Gary Servin
/
rosserial_mbed_lib
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Fork of
rosserial_mbed_lib
by 
nucho
std_msgs/Header.h@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:77afd7560544 | 1 | #ifndef ros_Header_h |
| nucho | 0:77afd7560544 | 2 | #define ros_Header_h |
| nucho | 0:77afd7560544 | 3 | |
| nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
| nucho | 0:77afd7560544 | 5 | #include <string.h> |
| nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
| nucho | 0:77afd7560544 | 7 | #include "../ros/msg.h" |
| nucho | 0:77afd7560544 | 8 | #include "ros/time.h" |
| nucho | 0:77afd7560544 | 9 | |
| nucho | 0:77afd7560544 | 10 | namespace std_msgs |
| nucho | 0:77afd7560544 | 11 | { |
| nucho | 0:77afd7560544 | 12 | |
| nucho | 0:77afd7560544 | 13 | class Header : public ros::Msg |
| nucho | 0:77afd7560544 | 14 | { |
| nucho | 0:77afd7560544 | 15 | public: |
| nucho | 0:77afd7560544 | 16 | unsigned long seq; |
| nucho | 0:77afd7560544 | 17 | ros::Time stamp; |
| nucho | 0:77afd7560544 | 18 | char * frame_id; |
| nucho | 0:77afd7560544 | 19 | |
| nucho | 0:77afd7560544 | 20 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:77afd7560544 | 21 | { |
| nucho | 0:77afd7560544 | 22 | int offset = 0; |
| nucho | 0:77afd7560544 | 23 | union { |
| nucho | 0:77afd7560544 | 24 | unsigned long real; |
| nucho | 0:77afd7560544 | 25 | unsigned long base; |
| nucho | 0:77afd7560544 | 26 | } u_seq; |
| nucho | 0:77afd7560544 | 27 | u_seq.real = this->seq; |
| nucho | 0:77afd7560544 | 28 | *(outbuffer + offset + 0) = (u_seq.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 29 | *(outbuffer + offset + 1) = (u_seq.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 30 | *(outbuffer + offset + 2) = (u_seq.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 31 | *(outbuffer + offset + 3) = (u_seq.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 32 | offset += sizeof(this->seq); |
| nucho | 0:77afd7560544 | 33 | union { |
| nucho | 0:77afd7560544 | 34 | unsigned long real; |
| nucho | 0:77afd7560544 | 35 | unsigned long base; |
| nucho | 0:77afd7560544 | 36 | } u_sec; |
| nucho | 0:77afd7560544 | 37 | u_sec.real = this->stamp.sec; |
| nucho | 0:77afd7560544 | 38 | *(outbuffer + offset + 0) = (u_sec.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 39 | *(outbuffer + offset + 1) = (u_sec.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 40 | *(outbuffer + offset + 2) = (u_sec.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 41 | *(outbuffer + offset + 3) = (u_sec.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 42 | offset += sizeof(this->stamp.sec); |
| nucho | 0:77afd7560544 | 43 | union { |
| nucho | 0:77afd7560544 | 44 | unsigned long real; |
| nucho | 0:77afd7560544 | 45 | unsigned long base; |
| nucho | 0:77afd7560544 | 46 | } u_nsec; |
| nucho | 0:77afd7560544 | 47 | u_nsec.real = this->stamp.nsec; |
| nucho | 0:77afd7560544 | 48 | *(outbuffer + offset + 0) = (u_nsec.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 49 | *(outbuffer + offset + 1) = (u_nsec.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 50 | *(outbuffer + offset + 2) = (u_nsec.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 51 | *(outbuffer + offset + 3) = (u_nsec.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 52 | offset += sizeof(this->stamp.nsec); |
| nucho | 0:77afd7560544 | 53 | long * length_frame_id = (long *)(outbuffer + offset); |
| nucho | 0:77afd7560544 | 54 | *length_frame_id = strlen( (const char*) this->frame_id); |
