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/TeleportRelative.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_SERVICE_TeleportRelative_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_SERVICE_TeleportRelative_h
akashvibhute 0:30537dec6e0b 3 #include <stdint.h>
akashvibhute 0:30537dec6e0b 4 #include <string.h>
akashvibhute 0:30537dec6e0b 5 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 6 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 7
akashvibhute 0:30537dec6e0b 8 namespace turtlesim
akashvibhute 0:30537dec6e0b 9 {
akashvibhute 0:30537dec6e0b 10
akashvibhute 0:30537dec6e0b 11 static const char TELEPORTRELATIVE[] = "turtlesim/TeleportRelative";
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class TeleportRelativeRequest : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 float linear;
akashvibhute 0:30537dec6e0b 17 float angular;
akashvibhute 0:30537dec6e0b 18
akashvibhute 0:30537dec6e0b 19 TeleportRelativeRequest():
akashvibhute 0:30537dec6e0b 20 linear(0),
akashvibhute 0:30537dec6e0b 21 angular(0)
akashvibhute 0:30537dec6e0b 22 {
akashvibhute 0:30537dec6e0b 23 }
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 26 {
akashvibhute 0:30537dec6e0b 27 int offset = 0;
akashvibhute 0:30537dec6e0b 28 union {
akashvibhute 0:30537dec6e0b 29 float real;
akashvibhute 0:30537dec6e0b 30 uint32_t base;
akashvibhute 0:30537dec6e0b 31 } u_linear;
akashvibhute 0:30537dec6e0b 32 u_linear.real = this->linear;
akashvibhute 0:30537dec6e0b 33 *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 34 *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 37 offset += sizeof(this->linear);
akashvibhute 0:30537dec6e0b 38 union {
akashvibhute 0:30537dec6e0b 39 float real;
akashvibhute 0:30537dec6e0b 40 uint32_t base;
akashvibhute 0:30537dec6e0b 41 } u_angular;
akashvibhute 0:30537dec6e0b 42 u_angular.real = this->angular;
akashvibhute 0:30537dec6e0b 43 *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 46 *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 47 offset += sizeof(this->angular);
akashvibhute 0:30537dec6e0b 48 return offset;
akashvibhute 0:30537dec6e0b 49 }
akashvibhute 0:30537dec6e0b 50
akashvibhute 0:30537dec6e0b 51 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 52 {
akashvibhute 0:30537dec6e0b 53 int offset = 0;
akashvibhute 0:30537dec6e0b 54 union {
akashvibhute 0:30537dec6e0b 55 float real;
akashvibhute 0:30537dec6e0b 56 uint32_t base;
akashvibhute 0:30537dec6e0b 57 } u_linear;
akashvibhute 0:30537dec6e0b 58 u_linear.base = 0;
akashvibhute 0:30537dec6e0b 59 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 60 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 61 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 62 u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 63 this->linear = u_linear.real;
akashvibhute 0:30537dec6e0b 64 offset += sizeof(this->linear);
akashvibhute 0:30537dec6e0b 65 union {
akashvibhute 0:30537dec6e0b 66 float real;
akashvibhute 0:30537dec6e0b 67 uint32_t base;
akashvibhute 0:30537dec6e0b 68 } u_angular;
akashvibhute 0:30537dec6e0b 69 u_angular.base = 0;
akashvibhute 0:30537dec6e0b 70 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 71 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 72 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 73 u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 74 this->angular = u_angular.real;
akashvibhute 0:30537dec6e0b 75 offset += sizeof(this->angular);
akashvibhute 0:30537dec6e0b 76 return offset;
akashvibhute 0:30537dec6e0b 77 }
akashvibhute 0:30537dec6e0b 78
akashvibhute 0:30537dec6e0b 79 const char * getType(){ return TELEPORTRELATIVE; };
akashvibhute 0:30537dec6e0b 80 const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
akashvibhute 0:30537dec6e0b 81
akashvibhute 0:30537dec6e0b 82 };
akashvibhute 0:30537dec6e0b 83
akashvibhute 0:30537dec6e0b 84 class TeleportRelativeResponse : public ros::Msg
akashvibhute 0:30537dec6e0b 85 {
akashvibhute 0:30537dec6e0b 86 public:
akashvibhute 0:30537dec6e0b 87
akashvibhute 0:30537dec6e0b 88 TeleportRelativeResponse()
akashvibhute 0:30537dec6e0b 89 {
akashvibhute 0:30537dec6e0b 90 }
akashvibhute 0:30537dec6e0b 91
akashvibhute 0:30537dec6e0b 92 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 93 {
akashvibhute 0:30537dec6e0b 94 int offset = 0;
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 return offset;
akashvibhute 0:30537dec6e0b 102 }
akashvibhute 0:30537dec6e0b 103
akashvibhute 0:30537dec6e0b 104 const char * getType(){ return TELEPORTRELATIVE; };
akashvibhute 0:30537dec6e0b 105 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
akashvibhute 0:30537dec6e0b 106
akashvibhute 0:30537dec6e0b 107 };
akashvibhute 0:30537dec6e0b 108
akashvibhute 0:30537dec6e0b 109 class TeleportRelative {
akashvibhute 0:30537dec6e0b 110 public:
akashvibhute 0:30537dec6e0b 111 typedef TeleportRelativeRequest Request;
akashvibhute 0:30537dec6e0b 112 typedef TeleportRelativeResponse Response;
akashvibhute 0:30537dec6e0b 113 };
akashvibhute 0:30537dec6e0b 114
akashvibhute 0:30537dec6e0b 115 }
akashvibhute 0:30537dec6e0b 116 #endif
akashvibhute 0:30537dec6e0b 117