ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information
Dependents: rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more
ROSSerial_mbed for Indigo Distribution
The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.
The rosserial_mbed package allows to write ROS nodes on any mbed enabled devices and have them connected to a running ROS system on your computer using the serial port.
Hello World (example publisher)
Import programrosserial_mbed_hello_world_publisher
rosserial_mbed Hello World
Running the Code
Now, launch the roscore in a new terminal window:
Quote:
$ roscore
Next, run the rosserial client application that forwards your MBED messages to the rest of ROS. Make sure to use the correct serial port:
Quote:
$ rosrun rosserial_python serial_node.py /dev/ttyACM0
Finally, watch the greetings come in from your MBED by launching a new terminal window and entering :
Quote:
$ rostopic echo chatter
See Also
More examples
Blink
/* * rosserial Subscriber Example * Blinks an LED on callback */ #include "mbed.h" #include <ros.h> #include <std_msgs/Empty.h> ros::NodeHandle nh; DigitalOut myled(LED1); void messageCb(const std_msgs::Empty& toggle_msg){ myled = !myled; // blink the led } ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb); int main() { nh.initNode(); nh.subscribe(sub); while (1) { nh.spinOnce(); wait_ms(1); } }
Push
/* * Button Example for Rosserial */ #include "mbed.h" #include <ros.h> #include <std_msgs/Bool.h> PinName button = p20; ros::NodeHandle nh; std_msgs::Bool pushed_msg; ros::Publisher pub_button("pushed", &pushed_msg); DigitalIn button_pin(button); DigitalOut led_pin(LED1); bool last_reading; long last_debounce_time=0; long debounce_delay=50; bool published = true; Timer t; int main() { t.start(); nh.initNode(); nh.advertise(pub_button); //Enable the pullup resistor on the button button_pin.mode(PullUp); //The button is a normally button last_reading = ! button_pin; while (1) { bool reading = ! button_pin; if (last_reading!= reading) { last_debounce_time = t.read_ms(); published = false; } //if the button value has not changed for the debounce delay, we know its stable if ( !published && (t.read_ms() - last_debounce_time) > debounce_delay) { led_pin = reading; pushed_msg.data = reading; pub_button.publish(&pushed_msg); published = true; } last_reading = reading; nh.spinOnce(); } }
rosgraph_msgs/TopicStatistics.h@0:fd24f7ca9688, 2016-03-31 (annotated)
- Committer:
- garyservin
- Date:
- Thu Mar 31 14:22:59 2016 +0000
- Revision:
- 0:fd24f7ca9688
Initial commit, generated based on a clean indigo-desktop-full
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:fd24f7ca9688 | 1 | #ifndef _ROS_rosgraph_msgs_TopicStatistics_h |
garyservin | 0:fd24f7ca9688 | 2 | #define _ROS_rosgraph_msgs_TopicStatistics_h |
garyservin | 0:fd24f7ca9688 | 3 | |
garyservin | 0:fd24f7ca9688 | 4 | #include <stdint.h> |
garyservin | 0:fd24f7ca9688 | 5 | #include <string.h> |
garyservin | 0:fd24f7ca9688 | 6 | #include <stdlib.h> |
garyservin | 0:fd24f7ca9688 | 7 | #include "ros/msg.h" |
garyservin | 0:fd24f7ca9688 | 8 | #include "ros/time.h" |
garyservin | 0:fd24f7ca9688 | 9 | #include "ros/duration.h" |
garyservin | 0:fd24f7ca9688 | 10 | |
garyservin | 0:fd24f7ca9688 | 11 | namespace rosgraph_msgs |
garyservin | 0:fd24f7ca9688 | 12 | { |
garyservin | 0:fd24f7ca9688 | 13 | |
garyservin | 0:fd24f7ca9688 | 14 | class TopicStatistics : public ros::Msg |
garyservin | 0:fd24f7ca9688 | 15 | { |
garyservin | 0:fd24f7ca9688 | 16 | public: |
garyservin | 0:fd24f7ca9688 | 17 | const char* topic; |
garyservin | 0:fd24f7ca9688 | 18 | const char* node_pub; |
garyservin | 0:fd24f7ca9688 | 19 | const char* node_sub; |
garyservin | 0:fd24f7ca9688 | 20 | ros::Time window_start; |
garyservin | 0:fd24f7ca9688 | 21 | ros::Time window_stop; |
garyservin | 0:fd24f7ca9688 | 22 | int32_t delivered_msgs; |
garyservin | 0:fd24f7ca9688 | 23 | int32_t dropped_msgs; |
garyservin | 0:fd24f7ca9688 | 24 | int32_t traffic; |
garyservin | 0:fd24f7ca9688 | 25 | ros::Duration period_mean; |
garyservin | 0:fd24f7ca9688 | 26 | ros::Duration period_stddev; |
garyservin | 0:fd24f7ca9688 | 27 | ros::Duration period_max; |
garyservin | 0:fd24f7ca9688 | 28 | ros::Duration stamp_age_mean; |
garyservin | 0:fd24f7ca9688 | 29 | ros::Duration stamp_age_stddev; |
garyservin | 0:fd24f7ca9688 | 30 | ros::Duration stamp_age_max; |
garyservin | 0:fd24f7ca9688 | 31 | |
garyservin | 0:fd24f7ca9688 | 32 | TopicStatistics(): |
garyservin | 0:fd24f7ca9688 | 33 | topic(""), |
garyservin | 0:fd24f7ca9688 | 34 | node_pub(""), |
garyservin | 0:fd24f7ca9688 | 35 | node_sub(""), |
