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: rosserial_arduino/Adc.h
- Revision:
- 3:dff241b66f84
diff -r 094e5153a559 -r dff241b66f84 rosserial_arduino/Adc.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/rosserial_arduino/Adc.h Sat Nov 12 23:53:04 2011 +0000 @@ -0,0 +1,76 @@ +#ifndef _ROS_rosserial_arduino_Adc_h +#define _ROS_rosserial_arduino_Adc_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" + +namespace rosserial_arduino +{ + + class Adc : public ros::Msg + { + public: + uint16_t adc0; + uint16_t adc1; + uint16_t adc2; + uint16_t adc3; + uint16_t adc4; + uint16_t adc5; + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc0); + *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc1); + *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc2); + *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc3); + *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc4); + *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF; + offset += sizeof(this->adc5); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + this->adc0 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc0); + this->adc1 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc1); + this->adc2 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc2); + this->adc3 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc3); + this->adc4 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc4); + this->adc5 |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1); + offset += sizeof(this->adc5); + return offset; + } + + const char * getType(){ return "rosserial_mbed/Adc"; }; + const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; }; + + }; + +} +#endif \ No newline at end of file