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

nav_msgs/MapMetaData.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_nav_msgs_MapMetaData_h
nucho 1:ff0ec969dad1 2 #define ros_nav_msgs_MapMetaData_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 "ros/time.h"
nucho 0:77afd7560544 9 #include "geometry_msgs/Pose.h"
nucho 0:77afd7560544 10
nucho 0:77afd7560544 11 namespace nav_msgs
nucho 0:77afd7560544 12 {
nucho 0:77afd7560544 13
nucho 0:77afd7560544 14 class MapMetaData : public ros::Msg
nucho 0:77afd7560544 15 {
nucho 0:77afd7560544 16 public:
nucho 0:77afd7560544 17 ros::Time map_load_time;
nucho 0:77afd7560544 18 float resolution;
nucho 0:77afd7560544 19 unsigned long width;
nucho 0:77afd7560544 20 unsigned long height;
nucho 0:77afd7560544 21 geometry_msgs::Pose origin;
nucho 0:77afd7560544 22
nucho 0:77afd7560544 23 virtual int serialize(unsigned char *outbuffer)
nucho 0:77afd7560544 24 {
nucho 0:77afd7560544 25 int offset = 0;
nucho 0:77afd7560544 26 union {
nucho 0:77afd7560544 27 unsigned long real;
nucho 0:77afd7560544 28 unsigned long base;
nucho 0:77afd7560544 29 } u_sec;
nucho 0:77afd7560544 30 u_sec.real = this->map_load_time.sec;
nucho 0:77afd7560544 31 *(outbuffer + offset + 0) = (u_sec.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 32 *(outbuffer + offset + 1) = (u_sec.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 33 *(outbuffer + offset + 2) = (u_sec.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 34 *(outbuffer + offset + 3) = (u_sec.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 35 offset += sizeof(this->map_load_time.sec);
nucho 0:77afd7560544 36 union {
nucho 0:77afd7560544 37 unsigned long real;
nucho 0:77afd7560544 38 unsigned long base;
nucho 0:77afd7560544 39 } u_nsec;
nucho 0:77afd7560544 40 u_nsec.real = this->map_load_time.nsec;
nucho 0:77afd7560544 41 *(outbuffer + offset + 0) = (u_nsec.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 42 *(outbuffer + offset + 1) = (u_nsec.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 43 *(outbuffer + offset + 2) = (u_nsec.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 44 *(outbuffer + offset + 3) = (u_nsec.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 45 offset += sizeof(this->map_load_time.nsec);
nucho 0:77afd7560544 46 union {
nucho 0:77afd7560544 47 float real;
nucho 0:77afd7560544 48 unsigned long base;
nucho 0:77afd7560544 49 } u_resolution;
nucho 0:77afd7560544 50 u_resolution.real = this->resolution;
nucho 0:77afd7560544 51 *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 52 *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 53 *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 54 *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 55 offset += sizeof(this->resolution);
nucho 0:77afd7560544 56 union {
nucho 0:77afd7560544 57 unsigned long real;
nucho 0:77afd7560544 58 unsigned long base;
nucho 0:77afd7560544 59 } u_width;
nucho 0:77afd7560544 60 u_width.real = this->width;
nucho 0:77afd7560544 61 *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 62 *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 63 *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 64 *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 65 offset += sizeof(this->width);
nucho 0:77afd7560544 66 union {
nucho 0:77afd7560544 67 unsigned long real;
nucho 0:77afd7560544 68 unsigned long base;
nucho 0:77afd7560544 69 } u_height;
nucho 0:77afd7560544 70 u_height.real = this->height;
nucho 0:77afd7560544 71 *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 72 *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 73 *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 74 *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 75 offset += sizeof(this->height);
nucho 0:77afd7560544 76 offset += this->origin.serialize(outbuffer + offset);
nucho 0:77afd7560544 77 return offset;
nucho 0:77afd7560544 78 }
nucho 0:77afd7560544 79
nucho 0:77afd7560544 80 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 81 {
nucho 0:77afd7560544 82 int offset = 0;
nucho 0:77afd7560544 83 union {
nucho 0:77afd7560544 84 unsigned long real;
nucho 0:77afd7560544 85 unsigned long base;
nucho 0:77afd7560544 86 } u_sec;
nucho 0:77afd7560544 87 u_sec.base = 0;
nucho 0:77afd7560544 88 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 89 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 90 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:77afd7560544 91 u_sec.base |= ((typeof(u_sec.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 92 this->map_load_time.sec = u_sec.real;
nucho 0:77afd7560544 93 offset += sizeof(this->map_load_time.sec);
nucho 0:77afd7560544 94 union {
nucho 0:77afd7560544 95 unsigned long real;
nucho 0:77afd7560544 96 unsigned long base;
nucho 0:77afd7560544 97 } u_nsec;
nucho 0:77afd7560544 98 u_nsec.base = 0;
nucho 0:77afd7560544 99 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 100 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 101 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:77afd7560544 102 u_nsec.base |= ((typeof(u_nsec.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 103 this->map_load_time.nsec = u_nsec.real;
nucho 0:77afd7560544 104 offset += sizeof(this->map_load_time.nsec);
nucho 0:77afd7560544 105 union {
nucho 0:77afd7560544 106 float real;
nucho 0:77afd7560544 107 unsigned long base;
nucho 0:77afd7560544 108 } u_resolution;
nucho 0:77afd7560544 109 u_resolution.base = 0;
nucho 0:77afd7560544 110 u_resolution.base |= ((typeof(u_resolution.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 111 u_resolution.base |= ((typeof(u_resolution.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 112 u_resolution.base |= ((typeof(u_resolution.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:77afd7560544 113 u_resolution.base |= ((typeof(u_resolution.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 114 this->resolution = u_resolution.real;
nucho 0:77afd7560544 115 offset += sizeof(this->resolution);
nucho 0:77afd7560544 116 union {
nucho 0:77afd7560544 117 unsigned long real;
nucho 0:77afd7560544 118 unsigned long base;
nucho 0:77afd7560544 119 } u_width;
nucho 0:77afd7560544 120 u_width.base = 0;
nucho 0:77afd7560544 121 u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 122 u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 123 u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:77afd7560544 124 u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 125 this->width = u_width.real;
nucho 0:77afd7560544 126 offset += sizeof(this->width);
nucho 0:77afd7560544 127 union {
nucho 0:77afd7560544 128 unsigned long real;
nucho 0:77afd7560544 129 unsigned long base;
nucho 0:77afd7560544 130 } u_height;
nucho 0:77afd7560544 131 u_height.base = 0;
nucho 0:77afd7560544 132 u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 133 u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 134 u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:77afd7560544 135 u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 136 this->height = u_height.real;
nucho 0:77afd7560544 137 offset += sizeof(this->height);
nucho 0:77afd7560544 138 offset += this->origin.deserialize(inbuffer + offset);
nucho 0:77afd7560544 139 return offset;
nucho 0:77afd7560544 140 }
nucho 0:77afd7560544 141
nucho 0:77afd7560544 142 virtual const char * getType(){ return "nav_msgs/MapMetaData"; };
nucho 0:77afd7560544 143
nucho 0:77afd7560544 144 };
nucho 0:77afd7560544 145
nucho 0:77afd7560544 146 }
nucho 0:77afd7560544 147 #endif