Pipe Inpection Robot / Mbed OS GPG_motor_latest

complete motor

Dependencies:   BufferedSerial motor_sn7544

ros/msg.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 /*
Jeonghoon 7:13dd93a0efe8 2 * Software License Agreement (BSD License)
Jeonghoon 7:13dd93a0efe8 3 *
Jeonghoon 7:13dd93a0efe8 4 * Copyright (c) 2011, Willow Garage, Inc.
Jeonghoon 7:13dd93a0efe8 5 * All rights reserved.
Jeonghoon 7:13dd93a0efe8 6 *
Jeonghoon 7:13dd93a0efe8 7 * Redistribution and use in source and binary forms, with or without
Jeonghoon 7:13dd93a0efe8 8 * modification, are permitted provided that the following conditions
Jeonghoon 7:13dd93a0efe8 9 * are met:
Jeonghoon 7:13dd93a0efe8 10 *
Jeonghoon 7:13dd93a0efe8 11 * * Redistributions of source code must retain the above copyright
Jeonghoon 7:13dd93a0efe8 12 * notice, this list of conditions and the following disclaimer.
Jeonghoon 7:13dd93a0efe8 13 * * Redistributions in binary form must reproduce the above
Jeonghoon 7:13dd93a0efe8 14 * copyright notice, this list of conditions and the following
Jeonghoon 7:13dd93a0efe8 15 * disclaimer in the documentation and/or other materials provided
Jeonghoon 7:13dd93a0efe8 16 * with the distribution.
Jeonghoon 7:13dd93a0efe8 17 * * Neither the name of Willow Garage, Inc. nor the names of its
Jeonghoon 7:13dd93a0efe8 18 * contributors may be used to endorse or promote prducts derived
Jeonghoon 7:13dd93a0efe8 19 * from this software without specific prior written permission.
Jeonghoon 7:13dd93a0efe8 20 *
Jeonghoon 7:13dd93a0efe8 21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
Jeonghoon 7:13dd93a0efe8 22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
Jeonghoon 7:13dd93a0efe8 23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
Jeonghoon 7:13dd93a0efe8 24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
Jeonghoon 7:13dd93a0efe8 25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
Jeonghoon 7:13dd93a0efe8 26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
Jeonghoon 7:13dd93a0efe8 27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
Jeonghoon 7:13dd93a0efe8 28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Jeonghoon 7:13dd93a0efe8 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
Jeonghoon 7:13dd93a0efe8 30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
Jeonghoon 7:13dd93a0efe8 31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
Jeonghoon 7:13dd93a0efe8 32 * POSSIBILITY OF SUCH DAMAGE.
Jeonghoon 7:13dd93a0efe8 33 */
Jeonghoon 7:13dd93a0efe8 34
Jeonghoon 7:13dd93a0efe8 35 #ifndef _ROS_MSG_H_
Jeonghoon 7:13dd93a0efe8 36 #define _ROS_MSG_H_
Jeonghoon 7:13dd93a0efe8 37
Jeonghoon 7:13dd93a0efe8 38 #include <stdint.h>
Jeonghoon 7:13dd93a0efe8 39 #include <stddef.h>
Jeonghoon 7:13dd93a0efe8 40
Jeonghoon 7:13dd93a0efe8 41 namespace ros {
Jeonghoon 7:13dd93a0efe8 42
Jeonghoon 7:13dd93a0efe8 43 /* Base Message Type */
Jeonghoon 7:13dd93a0efe8 44 class Msg
Jeonghoon 7:13dd93a0efe8 45 {
Jeonghoon 7:13dd93a0efe8 46 public:
Jeonghoon 7:13dd93a0efe8 47 virtual int serialize(unsigned char *outbuffer) const = 0;
Jeonghoon 7:13dd93a0efe8 48 virtual int deserialize(unsigned char *data) = 0;
Jeonghoon 7:13dd93a0efe8 49 virtual const char * getType() = 0;
Jeonghoon 7:13dd93a0efe8 50 virtual const char * getMD5() = 0;
Jeonghoon 7:13dd93a0efe8 51
Jeonghoon 7:13dd93a0efe8 52 /**
Jeonghoon 7:13dd93a0efe8 53 * @brief This tricky function handles promoting a 32bit float to a 64bit
Jeonghoon 7:13dd93a0efe8 54 * double, so that AVR can publish messages containing float64
Jeonghoon 7:13dd93a0efe8 55 * fields, despite AVV having no native support for double.
