TimedSwitch.h

00001 #ifndef _ROS_wiimote_TimedSwitch_h
00002 #define _ROS_wiimote_TimedSwitch_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace wiimote
00010 {
00011 
00012   class TimedSwitch : public ros::Msg
00013   {
00014     public:
00015       typedef int8_t _switch_mode_type;
00016       _switch_mode_type switch_mode;
00017       typedef int32_t _num_cycles_type;
00018       _num_cycles_type num_cycles;
00019       uint32_t pulse_pattern_length;
00020       typedef float _pulse_pattern_type;
00021       _pulse_pattern_type st_pulse_pattern;
00022       _pulse_pattern_type * pulse_pattern;
00023       enum { ON =   1 };
00024       enum { OFF =   0 };
00025       enum { NO_CHANGE =  -2 };
00026       enum { REPEAT =  -1 };
00027       enum { FOREVER =  -1 };
00028 
00029     TimedSwitch():
00030       switch_mode(0),
00031       num_cycles(0),
00032       pulse_pattern_length(0), pulse_pattern(NULL)
00033     {
00034     }
00035 
00036     virtual int serialize(unsigned char *outbuffer) const
00037     {
00038       int offset = 0;
00039       union {
00040         int8_t real;
00041         uint8_t base;
00042       } u_switch_mode;
00043       u_switch_mode.real = this->switch_mode;
00044       *(outbuffer + offset + 0) = (u_switch_mode.base >> (8 * 0)) & 0xFF;
00045       offset += sizeof(this->switch_mode);
00046       union {
00047         int32_t real;
00048         uint32_t base;
00049       } u_num_cycles;
00050       u_num_cycles.real = this->num_cycles;
00051       *(outbuffer + offset + 0) = (u_num_cycles.base >> (8 * 0)) & 0xFF;
00052       *(outbuffer + offset + 1) = (u_num_cycles.base >> (8 * 1)) & 0xFF;
00053       *(outbuffer + offset + 2) = (u_num_cycles.base >> (8 * 2)) & 0xFF;
00054       *(outbuffer + offset + 3) = (u_num_cycles.base >> (8 * 3)) & 0xFF;
00055       offset += sizeof(this->num_cycles);
00056       *(outbuffer + offset + 0) = (this->pulse_pattern_length >> (8 * 0)) & 0xFF;
00057       *(outbuffer + offset + 1) = (this->pulse_pattern_length >> (8 * 1)) & 0xFF;
00058       *(outbuffer + offset + 2) = (this->pulse_pattern_length >> (8 * 2)) & 0xFF;
00059       *(outbuffer + offset + 3) = (this->pulse_pattern_length >> (8 * 3)) & 0xFF;
00060       offset += sizeof(this->pulse_pattern_length);
00061       for( uint32_t i = 0; i < pulse_pattern_length; i++){
00062       union {
00063         float real;
00064         uint32_t base;
00065       } u_pulse_patterni;
00066       u_pulse_patterni.real = this->pulse_pattern[i];
00067       *(outbuffer + offset + 0) = (u_pulse_patterni.base >> (8 * 0)) & 0xFF;
00068       *(outbuffer + offset + 1) = (u_pulse_patterni.base >> (8 * 1)) & 0xFF;
00069       *(outbuffer + offset + 2) = (u_pulse_patterni.base >> (8 * 2)) & 0xFF;
00070       *(outbuffer + offset + 3) = (u_pulse_patterni.base >> (8 * 3)) & 0xFF;
00071       offset += sizeof(this->pulse_pattern[i]);
00072       }
00073       return offset;
00074     }
00075 
00076     virtual int deserialize(unsigned char *inbuffer)
00077     {
00078       int offset = 0;
00079       union {
00080         int8_t real;
00081         uint8_t base;
00082       } u_switch_mode;
00083       u_switch_mode.base = 0;
00084       u_switch_mode.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00085       this->switch_mode = u_switch_mode.real;
00086       offset += sizeof(this->switch_mode);
00087       union {
00088         int32_t real;
00089         uint32_t base;
00090       } u_num_cycles;
00091       u_num_cycles.base = 0;
00092       u_num_cycles.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00093       u_num_cycles.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00094       u_num_cycles.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00095       u_num_cycles.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00096       this->num_cycles = u_num_cycles.real;
00097       offset += sizeof(this->num_cycles);
00098       uint32_t pulse_pattern_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00099       pulse_pattern_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00100       pulse_pattern_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00101       pulse_pattern_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00102       offset += sizeof(this->pulse_pattern_length);
00103       if(pulse_pattern_lengthT > pulse_pattern_length)
00104         this->pulse_pattern = (float*)realloc(this->pulse_pattern, pulse_pattern_lengthT * sizeof(float));
00105       pulse_pattern_length = pulse_pattern_lengthT;
00106       for( uint32_t i = 0; i < pulse_pattern_length; i++){
00107       union {
00108         float real;
00109         uint32_t base;
00110       } u_st_pulse_pattern;
00111       u_st_pulse_pattern.base = 0;
00112       u_st_pulse_pattern.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00113       u_st_pulse_pattern.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00114       u_st_pulse_pattern.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00115       u_st_pulse_pattern.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00116       this->st_pulse_pattern = u_st_pulse_pattern.real;
00117       offset += sizeof(this->st_pulse_pattern);
00118         memcpy( &(this->pulse_pattern[i]), &(this->st_pulse_pattern), sizeof(float));
00119       }
00120      return offset;
00121     }
00122 
00123     virtual const char * getType(){ return "wiimote/TimedSwitch"; };
00124     virtual const char * getMD5(){ return "e4c8d9327409cef6066fa6c368032c1e"; };
00125 
00126   };
00127 
00128 }
00129 #endif