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
LaserEcho.h
00001 #ifndef _ROS_sensor_msgs_LaserEcho_h 00002 #define _ROS_sensor_msgs_LaserEcho_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 00009 namespace sensor_msgs 00010 { 00011 00012 class LaserEcho : public ros::Msg 00013 { 00014 public: 00015 uint8_t echoes_length; 00016 float st_echoes; 00017 float * echoes; 00018 00019 LaserEcho(): 00020 echoes_length(0), echoes(NULL) 00021 { 00022 } 00023 00024 virtual int serialize(unsigned char *outbuffer) const 00025 { 00026 int offset = 0; 00027 *(outbuffer + offset++) = echoes_length; 00028 *(outbuffer + offset++) = 0; 00029 *(outbuffer + offset++) = 0; 00030 *(outbuffer + offset++) = 0; 00031 for( uint8_t i = 0; i < echoes_length; i++){ 00032 union { 00033 float real; 00034 uint32_t base; 00035 } u_echoesi; 00036 u_echoesi.real = this->echoes[i]; 00037 *(outbuffer + offset + 0) = (u_echoesi.base >> (8 * 0)) & 0xFF; 00038 *(outbuffer + offset + 1) = (u_echoesi.base >> (8 * 1)) & 0xFF; 00039 *(outbuffer + offset + 2) = (u_echoesi.base >> (8 * 2)) & 0xFF; 00040 *(outbuffer + offset + 3) = (u_echoesi.base >> (8 * 3)) & 0xFF; 00041 offset += sizeof(this->echoes[i]); 00042 } 00043 return offset; 00044 } 00045 00046 virtual int deserialize(unsigned char *inbuffer) 00047 { 00048 int offset = 0; 00049 uint8_t echoes_lengthT = *(inbuffer + offset++); 00050 if(echoes_lengthT > echoes_length) 00051 this->echoes = (float*)realloc(this->echoes, echoes_lengthT * sizeof(float)); 00052 offset += 3; 00053 echoes_length = echoes_lengthT; 00054 for( uint8_t i = 0; i < echoes_length; i++){ 00055 union { 00056 float real; 00057 uint32_t base; 00058 } u_st_echoes; 00059 u_st_echoes.base = 0; 00060 u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00061 u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00062 u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00063 u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00064 this->st_echoes = u_st_echoes.real; 00065 offset += sizeof(this->st_echoes); 00066 memcpy( &(this->echoes[i]), &(this->st_echoes), sizeof(float)); 00067 } 00068 return offset; 00069 } 00070 00071 const char * getType(){ return "sensor_msgs/LaserEcho"; }; 00072 const char * getMD5(){ return "8bc5ae449b200fba4d552b4225586696"; }; 00073 00074 }; 00075 00076 } 00077 #endif
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