This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
rosserial_arduino/Adc.h@3:dff241b66f84, 2011-11-12 (annotated)
- Committer:
- nucho
- Date:
- Sat Nov 12 23:53:04 2011 +0000
- Revision:
- 3:dff241b66f84
This program supported the revision of 167 of rosserial.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 3:dff241b66f84 | 1 | #ifndef _ROS_rosserial_arduino_Adc_h |
nucho | 3:dff241b66f84 | 2 | #define _ROS_rosserial_arduino_Adc_h |
nucho | 3:dff241b66f84 | 3 | |
nucho | 3:dff241b66f84 | 4 | #include <stdint.h> |
nucho | 3:dff241b66f84 | 5 | #include <string.h> |
nucho | 3:dff241b66f84 | 6 | #include <stdlib.h> |
nucho | 3:dff241b66f84 | 7 | #include "ros/msg.h" |
nucho | 3:dff241b66f84 | 8 | |
nucho | 3:dff241b66f84 | 9 | namespace rosserial_arduino |
nucho | 3:dff241b66f84 | 10 | { |
nucho | 3:dff241b66f84 | 11 | |
nucho | 3:dff241b66f84 | 12 | class Adc : public ros::Msg |
nucho | 3:dff241b66f84 | 13 | { |
nucho | 3:dff241b66f84 | 14 | public: |
nucho | 3:dff241b66f84 | 15 | uint16_t adc0; |
nucho | 3:dff241b66f84 | 16 | uint16_t adc1; |
nucho | 3:dff241b66f84 | 17 | uint16_t adc2; |
nucho | 3:dff241b66f84 | 18 | uint16_t adc3; |
nucho | 3:dff241b66f84 | 19 | uint16_t adc4; |
nucho | 3:dff241b66f84 | 20 | uint16_t adc5; |
nucho | 3:dff241b66f84 | 21 | |
nucho | 3:dff241b66f84 | 22 | virtual int serialize(unsigned char *outbuffer) const |
nucho | 3:dff241b66f84 | 23 | { |
nucho | 3:dff241b66f84 | 24 | int offset = 0; |
nucho | 3:dff241b66f84 | 25 | *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF; |
nucho | 3:dff241b66f84 | 26 | *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF; |
nucho | 3:dff241b66f84 | 27 | offset += sizeof(this->adc0); |
nucho | 3:dff241b66f84 | 28 | *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF; |
nucho | 3:dff241b66f84 | 29 | *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF; |
nucho | 3:dff241b66f84 | 30 | offset += sizeof(this->adc1); |
nucho | 3:dff241b66f84 | 31 | *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF; |
nucho | 3:dff241b66f84 | 32 | *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF; |
nucho | 3:dff241b66f84 | 33 | offset += sizeof(this->adc2); |
nucho | 3:dff241b66f84 | 34 | *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF; |
nucho | 3:dff241b66f84 | 35 | *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF; |
nucho | 3:dff241b66f84 | 36 | offset += sizeof(this->adc3); |
nucho | 3:dff241b66f84 | 37 | *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF; |
nucho | 3:dff241b66f84 | 38 | *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF; |
nucho | 3:dff241b66f84 | 39 | offset += sizeof(this->adc4); |
nucho | 3:dff241b66f84 | 40 | *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF; |
nucho | 3:dff241b66f84 | 41 | *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF; |
nucho | 3:dff241b66f84 | 42 | offset += sizeof(this->adc5); |
nucho | 3:dff241b66f84 | 43 | return offset; |
nucho | 3:dff241b66f84 | 44 | } |
nucho | 3:dff241b66f84 | 45 | |
nucho | 3:dff241b66f84 | 46 | virtual int deserialize(unsigned char *inbuffer) |
nucho | 3:dff241b66f84 | 47 | { |
nucho | 3:dff241b66f84 | 48 | int offset = 0; |
nucho | 3:dff241b66f84 | 49 | this->adc0 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 3:dff241b66f84 | 50 | this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 3:dff241b66f84 | 51 | offset += sizeof(this->adc0); |
nucho | 3:dff241b66f84 | 52 | this->adc1 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 3:dff241b66f84 | 53 | this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 3:dff241b66f84 | 54 | offset += sizeof(this->adc1); |
nucho | 3:dff241b66f84 | 55 | this->adc2 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 3:dff241b66f84 | 56 | this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 3:dff241b66f84 | 57 | offset += sizeof(this->adc2); |
nucho | 3:dff241b66f84 | 58 | this->adc3 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 3:dff241b66f84 | 59 | this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 3:dff241b66f84 | 60 | offset += sizeof(this->adc3); |
nucho | 3:dff241b66f84 | 61 | this->adc4 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 3:dff241b66f84 | 62 | this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 3:dff241b66f84 | 63 | offset += sizeof(this->adc4); |
nucho | 3:dff241b66f84 | 64 | this->adc5 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 3:dff241b66f84 | 65 | this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 3:dff241b66f84 | 66 | offset += sizeof(this->adc5); |
nucho | 3:dff241b66f84 | 67 | return offset; |
nucho | 3:dff241b66f84 | 68 | } |
nucho | 3:dff241b66f84 | 69 | |
nucho | 3:dff241b66f84 | 70 | const char * getType(){ return "rosserial_mbed/Adc"; }; |
nucho | 3:dff241b66f84 | 71 | const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; }; |
nucho | 3:dff241b66f84 | 72 | |
nucho | 3:dff241b66f84 | 73 | }; |
nucho | 3:dff241b66f84 | 74 | |
nucho | 3:dff241b66f84 | 75 | } |
nucho | 3:dff241b66f84 | 76 | #endif |