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: geometry_msgs/Pose2D.h
- Revision:
- 3:dff241b66f84
- Parent:
- 1:098e75fd5ad2
diff -r 094e5153a559 -r dff241b66f84 geometry_msgs/Pose2D.h --- a/geometry_msgs/Pose2D.h Sun Oct 16 09:33:53 2011 +0000 +++ b/geometry_msgs/Pose2D.h Sat Nov 12 23:53:04 2011 +0000 @@ -1,10 +1,10 @@ -#ifndef ros_geometry_msgs_Pose2D_h -#define ros_geometry_msgs_Pose2D_h +#ifndef _ROS_geometry_msgs_Pose2D_h +#define _ROS_geometry_msgs_Pose2D_h #include <stdint.h> #include <string.h> #include <stdlib.h> -#include "../ros/msg.h" +#include "ros/msg.h" namespace geometry_msgs { @@ -16,14 +16,14 @@ float y; float theta; - virtual int serialize(unsigned char *outbuffer) + virtual int serialize(unsigned char *outbuffer) const { int offset = 0; - long * val_x = (long *) &(this->x); - long exp_x = (((*val_x)>>23)&255); + int32_t * val_x = (long *) &(this->x); + int32_t exp_x = (((*val_x)>>23)&255); if(exp_x != 0) exp_x += 1023-127; - long sig_x = *val_x; + int32_t sig_x = *val_x; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; @@ -33,11 +33,11 @@ *(outbuffer + offset++) = ((exp_x<<4) & 0xF0) | ((sig_x>>19)&0x0F); *(outbuffer + offset++) = (exp_x>>4) & 0x7F; if(this->x < 0) *(outbuffer + offset -1) |= 0x80; - long * val_y = (long *) &(this->y); - long exp_y = (((*val_y)>>23)&255); + int32_t * val_y = (long *) &(this->y); + int32_t exp_y = (((*val_y)>>23)&255); if(exp_y != 0) exp_y += 1023-127; - long sig_y = *val_y; + int32_t sig_y = *val_y; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; @@ -47,11 +47,11 @@ *(outbuffer + offset++) = ((exp_y<<4) & 0xF0) | ((sig_y>>19)&0x0F); *(outbuffer + offset++) = (exp_y>>4) & 0x7F; if(this->y < 0) *(outbuffer + offset -1) |= 0x80; - long * val_theta = (long *) &(this->theta); - long exp_theta = (((*val_theta)>>23)&255); + int32_t * val_theta = (long *) &(this->theta); + int32_t exp_theta = (((*val_theta)>>23)&255); if(exp_theta != 0) exp_theta += 1023-127; - long sig_theta = *val_theta; + int32_t sig_theta = *val_theta; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; @@ -67,43 +67,44 @@ virtual int deserialize(unsigned char *inbuffer) { int offset = 0; - unsigned long * val_x = (unsigned long*) &(this->x); + uint32_t * val_x = (uint32_t*) &(this->x); offset += 3; - *val_x = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_x |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_x |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_x = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_x |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + *val_x = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_x |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_x |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_x = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_x |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_x !=0) *val_x |= ((exp_x)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->x = -this->x; - unsigned long * val_y = (unsigned long*) &(this->y); + uint32_t * val_y = (uint32_t*) &(this->y); offset += 3; - *val_y = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_y |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_y |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_y = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_y |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + *val_y = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_y |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_y |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_y = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_y |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_y !=0) *val_y |= ((exp_y)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->y = -this->y; - unsigned long * val_theta = (unsigned long*) &(this->theta); + uint32_t * val_theta = (uint32_t*) &(this->theta); offset += 3; - *val_theta = ((unsigned long)(*(inbuffer + offset++))>>5 & 0x07); - *val_theta |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<3; - *val_theta |= ((unsigned long)(*(inbuffer + offset++)) & 0xff)<<11; - *val_theta |= ((unsigned long)(*(inbuffer + offset)) & 0x0f)<<19; - unsigned long exp_theta = ((unsigned long)(*(inbuffer + offset++))&0xf0)>>4; - exp_theta |= ((unsigned long)(*(inbuffer + offset)) & 0x7f)<<4; + *val_theta = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07); + *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3; + *val_theta |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11; + *val_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19; + uint32_t exp_theta = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4; + exp_theta |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4; if(exp_theta !=0) *val_theta |= ((exp_theta)-1023+127)<<23; if( ((*(inbuffer+offset++)) & 0x80) > 0) this->theta = -this->theta; return offset; } - virtual const char * getType(){ return "geometry_msgs/Pose2D"; }; + virtual const char * getType(){ return "geometry_msgs/Pose2D"; }; + virtual const char * getMD5(){ return "938fa65709584ad8e77d238529be13b8"; }; };