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/Path.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_Path_h
nucho 1:ff0ec969dad1 2 #define ros_nav_msgs_Path_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/PoseStamped.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 Path : public ros::Msg
nucho 0:77afd7560544 15 {
nucho 0:77afd7560544 16 public:
nucho 0:77afd7560544 17 std_msgs::Header header;
nucho 0:77afd7560544 18 unsigned char poses_length;
nucho 0:77afd7560544 19 geometry_msgs::PoseStamped st_poses;
nucho 0:77afd7560544 20 geometry_msgs::PoseStamped * poses;
nucho 0:77afd7560544 21
nucho 0:77afd7560544 22 virtual int serialize(unsigned char *outbuffer)
nucho 0:77afd7560544 23 {
nucho 0:77afd7560544 24 int offset = 0;
nucho 0:77afd7560544 25 offset += this->header.serialize(outbuffer + offset);
nucho 0:77afd7560544 26 *(outbuffer + offset++) = poses_length;
nucho 0:77afd7560544 27 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 28 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 29 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 30 for( unsigned char i = 0; i < poses_length; i++){
nucho 0:77afd7560544 31 offset += this->poses[i].serialize(outbuffer + offset);
nucho 0:77afd7560544 32 }
nucho 0:77afd7560544 33 return offset;
nucho 0:77afd7560544 34 }
nucho 0:77afd7560544 35
nucho 0:77afd7560544 36 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 37 {
nucho 0:77afd7560544 38 int offset = 0;
nucho 0:77afd7560544 39 offset += this->header.deserialize(inbuffer + offset);
nucho 0:77afd7560544 40 unsigned char poses_lengthT = *(inbuffer + offset++);
nucho 0:77afd7560544 41 if(poses_lengthT > poses_length)
nucho 0:77afd7560544 42 this->poses = (geometry_msgs::PoseStamped*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::PoseStamped));
nucho 0:77afd7560544 43 offset += 3;
nucho 0:77afd7560544 44 poses_length = poses_lengthT;
nucho 0:77afd7560544 45 for( unsigned char i = 0; i < poses_length; i++){
nucho 0:77afd7560544 46 offset += this->st_poses.deserialize(inbuffer + offset);
nucho 0:77afd7560544 47 memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::PoseStamped));
nucho 0:77afd7560544 48 }
nucho 0:77afd7560544 49 return offset;
nucho 0:77afd7560544 50 }
nucho 0:77afd7560544 51
nucho 0:77afd7560544 52 virtual const char * getType(){ return "nav_msgs/Path"; };
nucho 0:77afd7560544 53
nucho 0:77afd7560544 54 };
nucho 0:77afd7560544 55
nucho 0:77afd7560544 56 }
nucho 0:77afd7560544 57 #endif