ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information

Dependencies:   BufferedSerial

Dependents:   rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more

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Show/hide line numbers Status.h Source File

Status.h

00001 #ifndef _ROS_bond_Status_h
00002 #define _ROS_bond_Status_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace bond
00011 {
00012 
00013   class Status : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       const char* id;
00018       const char* instance_id;
00019       bool active;
00020       float heartbeat_timeout;
00021       float heartbeat_period;
00022 
00023     Status():
00024       header(),
00025       id(""),
00026       instance_id(""),
00027       active(0),
00028       heartbeat_timeout(0),
00029       heartbeat_period(0)
00030     {
00031     }
00032 
00033     virtual int serialize(unsigned char *outbuffer) const
00034     {
00035       int offset = 0;
00036       offset += this->header.serialize(outbuffer + offset);
00037       uint32_t length_id = strlen(this->id);
00038       memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
00039       offset += 4;
00040       memcpy(outbuffer + offset, this->id, length_id);
00041       offset += length_id;
00042       uint32_t length_instance_id = strlen(this->instance_id);
00043       memcpy(outbuffer + offset, &length_instance_id, sizeof(uint32_t));
00044       offset += 4;
00045       memcpy(outbuffer + offset, this->instance_id, length_instance_id);
00046       offset += length_instance_id;
00047       union {
00048         bool real;
00049         uint8_t base;
00050       } u_active;
00051       u_active.real = this->active;
00052       *(outbuffer + offset + 0) = (u_active.base >> (8 * 0)) & 0xFF;
00053       offset += sizeof(this->active);
00054       union {
00055         float real;
00056         uint32_t base;
00057       } u_heartbeat_timeout;
00058       u_heartbeat_timeout.real = this->heartbeat_timeout;
00059       *(outbuffer + offset + 0) = (u_heartbeat_timeout.base >> (8 * 0)) & 0xFF;
00060       *(outbuffer + offset + 1) = (u_heartbeat_timeout.base >> (8 * 1)) & 0xFF;
00061       *(outbuffer + offset + 2) = (u_heartbeat_timeout.base >> (8 * 2)) & 0xFF;
00062       *(outbuffer + offset + 3) = (u_heartbeat_timeout.base >> (8 * 3)) & 0xFF;
00063       offset += sizeof(this->heartbeat_timeout);
00064       union {
00065         float real;
00066         uint32_t base;
00067       } u_heartbeat_period;
00068       u_heartbeat_period.real = this->heartbeat_period;
00069       *(outbuffer + offset + 0) = (u_heartbeat_period.base >> (8 * 0)) & 0xFF;
00070       *(outbuffer + offset + 1) = (u_heartbeat_period.base >> (8 * 1)) & 0xFF;
00071       *(outbuffer + offset + 2) = (u_heartbeat_period.base >> (8 * 2)) & 0xFF;
00072       *(outbuffer + offset + 3) = (u_heartbeat_period.base >> (8 * 3)) & 0xFF;
00073       offset += sizeof(this->heartbeat_period);
00074       return offset;
00075     }
00076 
00077     virtual int deserialize(unsigned char *inbuffer)
00078     {
00079       int offset = 0;
00080       offset += this->header.deserialize(inbuffer + offset);
00081       uint32_t length_id;
00082       memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
00083       offset += 4;
00084       for(unsigned int k= offset; k< offset+length_id; ++k){
00085           inbuffer[k-1]=inbuffer[k];
00086       }
00087       inbuffer[offset+length_id-1]=0;
00088       this->id = (char *)(inbuffer + offset-1);
00089       offset += length_id;
00090       uint32_t length_instance_id;
00091       memcpy(&length_instance_id, (inbuffer + offset), sizeof(uint32_t));
00092       offset += 4;
00093       for(unsigned int k= offset; k< offset+length_instance_id; ++k){
00094           inbuffer[k-1]=inbuffer[k];
00095       }
00096       inbuffer[offset+length_instance_id-1]=0;
00097       this->instance_id = (char *)(inbuffer + offset-1);
00098       offset += length_instance_id;
00099       union {
00100         bool real;
00101         uint8_t base;
00102       } u_active;
00103       u_active.base = 0;
00104       u_active.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00105       this->active = u_active.real;
00106       offset += sizeof(this->active);
00107       union {
00108         float real;
00109         uint32_t base;
00110       } u_heartbeat_timeout;
00111       u_heartbeat_timeout.base = 0;
00112       u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00113       u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00114       u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00115       u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00116       this->heartbeat_timeout = u_heartbeat_timeout.real;
00117       offset += sizeof(this->heartbeat_timeout);
00118       union {
00119         float real;
00120         uint32_t base;
00121       } u_heartbeat_period;
00122       u_heartbeat_period.base = 0;
00123       u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00124       u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00125       u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00126       u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00127       this->heartbeat_period = u_heartbeat_period.real;
00128       offset += sizeof(this->heartbeat_period);
00129      return offset;
00130     }
00131 
00132     const char * getType(){ return "bond/Status"; };
00133     const char * getMD5(){ return "eacc84bf5d65b6777d4c50f463dfb9c8"; };
00134 
00135   };
00136 
00137 }
00138 #endif