Jeonghoon 7:13dd93a0efe8 56 *
Jeonghoon 7:13dd93a0efe8 57 * @param[out] outbuffer pointer for buffer to serialize to.
Jeonghoon 7:13dd93a0efe8 58 * @param[in] f value to serialize.
Jeonghoon 7:13dd93a0efe8 59 *
Jeonghoon 7:13dd93a0efe8 60 * @return number of bytes to advance the buffer pointer.
Jeonghoon 7:13dd93a0efe8 61 *
Jeonghoon 7:13dd93a0efe8 62 */
Jeonghoon 7:13dd93a0efe8 63 static int serializeAvrFloat64(unsigned char* outbuffer, const float f)
Jeonghoon 7:13dd93a0efe8 64 {
Jeonghoon 7:13dd93a0efe8 65 const int32_t* val = (int32_t*) &f;
Jeonghoon 7:13dd93a0efe8 66 int32_t exp = ((*val >> 23) & 255);
Jeonghoon 7:13dd93a0efe8 67 if (exp != 0)
Jeonghoon 7:13dd93a0efe8 68 {
Jeonghoon 7:13dd93a0efe8 69 exp += 1023 - 127;
Jeonghoon 7:13dd93a0efe8 70 }
Jeonghoon 7:13dd93a0efe8 71
Jeonghoon 7:13dd93a0efe8 72 int32_t sig = *val;
Jeonghoon 7:13dd93a0efe8 73 *(outbuffer++) = 0;
Jeonghoon 7:13dd93a0efe8 74 *(outbuffer++) = 0;
Jeonghoon 7:13dd93a0efe8 75 *(outbuffer++) = 0;
Jeonghoon 7:13dd93a0efe8 76 *(outbuffer++) = (sig << 5) & 0xff;
Jeonghoon 7:13dd93a0efe8 77 *(outbuffer++) = (sig >> 3) & 0xff;
Jeonghoon 7:13dd93a0efe8 78 *(outbuffer++) = (sig >> 11) & 0xff;
Jeonghoon 7:13dd93a0efe8 79 *(outbuffer++) = ((exp << 4) & 0xF0) | ((sig >> 19) & 0x0F);
Jeonghoon 7:13dd93a0efe8 80 *(outbuffer++) = (exp >> 4) & 0x7F;
Jeonghoon 7:13dd93a0efe8 81
Jeonghoon 7:13dd93a0efe8 82 // Mark negative bit as necessary.
Jeonghoon 7:13dd93a0efe8 83 if (f < 0)
Jeonghoon 7:13dd93a0efe8 84 {
Jeonghoon 7:13dd93a0efe8 85 *(outbuffer - 1) |= 0x80;
Jeonghoon 7:13dd93a0efe8 86 }
Jeonghoon 7:13dd93a0efe8 87
Jeonghoon 7:13dd93a0efe8 88 return 8;
Jeonghoon 7:13dd93a0efe8 89 }
Jeonghoon 7:13dd93a0efe8 90
Jeonghoon 7:13dd93a0efe8 91 /**
Jeonghoon 7:13dd93a0efe8 92 * @brief This tricky function handles demoting a 64bit double to a
Jeonghoon 7:13dd93a0efe8 93 * 32bit float, so that AVR can understand messages containing
Jeonghoon 7:13dd93a0efe8 94 * float64 fields, despite AVR having no native support for double.
Jeonghoon 7:13dd93a0efe8 95 *
Jeonghoon 7:13dd93a0efe8 96 * @param[in] inbuffer pointer for buffer to deserialize from.
Jeonghoon 7:13dd93a0efe8 97 * @param[out] f pointer to place the deserialized value in.
