Revision 4:684f39d0c346, committed 2012-02-29

Comitter:

nucho

Date:

Wed Feb 29 23:00:21 2012 +0000

Parent:

3:1cf99502f396

Commit message:

Changed in this revision

--- a/dianostic_msgs/DiagnosticStatus.h	Sat Nov 12 23:54:45 2011 +0000
+++ b/dianostic_msgs/DiagnosticStatus.h	Wed Feb 29 23:00:21 2012 +0000
@@ -1,11 +1,10 @@
-#ifndef _ROS_diagnostic_msgs_DiagnosticStatus_h
-#define _ROS_diagnostic_msgs_DiagnosticStatus_h
+#ifndef ros_diagnostic_msgs_DiagnosticStatus_h
+#define ros_diagnostic_msgs_DiagnosticStatus_h
 
 #include <stdint.h>
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "diagnostic_msgs/byte.h"
 #include "diagnostic_msgs/KeyValue.h"
 
 namespace diagnostic_msgs
@@ -14,32 +13,38 @@
   class DiagnosticStatus : public ros::Msg
   {
     public:
-      diagnostic_msgs::byte level;
+      unsigned char level;
       char * name;
       char * message;
       char * hardware_id;
-      uint8_t values_length;
+      unsigned char values_length;
       diagnostic_msgs::KeyValue st_values;
       diagnostic_msgs::KeyValue * values;
       enum { OK = 0 };
       enum { WARN = 1 };
       enum { ERROR = 2 };
 
-    virtual int serialize(unsigned char *outbuffer) const
+    virtual int serialize(unsigned char *outbuffer)
     {
       int offset = 0;
-      offset += this->level.serialize(outbuffer + offset);
-      uint32_t * length_name = (uint32_t *)(outbuffer + offset);
+      union {
+        unsigned char real;
+        unsigned char base;
+      } u_level;
+      u_level.real = this->level;
+      *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->level);
+      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;
-      uint32_t * length_message = (uint32_t *)(outbuffer + offset);
+      long * length_message = (long *)(outbuffer + offset);
       *length_message = strlen( (const char*) this->message);
       offset += 4;
       memcpy(outbuffer + offset, this->message, *length_message);
       offset += *length_message;
-      uint32_t * length_hardware_id = (uint32_t *)(outbuffer + offset);
+      long * length_hardware_id = (long *)(outbuffer + offset);
       *length_hardware_id = strlen( (const char*) this->hardware_id);
       offset += 4;
       memcpy(outbuffer + offset, this->hardware_id, *length_hardware_id);
@@ -48,7 +53,7 @@
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
       *(outbuffer + offset++) = 0;
-      for( uint8_t i = 0; i < values_length; i++){
+      for( unsigned char i = 0; i < values_length; i++){
       offset += this->values[i].serialize(outbuffer + offset);
       }
       return offset;
@@ -57,12 +62,19 @@
     virtual int deserialize(unsigned char *inbuffer)
     {
       int offset = 0;
-      offset += this->level.deserialize(inbuffer + offset);
+      union {
+        unsigned char real;
+        unsigned char base;
+      } u_level;
+      u_level.base = 0;
+      u_level.base |= ((typeof(u_level.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->level = u_level.real;
+      offset += sizeof(this->level);
       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;
@@ -70,7 +82,7 @@
       offset += 4;
       for(unsigned int k= offset; k< offset+length_message; ++k){
           inbuffer[k-1]=inbuffer[k];
-      }
+           }
       inbuffer[offset+length_message-1]=0;
       this->message = (char *)(inbuffer + offset-1);
       offset += length_message;
@@ -78,16 +90,16 @@
       offset += 4;
       for(unsigned int k= offset; k< offset+length_hardware_id; ++k){
           inbuffer[k-1]=inbuffer[k];
-      }
+           }
       inbuffer[offset+length_hardware_id-1]=0;
       this->hardware_id = (char *)(inbuffer + offset-1);
       offset += length_hardware_id;
-      uint8_t values_lengthT = *(inbuffer + offset++);
+      unsigned char values_lengthT = *(inbuffer + offset++);
       if(values_lengthT > values_length)
         this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue));
       offset += 3;
       values_length = values_lengthT;
-      for( uint8_t i = 0; i < values_length; i++){
+      for( unsigned char i = 0; i < values_length; i++){
       offset += this->st_values.deserialize(inbuffer + offset);
         memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue));
       }

