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
Diff: std_msgs/Int32MultiArray.h
- Revision:
- 0:06fc856e99ca
- Child:
- 1:098e75fd5ad2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/std_msgs/Int32MultiArray.h Fri Aug 19 09:06:16 2011 +0000 @@ -0,0 +1,75 @@ +#ifndef ros_Int32MultiArray_h +#define ros_Int32MultiArray_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" +#include "std_msgs/MultiArrayLayout.h" + +namespace std_msgs +{ + + class Int32MultiArray : public ros::Msg + { + public: + std_msgs::MultiArrayLayout layout; + unsigned char data_length; + long st_data; + long * data; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + offset += this->layout.serialize(outbuffer + offset); + *(outbuffer + offset++) = data_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( unsigned char i = 0; i < data_length; i++){ + union { + long real; + unsigned long base; + } u_datai; + u_datai.real = this->data[i]; + *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->data[i]); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->layout.deserialize(inbuffer + offset); + unsigned char data_lengthT = *(inbuffer + offset++); + if(data_lengthT > data_length) + this->data = (long*)realloc(this->data, data_lengthT * sizeof(long)); + offset += 3; + data_length = data_lengthT; + for( unsigned char i = 0; i < data_length; i++){ + union { + long real; + unsigned long base; + } u_st_data; + u_st_data.base = 0; + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3); + this->st_data = u_st_data.real; + offset += sizeof(this->st_data); + memcpy( &(this->data[i]), &(this->st_data), sizeof(long)); + } + return offset; + } + + virtual const char * getType(){ return "std_msgs/Int32MultiArray"; }; + + }; + +} +#endif \ No newline at end of file