s_rov_control_esc.h

00001 #ifndef _ROS_s_rov_msgs_s_rov_control_esc_h
00002 #define _ROS_s_rov_msgs_s_rov_control_esc_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace s_rov_msgs
00010 {
00011 
00012   class s_rov_control_esc : public ros::Msg
00013   {
00014     public:
00015       float escPWM[4];
00016       bool escSwitch;
00017 
00018     s_rov_control_esc():
00019       escPWM(),
00020       escSwitch(0)
00021     {
00022     }
00023 
00024     virtual int serialize(unsigned char *outbuffer) const
00025     {
00026       int offset = 0;
00027       for( uint32_t i = 0; i < 4; i++){
00028       union {
00029         float real;
00030         uint32_t base;
00031       } u_escPWMi;
00032       u_escPWMi.real = this->escPWM[i];
00033       *(outbuffer + offset + 0) = (u_escPWMi.base >> (8 * 0)) & 0xFF;
00034       *(outbuffer + offset + 1) = (u_escPWMi.base >> (8 * 1)) & 0xFF;
00035       *(outbuffer + offset + 2) = (u_escPWMi.base >> (8 * 2)) & 0xFF;
00036       *(outbuffer + offset + 3) = (u_escPWMi.base >> (8 * 3)) & 0xFF;
00037       offset += sizeof(this->escPWM[i]);
00038       }
00039       union {
00040         bool real;
00041         uint8_t base;
00042       } u_escSwitch;
00043       u_escSwitch.real = this->escSwitch;
00044       *(outbuffer + offset + 0) = (u_escSwitch.base >> (8 * 0)) & 0xFF;
00045       offset += sizeof(this->escSwitch);
00046       return offset;
00047     }
00048 
00049     virtual int deserialize(unsigned char *inbuffer)
00050     {
00051       int offset = 0;
00052       for( uint32_t i = 0; i < 4; i++){
00053       union {
00054         float real;
00055         uint32_t base;
00056       } u_escPWMi;
00057       u_escPWMi.base = 0;
00058       u_escPWMi.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00059       u_escPWMi.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00060       u_escPWMi.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00061       u_escPWMi.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00062       this->escPWM[i] = u_escPWMi.real;
00063       offset += sizeof(this->escPWM[i]);
00064       }
00065       union {
00066         bool real;
00067         uint8_t base;
00068       } u_escSwitch;
00069       u_escSwitch.base = 0;
00070       u_escSwitch.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00071       this->escSwitch = u_escSwitch.real;
00072       offset += sizeof(this->escSwitch);
00073      return offset;
00074     }
00075 
00076     const char * getType(){ return "s_rov_msgs/s_rov_control_esc"; };
00077     const char * getMD5(){ return "29b94efb4e96b7ab876134acfa0a6e69"; };
00078 
00079   };
00080 
00081 }
00082 #endif