nucho / Mbed 2 deprecated rosserial_mbed

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@1:098e75fd5ad2, 2011-10-16 (annotated)

Committer:
nucho
Date:
Sun Oct 16 07:17:43 2011 +0000
Revision:
1:098e75fd5ad2
Parent:
0:06fc856e99ca
Child:
3:dff241b66f84
This program supported the revision of 143 of rosserial.

And the bug fix of receive of array data.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 1:098e75fd5ad2 1 #ifndef ros_nav_msgs_OccupancyGrid_h
nucho 1:098e75fd5ad2 2 #define ros_nav_msgs_OccupancyGrid_h
nucho 0:06fc856e99ca 3
nucho 0:06fc856e99ca 4 #include <stdint.h>
nucho 0:06fc856e99ca 5 #include <string.h>
nucho 0:06fc856e99ca 6 #include <stdlib.h>
nucho 0:06fc856e99ca 7 #include "../ros/msg.h"
nucho 0:06fc856e99ca 8 #include "std_msgs/Header.h"
nucho 0:06fc856e99ca 9 #include "nav_msgs/MapMetaData.h"
nucho 0:06fc856e99ca 10
nucho 0:06fc856e99ca 11 namespace nav_msgs
nucho 0:06fc856e99ca 12 {
nucho 0:06fc856e99ca 13
nucho 0:06fc856e99ca 14 class OccupancyGrid : public ros::Msg
nucho 0:06fc856e99ca 15 {
nucho 0:06fc856e99ca 16 public:
nucho 0:06fc856e99ca 17 std_msgs::Header header;
nucho 0:06fc856e99ca 18 nav_msgs::MapMetaData info;
nucho 0:06fc856e99ca 19 unsigned char data_length;
nucho 0:06fc856e99ca 20 signed char st_data;
nucho 0:06fc856e99ca 21 signed char * data;
nucho 0:06fc856e99ca 22
nucho 0:06fc856e99ca 23 virtual int serialize(unsigned char *outbuffer)
nucho 0:06fc856e99ca 24 {
nucho 0:06fc856e99ca 25 int offset = 0;
nucho 0:06fc856e99ca 26 offset += this->header.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 27 offset += this->info.serialize(outbuffer + offset);
nucho 0:06fc856e99ca 28 *(outbuffer + offset++) = data_length;
nucho 0:06fc856e99ca 29 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 30 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 31 *(outbuffer + offset++) = 0;
nucho 0:06fc856e99ca 32 for( unsigned char i = 0; i < data_length; i++){
nucho 0:06fc856e99ca 33 union {
nucho 0:06fc856e99ca 34 signed char real;
nucho 0:06fc856e99ca 35 unsigned char base;
nucho 0:06fc856e99ca 36 } u_datai;
nucho 0:06fc856e99ca 37 u_datai.real = this->data[i];
nucho 0:06fc856e99ca 38 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
nucho 0:06fc856e99ca 39 offset += sizeof(this->data[i]);
nucho 0:06fc856e99ca 40 }
nucho 0:06fc856e99ca 41 return offset;
nucho 0:06fc856e99ca 42 }
nucho 0:06fc856e99ca 43
nucho 0:06fc856e99ca 44 virtual int deserialize(unsigned char *inbuffer)
nucho 0:06fc856e99ca 45 {
nucho 0:06fc856e99ca 46 int offset = 0;
nucho 0:06fc856e99ca 47 offset += this->header.deserialize(inbuffer + offset);
nucho 0:06fc856e99ca 48 offset += this->info.deserialize(inbuffer + offset);
nucho 0:06fc856e99ca 49 unsigned char data_lengthT = *(inbuffer + offset++);
nucho 0:06fc856e99ca 50 if(data_lengthT > data_length)
nucho 0:06fc856e99ca 51 this->data = (signed char*)realloc(this->data, data_lengthT * sizeof(signed char));
nucho 0:06fc856e99ca 52 offset += 3;
nucho 0:06fc856e99ca 53 data_length = data_lengthT;
nucho 0:06fc856e99ca 54 for( unsigned char i = 0; i < data_length; i++){
nucho 0:06fc856e99ca 55 union {
nucho 0:06fc856e99ca 56 signed char real;
nucho 0:06fc856e99ca 57 unsigned char base;
nucho 0:06fc856e99ca 58 } u_st_data;
nucho 0:06fc856e99ca 59 u_st_data.base = 0;
nucho 0:06fc856e99ca 60 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:06fc856e99ca 61 this->st_data = u_st_data.real;
nucho 0:06fc856e99ca 62 offset += sizeof(this->st_data);
nucho 0:06fc856e99ca 63 memcpy( &(this->data[i]), &(this->st_data), sizeof(signed char));
nucho 0:06fc856e99ca 64 }
nucho 0:06fc856e99ca 65 return offset;
nucho 0:06fc856e99ca 66 }
nucho 0:06fc856e99ca 67
nucho 0:06fc856e99ca 68 virtual const char * getType(){ return "nav_msgs/OccupancyGrid"; };
nucho 0:06fc856e99ca 69
nucho 0:06fc856e99ca 70 };
nucho 0:06fc856e99ca 71
nucho 0:06fc856e99ca 72 }
nucho 0:06fc856e99ca 73 #endif