garyservin | 0:fd24f7ca9688 | 36 | window_start(), |
garyservin | 0:fd24f7ca9688 | 37 | window_stop(), |
garyservin | 0:fd24f7ca9688 | 38 | delivered_msgs(0), |
garyservin | 0:fd24f7ca9688 | 39 | dropped_msgs(0), |
garyservin | 0:fd24f7ca9688 | 40 | traffic(0), |
garyservin | 0:fd24f7ca9688 | 41 | period_mean(), |
garyservin | 0:fd24f7ca9688 | 42 | period_stddev(), |
garyservin | 0:fd24f7ca9688 | 43 | period_max(), |
garyservin | 0:fd24f7ca9688 | 44 | stamp_age_mean(), |
garyservin | 0:fd24f7ca9688 | 45 | stamp_age_stddev(), |
garyservin | 0:fd24f7ca9688 | 46 | stamp_age_max() |
garyservin | 0:fd24f7ca9688 | 47 | { |
garyservin | 0:fd24f7ca9688 | 48 | } |
garyservin | 0:fd24f7ca9688 | 49 | |
garyservin | 0:fd24f7ca9688 | 50 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:fd24f7ca9688 | 51 | { |
garyservin | 0:fd24f7ca9688 | 52 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 53 | uint32_t length_topic = strlen(this->topic); |
garyservin | 0:fd24f7ca9688 | 54 | memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 55 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 56 | memcpy(outbuffer + offset, this->topic, length_topic); |
garyservin | 0:fd24f7ca9688 | 57 | offset += length_topic; |
garyservin | 0:fd24f7ca9688 | 58 | uint32_t length_node_pub = strlen(this->node_pub); |
garyservin | 0:fd24f7ca9688 | 59 | memcpy(outbuffer + offset, &length_node_pub, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 60 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 61 | memcpy(outbuffer + offset, this->node_pub, length_node_pub); |
garyservin | 0:fd24f7ca9688 | 62 | offset += length_node_pub; |
garyservin | 0:fd24f7ca9688 | 63 | uint32_t length_node_sub = strlen(this->node_sub); |
garyservin | 0:fd24f7ca9688 | 64 | memcpy(outbuffer + offset, &length_node_sub, sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 65 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 66 | memcpy(outbuffer + offset, this->node_sub, length_node_sub); |
garyservin | 0:fd24f7ca9688 | 67 | offset += length_node_sub; |
garyservin | 0:fd24f7ca9688 | 68 | *(outbuffer + offset + 0) = (this->window_start.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 69 | *(outbuffer + offset + 1) = (this->window_start.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 70 | *(outbuffer + offset + 2) = (this->window_start.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 71 | *(outbuffer + offset + 3) = (this->window_start.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 72 | offset += sizeof(this->window_start.sec); |
garyservin | 0:fd24f7ca9688 | 73 | *(outbuffer + offset + 0) = (this->window_start.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 74 | *(outbuffer + offset + 1) = (this->window_start.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 75 | *(outbuffer + offset + 2) = (this->window_start.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 76 | *(outbuffer + offset + 3) = (this->window_start.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 77 | offset += sizeof(this->window_start.nsec); |
garyservin | 0:fd24f7ca9688 | 78 | *(outbuffer + offset + 0) = (this->window_stop.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 79 | *(outbuffer + offset + 1) = (this->window_stop.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 80 | *(outbuffer + offset + 2) = (this->window_stop.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 81 | *(outbuffer + offset + 3) = (this->window_stop.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 82 | offset += sizeof(this->window_stop.sec); |
garyservin | 0:fd24f7ca9688 | 83 | *(outbuffer + offset + 0) = (this->window_stop.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 84 | *(outbuffer + offset + 1) = (this->window_stop.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 85 | *(outbuffer + offset + 2) = (this->window_stop.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 86 | *(outbuffer + offset + 3) = (this->window_stop.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 87 | offset += sizeof(this->window_stop.nsec); |
garyservin | 0:fd24f7ca9688 | 88 | union { |
garyservin | 0:fd24f7ca9688 | 89 | int32_t real; |
garyservin | 0:fd24f7ca9688 | 90 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 91 | } u_delivered_msgs; |
garyservin | 0:fd24f7ca9688 | 92 | u_delivered_msgs.real = this->delivered_msgs; |
garyservin | 0:fd24f7ca9688 | 93 | *(outbuffer + offset + 0) = (u_delivered_msgs.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 94 | *(outbuffer + offset + 1) = (u_delivered_msgs.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 95 | *(outbuffer + offset + 2) = (u_delivered_msgs.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 96 | *(outbuffer + offset + 3) = (u_delivered_msgs.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 97 | offset += sizeof(this->delivered_msgs); |
