This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
sensor_msgs/PointField.h
- Committer:
- nucho
- Date:
- 2011-08-19
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
File content as of revision 0:77afd7560544:
#ifndef ros_PointField_h #define ros_PointField_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "../ros/msg.h" namespace sensor_msgs { class PointField : public ros::Msg { public: char * name; unsigned long offset; unsigned char datatype; unsigned long count; enum { INT8 = 1 }; enum { UINT8 = 2 }; enum { INT16 = 3 }; enum { UINT16 = 4 }; enum { INT32 = 5 }; enum { UINT32 = 6 }; enum { FLOAT32 = 7 }; enum { FLOAT64 = 8 }; virtual int serialize(unsigned char *outbuffer) { int offset = 0; long * length_name = (long *)(outbuffer + offset); *length_name = strlen( (const char*) this->name); offset += 4; memcpy(outbuffer + offset, this->name, *length_name); offset += *length_name; union { unsigned long real; unsigned long base; } u_offset; u_offset.real = this->offset; *(outbuffer + offset + 0) = (u_offset.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_offset.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_offset.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_offset.base >> (8 * 3)) & 0xFF; offset += sizeof(this->offset); union { unsigned char real; unsigned char base; } u_datatype; u_datatype.real = this->datatype; *(outbuffer + offset + 0) = (u_datatype.base >> (8 * 0)) & 0xFF; offset += sizeof(this->datatype); union { unsigned long real; unsigned long base; } u_count; u_count.real = this->count; *(outbuffer + offset + 0) = (u_count.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_count.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_count.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_count.base >> (8 * 3)) & 0xFF; offset += sizeof(this->count); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_name = *(uint32_t *)(inbuffer + offset); offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; union { unsigned long real; unsigned long base; } u_offset; u_offset.base = 0; u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 0))) << (8 * 0); u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 1))) << (8 * 1); u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 2))) << (8 * 2); u_offset.base |= ((typeof(u_offset.base)) (*(inbuffer + offset + 3))) << (8 * 3); this->offset = u_offset.real; offset += sizeof(this->offset); union { unsigned char real; unsigned char base; } u_datatype; u_datatype.base = 0; u_datatype.base |= ((typeof(u_datatype.base)) (*(inbuffer + offset + 0))) << (8 * 0); this->datatype = u_datatype.real; offset += sizeof(this->datatype); union { unsigned long real; unsigned long base; } u_count; u_count.base = 0; u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 0))) << (8 * 0); u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 1))) << (8 * 1); u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 2))) << (8 * 2); u_count.base |= ((typeof(u_count.base)) (*(inbuffer + offset + 3))) << (8 * 3); this->count = u_count.real; offset += sizeof(this->count); return offset; } virtual const char * getType(){ return "sensor_msgs/PointField"; }; }; } #endif