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
sensor_msgs/ChannelFloat32.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_sensor_msgs_ChannelFloat32_h |
| nucho | 3:1cf99502f396 | 2 | #define _ROS_sensor_msgs_ChannelFloat32_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 | |
| nucho | 0:77afd7560544 | 9 | namespace sensor_msgs |
| nucho | 0:77afd7560544 | 10 | { |
| nucho | 0:77afd7560544 | 11 | |
| nucho | 0:77afd7560544 | 12 | class ChannelFloat32 : public ros::Msg |
| nucho | 0:77afd7560544 | 13 | { |
| nucho | 0:77afd7560544 | 14 | public: |
| nucho | 0:77afd7560544 | 15 | char * name; |
| nucho | 3:1cf99502f396 | 16 | uint8_t values_length; |
| nucho | 0:77afd7560544 | 17 | float st_values; |
| nucho | 0:77afd7560544 | 18 | float * values; |
| nucho | 0:77afd7560544 | 19 | |
| nucho | 3:1cf99502f396 | 20 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 0:77afd7560544 | 21 | { |
| nucho | 0:77afd7560544 | 22 | int offset = 0; |
| nucho | 3:1cf99502f396 | 23 | uint32_t * length_name = (uint32_t *)(outbuffer + offset); |
| nucho | 0:77afd7560544 | 24 | *length_name = strlen( (const char*) this->name); |
| nucho | 0:77afd7560544 | 25 | offset += 4; |
| nucho | 0:77afd7560544 | 26 | memcpy(outbuffer + offset, this->name, *length_name); |
| nucho | 0:77afd7560544 | 27 | offset += *length_name; |
| nucho | 0:77afd7560544 | 28 | *(outbuffer + offset++) = values_length; |
| nucho | 0:77afd7560544 | 29 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 30 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 31 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 32 | for( uint8_t i = 0; i < values_length; i++){ |
| nucho | 0:77afd7560544 | 33 | union { |
| nucho | 0:77afd7560544 | 34 | float real; |
| nucho | 3:1cf99502f396 | 35 | uint32_t base; |
| nucho | 0:77afd7560544 | 36 | } u_valuesi; |
| nucho | 0:77afd7560544 | 37 | u_valuesi.real = this->values[i]; |
| nucho | 0:77afd7560544 | 38 | *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 39 | *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF; |
| nucho | 0:77afd7560544 | 40 | *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF; |
| nucho | 0:77afd7560544 | 41 | *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF; |
| nucho | 0:77afd7560544 | 42 | offset += sizeof(this->values[i]); |
| nucho | 0:77afd7560544 | 43 | } |
| nucho | 0:77afd7560544 | 44 | return offset; |
| nucho | 0:77afd7560544 | 45 | } |
| nucho | 0:77afd7560544 | 46 | |
| nucho | 0:77afd7560544 | 47 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 48 | { |
| nucho | 0:77afd7560544 | 49 | int offset = 0; |
| nucho | 0:77afd7560544 | 50 | uint32_t length_name = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:77afd7560544 | 51 | offset += 4; |
| nucho | 0:77afd7560544 | 52 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
| nucho | 0:77afd7560544 | 53 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 3:1cf99502f396 | 54 | } |
| nucho | 0:77afd7560544 | 55 | inbuffer[offset+length_name-1]=0; |
| nucho | 0:77afd7560544 | 56 | this->name = (char *)(inbuffer + offset-1); |
| nucho | 0:77afd7560544 | 57 | offset += length_name; |
| nucho | 3:1cf99502f396 | 58 | uint8_t values_lengthT = *(inbuffer + offset++); |
| nucho | 0:77afd7560544 | 59 | if(values_lengthT > values_length) |
| nucho | 0:77afd7560544 | 60 | this->values = (float*)realloc(this->values, values_lengthT * sizeof(float)); |
| nucho | 0:77afd7560544 | 61 | offset += 3; |
| nucho | 0:77afd7560544 | 62 | values_length = values_lengthT; |
| nucho | 3:1cf99502f396 | 63 | for( uint8_t i = 0; i < values_length; i++){ |
| nucho | 0:77afd7560544 | 64 | union { |
| nucho | 0:77afd7560544 | 65 | float real; |
| nucho | 3:1cf99502f396 | 66 | uint32_t base; |
| nucho | 0:77afd7560544 | 67 | } u_st_values; |
| nucho | 0:77afd7560544 | 68 | u_st_values.base = 0; |
| nucho | 3:1cf99502f396 | 69 | u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 3:1cf99502f396 | 70 | u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
| nucho | 3:1cf99502f396 | 71 | u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
| nucho | 3:1cf99502f396 | 72 | u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
| nucho | 0:77afd7560544 | 73 | this->st_values = u_st_values.real; |
| nucho | 0:77afd7560544 | 74 | offset += sizeof(this->st_values); |
| nucho | 0:77afd7560544 | 75 | memcpy( &(this->values[i]), &(this->st_values), sizeof(float)); |
| nucho | 0:77afd7560544 | 76 | } |
| nucho | 0:77afd7560544 | 77 | return offset; |
| nucho | 0:77afd7560544 | 78 | } |
| nucho | 0:77afd7560544 | 79 | |
| nucho | 3:1cf99502f396 | 80 | virtual const char * getType(){ return "sensor_msgs/ChannelFloat32"; }; |
| nucho | 3:1cf99502f396 | 81 | virtual const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; }; |
| nucho | 0:77afd7560544 | 82 | |
| nucho | 0:77afd7560544 | 83 | }; |
| nucho | 0:77afd7560544 | 84 | |
| nucho | 0:77afd7560544 | 85 | } |
| nucho | 0:77afd7560544 | 86 | #endif |