garyservin | 0:fd24f7ca9688 | 98 | union { |
garyservin | 0:fd24f7ca9688 | 99 | int32_t real; |
garyservin | 0:fd24f7ca9688 | 100 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 101 | } u_dropped_msgs; |
garyservin | 0:fd24f7ca9688 | 102 | u_dropped_msgs.real = this->dropped_msgs; |
garyservin | 0:fd24f7ca9688 | 103 | *(outbuffer + offset + 0) = (u_dropped_msgs.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 104 | *(outbuffer + offset + 1) = (u_dropped_msgs.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 105 | *(outbuffer + offset + 2) = (u_dropped_msgs.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 106 | *(outbuffer + offset + 3) = (u_dropped_msgs.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 107 | offset += sizeof(this->dropped_msgs); |
garyservin | 0:fd24f7ca9688 | 108 | union { |
garyservin | 0:fd24f7ca9688 | 109 | int32_t real; |
garyservin | 0:fd24f7ca9688 | 110 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 111 | } u_traffic; |
garyservin | 0:fd24f7ca9688 | 112 | u_traffic.real = this->traffic; |
garyservin | 0:fd24f7ca9688 | 113 | *(outbuffer + offset + 0) = (u_traffic.base >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 114 | *(outbuffer + offset + 1) = (u_traffic.base >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 115 | *(outbuffer + offset + 2) = (u_traffic.base >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 116 | *(outbuffer + offset + 3) = (u_traffic.base >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 117 | offset += sizeof(this->traffic); |
garyservin | 0:fd24f7ca9688 | 118 | *(outbuffer + offset + 0) = (this->period_mean.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 119 | *(outbuffer + offset + 1) = (this->period_mean.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 120 | *(outbuffer + offset + 2) = (this->period_mean.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 121 | *(outbuffer + offset + 3) = (this->period_mean.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 122 | offset += sizeof(this->period_mean.sec); |
garyservin | 0:fd24f7ca9688 | 123 | *(outbuffer + offset + 0) = (this->period_mean.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 124 | *(outbuffer + offset + 1) = (this->period_mean.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 125 | *(outbuffer + offset + 2) = (this->period_mean.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 126 | *(outbuffer + offset + 3) = (this->period_mean.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 127 | offset += sizeof(this->period_mean.nsec); |
garyservin | 0:fd24f7ca9688 | 128 | *(outbuffer + offset + 0) = (this->period_stddev.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 129 | *(outbuffer + offset + 1) = (this->period_stddev.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 130 | *(outbuffer + offset + 2) = (this->period_stddev.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 131 | *(outbuffer + offset + 3) = (this->period_stddev.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 132 | offset += sizeof(this->period_stddev.sec); |
garyservin | 0:fd24f7ca9688 | 133 | *(outbuffer + offset + 0) = (this->period_stddev.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 134 | *(outbuffer + offset + 1) = (this->period_stddev.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 135 | *(outbuffer + offset + 2) = (this->period_stddev.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 136 | *(outbuffer + offset + 3) = (this->period_stddev.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 137 | offset += sizeof(this->period_stddev.nsec); |
garyservin | 0:fd24f7ca9688 | 138 | *(outbuffer + offset + 0) = (this->period_max.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 139 | *(outbuffer + offset + 1) = (this->period_max.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 140 | *(outbuffer + offset + 2) = (this->period_max.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 141 | *(outbuffer + offset + 3) = (this->period_max.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 142 | offset += sizeof(this->period_max.sec); |
garyservin | 0:fd24f7ca9688 | 143 | *(outbuffer + offset + 0) = (this->period_max.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 144 | *(outbuffer + offset + 1) = (this->period_max.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 145 | *(outbuffer + offset + 2) = (this->period_max.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 146 | *(outbuffer + offset + 3) = (this->period_max.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 147 | offset += sizeof(this->period_max.nsec); |
