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/Int64.h
- Revision:
- 1:098e75fd5ad2
- Parent:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
--- a/std_msgs/Int64.h Fri Aug 19 09:06:16 2011 +0000 +++ b/std_msgs/Int64.h Sun Oct 16 07:17:43 2011 +0000 @@ -6,43 +6,88 @@ #include <stdlib.h> #include "../ros/msg.h" -namespace std_msgs -{ +namespace std_msgs { - class Int64 : public ros::Msg - { - public: - long data; +class Int64 : public ros::Msg { +public: + int64_t data; - virtual int serialize(unsigned char *outbuffer) - { - int offset = 0; - *(outbuffer + offset++) = (data >> (8 * 0)) & 0xFF; - *(outbuffer + offset++) = (data >> (8 * 1)) & 0xFF; - *(outbuffer + offset++) = (data >> (8 * 2)) & 0xFF; - *(outbuffer + offset++) = (data >> (8 * 3)) & 0xFF; - *(outbuffer + offset++) = (data > 0) ? 0: 255; - *(outbuffer + offset++) = (data > 0) ? 0: 255; - *(outbuffer + offset++) = (data > 0) ? 0: 255; - *(outbuffer + offset++) = (data > 0) ? 0: 255; - return offset; + virtual int serialize(unsigned char *outbuffer) { + int offset = 0; + union { + int64_t real; + uint64_t base; + } u_data; + u_data.real = this->data; + *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF; + + offset += sizeof(this->data); + return offset; } - virtual int deserialize(unsigned char *inbuffer) - { - int offset = 0; - data = 0; - data += ((long)(*(inbuffer + offset++))) >> (8 * 0); - data += ((long)(*(inbuffer + offset++))) >> (8 * 1); - data += ((long)(*(inbuffer + offset++))) >> (8 * 2); - data += ((long)(*(inbuffer + offset++))) >> (8 * 3); - offset += 4; - return offset; + virtual int deserialize(unsigned char *inbuffer) { + int offset = 0; + union { + int64_t real; + uint64_t base; + } u_data; + u_data.base = 0; + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 1))) << (8 * 1); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 2))) << (8 * 2); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 3))) << (8 * 3); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 4))) << (8 * 4); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 5))) << (8 * 5); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 6))) << (8 * 6); + u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 7))) << (8 * 7); + + this->data = u_data.real; + offset += sizeof(this->data); + return offset; } + /* + public: + long data; - virtual const char * getType(){ return "std_msgs/Int64"; }; + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + *(outbuffer + offset++) = (data >> (8 * 0)) & 0xFF; + *(outbuffer + offset++) = (data >> (8 * 1)) & 0xFF; + *(outbuffer + offset++) = (data >> (8 * 2)) & 0xFF; + *(outbuffer + offset++) = (data >> (8 * 3)) & 0xFF; + *(outbuffer + offset++) = (data > 0) ? 0: 255; + *(outbuffer + offset++) = (data > 0) ? 0: 255; + *(outbuffer + offset++) = (data > 0) ? 0: 255; + *(outbuffer + offset++) = (data > 0) ? 0: 255; + return offset; + } - }; + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + data = 0; + data += ((long)(*(inbuffer + offset++))) >> (8 * 0); + data += ((long)(*(inbuffer + offset++))) >> (8 * 1); + data += ((long)(*(inbuffer + offset++))) >> (8 * 2); + data += ((long)(*(inbuffer + offset++))) >> (8 * 3); + offset += 4; + return offset; + } + */ + + virtual const char * getType() { + return "std_msgs/Int64"; + }; + +}; } #endif \ No newline at end of file