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
std_msgs/ByteMultiArray.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_std_msgs_ByteMultiArray_h |
| nucho | 3:1cf99502f396 | 2 | #define _ROS_std_msgs_ByteMultiArray_h |
| nucho | 3:1cf99502f396 | 3 | |
| nucho | 3:1cf99502f396 | 4 | #include <stdint.h> |
| nucho | 3:1cf99502f396 | 5 | #include <string.h> |
| nucho | 3:1cf99502f396 | 6 | #include <stdlib.h> |
| nucho | 3:1cf99502f396 | 7 | #include "ros/msg.h" |
| nucho | 3:1cf99502f396 | 8 | #include "std_msgs/MultiArrayLayout.h" |
| nucho | 3:1cf99502f396 | 9 | #include "std_msgs/byte.h" |
| nucho | 3:1cf99502f396 | 10 | |
| nucho | 3:1cf99502f396 | 11 | namespace std_msgs |
| nucho | 3:1cf99502f396 | 12 | { |
| nucho | 3:1cf99502f396 | 13 | |
| nucho | 3:1cf99502f396 | 14 | class ByteMultiArray : public ros::Msg |
| nucho | 3:1cf99502f396 | 15 | { |
| nucho | 3:1cf99502f396 | 16 | public: |
| nucho | 3:1cf99502f396 | 17 | std_msgs::MultiArrayLayout layout; |
| nucho | 3:1cf99502f396 | 18 | uint8_t data_length; |
| nucho | 3:1cf99502f396 | 19 | std_msgs::byte st_data; |
| nucho | 3:1cf99502f396 | 20 | std_msgs::byte * data; |
| nucho | 3:1cf99502f396 | 21 | |
| nucho | 3:1cf99502f396 | 22 | virtual int serialize(unsigned char *outbuffer) const |
| nucho | 3:1cf99502f396 | 23 | { |
| nucho | 3:1cf99502f396 | 24 | int offset = 0; |
| nucho | 3:1cf99502f396 | 25 | offset += this->layout.serialize(outbuffer + offset); |
| nucho | 3:1cf99502f396 | 26 | *(outbuffer + offset++) = data_length; |
| nucho | 3:1cf99502f396 | 27 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 28 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 29 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 30 | for( uint8_t i = 0; i < data_length; i++){ |
| nucho | 3:1cf99502f396 | 31 | offset += this->data[i].serialize(outbuffer + offset); |
| nucho | 3:1cf99502f396 | 32 | } |
| nucho | 3:1cf99502f396 | 33 | return offset; |
| nucho | 3:1cf99502f396 | 34 | } |
| nucho | 3:1cf99502f396 | 35 | |
| nucho | 3:1cf99502f396 | 36 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 3:1cf99502f396 | 37 | { |
| nucho | 3:1cf99502f396 | 38 | int offset = 0; |
| nucho | 3:1cf99502f396 | 39 | offset += this->layout.deserialize(inbuffer + offset); |
| nucho | 3:1cf99502f396 | 40 | uint8_t data_lengthT = *(inbuffer + offset++); |
| nucho | 3:1cf99502f396 | 41 | if(data_lengthT > data_length) |
| nucho | 3:1cf99502f396 | 42 | this->data = (std_msgs::byte*)realloc(this->data, data_lengthT * sizeof(std_msgs::byte)); |
| nucho | 3:1cf99502f396 | 43 | offset += 3; |
| nucho | 3:1cf99502f396 | 44 | data_length = data_lengthT; |
| nucho | 3:1cf99502f396 | 45 | for( uint8_t i = 0; i < data_length; i++){ |
| nucho | 3:1cf99502f396 | 46 | offset += this->st_data.deserialize(inbuffer + offset); |
| nucho | 3:1cf99502f396 | 47 | memcpy( &(this->data[i]), &(this->st_data), sizeof(std_msgs::byte)); |
| nucho | 3:1cf99502f396 | 48 | } |
| nucho | 3:1cf99502f396 | 49 | return offset; |
| nucho | 3:1cf99502f396 | 50 | } |
| nucho | 3:1cf99502f396 | 51 | |
| nucho | 3:1cf99502f396 | 52 | virtual const char * getType(){ return "std_msgs/ByteMultiArray"; }; |
| nucho | 3:1cf99502f396 | 53 | virtual const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; }; |
| nucho | 3:1cf99502f396 | 54 | |
| nucho | 3:1cf99502f396 | 55 | }; |
| nucho | 3:1cf99502f396 | 56 | |
| nucho | 3:1cf99502f396 | 57 | } |
| nucho | 0:77afd7560544 | 58 | #endif |