catchrobo2022
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catchrobo2022_mbed
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HarkPower.h
00001 #ifndef _ROS_jsk_hark_msgs_HarkPower_h 00002 #define _ROS_jsk_hark_msgs_HarkPower_h 00003 00004 #include <stdint.h> 00005 #include <string.h> 00006 #include <stdlib.h> 00007 #include "ros/msg.h" 00008 #include "std_msgs/Header.h" 00009 00010 namespace jsk_hark_msgs 00011 { 00012 00013 class HarkPower : public ros::Msg 00014 { 00015 public: 00016 typedef std_msgs::Header _header_type; 00017 _header_type header; 00018 typedef int32_t _count_type; 00019 _count_type count; 00020 typedef int32_t _directions_type; 00021 _directions_type directions; 00022 typedef int32_t _data_bytes_type; 00023 _data_bytes_type data_bytes; 00024 uint32_t powers_length; 00025 typedef float _powers_type; 00026 _powers_type st_powers; 00027 _powers_type * powers; 00028 00029 HarkPower(): 00030 header(), 00031 count(0), 00032 directions(0), 00033 data_bytes(0), 00034 powers_length(0), powers(NULL) 00035 { 00036 } 00037 00038 virtual int serialize(unsigned char *outbuffer) const 00039 { 00040 int offset = 0; 00041 offset += this->header.serialize(outbuffer + offset); 00042 union { 00043 int32_t real; 00044 uint32_t base; 00045 } u_count; 00046 u_count.real = this->count; 00047 *(outbuffer + offset + 0) = (u_count.base >> (8 * 0)) & 0xFF; 00048 *(outbuffer + offset + 1) = (u_count.base >> (8 * 1)) & 0xFF; 00049 *(outbuffer + offset + 2) = (u_count.base >> (8 * 2)) & 0xFF; 00050 *(outbuffer + offset + 3) = (u_count.base >> (8 * 3)) & 0xFF; 00051 offset += sizeof(this->count); 00052 union { 00053 int32_t real; 00054 uint32_t base; 00055 } u_directions; 00056 u_directions.real = this->directions; 00057 *(outbuffer + offset + 0) = (u_directions.base >> (8 * 0)) & 0xFF; 00058 *(outbuffer + offset + 1) = (u_directions.base >> (8 * 1)) & 0xFF; 00059 *(outbuffer + offset + 2) = (u_directions.base >> (8 * 2)) & 0xFF; 00060 *(outbuffer + offset + 3) = (u_directions.base >> (8 * 3)) & 0xFF; 00061 offset += sizeof(this->directions); 00062 union { 00063 int32_t real; 00064 uint32_t base; 00065 } u_data_bytes; 00066 u_data_bytes.real = this->data_bytes; 00067 *(outbuffer + offset + 0) = (u_data_bytes.base >> (8 * 0)) & 0xFF; 00068 *(outbuffer + offset + 1) = (u_data_bytes.base >> (8 * 1)) & 0xFF; 00069 *(outbuffer + offset + 2) = (u_data_bytes.base >> (8 * 2)) & 0xFF; 00070 *(outbuffer + offset + 3) = (u_data_bytes.base >> (8 * 3)) & 0xFF; 00071 offset += sizeof(this->data_bytes); 00072 *(outbuffer + offset + 0) = (this->powers_length >> (8 * 0)) & 0xFF; 00073 *(outbuffer + offset + 1) = (this->powers_length >> (8 * 1)) & 0xFF; 00074 *(outbuffer + offset + 2) = (this->powers_length >> (8 * 2)) & 0xFF; 00075 *(outbuffer + offset + 3) = (this->powers_length >> (8 * 3)) & 0xFF; 00076 offset += sizeof(this->powers_length); 00077 for( uint32_t i = 0; i < powers_length; i++){ 00078 union { 00079 float real; 00080 uint32_t base; 00081 } u_powersi; 00082 u_powersi.real = this->powers[i]; 00083 *(outbuffer + offset + 0) = (u_powersi.base >> (8 * 0)) & 0xFF; 00084 *(outbuffer + offset + 1) = (u_powersi.base >> (8 * 1)) & 0xFF; 00085 *(outbuffer + offset + 2) = (u_powersi.base >> (8 * 2)) & 0xFF; 00086 *(outbuffer + offset + 3) = (u_powersi.base >> (8 * 3)) & 0xFF; 00087 offset += sizeof(this->powers[i]); 00088 } 00089 return offset; 00090 } 00091 00092 virtual int deserialize(unsigned char *inbuffer) 00093 { 00094 int offset = 0; 00095 offset += this->header.deserialize(inbuffer + offset); 00096 union { 00097 int32_t real; 00098 uint32_t base; 00099 } u_count; 00100 u_count.base = 0; 00101 u_count.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00102 u_count.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00103 u_count.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00104 u_count.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00105 this->count = u_count.real; 00106 offset += sizeof(this->count); 00107 union { 00108 int32_t real; 00109 uint32_t base; 00110 } u_directions; 00111 u_directions.base = 0; 00112 u_directions.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00113 u_directions.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00114 u_directions.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00115 u_directions.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00116 this->directions = u_directions.real; 00117 offset += sizeof(this->directions); 00118 union { 00119 int32_t real; 00120 uint32_t base; 00121 } u_data_bytes; 00122 u_data_bytes.base = 0; 00123 u_data_bytes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00124 u_data_bytes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00125 u_data_bytes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00126 u_data_bytes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00127 this->data_bytes = u_data_bytes.real; 00128 offset += sizeof(this->data_bytes); 00129 uint32_t powers_lengthT = ((uint32_t) (*(inbuffer + offset))); 00130 powers_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00131 powers_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00132 powers_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00133 offset += sizeof(this->powers_length); 00134 if(powers_lengthT > powers_length) 00135 this->powers = (float*)realloc(this->powers, powers_lengthT * sizeof(float)); 00136 powers_length = powers_lengthT; 00137 for( uint32_t i = 0; i < powers_length; i++){ 00138 union { 00139 float real; 00140 uint32_t base; 00141 } u_st_powers; 00142 u_st_powers.base = 0; 00143 u_st_powers.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); 00144 u_st_powers.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 00145 u_st_powers.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 00146 u_st_powers.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 00147 this->st_powers = u_st_powers.real; 00148 offset += sizeof(this->st_powers); 00149 memcpy( &(this->powers[i]), &(this->st_powers), sizeof(float)); 00150 } 00151 return offset; 00152 } 00153 00154 virtual const char * getType(){ return "jsk_hark_msgs/HarkPower"; }; 00155 virtual const char * getMD5(){ return "251c13d7a8be27144a2b24c6f53df705"; }; 00156 00157 }; 00158 00159 } 00160 #endif
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