Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

sensor_msgs/NavSatFix.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_sensor_msgs_NavSatFix_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_sensor_msgs_NavSatFix_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9 #include "sensor_msgs/NavSatStatus.h"
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 namespace sensor_msgs
akashvibhute 0:30537dec6e0b 12 {
akashvibhute 0:30537dec6e0b 13
akashvibhute 0:30537dec6e0b 14 class NavSatFix : public ros::Msg
akashvibhute 0:30537dec6e0b 15 {
akashvibhute 0:30537dec6e0b 16 public:
akashvibhute 0:30537dec6e0b 17 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 18 sensor_msgs::NavSatStatus status;
akashvibhute 0:30537dec6e0b 19 float latitude;
akashvibhute 0:30537dec6e0b 20 float longitude;
akashvibhute 0:30537dec6e0b 21 float altitude;
akashvibhute 0:30537dec6e0b 22 float position_covariance[9];
akashvibhute 0:30537dec6e0b 23 uint8_t position_covariance_type;
akashvibhute 0:30537dec6e0b 24 enum { COVARIANCE_TYPE_UNKNOWN = 0 };
akashvibhute 0:30537dec6e0b 25 enum { COVARIANCE_TYPE_APPROXIMATED = 1 };
akashvibhute 0:30537dec6e0b 26 enum { COVARIANCE_TYPE_DIAGONAL_KNOWN = 2 };
akashvibhute 0:30537dec6e0b 27 enum { COVARIANCE_TYPE_KNOWN = 3 };
akashvibhute 0:30537dec6e0b 28
akashvibhute 0:30537dec6e0b 29 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 30 {
akashvibhute 0:30537dec6e0b 31 int offset = 0;
akashvibhute 0:30537dec6e0b 32 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 33 offset += this->status.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 34 int32_t * val_latitude = (long *) &(this->latitude);
akashvibhute 0:30537dec6e0b 35 int32_t exp_latitude = (((*val_latitude)>>23)&255);
akashvibhute 0:30537dec6e0b 36 if(exp_latitude != 0)
akashvibhute 0:30537dec6e0b 37 exp_latitude += 1023-127;
akashvibhute 0:30537dec6e0b 38 int32_t sig_latitude = *val_latitude;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = (sig_latitude<<5) & 0xff;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset++) = (sig_latitude>>3) & 0xff;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset++) = (sig_latitude>>11) & 0xff;
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset++) = ((exp_latitude<<4) & 0xF0) | ((sig_latitude>>19)&0x0F);
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset++) = (exp_latitude>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 47 if(this->latitude < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 48 int32_t * val_longitude = (long *) &(this->longitude);
akashvibhute 0:30537dec6e0b 49 int32_t exp_longitude = (((*val_longitude)>>23)&255);
akashvibhute 0:30537dec6e0b 50 if(exp_longitude != 0)
akashvibhute 0:30537dec6e0b 51 exp_longitude += 1023-127;
akashvibhute 0:30537dec6e0b 52 int32_t sig_longitude = *val_longitude;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 56 *(outbuffer + offset++) = (sig_longitude<<5) & 0xff;
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset++) = (sig_longitude>>3) & 0xff;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset++) = (sig_longitude>>11) & 0xff;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset++) = ((exp_longitude<<4) & 0xF0) | ((sig_longitude>>19)&0x0F);
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset++) = (exp_longitude>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 61 if(this->longitude < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 62 int32_t * val_altitude = (long *) &(this->altitude);
akashvibhute 0:30537dec6e0b 63 int32_t exp_altitude = (((*val_altitude)>>23)&255);
akashvibhute 0:30537dec6e0b 64 if(exp_altitude != 0)
akashvibhute 0:30537dec6e0b 65 exp_altitude += 1023-127;
akashvibhute 0:30537dec6e0b 66 int32_t sig_altitude = *val_altitude;
akashvibhute 0:30537dec6e0b 67 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 68 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset++) = (sig_altitude<<5) & 0xff;
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset++) = (sig_altitude>>3) & 0xff;
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset++) = (sig_altitude>>11) & 0xff;
akashvibhute 0:30537dec6e0b 73 *(outbuffer + offset++) = ((exp_altitude<<4) & 0xF0) | ((sig_altitude>>19)&0x0F);
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset++) = (exp_altitude>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 75 if(this->altitude < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 76 unsigned char * position_covariance_val = (unsigned char *) this->position_covariance;
akashvibhute 0:30537dec6e0b 77 for( uint8_t i = 0; i < 9; i++){
akashvibhute 0:30537dec6e0b 78 int32_t * val_position_covariancei = (long *) &(this->position_covariance[i]);
akashvibhute 0:30537dec6e0b 79 int32_t exp_position_covariancei = (((*val_position_covariancei)>>23)&255);
akashvibhute 0:30537dec6e0b 80 if(exp_position_covariancei != 0)
akashvibhute 0:30537dec6e0b 81 exp_position_covariancei += 1023-127;
akashvibhute 0:30537dec6e0b 82 int32_t sig_position_covariancei = *val_position_covariancei;
akashvibhute 0:30537dec6e0b 83 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 84 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 85 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 86 *(outbuffer + offset++) = (sig_position_covariancei<<5) & 0xff;
akashvibhute 0:30537dec6e0b 87 *(outbuffer + offset++) = (sig_position_covariancei>>3) & 0xff;
