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/UInt64.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_UInt64_h
nucho 0:77afd7560544 2 #define ros_UInt64_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
nucho 1:ff0ec969dad1 9 namespace std_msgs {
nucho 0:77afd7560544 10
nucho 1:ff0ec969dad1 11 class UInt64 : public ros::Msg {
nucho 1:ff0ec969dad1 12 public:
nucho 1:ff0ec969dad1 13 uint64_t data;
nucho 0:77afd7560544 14
nucho 1:ff0ec969dad1 15 virtual int serialize(unsigned char *outbuffer) {
nucho 1:ff0ec969dad1 16 int offset = 0;
nucho 1:ff0ec969dad1 17 union {
nucho 1:ff0ec969dad1 18 uint64_t real;
nucho 1:ff0ec969dad1 19 uint64_t base;
nucho 1:ff0ec969dad1 20 } u_data;
nucho 1:ff0ec969dad1 21 u_data.real = this->data;
nucho 1:ff0ec969dad1 22 *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
nucho 1:ff0ec969dad1 23 *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
nucho 1:ff0ec969dad1 24 *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
nucho 1:ff0ec969dad1 25 *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
nucho 1:ff0ec969dad1 26 *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF;
nucho 1:ff0ec969dad1 27 *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF;
nucho 1:ff0ec969dad1 28 *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF;
nucho 1:ff0ec969dad1 29 *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF;
nucho 1:ff0ec969dad1 30 offset += sizeof(this->data);
nucho 1:ff0ec969dad1 31 return offset;
nucho 0:77afd7560544 32 }
nucho 0:77afd7560544 33
nucho 1:ff0ec969dad1 34 virtual int deserialize(unsigned char *inbuffer) {
nucho 1:ff0ec969dad1 35 int offset = 0;
nucho 1:ff0ec969dad1 36 union {
nucho 1:ff0ec969dad1 37 uint64_t real;
nucho 1:ff0ec969dad1 38 uint64_t base;
nucho 1:ff0ec969dad1 39 } u_data;
nucho 1:ff0ec969dad1 40 u_data.base = 0;
nucho 1:ff0ec969dad1 41 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
nucho 1:ff0ec969dad1 42 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 1))) << (8 * 1);
nucho 1:ff0ec969dad1 43 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 2))) << (8 * 2);
nucho 1:ff0ec969dad1 44 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 3))) << (8 * 3);
nucho 1:ff0ec969dad1 45 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 4))) << (8 * 4);
nucho 1:ff0ec969dad1 46 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 5))) << (8 * 5);
nucho 1:ff0ec969dad1 47 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 6))) << (8 * 6);
nucho 1:ff0ec969dad1 48 u_data.base |= ((typeof(u_data.base)) (*(inbuffer + offset + 7))) << (8 * 7);
nucho 1:ff0ec969dad1 49 this->data = u_data.real;
nucho 1:ff0ec969dad1 50 offset += sizeof(this->data);
nucho 1:ff0ec969dad1 51 return offset;
nucho 0:77afd7560544 52 }
nucho 0:77afd7560544 53
nucho 1:ff0ec969dad1 54 /*
nucho 1:ff0ec969dad1 55 public:
nucho 1:ff0ec969dad1 56 long data;
nucho 1:ff0ec969dad1 57
nucho 1:ff0ec969dad1 58 virtual int serialize(unsigned char *outbuffer)
nucho 1:ff0ec969dad1 59 {
nucho 1:ff0ec969dad1 60 int offset = 0;
nucho 1:ff0ec969dad1 61 *(outbuffer + offset++) = (data >> (8 * 0)) & 0xFF;
nucho 1:ff0ec969dad1 62 *(outbuffer + offset++) = (data >> (8 * 1)) & 0xFF;
nucho 1:ff0ec969dad1 63 *(outbuffer + offset++) = (data >> (8 * 2)) & 0xFF;
nucho 1:ff0ec969dad1 64 *(outbuffer + offset++) = (data >> (8 * 3)) & 0xFF;
nucho 1:ff0ec969dad1 65 *(outbuffer + offset++) = (data > 0) ? 0: 255;
nucho 1:ff0ec969dad1 66 *(outbuffer + offset++) = (data > 0) ? 0: 255;
nucho 1:ff0ec969dad1 67 *(outbuffer + offset++) = (data > 0) ? 0: 255;
nucho 1:ff0ec969dad1 68 *(outbuffer + offset++) = (data > 0) ? 0: 255;
nucho 1:ff0ec969dad1 69 return offset;
nucho 1:ff0ec969dad1 70 }
nucho 0:77afd7560544 71
nucho 1:ff0ec969dad1 72 virtual int deserialize(unsigned char *inbuffer)
nucho 1:ff0ec969dad1 73 {
nucho 1:ff0ec969dad1 74 int offset = 0;
nucho 1:ff0ec969dad1 75 data = 0;
nucho 1:ff0ec969dad1 76 data += ((long)(*(inbuffer + offset++))) >> (8 * 0);
nucho 1:ff0ec969dad1 77 data += ((long)(*(inbuffer + offset++))) >> (8 * 1);
nucho 1:ff0ec969dad1 78 data += ((long)(*(inbuffer + offset++))) >> (8 * 2);
nucho 1:ff0ec969dad1 79 data += ((long)(*(inbuffer + offset++))) >> (8 * 3);
nucho 1:ff0ec969dad1 80 offset += 4;
nucho 1:ff0ec969dad1 81 return offset;
nucho 1:ff0ec969dad1 82 }
nucho 1:ff0ec969dad1 83 */
nucho 1:ff0ec969dad1 84 virtual const char * getType() {
nucho 1:ff0ec969dad1 85 return "std_msgs/UInt64";
nucho 1:ff0ec969dad1 86 };
nucho 1:ff0ec969dad1 87
nucho 1:ff0ec969dad1 88 };
nucho 0:77afd7560544 89
nucho 0:77afd7560544 90 }
nucho 0:77afd7560544 91 #endif