garyservin | 0:fd24f7ca9688 | 148 | *(outbuffer + offset + 0) = (this->stamp_age_mean.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 149 | *(outbuffer + offset + 1) = (this->stamp_age_mean.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 150 | *(outbuffer + offset + 2) = (this->stamp_age_mean.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 151 | *(outbuffer + offset + 3) = (this->stamp_age_mean.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 152 | offset += sizeof(this->stamp_age_mean.sec); |
garyservin | 0:fd24f7ca9688 | 153 | *(outbuffer + offset + 0) = (this->stamp_age_mean.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 154 | *(outbuffer + offset + 1) = (this->stamp_age_mean.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 155 | *(outbuffer + offset + 2) = (this->stamp_age_mean.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 156 | *(outbuffer + offset + 3) = (this->stamp_age_mean.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 157 | offset += sizeof(this->stamp_age_mean.nsec); |
garyservin | 0:fd24f7ca9688 | 158 | *(outbuffer + offset + 0) = (this->stamp_age_stddev.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 159 | *(outbuffer + offset + 1) = (this->stamp_age_stddev.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 160 | *(outbuffer + offset + 2) = (this->stamp_age_stddev.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 161 | *(outbuffer + offset + 3) = (this->stamp_age_stddev.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 162 | offset += sizeof(this->stamp_age_stddev.sec); |
garyservin | 0:fd24f7ca9688 | 163 | *(outbuffer + offset + 0) = (this->stamp_age_stddev.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 164 | *(outbuffer + offset + 1) = (this->stamp_age_stddev.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 165 | *(outbuffer + offset + 2) = (this->stamp_age_stddev.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 166 | *(outbuffer + offset + 3) = (this->stamp_age_stddev.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 167 | offset += sizeof(this->stamp_age_stddev.nsec); |
garyservin | 0:fd24f7ca9688 | 168 | *(outbuffer + offset + 0) = (this->stamp_age_max.sec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 169 | *(outbuffer + offset + 1) = (this->stamp_age_max.sec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 170 | *(outbuffer + offset + 2) = (this->stamp_age_max.sec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 171 | *(outbuffer + offset + 3) = (this->stamp_age_max.sec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 172 | offset += sizeof(this->stamp_age_max.sec); |
garyservin | 0:fd24f7ca9688 | 173 | *(outbuffer + offset + 0) = (this->stamp_age_max.nsec >> (8 * 0)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 174 | *(outbuffer + offset + 1) = (this->stamp_age_max.nsec >> (8 * 1)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 175 | *(outbuffer + offset + 2) = (this->stamp_age_max.nsec >> (8 * 2)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 176 | *(outbuffer + offset + 3) = (this->stamp_age_max.nsec >> (8 * 3)) & 0xFF; |
garyservin | 0:fd24f7ca9688 | 177 | offset += sizeof(this->stamp_age_max.nsec); |
garyservin | 0:fd24f7ca9688 | 178 | return offset; |
garyservin | 0:fd24f7ca9688 | 179 | } |
garyservin | 0:fd24f7ca9688 | 180 | |
garyservin | 0:fd24f7ca9688 | 181 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:fd24f7ca9688 | 182 | { |
garyservin | 0:fd24f7ca9688 | 183 | int offset = 0; |
garyservin | 0:fd24f7ca9688 | 184 | uint32_t length_topic; |
garyservin | 0:fd24f7ca9688 | 185 | memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 186 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 187 | for(unsigned int k= offset; k< offset+length_topic; ++k){ |
garyservin | 0:fd24f7ca9688 | 188 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 189 | } |
garyservin | 0:fd24f7ca9688 | 190 | inbuffer[offset+length_topic-1]=0; |
garyservin | 0:fd24f7ca9688 | 191 | this->topic = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 192 | offset += length_topic; |
garyservin | 0:fd24f7ca9688 | 193 | uint32_t length_node_pub; |
garyservin | 0:fd24f7ca9688 | 194 | memcpy(&length_node_pub, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 195 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 196 | for(unsigned int k= offset; k< offset+length_node_pub; ++k){ |
