 }
akashvibhute 0:30537dec6e0b 42 return offset;
akashvibhute 0:30537dec6e0b 43 }
akashvibhute 0:30537dec6e0b 44
akashvibhute 0:30537dec6e0b 45 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 46 {
akashvibhute 0:30537dec6e0b 47 int offset = 0;
akashvibhute 0:30537dec6e0b 48 offset += this->layout.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 49 uint8_t data_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 50 if(data_lengthT > data_length)
akashvibhute 0:30537dec6e0b 51 this->data = (uint32_t*)realloc(this->data, data_lengthT * sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 52 offset += 3;
akashvibhute 0:30537dec6e0b 53 data_length = data_lengthT;
akashvibhute 0:30537dec6e0b 54 for( uint8_t i = 0; i < data_length; i++){
akashvibhute 0:30537dec6e0b 55 this->st_data = ((uint32_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 56 this->st_data |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 57 this->st_data |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 58 this->st_data |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 59 offset += sizeof(this->st_data);
akashvibhute 0:30537dec6e0b 60 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 61 }
akashvibhute 0:30537dec6e0b 62 return offset;
akashvibhute 0:30537dec6e0b 63 }
akashvibhute 0:30537dec6e0b 64
akashvibhute 0:30537dec6e0b 65 const char * getType(){ return "std_msgs/UInt32MultiArray"; };
akashvibhute 0:30537dec6e0b 66 const char * getMD5(){ return "4d6a180abc9be191b96a7eda6c8a233d"; };
akashvibhute 0:30537dec6e0b 67
akashvibhute 0:30537dec6e0b 68 };
akashvibhute 0:30537dec6e0b 69
akashvibhute 0:30537dec6e0b 70 }
akashvibhute 0:30537dec6e0b 71 #endif