ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
actionlib_tutorials/FibonacciResult.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_actionlib_tutorials_FibonacciResult_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_actionlib_tutorials_FibonacciResult_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | |
garyservin | 0:9e9b7db60fd5 | 9 | namespace actionlib_tutorials |
garyservin | 0:9e9b7db60fd5 | 10 | { |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | class FibonacciResult : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 13 | { |
garyservin | 0:9e9b7db60fd5 | 14 | public: |
garyservin | 0:9e9b7db60fd5 | 15 | uint32_t sequence_length; |
garyservin | 0:9e9b7db60fd5 | 16 | typedef int32_t _sequence_type; |
garyservin | 0:9e9b7db60fd5 | 17 | _sequence_type st_sequence; |
garyservin | 0:9e9b7db60fd5 | 18 | _sequence_type * sequence; |
garyservin | 0:9e9b7db60fd5 | 19 | |
garyservin | 0:9e9b7db60fd5 | 20 | FibonacciResult(): |
garyservin | 0:9e9b7db60fd5 | 21 | sequence_length(0), sequence(NULL) |
garyservin | 0:9e9b7db60fd5 | 22 | { |
garyservin | 0:9e9b7db60fd5 | 23 | } |
garyservin | 0:9e9b7db60fd5 | 24 | |
garyservin | 0:9e9b7db60fd5 | 25 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 26 | { |
garyservin | 0:9e9b7db60fd5 | 27 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 28 | *(outbuffer + offset + 0) = (this->sequence_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 29 | *(outbuffer + offset + 1) = (this->sequence_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 30 | *(outbuffer + offset + 2) = (this->sequence_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 31 | *(outbuffer + offset + 3) = (this->sequence_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 32 | offset += sizeof(this->sequence_length); |
garyservin | 0:9e9b7db60fd5 | 33 | for( uint32_t i = 0; i < sequence_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 34 | union { |
garyservin | 0:9e9b7db60fd5 | 35 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 36 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 37 | } u_sequencei; |
garyservin | 0:9e9b7db60fd5 | 38 | u_sequencei.real = this->sequence[i]; |
garyservin | 0:9e9b7db60fd5 | 39 | *(outbuffer + offset + 0) = (u_sequencei.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 40 | *(outbuffer + offset + 1) = (u_sequencei.base >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 41 | *(outbuffer + offset + 2) = (u_sequencei.base >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 42 | *(outbuffer + offset + 3) = (u_sequencei.base >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 43 | offset += sizeof(this->sequence[i]); |
garyservin | 0:9e9b7db60fd5 | 44 | } |
garyservin | 0:9e9b7db60fd5 | 45 | return offset; |
garyservin | 0:9e9b7db60fd5 | 46 | } |
garyservin | 0:9e9b7db60fd5 | 47 | |
garyservin | 0:9e9b7db60fd5 | 48 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 49 | { |
garyservin | 0:9e9b7db60fd5 | 50 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 51 | uint32_t sequence_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 52 | sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 53 | sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 54 | sequence_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 55 | offset += sizeof(this->sequence_length); |
garyservin | 0:9e9b7db60fd5 | 56 | if(sequence_lengthT > sequence_length) |
garyservin | 0:9e9b7db60fd5 | 57 | this->sequence = (int32_t*)realloc(this->sequence, sequence_lengthT * sizeof(int32_t)); |
garyservin | 0:9e9b7db60fd5 | 58 | sequence_length = sequence_lengthT; |
garyservin | 0:9e9b7db60fd5 | 59 | for( uint32_t i = 0; i < sequence_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 60 | union { |
garyservin | 0:9e9b7db60fd5 | 61 | int32_t real; |
garyservin | 0:9e9b7db60fd5 | 62 | uint32_t base; |
garyservin | 0:9e9b7db60fd5 | 63 | } u_st_sequence; |
garyservin | 0:9e9b7db60fd5 | 64 | u_st_sequence.base = 0; |
garyservin | 0:9e9b7db60fd5 | 65 | u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 66 | u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 67 | u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 68 | u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 69 | this->st_sequence = u_st_sequence.real; |
garyservin | 0:9e9b7db60fd5 | 70 | offset += sizeof(this->st_sequence); |
garyservin | 0:9e9b7db60fd5 | 71 | memcpy( &(this->sequence[i]), &(this->st_sequence), sizeof(int32_t)); |
garyservin | 0:9e9b7db60fd5 | 72 | } |
garyservin | 0:9e9b7db60fd5 | 73 | return offset; |
garyservin | 0:9e9b7db60fd5 | 74 | } |
garyservin | 0:9e9b7db60fd5 | 75 | |
garyservin | 0:9e9b7db60fd5 | 76 | const char * getType(){ return "actionlib_tutorials/FibonacciResult"; }; |
garyservin | 0:9e9b7db60fd5 | 77 | const char * getMD5(){ return "b81e37d2a31925a0e8ae261a8699cb79"; }; |
garyservin | 0:9e9b7db60fd5 | 78 | |
garyservin | 0:9e9b7db60fd5 | 79 | }; |
garyservin | 0:9e9b7db60fd5 | 80 | |
garyservin | 0:9e9b7db60fd5 | 81 | } |
garyservin | 0:9e9b7db60fd5 | 82 | #endif |