garyservin | 0:fd24f7ca9688 | 197 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 198 | } |
garyservin | 0:fd24f7ca9688 | 199 | inbuffer[offset+length_node_pub-1]=0; |
garyservin | 0:fd24f7ca9688 | 200 | this->node_pub = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 201 | offset += length_node_pub; |
garyservin | 0:fd24f7ca9688 | 202 | uint32_t length_node_sub; |
garyservin | 0:fd24f7ca9688 | 203 | memcpy(&length_node_sub, (inbuffer + offset), sizeof(uint32_t)); |
garyservin | 0:fd24f7ca9688 | 204 | offset += 4; |
garyservin | 0:fd24f7ca9688 | 205 | for(unsigned int k= offset; k< offset+length_node_sub; ++k){ |
garyservin | 0:fd24f7ca9688 | 206 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:fd24f7ca9688 | 207 | } |
garyservin | 0:fd24f7ca9688 | 208 | inbuffer[offset+length_node_sub-1]=0; |
garyservin | 0:fd24f7ca9688 | 209 | this->node_sub = (char *)(inbuffer + offset-1); |
garyservin | 0:fd24f7ca9688 | 210 | offset += length_node_sub; |
garyservin | 0:fd24f7ca9688 | 211 | this->window_start.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 212 | this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 213 | this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 214 | this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 215 | offset += sizeof(this->window_start.sec); |
garyservin | 0:fd24f7ca9688 | 216 | this->window_start.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 217 | this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 218 | this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 219 | this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 220 | offset += sizeof(this->window_start.nsec); |
garyservin | 0:fd24f7ca9688 | 221 | this->window_stop.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 222 | this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 223 | this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 224 | this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 225 | offset += sizeof(this->window_stop.sec); |
garyservin | 0:fd24f7ca9688 | 226 | this->window_stop.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 227 | this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 228 | this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 229 | this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 230 | offset += sizeof(this->window_stop.nsec); |
garyservin | 0:fd24f7ca9688 | 231 | union { |
garyservin | 0:fd24f7ca9688 | 232 | int32_t real; |
garyservin | 0:fd24f7ca9688 | 233 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 234 | } u_delivered_msgs; |
garyservin | 0:fd24f7ca9688 | 235 | u_delivered_msgs.base = 0; |
garyservin | 0:fd24f7ca9688 | 236 | u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 237 | u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 238 | u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 239 | u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 240 | this->delivered_msgs = u_delivered_msgs.real; |
garyservin | 0:fd24f7ca9688 | 241 | offset += sizeof(this->delivered_msgs); |
garyservin | 0:fd24f7ca9688 | 242 | union { |
garyservin | 0:fd24f7ca9688 | 243 | int32_t real; |
garyservin | 0:fd24f7ca9688 | 244 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 245 | } u_dropped_msgs; |
garyservin | 0:fd24f7ca9688 | 246 | u_dropped_msgs.base = 0; |
garyservin | 0:fd24f7ca9688 | 247 | u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 248 | u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 249 | u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 250 | u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 251 | this->dropped_msgs = u_dropped_msgs.real; |
garyservin | 0:fd24f7ca9688 | 252 | offset += sizeof(this->dropped_msgs); |
garyservin | 0:fd24f7ca9688 | 253 | union { |
garyservin | 0:fd24f7ca9688 | 254 | int32_t real; |
garyservin | 0:fd24f7ca9688 | 255 | uint32_t base; |
garyservin | 0:fd24f7ca9688 | 256 | } u_traffic; |
garyservin | 0:fd24f7ca9688 | 257 | u_traffic.base = 0; |
garyservin | 0:fd24f7ca9688 | 258 | u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:fd24f7ca9688 | 259 | u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 260 | u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 261 | u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 262 | this->traffic = u_traffic.real; |
garyservin | 0:fd24f7ca9688 | 263 | offset += sizeof(this->traffic); |
garyservin | 0:fd24f7ca9688 | 264 | this->period_mean.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 265 | this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 266 | this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 267 | this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 268 | offset += sizeof(this->period_mean.sec); |
