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/UInt32MultiArray.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 0:77afd7560544 1 #ifndef ros_UInt32MultiArray_h
nucho 0:77afd7560544 2 #define ros_UInt32MultiArray_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/MultiArrayLayout.h"
nucho 0:77afd7560544 9
nucho 0:77afd7560544 10 namespace std_msgs
nucho 0:77afd7560544 11 {
nucho 0:77afd7560544 12
nucho 0:77afd7560544 13 class UInt32MultiArray : public ros::Msg
nucho 0:77afd7560544 14 {
nucho 0:77afd7560544 15 public:
nucho 0:77afd7560544 16 std_msgs::MultiArrayLayout layout;
nucho 0:77afd7560544 17 unsigned char data_length;
nucho 1:ff0ec969dad1 18 uint32_t st_data;
nucho 1:ff0ec969dad1 19 uint32_t * data;
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->layout.serialize(outbuffer + offset);
nucho 0:77afd7560544 25 *(outbuffer + offset++) = data_length;
nucho 0:77afd7560544 26 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 27 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 28 *(outbuffer + offset++) = 0;
nucho 0:77afd7560544 29 for( unsigned char i = 0; i < data_length; i++){
nucho 0:77afd7560544 30 union {
nucho 1:ff0ec969dad1 31 uint32_t real;
nucho 1:ff0ec969dad1 32 uint32_t base;
nucho 0:77afd7560544 33 } u_datai;
nucho 0:77afd7560544 34 u_datai.real = this->data[i];
nucho 0:77afd7560544 35 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
nucho 0:77afd7560544 36 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
nucho 0:77afd7560544 37 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
nucho 0:77afd7560544 38 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
nucho 0:77afd7560544 39 offset += sizeof(this->data[i]);
nucho 0:77afd7560544 40 }
nucho 0:77afd7560544 41 return offset;
nucho 0:77afd7560544 42 }
nucho 0:77afd7560544 43
nucho 0:77afd7560544 44 virtual int deserialize(unsigned char *inbuffer)
nucho 0:77afd7560544 45 {
nucho 0:77afd7560544 46 int offset = 0;
nucho 0:77afd7560544 47 offset += this->layout.deserialize(inbuffer + offset);
nucho 0:77afd7560544 48 unsigned char data_lengthT = *(inbuffer + offset++);
nucho 0:77afd7560544 49 if(data_lengthT > data_length)
nucho 1:ff0ec969dad1 50 this->data = (uint32_t*)realloc(this->data, data_lengthT * sizeof(uint32_t));
nucho 0:77afd7560544 51 offset += 3;
nucho 0:77afd7560544 52 data_length = data_lengthT;
nucho 0:77afd7560544 53 for( unsigned char i = 0; i < data_length; i++){
nucho 0:77afd7560544 54 union {
nucho 1:ff0ec969dad1 55 uint32_t real;
nucho 1:ff0ec969dad1 56 uint32_t base;
nucho 0:77afd7560544 57 } u_st_data;
nucho 0:77afd7560544 58 u_st_data.base = 0;
nucho 0:77afd7560544 59 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 0:77afd7560544 60 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 0:77afd7560544 61 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 0:77afd7560544 62 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 0:77afd7560544 63 this->st_data = u_st_data.real;
nucho 0:77afd7560544 64 offset += sizeof(this->st_data);
nucho 1:ff0ec969dad1 65 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint32_t));
nucho 0:77afd7560544 66 }
nucho 0:77afd7560544 67 return offset;
nucho 0:77afd7560544 68 }
nucho 0:77afd7560544 69
nucho 0:77afd7560544 70 virtual const char * getType(){ return "std_msgs/UInt32MultiArray"; };
nucho 0:77afd7560544 71
nucho 0:77afd7560544 72 };
nucho 0:77afd7560544 73
nucho 0:77afd7560544 74 }
nucho 0:77afd7560544 75 #endif