akashvibhute 0:30537dec6e0b 88 *(outbuffer + offset++) = (sig_position_covariancei>>11) & 0xff;
akashvibhute 0:30537dec6e0b 89 *(outbuffer + offset++) = ((exp_position_covariancei<<4) & 0xF0) | ((sig_position_covariancei>>19)&0x0F);
akashvibhute 0:30537dec6e0b 90 *(outbuffer + offset++) = (exp_position_covariancei>>4) & 0x7F;
akashvibhute 0:30537dec6e0b 91 if(this->position_covariance[i] < 0) *(outbuffer + offset -1) |= 0x80;
akashvibhute 0:30537dec6e0b 92 }
akashvibhute 0:30537dec6e0b 93 *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 94 offset += sizeof(this->position_covariance_type);
akashvibhute 0:30537dec6e0b 95 return offset;
akashvibhute 0:30537dec6e0b 96 }
akashvibhute 0:30537dec6e0b 97
akashvibhute 0:30537dec6e0b 98 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 99 {
akashvibhute 0:30537dec6e0b 100 int offset = 0;
akashvibhute 0:30537dec6e0b 101 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 102 offset += this->status.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 103 uint32_t * val_latitude = (uint32_t*) &(this->latitude);
akashvibhute 0:30537dec6e0b 104 offset += 3;
akashvibhute 0:30537dec6e0b 105 *val_latitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 106 *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 107 *val_latitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 108 *val_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 109 uint32_t exp_latitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 110 exp_latitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 111 if(exp_latitude !=0)
akashvibhute 0:30537dec6e0b 112 *val_latitude |= ((exp_latitude)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 113 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->latitude = -this->latitude;
akashvibhute 0:30537dec6e0b 114 uint32_t * val_longitude = (uint32_t*) &(this->longitude);
akashvibhute 0:30537dec6e0b 115 offset += 3;
akashvibhute 0:30537dec6e0b 116 *val_longitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 117 *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 118 *val_longitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 119 *val_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 120 uint32_t exp_longitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 121 exp_longitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 122 if(exp_longitude !=0)
akashvibhute 0:30537dec6e0b 123 *val_longitude |= ((exp_longitude)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 124 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->longitude = -this->longitude;
akashvibhute 0:30537dec6e0b 125 uint32_t * val_altitude = (uint32_t*) &(this->altitude);
akashvibhute 0:30537dec6e0b 126 offset += 3;
akashvibhute 0:30537dec6e0b 127 *val_altitude = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 128 *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 129 *val_altitude |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 130 *val_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 131 uint32_t exp_altitude = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 132 exp_altitude |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 133 if(exp_altitude !=0)
akashvibhute 0:30537dec6e0b 134 *val_altitude |= ((exp_altitude)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 135 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->altitude = -this->altitude;
akashvibhute 0:30537dec6e0b 136 uint8_t * position_covariance_val = (uint8_t*) this->position_covariance;
akashvibhute 0:30537dec6e0b 137 for( uint8_t i = 0; i < 9; i++){
akashvibhute 0:30537dec6e0b 138 uint32_t * val_position_covariancei = (uint32_t*) &(this->position_covariance[i]);
akashvibhute 0:30537dec6e0b 139 offset += 3;
akashvibhute 0:30537dec6e0b 140 *val_position_covariancei = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
akashvibhute 0:30537dec6e0b 141 *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
akashvibhute 0:30537dec6e0b 142 *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
akashvibhute 0:30537dec6e0b 143 *val_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
akashvibhute 0:30537dec6e0b 144 uint32_t exp_position_covariancei = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
akashvibhute 0:30537dec6e0b 145 exp_position_covariancei |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
akashvibhute 0:30537dec6e0b 146 if(exp_position_covariancei !=0)
akashvibhute 0:30537dec6e0b 147 *val_position_covariancei |= ((exp_position_covariancei)-1023+127)<<23;
akashvibhute 0:30537dec6e0b 148 if( ((*(inbuffer+offset++)) & 0x80) > 0) this->position_covariance[i] = -this->position_covariance[i];
akashvibhute 0:30537dec6e0b 149 }
akashvibhute 0:30537dec6e0b 150 this->position_covariance_type |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 151 offset += sizeof(this->position_covariance_type);
akashvibhute 0:30537dec6e0b 152 return offset;
akashvibhute 0:30537dec6e0b 153 }
akashvibhute 0:30537dec6e0b 154
akashvibhute 0:30537dec6e0b 155 virtual const char * getType(){ return "sensor_msgs/NavSatFix"; };
akashvibhute 0:30537dec6e0b 156 virtual const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; };
akashvibhute 0:30537dec6e0b 157
akashvibhute 0:30537dec6e0b 158 };
akashvibhute 0:30537dec6e0b 159
akashvibhute 0:30537dec6e0b 160 }
akashvibhute 0:30537dec6e0b 161 #endif