ModuleControlMsgs.h

00001 #ifndef _ROS_zetabot_main_ModuleControlMsgs_h
00002 #define _ROS_zetabot_main_ModuleControlMsgs_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace zetabot_main
00010 {
00011 
00012   class ModuleControlMsgs : public ros::Msg
00013   {
00014     public:
00015       bool module_power[11];
00016       uint8_t led[4];
00017       typedef uint16_t _pulifier_type;
00018       _pulifier_type pulifier;
00019 
00020     ModuleControlMsgs():
00021       module_power(),
00022       led(),
00023       pulifier(0)
00024     {
00025     }
00026 
00027     virtual int serialize(unsigned char *outbuffer) const
00028     {
00029       int offset = 0;
00030       for( uint32_t i = 0; i < 11; i++){
00031       union {
00032         bool real;
00033         uint8_t base;
00034       } u_module_poweri;
00035       u_module_poweri.real = this->module_power[i];
00036       *(outbuffer + offset + 0) = (u_module_poweri.base >> (8 * 0)) & 0xFF;
00037       offset += sizeof(this->module_power[i]);
00038       }
00039       for( uint32_t i = 0; i < 4; i++){
00040       *(outbuffer + offset + 0) = (this->led[i] >> (8 * 0)) & 0xFF;
00041       offset += sizeof(this->led[i]);
00042       }
00043       *(outbuffer + offset + 0) = (this->pulifier >> (8 * 0)) & 0xFF;
00044       *(outbuffer + offset + 1) = (this->pulifier >> (8 * 1)) & 0xFF;
00045       offset += sizeof(this->pulifier);
00046       return offset;
00047     }
00048 
00049     virtual int deserialize(unsigned char *inbuffer)
00050     {
00051       int offset = 0;
00052       for( uint32_t i = 0; i < 11; i++){
00053       union {
00054         bool real;
00055         uint8_t base;
00056       } u_module_poweri;
00057       u_module_poweri.base = 0;
00058       u_module_poweri.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00059       this->module_power[i] = u_module_poweri.real;
00060       offset += sizeof(this->module_power[i]);
00061       }
00062       for( uint32_t i = 0; i < 4; i++){
00063       this->led[i] =  ((uint8_t) (*(inbuffer + offset)));
00064       offset += sizeof(this->led[i]);
00065       }
00066       this->pulifier =  ((uint16_t) (*(inbuffer + offset)));
00067       this->pulifier |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
00068       offset += sizeof(this->pulifier);
00069      return offset;
00070     }
00071 
00072     const char * getType(){ return "zetabot_main/ModuleControlMsgs"; };
00073     const char * getMD5(){ return "a6e1b56a9c48d8ddceea7d34c90fe596"; };
00074 
00075   };
00076 
00077 }
00078 #endif
00079