Pipe Inpection Robot / Mbed OS GPG_motor_latest

complete motor

Dependencies:   BufferedSerial motor_sn7544

std_msgs/UInt64MultiArray.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_std_msgs_UInt64MultiArray_h
Jeonghoon 7:13dd93a0efe8 2 #define _ROS_std_msgs_UInt64MultiArray_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 #include "std_msgs/MultiArrayLayout.h"
Jeonghoon 7:13dd93a0efe8 9
Jeonghoon 7:13dd93a0efe8 10 namespace std_msgs
Jeonghoon 7:13dd93a0efe8 11 {
Jeonghoon 7:13dd93a0efe8 12
Jeonghoon 7:13dd93a0efe8 13 class UInt64MultiArray : public ros::Msg
Jeonghoon 7:13dd93a0efe8 14 {
Jeonghoon 7:13dd93a0efe8 15 public:
Jeonghoon 7:13dd93a0efe8 16 typedef std_msgs::MultiArrayLayout _layout_type;
Jeonghoon 7:13dd93a0efe8 17 _layout_type layout;
Jeonghoon 7:13dd93a0efe8 18 uint32_t data_length;
Jeonghoon 7:13dd93a0efe8 19 typedef uint64_t _data_type;
Jeonghoon 7:13dd93a0efe8 20 _data_type st_data;
Jeonghoon 7:13dd93a0efe8 21 _data_type * data;
Jeonghoon 7:13dd93a0efe8 22
Jeonghoon 7:13dd93a0efe8 23 UInt64MultiArray():
Jeonghoon 7:13dd93a0efe8 24 layout(),
Jeonghoon 7:13dd93a0efe8 25 data_length(0), data(NULL)
Jeonghoon 7:13dd93a0efe8 26 {
Jeonghoon 7:13dd93a0efe8 27 }
Jeonghoon 7:13dd93a0efe8 28
Jeonghoon 7:13dd93a0efe8 29 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 7:13dd93a0efe8 30 {
Jeonghoon 7:13dd93a0efe8 31 int offset = 0;
Jeonghoon 7:13dd93a0efe8 32 offset += this->layout.serialize(outbuffer + offset);
Jeonghoon 7:13dd93a0efe8 33 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 34 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 35 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 36 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 37 offset += sizeof(this->data_length);
Jeonghoon 7:13dd93a0efe8 38 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 7:13dd93a0efe8 39 union {
Jeonghoon 7:13dd93a0efe8 40 uint64_t real;
Jeonghoon 7:13dd93a0efe8 41 uint32_t base;
Jeonghoon 7:13dd93a0efe8 42 } u_datai;
Jeonghoon 7:13dd93a0efe8 43 u_datai.real = this->data[i];
Jeonghoon 7:13dd93a0efe8 44 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 45 *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 46 *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 47 *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 48 offset += sizeof(this->data[i]);
Jeonghoon 7:13dd93a0efe8 49 }
Jeonghoon 7:13dd93a0efe8 50 return offset;
Jeonghoon 7:13dd93a0efe8 51 }
Jeonghoon 7:13dd93a0efe8 52
Jeonghoon 7:13dd93a0efe8 53 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 7:13dd93a0efe8 54 {
Jeonghoon 7:13dd93a0efe8 55 int offset = 0;
Jeonghoon 7:13dd93a0efe8 56 offset += this->layout.deserialize(inbuffer + offset);
Jeonghoon 7:13dd93a0efe8 57 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 7:13dd93a0efe8 58 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 7:13dd93a0efe8 59 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 7:13dd93a0efe8 60 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 7:13dd93a0efe8 61 offset += sizeof(this->data_length);
Jeonghoon 7:13dd93a0efe8 62 if(data_lengthT > data_length)
Jeonghoon 7:13dd93a0efe8 63 this->data = (uint64_t*)realloc(this->data, data_lengthT * sizeof(uint64_t));
Jeonghoon 7:13dd93a0efe8 64 data_length = data_lengthT;
Jeonghoon 7:13dd93a0efe8 65 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 7:13dd93a0efe8 66 union {
Jeonghoon 7:13dd93a0efe8 67 uint64_t real;
Jeonghoon 7:13dd93a0efe8 68 uint32_t base;
Jeonghoon 7:13dd93a0efe8 69 } u_st_data;
Jeonghoon 7:13dd93a0efe8 70 u_st_data.base = 0;
Jeonghoon 7:13dd93a0efe8 71 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 7:13dd93a0efe8 72 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 7:13dd93a0efe8 73 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 7:13dd93a0efe8 74 u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 7:13dd93a0efe8 75 this->st_data = u_st_data.real;
Jeonghoon 7:13dd93a0efe8 76 offset += sizeof(this->st_data);
Jeonghoon 7:13dd93a0efe8 77 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint64_t));
Jeonghoon 7:13dd93a0efe8 78 }
Jeonghoon 7:13dd93a0efe8 79 return offset;
Jeonghoon 7:13dd93a0efe8 80 }
Jeonghoon 7:13dd93a0efe8 81
Jeonghoon 7:13dd93a0efe8 82 const char * getType(){ return "std_msgs/UInt64MultiArray"; };
Jeonghoon 7:13dd93a0efe8 83 const char * getMD5(){ return "6088f127afb1d6c72927aa1247e945af"; };
Jeonghoon 7:13dd93a0efe8 84
Jeonghoon 7:13dd93a0efe8 85 };
Jeonghoon 7:13dd93a0efe8 86
Jeonghoon 7:13dd93a0efe8 87 }
Jeonghoon 7:13dd93a0efe8 88 #endif