garyservin | 0:fd24f7ca9688 | 269 | this->period_mean.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 270 | this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 271 | this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 272 | this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 273 | offset += sizeof(this->period_mean.nsec); |
garyservin | 0:fd24f7ca9688 | 274 | this->period_stddev.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 275 | this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 276 | this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 277 | this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 278 | offset += sizeof(this->period_stddev.sec); |
garyservin | 0:fd24f7ca9688 | 279 | this->period_stddev.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 280 | this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 281 | this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 282 | this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 283 | offset += sizeof(this->period_stddev.nsec); |
garyservin | 0:fd24f7ca9688 | 284 | this->period_max.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 285 | this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 286 | this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 287 | this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 288 | offset += sizeof(this->period_max.sec); |
garyservin | 0:fd24f7ca9688 | 289 | this->period_max.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 290 | this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 291 | this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 292 | this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 293 | offset += sizeof(this->period_max.nsec); |
garyservin | 0:fd24f7ca9688 | 294 | this->stamp_age_mean.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 295 | this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 296 | this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 297 | this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 298 | offset += sizeof(this->stamp_age_mean.sec); |
garyservin | 0:fd24f7ca9688 | 299 | this->stamp_age_mean.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 300 | this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 301 | this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 302 | this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 303 | offset += sizeof(this->stamp_age_mean.nsec); |
garyservin | 0:fd24f7ca9688 | 304 | this->stamp_age_stddev.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 305 | this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 306 | this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 307 | this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 308 | offset += sizeof(this->stamp_age_stddev.sec); |
garyservin | 0:fd24f7ca9688 | 309 | this->stamp_age_stddev.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 310 | this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 311 | this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 312 | this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 313 | offset += sizeof(this->stamp_age_stddev.nsec); |
garyservin | 0:fd24f7ca9688 | 314 | this->stamp_age_max.sec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 315 | this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 316 | this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 317 | this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 318 | offset += sizeof(this->stamp_age_max.sec); |
garyservin | 0:fd24f7ca9688 | 319 | this->stamp_age_max.nsec = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:fd24f7ca9688 | 320 | this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:fd24f7ca9688 | 321 | this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:fd24f7ca9688 | 322 | this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:fd24f7ca9688 | 323 | offset += sizeof(this->stamp_age_max.nsec); |
garyservin | 0:fd24f7ca9688 | 324 | return offset; |
garyservin | 0:fd24f7ca9688 | 325 | } |
garyservin | 0:fd24f7ca9688 | 326 | |
garyservin | 0:fd24f7ca9688 | 327 | const char * getType(){ return "rosgraph_msgs/TopicStatistics"; }; |
garyservin | 0:fd24f7ca9688 | 328 | const char * getMD5(){ return "10152ed868c5097a5e2e4a89d7daa710"; }; |
garyservin | 0:fd24f7ca9688 | 329 | |
garyservin | 0:fd24f7ca9688 | 330 | }; |
garyservin | 0:fd24f7ca9688 | 331 | |
garyservin | 0:fd24f7ca9688 | 332 | } |
garyservin | 0:fd24f7ca9688 | 333 | #endif |