Pipe Inpection Robot / Mbed OS GPG_motor_latest

complete motor

Dependencies:   BufferedSerial motor_sn7544

std_msgs/UInt32MultiArray.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_UInt32MultiArray_h
Jeonghoon 7:13dd93a0efe8 2 #define _ROS_std_msgs_UInt32MultiArray_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 UInt32MultiArray : 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 uint32_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 UInt32MultiArray():
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 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 40 *(outbuffer + offset + 1) = (this->data[i] >> (8 * 1)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 41 *(outbuffer + offset + 2) = (this->data[i] >> (8 * 2)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 42 *(outbuffer + offset + 3) = (this->data[i] >> (8 * 3)) & 0xFF;
Jeonghoon 7:13dd93a0efe8 43 offset += sizeof(this->data[i]);
Jeonghoon 7:13dd93a0efe8 44 }
Jeonghoon 7:13dd93a0efe8 45 return offset;
Jeonghoon 7:13dd93a0efe8 46 }
Jeonghoon 7:13dd93a0efe8 47
Jeonghoon 7:13dd93a0efe8 48 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 7:13dd93a0efe8 49 {
Jeonghoon 7:13dd93a0efe8 50 int offset = 0;
Jeonghoon 7:13dd93a0efe8 51 offset += this->layout.deserialize(inbuffer + offset);
Jeonghoon 7:13dd93a0efe8 52 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 7:13dd93a0efe8 53 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 7:13dd93a0efe8 54 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 7:13dd93a0efe8 55 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 7:13dd93a0efe8 56 offset += sizeof(this->data_length);
Jeonghoon 7:13dd93a0efe8 57 if(data_lengthT > data_length)
Jeonghoon 7:13dd93a0efe8 58 this->data = (uint32_t*)realloc(this->data, data_lengthT * sizeof(uint32_t));
Jeonghoon 7:13dd93a0efe8 59 data_length = data_lengthT;
Jeonghoon 7:13dd93a0efe8 60 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 7:13dd93a0efe8 61 this->st_data = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 7:13dd93a0efe8 62 this->st_data |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 7:13dd93a0efe8 63 this->st_data |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 7:13dd93a0efe8 64 this->st_data |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 7:13dd93a0efe8 65 offset += sizeof(this->st_data);
Jeonghoon 7:13dd93a0efe8 66 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint32_t));
Jeonghoon 7:13dd93a0efe8 67 }
Jeonghoon 7:13dd93a0efe8 68 return offset;
Jeonghoon 7:13dd93a0efe8 69 }
Jeonghoon 7:13dd93a0efe8 70
Jeonghoon 7:13dd93a0efe8 71 const char * getType(){ return "std_msgs/UInt32MultiArray"; };
Jeonghoon 7:13dd93a0efe8 72 const char * getMD5(){ return "4d6a180abc9be191b96a7eda6c8a233d"; };
Jeonghoon 7:13dd93a0efe8 73
Jeonghoon 7:13dd93a0efe8 74 };
Jeonghoon 7:13dd93a0efe8 75
Jeonghoon 7:13dd93a0efe8 76 }
Jeonghoon 7:13dd93a0efe8 77 #endif