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
sensor_msgs/ChannelFloat32.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_sensor_msgs_ChannelFloat32_h #define _ROS_sensor_msgs_ChannelFloat32_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace sensor_msgs { class ChannelFloat32 : public ros::Msg { public: typedef const char* _name_type; _name_type name; uint32_t values_length; typedef float _values_type; _values_type st_values; _values_type * values; ChannelFloat32(): name(""), values_length(0), values(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_name = strlen(this->name); varToArr(outbuffer + offset, length_name); offset += 4; memcpy(outbuffer + offset, this->name, length_name); offset += length_name; *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF; offset += sizeof(this->values_length); for( uint32_t i = 0; i < values_length; i++){ union { float real; uint32_t base; } u_valuesi; u_valuesi.real = this->values[i]; *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF; offset += sizeof(this->values[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_name; arrToVar(length_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset))); values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->values_length); if(values_lengthT > values_length) this->values = (float*)realloc(this->values, values_lengthT * sizeof(float)); values_length = values_lengthT; for( uint32_t i = 0; i < values_length; i++){ union { float real; uint32_t base; } u_st_values; u_st_values.base = 0; u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->st_values = u_st_values.real; offset += sizeof(this->st_values); memcpy( &(this->values[i]), &(this->st_values), sizeof(float)); } return offset; } const char * getType(){ return "sensor_msgs/ChannelFloat32"; }; const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; }; }; } #endif