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!

turtlesim/Pose.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_turtlesim_Pose_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_turtlesim_Pose_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
akashvibhute 0:30537dec6e0b 9 namespace turtlesim
akashvibhute 0:30537dec6e0b 10 {
akashvibhute 0:30537dec6e0b 11
akashvibhute 0:30537dec6e0b 12 class Pose : public ros::Msg
akashvibhute 0:30537dec6e0b 13 {
akashvibhute 0:30537dec6e0b 14 public:
akashvibhute 0:30537dec6e0b 15 float x;
akashvibhute 0:30537dec6e0b 16 float y;
akashvibhute 0:30537dec6e0b 17 float theta;
akashvibhute 0:30537dec6e0b 18 float linear_velocity;
akashvibhute 0:30537dec6e0b 19 float angular_velocity;
akashvibhute 0:30537dec6e0b 20
akashvibhute 0:30537dec6e0b 21 Pose():
akashvibhute 0:30537dec6e0b 22 x(0),
akashvibhute 0:30537dec6e0b 23 y(0),
akashvibhute 0:30537dec6e0b 24 theta(0),
akashvibhute 0:30537dec6e0b 25 linear_velocity(0),
akashvibhute 0:30537dec6e0b 26 angular_velocity(0)
akashvibhute 0:30537dec6e0b 27 {
akashvibhute 0:30537dec6e0b 28 }
akashvibhute 0:30537dec6e0b 29
akashvibhute 0:30537dec6e0b 30 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 31 {
akashvibhute 0:30537dec6e0b 32 int offset = 0;
akashvibhute 0:30537dec6e0b 33 union {
akashvibhute 0:30537dec6e0b 34 float real;
akashvibhute 0:30537dec6e0b 35 uint32_t base;
akashvibhute 0:30537dec6e0b 36 } u_x;
akashvibhute 0:30537dec6e0b 37 u_x.real = this->x;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 42 offset += sizeof(this->x);
akashvibhute 0:30537dec6e0b 43 union {
akashvibhute 0:30537dec6e0b 44 float real;
akashvibhute 0:30537dec6e0b 45 uint32_t base;
akashvibhute 0:30537dec6e0b 46 } u_y;
akashvibhute 0:30537dec6e0b 47 u_y.real = this->y;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 51 *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 52 offset += sizeof(this->y);
akashvibhute 0:30537dec6e0b 53 union {
akashvibhute 0:30537dec6e0b 54 float real;
akashvibhute 0:30537dec6e0b 55 uint32_t base;
akashvibhute 0:30537dec6e0b 56 } u_theta;
akashvibhute 0:30537dec6e0b 57 u_theta.real = this->theta;
akashvibhute 0:30537dec6e0b 58 *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 59 *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 60 *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 62 offset += sizeof(this->theta);
akashvibhute 0:30537dec6e0b 63 union {
akashvibhute 0:30537dec6e0b 64 float real;
akashvibhute 0:30537dec6e0b 65 uint32_t base;
akashvibhute 0:30537dec6e0b 66 } u_linear_velocity;
akashvibhute 0:30537dec6e0b 67 u_linear_velocity.real = this->linear_velocity;
akashvibhute 0:30537dec6e0b 68 *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 69 *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 70 *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 71 *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 72 offset += sizeof(this->linear_velocity);
akashvibhute 0:30537dec6e0b 73 union {
akashvibhute 0:30537dec6e0b 74 float real;
akashvibhute 0:30537dec6e0b 75 uint32_t base;
akashvibhute 0:30537dec6e0b 76 } u_angular_velocity;
akashvibhute 0:30537dec6e0b 77 u_angular_velocity.real = this->angular_velocity;
akashvibhute 0:30537dec6e0b 78 *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 79 *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 80 *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 81 *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 82 offset += sizeof(this->angular_velocity);
akashvibhute 0:30537dec6e0b 83 return offset;
akashvibhute 0:30537dec6e0b 84 }
akashvibhute 0:30537dec6e0b 85
akashvibhute 0:30537dec6e0b 86 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 87 {
akashvibhute 0:30537dec6e0b 88 int offset = 0;
akashvibhute 0:30537dec6e0b 89 union {
akashvibhute 0:30537dec6e0b 90 float real;
akashvibhute 0:30537dec6e0b 91 uint32_t base;
akashvibhute 0:30537dec6e0b 92 } u_x;
akashvibhute 0:30537dec6e0b 93 u_x.base = 0;
akashvibhute 0:30537dec6e0b 94 u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 95 u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 96 u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 97 u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 98 this->x = u_x.real;
akashvibhute 0:30537dec6e0b 99 offset += sizeof(this->x);
akashvibhute 0:30537dec6e0b 100 union {
akashvibhute 0:30537dec6e0b 101 float real;
akashvibhute 0:30537dec6e0b 102 uint32_t base;
akashvibhute 0:30537dec6e0b 103 } u_y;
akashvibhute 0:30537dec6e0b 104 u_y.base = 0;
akashvibhute 0:30537dec6e0b 105 u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 106 u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 107 u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 108 u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 109 this->y = u_y.real;
akashvibhute 0:30537dec6e0b 110 offset += sizeof(this->y);
akashvibhute 0:30537dec6e0b 111 union {
akashvibhute 0:30537dec6e0b 112 float real;
akashvibhute 0:30537dec6e0b 113 uint32_t base;
akashvibhute 0:30537dec6e0b 114 } u_theta;
akashvibhute 0:30537dec6e0b 115 u_theta.base = 0;
akashvibhute 0:30537dec6e0b 116 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 117 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 118 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 119 u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 120 this->theta = u_theta.real;
akashvibhute 0:30537dec6e0b 121 offset += sizeof(this->theta);
akashvibhute 0:30537dec6e0b 122 union {
akashvibhute 0:30537dec6e0b 123 float real;
akashvibhute 0:30537dec6e0b 124 uint32_t base;
akashvibhute 0:30537dec6e0b 125 } u_linear_velocity;
akashvibhute 0:30537dec6e0b 126 u_linear_velocity.base = 0;
akashvibhute 0:30537dec6e0b 127 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 128 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 129 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 130 u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 131 this->linear_velocity = u_linear_velocity.real;
akashvibhute 0:30537dec6e0b 132 offset += sizeof(this->linear_velocity);
akashvibhute 0:30537dec6e0b 133 union {
akashvibhute 0:30537dec6e0b 134 float real;
akashvibhute 0:30537dec6e0b 135 uint32_t base;
akashvibhute 0:30537dec6e0b 136 } u_angular_velocity;
akashvibhute 0:30537dec6e0b 137 u_angular_velocity.base = 0;
akashvibhute 0:30537dec6e0b 138 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 139 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 140 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 141 u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 142 this->angular_velocity = u_angular_velocity.real;
akashvibhute 0:30537dec6e0b 143 offset += sizeof(this->angular_velocity);
akashvibhute 0:30537dec6e0b 144 return offset;
akashvibhute 0:30537dec6e0b 145 }
akashvibhute 0:30537dec6e0b 146
akashvibhute 0:30537dec6e0b 147 const char * getType(){ return "turtlesim/Pose"; };
akashvibhute 0:30537dec6e0b 148 const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
akashvibhute 0:30537dec6e0b 149
akashvibhute 0:30537dec6e0b 150 };
akashvibhute 0:30537dec6e0b 151
akashvibhute 0:30537dec6e0b 152 }
akashvibhute 0:30537dec6e0b 153 #endif