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/String.h@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:77afd7560544 | 1 | #ifndef ros_String_h |
| nucho | 0:77afd7560544 | 2 | #define ros_String_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 | 0:77afd7560544 | 7 | #include "../ros/msg.h" |
| nucho | 0:77afd7560544 | 8 | #include"mbed.h" |
| nucho | 0:77afd7560544 | 9 | |
| nucho | 0:77afd7560544 | 10 | |
| nucho | 0:77afd7560544 | 11 | namespace std_msgs |
| nucho | 0:77afd7560544 | 12 | { |
| nucho | 0:77afd7560544 | 13 | |
| nucho | 0:77afd7560544 | 14 | class String : public ros::Msg |
| nucho | 0:77afd7560544 | 15 | { |
| nucho | 0:77afd7560544 | 16 | public: |
| nucho | 0:77afd7560544 | 17 | char * data; |
| nucho | 0:77afd7560544 | 18 | |
| nucho | 0:77afd7560544 | 19 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:77afd7560544 | 20 | { |
| nucho | 0:77afd7560544 | 21 | int offset = 0; |
| nucho | 0:77afd7560544 | 22 | long * length_data = (long *)(outbuffer + offset); |
| nucho | 0:77afd7560544 | 23 | *length_data = strlen( (const char*) this->data); |
| nucho | 0:77afd7560544 | 24 | offset += 4; |
| nucho | 0:77afd7560544 | 25 | memcpy(outbuffer + offset, this->data, *length_data); |
| nucho | 0:77afd7560544 | 26 | offset += *length_data; |
| nucho | 0:77afd7560544 | 27 | return offset; |
| nucho | 0:77afd7560544 | 28 | } |
| nucho | 0:77afd7560544 | 29 | |
| nucho | 0:77afd7560544 | 30 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 31 | { |
| nucho | 0:77afd7560544 | 32 | int offset = 0; |
| nucho | 0:77afd7560544 | 33 | uint32_t length_data = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:77afd7560544 | 34 | offset += 4; |
| nucho | 0:77afd7560544 | 35 | for(unsigned int k= offset; k< offset+length_data; ++k){ |
| nucho | 0:77afd7560544 | 36 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 0:77afd7560544 | 37 | } |
| nucho | 0:77afd7560544 | 38 | inbuffer[offset+length_data-1]=0; |
| nucho | 0:77afd7560544 | 39 | this->data = (char *)(inbuffer + offset-1); |
| nucho | 0:77afd7560544 | 40 | offset += length_data; |
| nucho | 0:77afd7560544 | 41 | return offset; |
| nucho | 0:77afd7560544 | 42 | } |
| nucho | 0:77afd7560544 | 43 | |
| nucho | 0:77afd7560544 | 44 | virtual const char * getType(){ return "std_msgs/String"; }; |
| nucho | 0:77afd7560544 | 45 | |
| nucho | 0:77afd7560544 | 46 | }; |
| nucho | 0:77afd7560544 | 47 | |
| nucho | 0:77afd7560544 | 48 | } |
| nucho | 0:77afd7560544 | 49 | #endif |