rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
bond/Status.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#ifndef _ROS_bond_Status_h #define _ROS_bond_Status_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace bond { class Status : public ros::Msg { public: std_msgs::Header header; const char* id; const char* instance_id; bool active; float heartbeat_timeout; float heartbeat_period; Status(): header(), id(""), instance_id(""), active(0), heartbeat_timeout(0), heartbeat_period(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); uint32_t length_id = strlen(this->id); memcpy(outbuffer + offset, &length_id, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->id, length_id); offset += length_id; uint32_t length_instance_id = strlen(this->instance_id); memcpy(outbuffer + offset, &length_instance_id, sizeof(uint32_t)); offset += 4; memcpy(outbuffer + offset, this->instance_id, length_instance_id); offset += length_instance_id; union { bool real; uint8_t base; } u_active; u_active.real = this->active; *(outbuffer + offset + 0) = (u_active.base >> (8 * 0)) & 0xFF; offset += sizeof(this->active); union { float real; uint32_t base; } u_heartbeat_timeout; u_heartbeat_timeout.real = this->heartbeat_timeout; *(outbuffer + offset + 0) = (u_heartbeat_timeout.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_heartbeat_timeout.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_heartbeat_timeout.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_heartbeat_timeout.base >> (8 * 3)) & 0xFF; offset += sizeof(this->heartbeat_timeout); union { float real; uint32_t base; } u_heartbeat_period; u_heartbeat_period.real = this->heartbeat_period; *(outbuffer + offset + 0) = (u_heartbeat_period.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_heartbeat_period.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_heartbeat_period.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_heartbeat_period.base >> (8 * 3)) & 0xFF; offset += sizeof(this->heartbeat_period); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t length_id; memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_id; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_id-1]=0; this->id = (char *)(inbuffer + offset-1); offset += length_id; uint32_t length_instance_id; memcpy(&length_instance_id, (inbuffer + offset), sizeof(uint32_t)); offset += 4; for(unsigned int k= offset; k< offset+length_instance_id; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_instance_id-1]=0; this->instance_id = (char *)(inbuffer + offset-1); offset += length_instance_id; union { bool real; uint8_t base; } u_active; u_active.base = 0; u_active.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); this->active = u_active.real; offset += sizeof(this->active); union { float real; uint32_t base; } u_heartbeat_timeout; u_heartbeat_timeout.base = 0; u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->heartbeat_timeout = u_heartbeat_timeout.real; offset += sizeof(this->heartbeat_timeout); union { float real; uint32_t base; } u_heartbeat_period; u_heartbeat_period.base = 0; u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->heartbeat_period = u_heartbeat_period.real; offset += sizeof(this->heartbeat_period); return offset; } const char * getType(){ return "bond/Status"; }; const char * getMD5(){ return "eacc84bf5d65b6777d4c50f463dfb9c8"; }; }; } #endif