Pipe Inpection Robot / Mbed OS GPG_motor_latest

complete motor

Dependencies:   BufferedSerial motor_sn7544

rosserial_msgs/TopicInfo.h@7:13dd93a0efe8, 2019-06-27 (annotated)

Committer:
Jeonghoon
Date:
Thu Jun 27 04:58:29 2019 +0000
Revision:
7:13dd93a0efe8
combine motor with ROS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 7:13dd93a0efe8 1 #ifndef _ROS_rosserial_msgs_TopicInfo_h
Jeonghoon 7:13dd93a0efe8 2 #define _ROS_rosserial_msgs_TopicInfo_h
Jeonghoon 7:13dd93a0efe8 3
Jeonghoon 7:13dd93a0efe8 4 #include <stdint.h>
Jeonghoon 7:13dd93a0efe8 5 #include <string.h>
Jeonghoon 7:13dd93a0efe8 6 #include <stdlib.h>
Jeonghoon 7:13dd93a0efe8 7 #include "ros/msg.h"
Jeonghoon 7:13dd93a0efe8 8
Jeonghoon 7:13dd93a0efe8 9 namespace rosserial_msgs
Jeonghoon 7:13dd93a0efe8 10 {
Jeonghoon 7:13dd93a0efe8 11
Jeonghoon 7:13dd93a0efe8 12 class TopicInfo : public ros::Msg
Jeonghoon 7:13dd93a0efe8 13 {
Jeonghoon 7:13dd93a0efe8 14 public:
Jeonghoon 7:13dd93a0efe8 15 typedef uint16_t _topic_id_type;
Jeonghoon 7:13dd93a0efe8 16 _topic_id_type topic_id;
Jeonghoon 7:13dd93a0efe8 17 typedef const char* _topic_name_type;
Jeonghoon 7:13dd93a0efe8 18 _topic_name_type topic_name;
Jeonghoon 7:13dd93a0efe8 19 typedef const char* _message_type_type;
Jeonghoon 7:13dd93a0efe8 20 _message_type_type message_type;
Jeonghoon 7:13dd93a0efe8 21 typedef const char* _md5sum_type;
Jeonghoon 7:13dd93a0efe8 22 _md5sum_type md5sum;
Jeonghoon 7:13dd93a0efe8 23 typedef int32_t _buffer_size_type;
Jeonghoon 7:13dd93a0efe8 24 _buffer_size_type buffer_size;
Jeonghoon 7:13dd93a0efe8 25 enum { ID_PUBLISHER = 0 };
Jeonghoon 7:13dd93a0efe8 26 enum { ID_SUBSCRIBER = 1 };
Jeonghoon 7:13dd93a0efe8 27 enum { ID_SERVICE_SERVER = 2 };
Jeonghoon 7:13dd93a0efe8 28 enum { ID_SERVICE_CLIENT = 4 };
Jeonghoon 7:13dd93a0efe8 29 enum { ID_PARAMETER_REQUEST = 6 };
Jeonghoon 7:13dd93a0efe8 30 enum { ID_LOG = 7 };
Jeonghoon 7:13dd93a0efe8 31 enum { ID_TIME = 10 };
Jeonghoon 7:13dd93a0efe8 32 enum { ID_TX_STOP = 11 };
Jeonghoon 7:13dd93a0efe8 33
Jeonghoon 7:13dd93a0efe8 34 TopicInfo():
Jeonghoon 7:13dd93a0efe8 35 topic_id(0),
Jeonghoon 7:13dd93a0efe8 36 topic_name(""),
Jeonghoon 7:13dd93a0efe8 37 message_type(""),
Jeonghoon 7:13dd93a0efe8 38 md5sum(""),
Jeonghoon 7:13dd93a0efe8 39 buffer_size(0)
Jeonghoon 7:13dd93a0efe8 40 {
Jeonghoon 7:13dd93a0efe8 41 }
Jeonghoon 7:13dd93a0efe8 42
Jeonghoon 7:13dd93a0efe8 43 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 7:13dd93a0efe8 44 {
Jeonghoon 7:13dd93a0efe8 45 int offset = 0;
Jeonghoon 7:13dd93a0efe8 46 *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 47 *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 48 offset += sizeof(this->topic_id);
Jeonghoon 7:13dd93a0efe8 49 uint32_t length_topic_name = strlen(this->topic_name);
Jeonghoon 7:13dd93a0efe8 50 varToArr(outbuffer + offset, length_topic_name);
Jeonghoon 7:13dd93a0efe8 51 offset += 4;
Jeonghoon 7:13dd93a0efe8 52 memcpy(outbuffer + offset, this->topic_name, length_topic_name);
Jeonghoon 7:13dd93a0efe8 53 offset += length_topic_name;
Jeonghoon 7:13dd93a0efe8 54 uint32_t length_message_type = strlen(this->message_type);
Jeonghoon 7:13dd93a0efe8 55 varToArr(outbuffer + offset, length_message_type);
Jeonghoon 7:13dd93a0efe8 56 offset += 4;
Jeonghoon 7:13dd93a0efe8 57 memcpy(outbuffer + offset, this->message_type, length_message_type);
Jeonghoon 7:13dd93a0efe8 58 offset += length_message_type;
Jeonghoon 7:13dd93a0efe8 59 uint32_t length_md5sum = strlen(this->md5sum);
Jeonghoon 7:13dd93a0efe8 60 varToArr(outbuffer + offset, length_md5sum);
Jeonghoon 7:13dd93a0efe8 61 offset += 4;
Jeonghoon 7:13dd93a0efe8 62 memcpy(outbuffer + offset, this->md5sum, length_md5sum);
Jeonghoon 7:13dd93a0efe8 63 offset += length_md5sum;
