Andrew Bylard / ros_lib_kinetic

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Dependencies:   BufferedSerial

Dependents:   FreeFlyerROS_clarakhl FreeFlyerROS FreeFlyerROS

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/JoyFeedback.h@2:6d41474744b7, 2018-06-22 (annotated)

Committer:
Knillinux
Date:
Fri Jun 22 02:09:43 2018 +0000
Revision:
2:6d41474744b7
Parent:
0:9e9b7db60fd5 
Added publisher/subscribers in class functionality

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_JoyFeedback_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_JoyFeedback_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8
garyservin 0:9e9b7db60fd5 9 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class JoyFeedback : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef uint8_t _type_type;
garyservin 0:9e9b7db60fd5 16 _type_type type;
garyservin 0:9e9b7db60fd5 17 typedef uint8_t _id_type;
garyservin 0:9e9b7db60fd5 18 _id_type id;
garyservin 0:9e9b7db60fd5 19 typedef float _intensity_type;
garyservin 0:9e9b7db60fd5 20 _intensity_type intensity;
garyservin 0:9e9b7db60fd5 21 enum { TYPE_LED = 0 };
garyservin 0:9e9b7db60fd5 22 enum { TYPE_RUMBLE = 1 };
garyservin 0:9e9b7db60fd5 23 enum { TYPE_BUZZER = 2 };
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 JoyFeedback():
garyservin 0:9e9b7db60fd5 26 type(0),
garyservin 0:9e9b7db60fd5 27 id(0),
garyservin 0:9e9b7db60fd5 28 intensity(0)
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 }
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 int offset = 0;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 0) = (this->id >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 offset += sizeof(this->id);
garyservin 0:9e9b7db60fd5 39 union {
garyservin 0:9e9b7db60fd5 40 float real;
garyservin 0:9e9b7db60fd5 41 uint32_t base;
garyservin 0:9e9b7db60fd5 42 } u_intensity;
garyservin 0:9e9b7db60fd5 43 u_intensity.real = this->intensity;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 0) = (u_intensity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 1) = (u_intensity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 2) = (u_intensity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 3) = (u_intensity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->intensity);
garyservin 0:9e9b7db60fd5 49 return offset;
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51
garyservin 0:9e9b7db60fd5 52 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 53 {
garyservin 0:9e9b7db60fd5 54 int offset = 0;
garyservin 0:9e9b7db60fd5 55 this->type = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->type);
garyservin 0:9e9b7db60fd5 57 this->id = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 58 offset += sizeof(this->id);
garyservin 0:9e9b7db60fd5 59 union {
garyservin 0:9e9b7db60fd5 60 float real;
garyservin 0:9e9b7db60fd5 61 uint32_t base;
garyservin 0:9e9b7db60fd5 62 } u_intensity;
garyservin 0:9e9b7db60fd5 63 u_intensity.base = 0;
garyservin 0:9e9b7db60fd5 64 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 65 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 66 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 67 u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 68 this->intensity = u_intensity.real;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->intensity);
garyservin 0:9e9b7db60fd5 70 return offset;
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72
garyservin 0:9e9b7db60fd5 73 const char * getType(){ return "sensor_msgs/JoyFeedback"; };
garyservin 0:9e9b7db60fd5 74 const char * getMD5(){ return "f4dcd73460360d98f36e55ee7f2e46f1"; };
garyservin 0:9e9b7db60fd5 75
garyservin 0:9e9b7db60fd5 76 };
garyservin 0:9e9b7db60fd5 77
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 #endif