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
FibonacciFeedback.h
00001 #ifndef _ROS_actionlib_tutorials_FibonacciFeedback_h 00002 #define _ROS_actionlib_tutorials_FibonacciFeedback_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace actionlib_tutorials 00010 { 00011 00012 class FibonacciFeedback : public ros::Msg 00013 { 00014 public: 00015 uint8_t sequence_length; 00016 int32_t st_sequence; 00017 int32_t * sequence; 00018 00019 FibonacciFeedback(): 00020 sequence_length(0), sequence(NULL) 00021 { 00022 } 00023 00024 virtual int serialize(unsigned char *outbuffer) const 00025 { 00026 int offset = 0; 00027 *(outbuffer + offset++) = sequence_length; 00028 *(outbuffer + offset++) = 0; 00029 *(outbuffer + offset++) = 0; 00030 *(outbuffer + offset++) = 0; 00031 for( uint8_t i = 0; i < sequence_length; i++){ 00032 union { 00033 int32_t real; 00034 uint32_t base; 00035 } u_sequencei; 00036 u_sequencei.real = this->sequence[i]; 00037 *(outbuffer + offset + 0) = (u_sequencei.base >> (8 * 0)) & 0xFF; 00038 *(outbuffer + offset + 1) = (u_sequencei.base >> (8 * 1)) & 0xFF; 00039 *(outbuffer + offset + 2) = (u_sequencei.base >> (8 * 2)) & 0xFF; 00040 *(outbuffer + offset + 3) = (u_sequencei.base >> (8 * 3)) & 0xFF; 00041 offset += sizeof(this->sequence[i]); 00042 } 00043 return offset; 00044 } 00045 00046 virtual int deserialize(unsigned char *inbuffer) 00047 { 00048 int offset = 0; 00049 uint8_t sequence_lengthT = *(inbuffer + offset++); 00050 if(sequence_lengthT > sequence_length) 00051 this->sequence = (int32_t*)realloc(this->sequence, sequence_lengthT * sizeof(int32_t)); 00052 offset += 3; 00053 sequence_length = sequence_lengthT; 00054 for( uint8_t i = 0; i < sequence_length; i++){ 00055 union { 00056 int32_t real; 00057 uint32_t base; 00058 } u_st_sequence; 00059 u_st_sequence.base = 0; 00060 u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00061 u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00062 u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00063 u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00064 this->st_sequence = u_st_sequence.real; 00065 offset += sizeof(this->st_sequence); 00066 memcpy( &(this->sequence[i]), &(this->st_sequence), sizeof(int32_t)); 00067 } 00068 return offset; 00069 } 00070 00071 const char * getType(){ return "actionlib_tutorials/FibonacciFeedback"; }; 00072 const char * getMD5(){ return "b81e37d2a31925a0e8ae261a8699cb79"; }; 00073 00074 }; 00075 00076 } 00077 #endif
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