nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

std_msgs/Header.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?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef _ROS_std_msgs_Header_h





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#define _ROS_std_msgs_Header_h





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#include <stdint.h>





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#include <string.h>





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#include <stdlib.h>





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#include "ros/msg.h"





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#include "ros/time.h"





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namespace std_msgs





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{





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  class Header : public ros::Msg





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  {





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    public:





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      uint32_t seq;





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      ros::Time stamp;





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      char * frame_id;





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    virtual int serialize(unsigned char *outbuffer) const





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    {





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      int offset = 0;





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      *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->seq);





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      *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->stamp.sec);





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      *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->stamp.nsec);





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      uint32_t * length_frame_id = (uint32_t *)(outbuffer + offset);





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      *length_frame_id = strlen( (const char*) this->frame_id);





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      offset += 4;





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      memcpy(outbuffer + offset, this->frame_id, *length_frame_id);





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      offset += *length_frame_id;





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      return offset;





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    }





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    virtual int deserialize(unsigned char *inbuffer)





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    {





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      int offset = 0;





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      this->seq |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);





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      this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);





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      this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);





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      this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);





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      offset += sizeof(this->seq);





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      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);





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      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);





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      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);





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      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);





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      offset += sizeof(this->stamp.sec);





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      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);





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      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);





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      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);





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      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);





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      offset += sizeof(this->stamp.nsec);





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      uint32_t length_frame_id = *(uint32_t *)(inbuffer + offset);





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      offset += 4;





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      for(unsigned int k= offset; k< offset+length_frame_id; ++k){





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          inbuffer[k-1]=inbuffer[k];





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      }





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      inbuffer[offset+length_frame_id-1]=0;





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      this->frame_id = (char *)(inbuffer + offset-1);





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      offset += length_frame_id;





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     return offset;





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    }





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    virtual const char * getType(){ return "std_msgs/Header"; };





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    virtual const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; };





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  };





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}





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#endif