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

geometry_msgs/TransformStamped.h@1:ff0ec969dad1, 2011-10-16 (annotated)

Committer:
nucho
Date:
Sun Oct 16 07:19:36 2011 +0000
Revision:
1:ff0ec969dad1
Parent:
0:77afd7560544
Child:
3:1cf99502f396
This program supported the revision of 143 of rosserial.

And the bug fix of receive of array data.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucho 1:ff0ec969dad1 1 #ifndef ros_geometry_msgs_TransformStamped_h
nucho 1:ff0ec969dad1 2 #define ros_geometry_msgs_TransformStamped_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 "std_msgs/Header.h"
nucho 0:77afd7560544 9 #include "geometry_msgs/Transform.h"
nucho 0:77afd7560544 10
nucho 0:77afd7560544 11 namespace geometry_msgs
nucho 0:77afd7560544 12 {
nucho 0:77afd7560544 13
nucho 0:77afd7560544 14 class TransformStamped : public ros::Msg
nucho 0:77afd7560544 15 {
nucho 0:77afd7560544 16 public:
nucho 0:77afd7560544 17 std_msgs::Header header;
nucho 0:77afd7560544 18 char * child_frame_id;
nucho 0:77afd7560544 19 geometry_msgs::Transform transform;
nucho 0:77afd7560544 20
nucho 0:77afd7560544 21 virtual int serialize(unsigned char *outbuffer)
nucho 0:77afd7560544 22 {
nucho 0:77afd7560544 23 int offset = 0;
nucho 0:77afd7560544 24 offset += this->header.serialize(outbuffer + offset);
nucho 0:77afd7560544 25 long * length_child_frame_id = (long *)(outbuffer + offset);
nucho 0:77afd7560544 26 *length_child_frame_id = strlen( (const char*) this->child_frame_id);
nucho 0:77afd7560544 27 offset += 4;
nucho 0:77afd7560544 28 memcpy(outbuffer + offset, this->child_frame_id, *length_child_frame_id);
nucho 0:77afd7560544 29 offset += *length_child_frame_id;
nucho 0:77afd7560544 30 offset += this->transform.serialize(outbuffer + offset);
nucho 0:77afd7560544 31 return offset;
nucho 0:77afd7560544 32 }
nucho 0:77afd7560544 33
nucho 0:77afd7560544 34 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 35 {
nucho 0:77afd7560544 36 int offset = 0;
nucho 0:77afd7560544 37 offset += this->header.deserialize(inbuffer + offset);
nucho 0:77afd7560544 38 uint32_t length_child_frame_id = *(uint32_t *)(inbuffer + offset);
nucho 0:77afd7560544 39 offset += 4;
nucho 0:77afd7560544 40 for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
nucho 0:77afd7560544 41 inbuffer[k-1]=inbuffer[k];
nucho 0:77afd7560544 42 }
nucho 0:77afd7560544 43 inbuffer[offset+length_child_frame_id-1]=0;
nucho 0:77afd7560544 44 this->child_frame_id = (char *)(inbuffer + offset-1);
nucho 0:77afd7560544 45 offset += length_child_frame_id;
nucho 0:77afd7560544 46 offset += this->transform.deserialize(inbuffer + offset);
nucho 0:77afd7560544 47 return offset;
nucho 0:77afd7560544 48 }
nucho 0:77afd7560544 49
nucho 0:77afd7560544 50 virtual const char * getType(){ return "geometry_msgs/TransformStamped"; };
nucho 0:77afd7560544 51
nucho 0:77afd7560544 52 };
nucho 0:77afd7560544 53
nucho 0:77afd7560544 54 }
nucho 0:77afd7560544 55 #endif