--- a/dianostic_msgs/SelfTest.h	Sat Nov 12 23:54:45 2011 +0000
+++ b/dianostic_msgs/SelfTest.h	Wed Feb 29 23:00:21 2012 +0000
@@ -28,8 +28,8 @@
      return offset;
     }
 
-    virtual const char * getType(){ return SELFTEST; };
-    virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+    const char * getType(){ return SELFTEST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
 
   };
 
@@ -85,8 +85,8 @@
      return offset;
     }
 
-    virtual const char * getType(){ return SELFTEST; };
-    virtual const char * getMD5(){ return "74c9372c870a76da4fc2b3973978b898"; };
+    const char * getType(){ return SELFTEST; };
+    const char * getMD5(){ return "74c9372c870a76da4fc2b3973978b898"; };
 
   };
 

--- a/nav_msgs/GetMap.h	Sat Nov 12 23:54:45 2011 +0000
+++ b/nav_msgs/GetMap.h	Wed Feb 29 23:00:21 2012 +0000
@@ -27,8 +27,8 @@
      return offset;
     }
 
-    virtual const char * getType(){ return GETMAP; };
-    virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+    const char * getType(){ return GETMAP; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
 
   };
 
@@ -51,8 +51,8 @@
      return offset;
     }
 
-    virtual const char * getType(){ return GETMAP; };
-    virtual const char * getMD5(){ return "6cdd0a18e0aff5b0a3ca2326a89b54ff"; };
+    const char * getType(){ return GETMAP; };
+    const char * getMD5(){ return "6cdd0a18e0aff5b0a3ca2326a89b54ff"; };
 
   };
 

--- a/nav_msgs/GetPlan.h	Sat Nov 12 23:54:45 2011 +0000
+++ b/nav_msgs/GetPlan.h	Wed Feb 29 23:00:21 2012 +0000
@@ -56,8 +56,8 @@
      return offset;
     }
 
-    virtual const char * getType(){ return GETPLAN; };
-    virtual const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; };
+    const char * getType(){ return GETPLAN; };
+    const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; };
 
   };
 
@@ -80,8 +80,8 @@
      return offset;
     }
 
-    virtual const char * getType(){ return GETPLAN; };
-    virtual const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; };
+    const char * getType(){ return GETPLAN; };
+    const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; };
 
   };
 

--- a/nav_msgs/MapMetaData.h	Sat Nov 12 23:54:45 2011 +0000
+++ b/nav_msgs/MapMetaData.h	Wed Feb 29 23:00:21 2012 +0000
@@ -60,12 +60,12 @@
     virtual int deserialize(unsigned char *inbuffer)
     {
       int offset = 0;
-      this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->map_load_time.sec =  ((uint32_t) (*(inbuffer + offset)));
       this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
       this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
       this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->map_load_time.sec);
-      this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->map_load_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
       this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
       this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
       this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
@@ -81,12 +81,12 @@
       u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       this->resolution = u_resolution.real;
       offset += sizeof(this->resolution);
-      this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
       this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
       this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
       this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
       offset += sizeof(this->width);
-      this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
       this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
       this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
       this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);

--- a/ros/msg.h	Sat Nov 12 23:54:45 2011 +0000
+++ b/ros/msg.h	Wed Feb 29 23:00:21 2012 +0000
@@ -35,7 +35,6 @@
 #ifndef _ROS_MSG_H_
 #define _ROS_MSG_H_
 