| nucho | 0:77afd7560544 | 55 | offset += 4; |
| nucho | 0:77afd7560544 | 56 | memcpy(outbuffer + offset, this->frame_id, *length_frame_id); |
| nucho | 0:77afd7560544 | 57 | offset += *length_frame_id; |
| nucho | 0:77afd7560544 | 58 | return offset; |
| nucho | 0:77afd7560544 | 59 | } |
| nucho | 0:77afd7560544 | 60 | |
| nucho | 0:77afd7560544 | 61 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 62 | { |
| nucho | 0:77afd7560544 | 63 | int offset = 0; |
| nucho | 0:77afd7560544 | 64 | union { |
| nucho | 0:77afd7560544 | 65 | unsigned long real; |
| nucho | 0:77afd7560544 | 66 | unsigned long base; |
| nucho | 0:77afd7560544 | 67 | } u_seq; |
| nucho | 0:77afd7560544 | 68 | u_seq.base = 0; |
| nucho | 0:77afd7560544 | 69 | u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:77afd7560544 | 70 | u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:77afd7560544 | 71 | u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 0:77afd7560544 | 72 | u_seq.base |= ((typeof(u_seq.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 73 | this->seq = u_seq.real; |
| nucho | 0:77afd7560544 | 74 | offset += sizeof(this->seq); |
| nucho | 0:77afd7560544 | 75 | union { |
| nucho | 0:77afd7560544 | 76 | unsigned long real; |
| nucho | 0:77afd7560544 | 77 | unsigned long base; |
| nucho | 0:77afd7560544 | 78 | } u_sec; |
| nucho | 0:77afd7560544 | 79 | u_sec.base = 0; |
| nucho | 0:77afd7560544 | 80 | u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:77afd7560544 | 81 | u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:77afd7560544 | 82 | u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 0:77afd7560544 | 83 | u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 84 | this->stamp.sec = u_sec.real; |
| nucho | 0:77afd7560544 | 85 | offset += sizeof(this->stamp.sec); |
| nucho | 0:77afd7560544 | 86 | union { |
| nucho | 0:77afd7560544 | 87 | unsigned long real; |
| nucho | 0:77afd7560544 | 88 | unsigned long base; |
| nucho | 0:77afd7560544 | 89 | } u_nsec; |
| nucho | 0:77afd7560544 | 90 | u_nsec.base = 0; |
| nucho | 0:77afd7560544 | 91 | u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:77afd7560544 | 92 | u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 0:77afd7560544 | 93 | u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 0:77afd7560544 | 94 | u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 95 | this->stamp.nsec = u_nsec.real; |
| nucho | 0:77afd7560544 | 96 | offset += sizeof(this->stamp.nsec); |
| nucho | 0:77afd7560544 | 97 | uint32_t length_frame_id = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:77afd7560544 | 98 | offset += 4; |
| nucho | 0:77afd7560544 | 99 | for(unsigned int k= offset; k< offset+length_frame_id; ++k){ |
| nucho | 0:77afd7560544 | 100 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 0:77afd7560544 | 101 | } |
| nucho | 0:77afd7560544 | 102 | inbuffer[offset+length_frame_id-1]=0; |
| nucho | 0:77afd7560544 | 103 | this->frame_id = (char *)(inbuffer + offset-1); |
| nucho | 0:77afd7560544 | 104 | offset += length_frame_id; |
| nucho | 0:77afd7560544 | 105 | return offset; |
| nucho | 0:77afd7560544 | 106 | } |
| nucho | 0:77afd7560544 | 107 | |
| nucho | 0:77afd7560544 | 108 | virtual const char * getType(){ return "std_msgs/Header"; }; |
| nucho | 0:77afd7560544 | 109 | |
| nucho | 0:77afd7560544 | 110 | }; |
| nucho | 0:77afd7560544 | 111 | |
| nucho | 0:77afd7560544 | 112 | } |
| nucho | 0:77afd7560544 | 113 | #endif |