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: sensor_msgs/Image.h
- Revision:
- 3:dff241b66f84
- Parent:
- 0:06fc856e99ca
diff -r 094e5153a559 -r dff241b66f84 sensor_msgs/Image.h --- a/sensor_msgs/Image.h Sun Oct 16 09:33:53 2011 +0000 +++ b/sensor_msgs/Image.h Sat Nov 12 23:53:04 2011 +0000 @@ -1,10 +1,10 @@ -#ifndef ros_Image_h -#define ros_Image_h +#ifndef _ROS_sensor_msgs_Image_h +#define _ROS_sensor_msgs_Image_h #include <stdint.h> #include <string.h> #include <stdlib.h> -#include "../ros/msg.h" +#include "ros/msg.h" #include "std_msgs/Header.h" namespace sensor_msgs @@ -14,72 +14,47 @@ { public: std_msgs::Header header; - unsigned long height; - unsigned long width; + uint32_t height; + uint32_t width; char * encoding; - unsigned char is_bigendian; - unsigned long step; - unsigned char data_length; - unsigned char st_data; - unsigned char * data; + uint8_t is_bigendian; + uint32_t step; + uint8_t data_length; + uint8_t st_data; + uint8_t * data; - virtual int serialize(unsigned char *outbuffer) + virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); - union { - unsigned long real; - unsigned long base; - } u_height; - u_height.real = this->height; - *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; offset += sizeof(this->height); - union { - unsigned long real; - unsigned long base; - } u_width; - u_width.real = this->width; - *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; offset += sizeof(this->width); - long * length_encoding = (long *)(outbuffer + offset); + uint32_t * length_encoding = (uint32_t *)(outbuffer + offset); *length_encoding = strlen( (const char*) this->encoding); offset += 4; memcpy(outbuffer + offset, this->encoding, *length_encoding); offset += *length_encoding; - union { - unsigned char real; - unsigned char base; - } u_is_bigendian; - u_is_bigendian.real = this->is_bigendian; - *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF; offset += sizeof(this->is_bigendian); - union { - unsigned long real; - unsigned long base; - } u_step; - u_step.real = this->step; - *(outbuffer + offset + 0) = (u_step.base >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (u_step.base >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (u_step.base >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (u_step.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF; offset += sizeof(this->step); *(outbuffer + offset++) = data_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; - for( unsigned char i = 0; i < data_length; i++){ - union { - unsigned char real; - unsigned char base; - } u_datai; - u_datai.real = this->data[i]; - *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; + for( uint8_t i = 0; i < data_length; i++){ + *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF; offset += sizeof(this->data[i]); } return offset; @@ -89,75 +64,46 @@ { int offset = 0; offset += this->header.deserialize(inbuffer + offset); - union { - unsigned long real; - unsigned long base; - } u_height; - u_height.base = 0; - u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3); - this->height = u_height.real; + this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->height); - union { - unsigned long real; - unsigned long base; - } u_width; - u_width.base = 0; - u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3); - this->width = u_width.real; + this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->width); uint32_t length_encoding = *(uint32_t *)(inbuffer + offset); offset += 4; for(unsigned int k= offset; k< offset+length_encoding; ++k){ inbuffer[k-1]=inbuffer[k]; - } + } inbuffer[offset+length_encoding-1]=0; this->encoding = (char *)(inbuffer + offset-1); offset += length_encoding; - union { - unsigned char real; - unsigned char base; - } u_is_bigendian; - u_is_bigendian.base = 0; - u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(inbuffer + offset + 0))) << (8 * 0); - this->is_bigendian = u_is_bigendian.real; + this->is_bigendian |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); offset += sizeof(this->is_bigendian); - union { - unsigned long real; - unsigned long base; - } u_step; - u_step.base = 0; - u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 0))) << (8 * 0); - u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 1))) << (8 * 1); - u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 2))) << (8 * 2); - u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 3))) << (8 * 3); - this->step = u_step.real; + this->step |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->step); - unsigned char data_lengthT = *(inbuffer + offset++); + uint8_t data_lengthT = *(inbuffer + offset++); if(data_lengthT > data_length) - this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char)); + this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t)); offset += 3; data_length = data_lengthT; - for( unsigned char i = 0; i < data_length; i++){ - union { - unsigned 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; + for( uint8_t i = 0; i < data_length; i++){ + this->st_data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); offset += sizeof(this->st_data); - memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char)); + memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t)); } return offset; } - virtual const char * getType(){ return "sensor_msgs/Image"; }; + virtual const char * getType(){ return "sensor_msgs/Image"; }; + virtual const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; }; };