Pipe Inpection Robot / Mbed OS GPG_motor_latest

complete motor

Dependencies:   BufferedSerial motor_sn7544

std_msgs/Int16MultiArray.h@13:3ac8d2472417, 2019-11-21 (annotated)

Committer:
Jeonghoon
Date:
Thu Nov 21 11:39:20 2019 +0000
Revision:
13:3ac8d2472417
Parent:
7:13dd93a0efe8 
complete motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 7:13dd93a0efe8 1 #ifndef _ROS_std_msgs_Int16MultiArray_h
Jeonghoon 7:13dd93a0efe8 2 #define _ROS_std_msgs_Int16MultiArray_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 Int16MultiArray : 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 int16_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 Int16MultiArray():
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 int16_t real;
Jeonghoon 7:13dd93a0efe8 41 uint16_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 offset += sizeof(this->data[i]);
Jeonghoon 7:13dd93a0efe8 47 }
Jeonghoon 7:13dd93a0efe8 48 return offset;
Jeonghoon 7:13dd93a0efe8 49 }
Jeonghoon 7:13dd93a0efe8 50
Jeonghoon 7:13dd93a0efe8 51 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 7:13dd93a0efe8 52 {
Jeonghoon 7:13dd93a0efe8 53 int offset = 0;
Jeonghoon 7:13dd93a0efe8 54 offset += this->layout.deserialize(inbuffer + offset);
Jeonghoon 7:13dd93a0efe8 55 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 7:13dd93a0efe8 56 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 7:13dd93a0efe8 57 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 7:13dd93a0efe8 58 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 7:13dd93a0efe8 59 offset += sizeof(this->data_length);
Jeonghoon 7:13dd93a0efe8 60 if(data_lengthT > data_length)
Jeonghoon 7:13dd93a0efe8 61 this->data = (int16_t*)realloc(this->data, data_lengthT * sizeof(int16_t));
Jeonghoon 7:13dd93a0efe8 62 data_length = data_lengthT;
Jeonghoon 7:13dd93a0efe8 63 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 7:13dd93a0efe8 64 union {
Jeonghoon 7:13dd93a0efe8 65 int16_t real;
Jeonghoon 7:13dd93a0efe8 66 uint16_t base;
Jeonghoon 7:13dd93a0efe8 67 } u_st_data;
Jeonghoon 7:13dd93a0efe8 68 u_st_data.base = 0;
Jeonghoon 7:13dd93a0efe8 69 u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
Jeonghoon 7:13dd93a0efe8 70 u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 7:13dd93a0efe8 71 this->st_data = u_st_data.real;
Jeonghoon 7:13dd93a0efe8 72 offset += sizeof(this->st_data);
Jeonghoon 7:13dd93a0efe8 73 memcpy( &(this->data[i]), &(this->st_data), sizeof(int16_t));
Jeonghoon 7:13dd93a0efe8 74 }
Jeonghoon 7:13dd93a0efe8 75 return offset;
Jeonghoon 7:13dd93a0efe8 76 }
Jeonghoon 7:13dd93a0efe8 77
Jeonghoon 7:13dd93a0efe8 78 const char * getType(){ return "std_msgs/Int16MultiArray"; };
Jeonghoon 7:13dd93a0efe8 79 const char * getMD5(){ return "d9338d7f523fcb692fae9d0a0e9f067c"; };
Jeonghoon 7:13dd93a0efe8 80
Jeonghoon 7:13dd93a0efe8 81 };
Jeonghoon 7:13dd93a0efe8 82
Jeonghoon 7:13dd93a0efe8 83 }
Jeonghoon 7:13dd93a0efe8 84 #endif