![](/media/cache/profiles/94aef38441efa3380a3bed3faf1f9d5d.50x50_q85.jpg)
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
nav_msgs/OccupancyGrid.h
- Committer:
- nucho
- Date:
- 2011-10-16
- Revision:
- 1:098e75fd5ad2
- Parent:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
File content as of revision 1:098e75fd5ad2:
#ifndef ros_nav_msgs_OccupancyGrid_h #define ros_nav_msgs_OccupancyGrid_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "../ros/msg.h" #include "std_msgs/Header.h" #include "nav_msgs/MapMetaData.h" namespace nav_msgs { class OccupancyGrid : public ros::Msg { public: std_msgs::Header header; nav_msgs::MapMetaData info; unsigned char data_length; signed char st_data; signed char * data; virtual int serialize(unsigned char *outbuffer) { int offset = 0; offset += this->header.serialize(outbuffer + offset); offset += this->info.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 { signed char real; unsigned char base; } u_datai; u_datai.real = this->data[i]; *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; offset += sizeof(this->data[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); offset += this->info.deserialize(inbuffer + offset); unsigned char data_lengthT = *(inbuffer + offset++); if(data_lengthT > data_length) this->data = (signed char*)realloc(this->data, data_lengthT * sizeof(signed char)); offset += 3; data_length = data_lengthT; for( unsigned char i = 0; i < data_length; i++){ union { signed char real; unsigned char base; } u_st_data; u_st_data.base = 0; u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); this->st_data = u_st_data.real; offset += sizeof(this->st_data); memcpy( &(this->data[i]), &(this->st_data), sizeof(signed char)); } return offset; } virtual const char * getType(){ return "nav_msgs/OccupancyGrid"; }; }; } #endif