Jeonghoon 7:13dd93a0efe8 98 *
Jeonghoon 7:13dd93a0efe8 99 * @return number of bytes to advance the buffer pointer.
Jeonghoon 7:13dd93a0efe8 100 */
Jeonghoon 7:13dd93a0efe8 101 static int deserializeAvrFloat64(const unsigned char* inbuffer, float* f)
Jeonghoon 7:13dd93a0efe8 102 {
Jeonghoon 7:13dd93a0efe8 103 uint32_t* val = (uint32_t*)f;
Jeonghoon 7:13dd93a0efe8 104 inbuffer += 3;
Jeonghoon 7:13dd93a0efe8 105
Jeonghoon 7:13dd93a0efe8 106 // Copy truncated mantissa.
Jeonghoon 7:13dd93a0efe8 107 *val = ((uint32_t)(*(inbuffer++)) >> 5 & 0x07);
Jeonghoon 7:13dd93a0efe8 108 *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 3;
Jeonghoon 7:13dd93a0efe8 109 *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 11;
Jeonghoon 7:13dd93a0efe8 110 *val |= ((uint32_t)(*inbuffer) & 0x0f) << 19;
Jeonghoon 7:13dd93a0efe8 111
Jeonghoon 7:13dd93a0efe8 112 // Copy truncated exponent.
Jeonghoon 7:13dd93a0efe8 113 uint32_t exp = ((uint32_t)(*(inbuffer++)) & 0xf0)>>4;
Jeonghoon 7:13dd93a0efe8 114 exp |= ((uint32_t)(*inbuffer) & 0x7f) << 4;
Jeonghoon 7:13dd93a0efe8 115 if (exp != 0)
Jeonghoon 7:13dd93a0efe8 116 {
Jeonghoon 7:13dd93a0efe8 117 *val |= ((exp) - 1023 + 127) << 23;
Jeonghoon 7:13dd93a0efe8 118 }
Jeonghoon 7:13dd93a0efe8 119
Jeonghoon 7:13dd93a0efe8 120 // Copy negative sign.
Jeonghoon 7:13dd93a0efe8 121 *val |= ((uint32_t)(*(inbuffer++)) & 0x80) << 24;
Jeonghoon 7:13dd93a0efe8 122
Jeonghoon 7:13dd93a0efe8 123 return 8;
Jeonghoon 7:13dd93a0efe8 124 }
Jeonghoon 7:13dd93a0efe8 125
Jeonghoon 7:13dd93a0efe8 126 // Copy data from variable into a byte array
Jeonghoon 7:13dd93a0efe8 127 template<typename A, typename V>
Jeonghoon 7:13dd93a0efe8 128 static void varToArr(A arr, const V var)
Jeonghoon 7:13dd93a0efe8 129 {
Jeonghoon 7:13dd93a0efe8 130 for(size_t i = 0; i < sizeof(V); i++)
Jeonghoon 7:13dd93a0efe8 131 arr[i] = (var >> (8 * i));
Jeonghoon 7:13dd93a0efe8 132 }
Jeonghoon 7:13dd93a0efe8 133
Jeonghoon 7:13dd93a0efe8 134 // Copy data from a byte array into variable
Jeonghoon 7:13dd93a0efe8 135 template<typename V, typename A>
Jeonghoon 7:13dd93a0efe8 136 static void arrToVar(V& var, const A arr)
Jeonghoon 7:13dd93a0efe8 137 {
Jeonghoon 7:13dd93a0efe8 138 var = 0;
Jeonghoon 7:13dd93a0efe8 139 for(size_t i = 0; i < sizeof(V); i++)
Jeonghoon 7:13dd93a0efe8 140 var |= (arr[i] << (8 * i));
Jeonghoon 7:13dd93a0efe8 141 }
Jeonghoon 7:13dd93a0efe8 142
Jeonghoon 7:13dd93a0efe8 143 };
Jeonghoon 7:13dd93a0efe8 144
Jeonghoon 7:13dd93a0efe8 145 } // namespace ros
Jeonghoon 7:13dd93a0efe8 146
Jeonghoon 7:13dd93a0efe8 147 #endif