Jeonghoon 7:13dd93a0efe8 64 union {
Jeonghoon 7:13dd93a0efe8 65 int32_t real;
Jeonghoon 7:13dd93a0efe8 66 uint32_t base;
Jeonghoon 7:13dd93a0efe8 67 } u_buffer_size;
Jeonghoon 7:13dd93a0efe8 68 u_buffer_size.real = this->buffer_size;
Jeonghoon 7:13dd93a0efe8 69 *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 70 *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 71 *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 72 *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 73 offset += sizeof(this->buffer_size);
Jeonghoon 7:13dd93a0efe8 74 return offset;
Jeonghoon 7:13dd93a0efe8 75 }
Jeonghoon 7:13dd93a0efe8 76
Jeonghoon 7:13dd93a0efe8 77 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 7:13dd93a0efe8 78 {
Jeonghoon 7:13dd93a0efe8 79 int offset = 0;
Jeonghoon 7:13dd93a0efe8 80 this->topic_id = ((uint16_t) (*(inbuffer + offset)));
Jeonghoon 7:13dd93a0efe8 81 this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 7:13dd93a0efe8 82 offset += sizeof(this->topic_id);
Jeonghoon 7:13dd93a0efe8 83 uint32_t length_topic_name;
Jeonghoon 7:13dd93a0efe8 84 arrToVar(length_topic_name, (inbuffer + offset));
Jeonghoon 7:13dd93a0efe8 85 offset += 4;
Jeonghoon 7:13dd93a0efe8 86 for(unsigned int k= offset; k< offset+length_topic_name; ++k){
Jeonghoon 7:13dd93a0efe8 87 inbuffer[k-1]=inbuffer[k];
Jeonghoon 7:13dd93a0efe8 88 }
Jeonghoon 7:13dd93a0efe8 89 inbuffer[offset+length_topic_name-1]=0;
Jeonghoon 7:13dd93a0efe8 90 this->topic_name = (char *)(inbuffer + offset-1);
Jeonghoon 7:13dd93a0efe8 91 offset += length_topic_name;
Jeonghoon 7:13dd93a0efe8 92 uint32_t length_message_type;
Jeonghoon 7:13dd93a0efe8 93 arrToVar(length_message_type, (inbuffer + offset));
Jeonghoon 7:13dd93a0efe8 94 offset += 4;
Jeonghoon 7:13dd93a0efe8 95 for(unsigned int k= offset; k< offset+length_message_type; ++k){
Jeonghoon 7:13dd93a0efe8 96 inbuffer[k-1]=inbuffer[k];
Jeonghoon 7:13dd93a0efe8 97 }
Jeonghoon 7:13dd93a0efe8 98 inbuffer[offset+length_message_type-1]=0;
Jeonghoon 7:13dd93a0efe8 99 this->message_type = (char *)(inbuffer + offset-1);
Jeonghoon 7:13dd93a0efe8 100 offset += length_message_type;
Jeonghoon 7:13dd93a0efe8 101 uint32_t length_md5sum;
Jeonghoon 7:13dd93a0efe8 102 arrToVar(length_md5sum, (inbuffer + offset));
Jeonghoon 7:13dd93a0efe8 103 offset += 4;
Jeonghoon 7:13dd93a0efe8 104 for(unsigned int k= offset; k< offset+length_md5sum; ++k){
Jeonghoon 7:13dd93a0efe8 105 inbuffer[k-1]=inbuffer[k];
Jeonghoon 7:13dd93a0efe8 106 }
Jeonghoon 7:13dd93a0efe8 107 inbuffer[offset+length_md5sum-1]=0;
Jeonghoon 7:13dd93a0efe8 108 this->md5sum = (char *)(inbuffer + offset-1);
Jeonghoon 7:13dd93a0efe8 109 offset += length_md5sum;
Jeonghoon 7:13dd93a0efe8 110 union {
Jeonghoon 7:13dd93a0efe8 111 int32_t real;
Jeonghoon 7:13dd93a0efe8 112 uint32_t base;
Jeonghoon 7:13dd93a0efe8 113 } u_buffer_size;
Jeonghoon 7:13dd93a0efe8 114 u_buffer_size.base = 0;
Jeonghoon 7:13dd93a0efe8 115 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 7:13dd93a0efe8 116 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 7:13dd93a0efe8 117 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 7:13dd93a0efe8 118 u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 7:13dd93a0efe8 119 this->buffer_size = u_buffer_size.real;
Jeonghoon 7:13dd93a0efe8 120 offset += sizeof(this->buffer_size);
Jeonghoon 7:13dd93a0efe8 121 return offset;
Jeonghoon 7:13dd93a0efe8 122 }
Jeonghoon 7:13dd93a0efe8 123
Jeonghoon 7:13dd93a0efe8 124 const char * getType(){ return "rosserial_msgs/TopicInfo"; };
Jeonghoon 7:13dd93a0efe8 125 const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; };
Jeonghoon 7:13dd93a0efe8 126
Jeonghoon 7:13dd93a0efe8 127 };
Jeonghoon 7:13dd93a0efe8 128
Jeonghoon 7:13dd93a0efe8 129 }
Jeonghoon 7:13dd93a0efe8 130 #endif