nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
nav_msgs/MapMetaData.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 3:1cf99502f396 | 1 | #ifndef _ROS_nav_msgs_MapMetaData_h |
| nucho | 3:1cf99502f396 | 2 | #define _ROS_nav_msgs_MapMetaData_h |
| nucho | 0:77afd7560544 | 3 | |
| nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
| nucho | 0:77afd7560544 | 5 | #include <string.h> |
| nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
| nucho | 3:1cf99502f396 | 7 | #include "ros/msg.h" |
| nucho | 0:77afd7560544 | 8 | #include "ros/time.h" |
| nucho | 0:77afd7560544 | 9 | #include "geometry_msgs/Pose.h" |
| nucho | 0:77afd7560544 | 10 | |
| nucho | 0:77afd7560544 | 11 | namespace nav_msgs |
| nucho | 0:77afd7560544 | 12 | { |
| nucho | 0:77afd7560544 | 13 | |
| nucho | 0:77afd7560544 | 14 | class MapMetaData : public ros::Msg |
| nucho | 0:77afd7560544 | 15 | { |
| nucho | 0:77afd7560544 | 16 | public: |
| nucho | 0:77afd7560544 | 17 | ros::Time map_load_time; |
| nucho | 0:77afd7560544 | 18 | float resolution; |
| nucho | 3:1cf99502f396 | 19 | uint32_t width; |
| nucho | 3:1cf99502f396 | 20 | uint32_t height; |
| nucho | 0:77afd7560544 | 21 | geometry_msgs::Pose origin; |
| nucho | 0:77afd7560544 | 22 | |
| nucho | 3:1cf99502f396 | 23 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 0:77afd7560544 | 24 | { |
| nucho | 0:77afd7560544 | 25 | int offset = 0; |
| nucho | 3:1cf99502f396 | 26 | *(outbuffer + offset + 0) = (this->map_load_time.sec >> (8 * 0)) & 0xFF; |
| nucho | 3:1cf99502f396 | 27 | *(outbuffer + offset + 1) = (this->map_load_time.sec >> (8 * 1)) & 0xFF; |
| nucho | 3:1cf99502f396 | 28 | *(outbuffer + offset + 2) = (this->map_load_time.sec >> (8 * 2)) & 0xFF; |
| nucho | 3:1cf99502f396 | 29 | *(outbuffer + offset + 3) = (this->map_load_time.sec >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 30 | offset += sizeof(this->map_load_time.sec); |
| nucho | 3:1cf99502f396 | 31 | *(outbuffer + offset + 0) = (this->map_load_time.nsec >> (8 * 0)) & 0xFF; |
| nucho | 3:1cf99502f396 | 32 | *(outbuffer + offset + 1) = (this->map_load_time.nsec >> (8 * 1)) & 0xFF; |
| nucho | 3:1cf99502f396 | 33 | *(outbuffer + offset + 2) = (this->map_load_time.nsec >> (8 * 2)) & 0xFF; |
| nucho | 3:1cf99502f396 | 34 | *(outbuffer + offset + 3) = (this->map_load_time.nsec >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 35 | offset += sizeof(this->map_load_time.nsec); |
| nucho | 0:77afd7560544 | 36 | union { |
| nucho | 0:77afd7560544 | 37 | float real; |
| nucho | 3:1cf99502f396 | 38 | uint32_t base; |
| nucho | 0:77afd7560544 | 39 | } u_resolution; |
| nucho | 0:77afd7560544 | 40 | u_resolution.real = this->resolution; |
| nucho | 0:77afd7560544 | 41 | *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 42 | *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 43 | *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 44 | *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 45 | offset += sizeof(this->resolution); |
| nucho | 3:1cf99502f396 | 46 | *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; |
| nucho | 3:1cf99502f396 | 47 | *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; |
| nucho | 3:1cf99502f396 | 48 | *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; |
| nucho | 3:1cf99502f396 | 49 | *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 50 | offset += sizeof(this->width); |
| nucho | 3:1cf99502f396 | 51 | *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; |
| nucho | 3:1cf99502f396 | 52 | *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; |
| nucho | 3:1cf99502f396 | 53 | *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; |
| nucho | 3:1cf99502f396 | 54 | *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 55 | offset += sizeof(this->height); |
| nucho | 0:77afd7560544 | 56 | offset += this->origin.serialize(outbuffer + offset); |
| nucho | 0:77afd7560544 | 57 | return offset; |
| nucho | 0:77afd7560544 | 58 | } |
| nucho | 0:77afd7560544 | 59 | |
| nucho | 0:77afd7560544 | 60 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 61 | { |
| nucho | 0:77afd7560544 | 62 | int offset = 0; |
| nucho | 4:684f39d0c346 | 63 | this->map_load_time.sec = ((uint32_t) (*(inbuffer + offset))); |
| nucho | 3:1cf99502f396 | 64 | this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 3:1cf99502f396 | 65 | this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 3:1cf99502f396 | 66 | this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 67 | offset += sizeof(this->map_load_time.sec); |
| nucho | 4:684f39d0c346 | 68 | this->map_load_time.nsec = ((uint32_t) (*(inbuffer + offset))); |
| nucho | 3:1cf99502f396 | 69 | this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 3:1cf99502f396 | 70 | this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 3:1cf99502f396 | 71 | this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 72 | offset += sizeof(this->map_load_time.nsec); |
| nucho | 0:77afd7560544 | 73 | union { |
| nucho | 0:77afd7560544 | 74 | float real; |
| nucho | 3:1cf99502f396 | 75 | uint32_t base; |
| nucho | 0:77afd7560544 | 76 | } u_resolution; |
| nucho | 0:77afd7560544 | 77 | u_resolution.base = 0; |
| nucho | 3:1cf99502f396 | 78 | u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 3:1cf99502f396 | 79 | u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 3:1cf99502f396 | 80 | u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 3:1cf99502f396 | 81 | u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 82 | this->resolution = u_resolution.real; |
| nucho | 0:77afd7560544 | 83 | offset += sizeof(this->resolution); |
| nucho | 4:684f39d0c346 | 84 | this->width = ((uint32_t) (*(inbuffer + offset))); |
| nucho | 3:1cf99502f396 | 85 | this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 3:1cf99502f396 | 86 | this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 3:1cf99502f396 | 87 | this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 88 | offset += sizeof(this->width); |
| nucho | 4:684f39d0c346 | 89 | this->height = ((uint32_t) (*(inbuffer + offset))); |
| nucho | 3:1cf99502f396 | 90 | this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 3:1cf99502f396 | 91 | this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 3:1cf99502f396 | 92 | this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 93 | offset += sizeof(this->height); |
| nucho | 0:77afd7560544 | 94 | offset += this->origin.deserialize(inbuffer + offset); |
| nucho | 0:77afd7560544 | 95 | return offset; |
| nucho | 0:77afd7560544 | 96 | } |
| nucho | 0:77afd7560544 | 97 | |
| nucho | 3:1cf99502f396 | 98 | virtual const char * getType(){ return "nav_msgs/MapMetaData"; }; |
| nucho | 3:1cf99502f396 | 99 | virtual const char * getMD5(){ return "10cfc8a2818024d3248802c00c95f11b"; }; |
| nucho | 0:77afd7560544 | 100 | |
| nucho | 0:77afd7560544 | 101 | }; |
| nucho | 0:77afd7560544 | 102 | |
| nucho | 0:77afd7560544 | 103 | } |
| nucho | 0:77afd7560544 | 104 | #endif |