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 UInt16MultiArray.h Source File

UInt16MultiArray.h

00001 #ifndef _ROS_std_msgs_UInt16MultiArray_h
00002 #define _ROS_std_msgs_UInt16MultiArray_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/MultiArrayLayout.h"
00009 
00010 namespace std_msgs
00011 {
00012 
00013   class UInt16MultiArray : public ros::Msg
00014   {
00015     public:
00016       std_msgs::MultiArrayLayout layout;
00017       uint8_t data_length;
00018       uint16_t st_data;
00019       uint16_t * data;
00020 
00021     UInt16MultiArray():
00022       layout(),
00023       data_length(0), data(NULL)
00024     {
00025     }
00026 
00027     virtual int serialize(unsigned char *outbuffer) const
00028     {
00029       int offset = 0;
00030       offset += this->layout.serialize(outbuffer + offset);
00031       *(outbuffer + offset++) = data_length;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = 0;
00034       *(outbuffer + offset++) = 0;
00035       for( uint8_t i = 0; i < data_length; i++){
00036       *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
00037       *(outbuffer + offset + 1) = (this->data[i] >> (8 * 1)) & 0xFF;
00038       offset += sizeof(this->data[i]);
00039       }
00040       return offset;
00041     }
00042 
00043     virtual int deserialize(unsigned char *inbuffer)
00044     {
00045       int offset = 0;
00046       offset += this->layout.deserialize(inbuffer + offset);
00047       uint8_t data_lengthT = *(inbuffer + offset++);
00048       if(data_lengthT > data_length)
00049         this->data = (uint16_t*)realloc(this->data, data_lengthT * sizeof(uint16_t));
00050       offset += 3;
00051       data_length = data_lengthT;
00052       for( uint8_t i = 0; i < data_length; i++){
00053       this->st_data =  ((uint16_t) (*(inbuffer + offset)));
00054       this->st_data |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
00055       offset += sizeof(this->st_data);
00056         memcpy( &(this->data[i]), &(this->st_data), sizeof(uint16_t));
00057       }
00058      return offset;
00059     }
00060 
00061     const char * getType(){ return "std_msgs/UInt16MultiArray"; };
00062     const char * getMD5(){ return "52f264f1c973c4b73790d384c6cb4484"; };
00063 
00064   };
00065 
00066 }
00067 #endif