-
 namespace ros {
 
   /* Base Message Type */
@@ -43,7 +42,7 @@
   {
     public:
       virtual int serialize(unsigned char *outbuffer) const = 0;
-      virtual int deserialize(unsigned char *data) = 0;
+	  virtual int deserialize(unsigned char *data) = 0;
       virtual const char * getType() = 0;
       virtual const char * getMD5() = 0;
   };

--- a/ros/node_handle.h	Sat Nov 12 23:54:45 2011 +0000
+++ b/ros/node_handle.h	Wed Feb 29 23:00:21 2012 +0000
@@ -115,7 +115,6 @@
         bytes_ = 0;
         index_ = 0;
         topic_ = 0;
-        checksum_=0;
     };
 
 protected:
@@ -128,8 +127,6 @@
 
     bool configured_;
 
-    int total_receivers;
-
     /* used for syncing the time */
     unsigned long last_sync_time;
     unsigned long last_sync_receive_time;
@@ -244,7 +241,6 @@
         unsigned long offset = hardware_.time() - rt_time;
 
         t.deserialize(data);
-
         t.data.sec += offset/1000;
         t.data.nsec += (offset%1000)*1000000UL;
 
@@ -328,21 +324,25 @@
 
     void negotiateTopics() {
         configured_ = true;
+        
         rosserial_msgs::TopicInfo ti;
         int i;
-        for (i = 0; i < MAX_PUBLISHERS; i++) {
-            if (publishers[i] != 0) { // non-empty slot
+        for (i = 0; i < MAX_PUBLISHERS; i++)
+        {
+            if (publishers[i] != 0) // non-empty slot
+            {
                 ti.topic_id = publishers[i]->id_;
                 ti.topic_name = (char *) publishers[i]->topic_;
                 ti.message_type = (char *) publishers[i]->msg_->getType();
                 ti.md5sum = (char *) publishers[i]->msg_->getMD5();
                 ti.buffer_size = OUTPUT_SIZE;
-
                 publish( publishers[i]->getEndpointType(), &ti );
             }
         }
-        for (i = 0; i < MAX_SUBSCRIBERS; i++) {
-            if (subscribers[i] != 0) { // non-empty slot
+        for (i = 0; i < MAX_SUBSCRIBERS; i++)
+        {
+            if (subscribers[i] != 0) // non-empty slot
+            {
                 ti.topic_id = subscribers[i]->id_;
                 ti.topic_name = (char *) subscribers[i]->topic_;
                 ti.message_type = (char *) subscribers[i]->getMsgType();

--- a/ros/publisher.h	Sat Nov 12 23:54:45 2011 +0000
+++ b/ros/publisher.h	Wed Feb 29 23:00:21 2012 +0000
@@ -38,7 +38,7 @@
 #include "rosserial_msgs/TopicInfo.h"
 #include "node_handle.h"
 
-namespace ros{
+namespace ros {
 
   /* Generic Publisher */
   class Publisher
@@ -53,10 +53,9 @@
       int getEndpointType(){ return endpoint_; }
 
       const char * topic_;
-
       Msg *msg_;
       // id_ and no_ are set by NodeHandle when we advertise 
-      int16_t id_;
+      int id_;
       NodeHandleBase_* nh_;
 
     private:
@@ -65,5 +64,4 @@
 
 }
 
-
 #endif
\ No newline at end of file

--- a/std_msgs/UInt8.h	Sat Nov 12 23:54:45 2011 +0000
+++ b/std_msgs/UInt8.h	Wed Feb 29 23:00:21 2012 +0000
@@ -1,4 +1,4 @@
-#ifndef _ROS_std_msgs_UInt8_h
+  #ifndef _ROS_std_msgs_UInt8_h
 #define _ROS_std_msgs_UInt8_h
 
 #include <stdint.h>
@@ -25,7 +25,7 @@
     virtual int deserialize(unsigned char *inbuffer)
     {
       int offset = 0;
-      this->data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->data =  ((uint8_t) (*(inbuffer + offset)));
       offset += sizeof(this->data);
      return offset;
     }